WO2020248587A1 - 一种驱控一体化的智能电动机械手 - Google Patents

一种驱控一体化的智能电动机械手 Download PDF

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Publication number
WO2020248587A1
WO2020248587A1 PCT/CN2020/000123 CN2020000123W WO2020248587A1 WO 2020248587 A1 WO2020248587 A1 WO 2020248587A1 CN 2020000123 W CN2020000123 W CN 2020000123W WO 2020248587 A1 WO2020248587 A1 WO 2020248587A1
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WIPO (PCT)
Prior art keywords
control
wrist
palm
intelligent electric
circuit board
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PCT/CN2020/000123
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English (en)
French (fr)
Inventor
介党阳
张伟
刘璐
曹磊
魏雷
顾磊磊
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苏州钧舵机器人有限公司
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Publication of WO2020248587A1 publication Critical patent/WO2020248587A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the invention relates to the field of manipulators, in particular to an intelligent electric manipulator with integrated drive and control.
  • a low-cost, high-performance, and versatile two-finger manipulator is currently in short supply in China.
  • the existing two-finger manipulator has the following problems: the accuracy of the end fingers is poorly controlled; debugging requires external equipment.
  • the purpose of the present invention is to provide an intelligent electric manipulator with integrated drive and control to solve the problems of high cost and poor motion accuracy control of the smart manipulator in the prior art.
  • the present invention provides an intelligent electric manipulator with integrated drive and control, including fingers, a palm, a wrist, and an intelligent control module.
  • the fingers are mounted on the palm, the palm is mounted on the top of the wrist, and the intelligent control module is mounted on the wrist. bottom;
  • the palm includes a palm body and two sliders. Fingers are fixedly installed on the two sliders. Two notches are symmetrically arranged in the center of the palm body, and the two sliders are slidably embedded in the two notches. , A rack is provided on the inner side of the two sliders;
  • the wrist includes a wrist body in which a reducer, a motor, and a circuit board are installed, the reducer is installed above the motor and connected to the shaft of the motor, the output end of the reducer is connected to a gear, and the gear is arranged at Between the two racks and meshingly connected with the two racks, a magnetic bead is installed at the bottom of the rotating shaft of the motor, and the magnetic bead is located above the circuit board and facing the magnetic induction area of the circuit board;
  • the intelligent control module includes a control base, a control core and a cable, the control core is installed inside the control base, the control core is connected to the cable, the control core is embedded with an elastic thimble male head, the circuit An elastic thimble female head is embedded in the board, and the control core is connected to the circuit board through the triggering of the elastic thimble male head and the elastic thimble female head.
  • the bottom of the finger is fixedly mounted on the slider by bolts, a through hole is provided on the finger and the slider directly, and a positioning pin is installed in the through hole to achieve precise positioning of the finger.
  • a display screen and keys are installed on the palm, and the display screen and the keys are connected to a circuit board.
  • an LED light is installed on the wrist, and the LED light is connected to a circuit board.
  • the output end of the reducer is connected to a gear through a flat key, the gear is sleeved on the flat key, and a positioning groove is provided on the gear, and the flat key is locked into the positioning groove.
  • it also includes a brake connected to the motor, and the brake is installed at the bottom of the motor.
  • a spring sheath which is arranged on the cable and at the contact position between the cable and the control base, and is used to protect the cable from bending and abrasion due to external forces.
  • a number of weight reduction holes are provided on the wrist body for reducing weight.
  • a camera holder is installed on the wrist, a camera is installed on the camera holder, and the camera is connected to a circuit board.
  • the manipulator of the present invention drives the gear to rotate through the motor, thereby controlling the opening and closing of the fingers, the finger movement accuracy is high, and the electromechanical control integration is realized;
  • the manipulator is modular in design, achieving low cost and high versatility. Its application will vigorously expand the application potential of the manipulator in the service industry, special environment and agricultural automation;
  • the motion parameters can be set directly through buttons, knobs, code plates, etc.;
  • the finger structure is diversified, and fingers of different structures can be selected according to the needs of gripping products;
  • the shell is provided with a weight-reducing hole to reduce the weight of the body.
  • Figure 1 is a schematic diagram of the structure of an intelligent electric manipulator with integrated drive and control of the present invention
  • Figure 2 is a schematic diagram of the connection structure between the finger and the slider of the present invention.
  • Figure 3 is a schematic diagram of the connection structure of the fingers and the palm of the present invention.
  • Figure 4 is a schematic diagram of the palm body structure of the present invention.
  • Figure 5 is a schematic diagram of the wrist structure of the present invention.
  • Figure 6 is a schematic diagram of the internal structure of the wrist of the present invention.
  • Figure 7 is a sectional view of the intelligent electric manipulator of the present invention.
  • FIG. 8 is a schematic diagram of the connection relationship between the rack and the gear when the fingers are opened according to the present invention.
  • FIG. 9 is a schematic diagram of the connection relationship between the rack and the gear when the fingers are closed according to the present invention.
  • Fig. 10 is a schematic diagram of the structure of the intelligent control module of the present invention.
  • FIG. 11 is a schematic diagram of the bottom structure of the intelligent control module of the present invention.
  • Figure 12 is the first schematic diagram of the finger structure of the present invention.
  • Figure 13 is a second schematic diagram of the finger structure of the present invention.
  • Figure 14 is the third schematic diagram of the finger structure of the present invention.
  • Figure 15 is a fourth schematic diagram of the finger structure of the present invention.
  • 50-intelligent control module 5001-control base, 5002-control core, 5003-spring sheath, 5004-cable, 5005-elastic thimble male.
  • the present invention provides an intelligent electric manipulator with integrated drive and control, including fingers 10, a palm 20, a wrist 40, and an intelligent control module 50.
  • the fingers 10 are mounted on the palm 20, and the palm 20 is mounted.
  • the intelligent control module 50 is installed on the bottom of the wrist 40;
  • the palm 20 includes a palm body 2001 and two sliders 2002.
  • the two sliders 2002 are both fixedly mounted with the fingers 10 by bolts 2006.
  • the palm body 2001 has two symmetrical centers.
  • Two notches 200103, the two sliders 2002 are respectively slidably embedded in the two notches 200103, and can slide horizontally in the notches, and the two sliders 2002 are both provided with a rack 200201;
  • the wrist 40 includes a wrist body 4001, a reducer 4004, a motor 4005, and a circuit board 4010 are installed in the wrist body 4001, and the reducer 4004 is installed above the motor 4005 and connected to the motor 4005.
  • the output end of the reducer 4004 is connected to a gear 4002 through a flat key 4007
  • the gear 4002 is sleeved on the flat key 4007
  • the gear 4002 is provided with a positioning groove
  • the flat key 4007 is locked into the positioning groove
  • the output end of the reducer 4004 is connected to a gear 4002.
  • the gear 4002 is arranged between the two racks 200201 and meshes with the two racks 200201.
  • the gear 4002 rotates to drive two
  • the side rack 200201 moves left and right to realize the opening and closing of the finger 10.
  • the bottom of the rotating shaft of the motor 4005 is equipped with magnetic beads, which are located above the circuit board 4010 and face the magnetic induction area of the circuit board 4010.
  • the circuit board 4010 Control the speed and direction of motor 4005;
  • the intelligent control module 50 includes a control base 5001, a control core 5002, and a cable 5004.
  • the control core 5002 is installed inside the control base 5001, and the control core 5002 is connected to the cable.
  • the control core 5002 is embedded with an elastic thimble male 5005
  • the circuit board 4010 is embedded with an elastic thimble female
  • the control core 5002 is connected to the circuit board by triggering of the elastic thimble male 5005 and the elastic thimble female 4010
  • a display screen 2004 and buttons 2003 are installed on the palm 20, wherein the display screen 2004 and the buttons 2003 are respectively embedded in the grooves 200102 and the recesses 200101 provided on the palm body 2001, and the display screen 2004 and the buttons 2003 are connected
  • the circuit board 4010 can directly set the motion parameters through buttons, knobs, code plates, etc.
  • the working principle of the intelligent electric manipulator with integrated drive and control in this embodiment is: the cable 5004 supplies power to the control core 5002, and the control core 5002 is connected to the circuit board 4010 by the trigger of the elastic thimble male 5005 and the elastic thimble female. Power supply, after the circuit board 4010 is energized, the magnetic induction area on the circuit board 4010 generates a magnetic field, the magnetic beads induce the magnetic field, the motor 4005 is energized, and the specific motion parameters are set through the display 2004 and the buttons 2003 installed on the palm 20 and the parameter information is transmitted to The circuit board 4010, the circuit board 4010 controls the energization, de-energization, forward and reverse rotation and speed of the motor 4005.
  • the motor 4005 When the motor 4005 is energized, the motor 4005 works, and the torque is increased by the reducer 4004, and the torque is transmitted to the gear 4002 On the upper side, the gear 4002 is driven to rotate, and the two racks 200201 are driven to move in the opposite direction, thereby driving the closing and opening of the fingers 10 to realize the grasping and placing action of the fingers 10.
  • the finger 10 and the slider 2002 are provided with through holes directly opposite to each other, and a positioning pin 2005 is installed in the through hole to achieve precise positioning of the finger 10.
  • an LED light 4008 is installed on the wrist 40, the LED light 4008 is connected to the circuit board 4010, the LED light 4008 is on to indicate that the finger is powered on, and the LED light 4008 is off to indicate that the finger is not powered on, which serves as a warning.
  • a camera holder 30 is also installed on the camera holder 30, and a camera is installed on the camera holder 30, and the camera is connected to the circuit board 4010 for capturing the position of the product, facilitating accurate clamping of the product.
  • the brake 4006 also includes a brake 4006 connected to the motor 4005.
  • the brake 4006 is installed at the bottom of the motor 4005. After the finger 10 grabs the object, the brake 4006 restricts the shaft rotation of the motor 4005, thereby preventing the motor 4005 from being affected by external force. Possible rotation, fingers 10 open, and the object to be grabbed falls accidentally, which improves the safety of the manipulator.
  • a spring sheath 5003 which is sheathed on the cable 5004 and at the contact position between the cable 5004 and the control base 5001, and is used to protect the cable 5004 from bending and abrasion due to external forces.
  • a number of weight-reducing holes 400102 are provided on the wrist body 4001 to reduce weight.
  • the finger 10 is a modular design, and the structure of the end of the finger can be set according to actual product requirements, as shown in Figures 12-15. Of course, fingers with other structures can also be selected.
  • the manipulator of the present invention drives the gears to rotate through the motor to control the opening and closing of the fingers.
  • the finger movement has high precision and realizes the integration of electromechanical control.
  • the manipulator is modular in design and achieves low cost and high versatility.
  • the application of the robot arm will vigorously expand the application potential of the robotic arm in the service industry, special environment and agricultural automation; embedded in the display screen, the motion parameters can be set directly through buttons, knobs, code wheels, etc.; the finger structure is diversified and can be picked according to the grip For product requirements, choose fingers with different structures; the shell is provided with a weight-reducing hole to reduce the weight of the body.

Abstract

一种驱控一体化的智能电动机械手，包括手指（10）、手掌（20）、手腕（40）和智能控制模块（50），手指（10）安装在手掌（20）上，手掌（20）安装在手腕（40）顶部，智能控制模块（50）安装在手腕（40）底部。机械手通过电机（4005）驱动齿轮（4002）转动，进而控制手指（10）的开合，手指（10）移动精度高，实现机电控制一体化；机械手为模块化设计，实现了低成本和较高的通用性，它的应用将大力拓展机械臂在服务业、特种环境及农业自动化领域的应用潜力。

Description

一种驱控一体化的智能电动机械手 技术领域
本发明涉及机械手领域，具体涉及一种驱控一体化的智能电动机械手。
背景技术
机械手作为机械臂系统与外部操作对象的执行部件，其功能和性能直接影响甚至决定了整个机器人系统的性能。随着我国机械臂工业的崛起，尤其是以UR为代表的协作机器人被迅速推广应用后，对于能执行复杂功能的灵巧机械手的需求出现增长态势。目前国内外能执行复杂功能的灵巧机械手却因价格不菲，多用在科研、国防领域，使机械手应用范围受限。
一种低成本、高性能且通用性强的两指机械手目前在国内还属于紧缺装备，现有两指机械手存在如下问题：末端手指的运动精度控制差；调试需外接设备。
技术问题
本发明的目的在于提供一种驱控一体化的智能电动机械手，用以解决现有技术中的灵巧机械手成本高昂、运动精度控制差的问题。
技术解决方案
本发明提供了一种驱控一体化的智能电动机械手，包括手指、手掌、手腕和智能控制模块，所述手指安装在手掌上，所述手掌安装在手腕顶部，所述智能控制模块安装在手腕底部；
所述手掌包括手掌本体和两个滑块，所述两个滑块上均固定安装手指，所述手掌本体内中心对称设置两个槽口，所述两个滑块分别滑动嵌入两个槽口内，所述两个滑块的内侧均设置齿条；
所述手腕包括手腕本体，所述手腕本体内安装减速器、电机和电路板，所述减速器安装在电机上方并连接电机的转轴，所述减速器的输出端连接齿轮，所述齿轮设置于两个齿条之间且与两个齿条啮合连接，所述电机的转轴的底部安装磁珠，所述磁珠位于电路板上方且正对电路板的磁感应区；
所述智能控制模块包括控制基座、控制芯体和电缆，所述控制芯体安装在控制基座内部，所述控制芯体连接电缆，所述控制芯体内嵌入弹性顶针公头，所述电路板内嵌入弹性顶针母头，所述控制芯体通过弹性顶针公头和弹性顶针母头的触发连接电路板。
进一步的，所述手指的底部通过螺栓固定安装在滑块上，所述手指和滑块上正对设置通孔，且通孔内安装定位销，用于实现手指的精准定位。
进一步的，所述手掌上安装显示屏和按键，所述显示屏和按键连接电路板。
进一步的，所述手腕上安装LED灯，所述LED灯连接电路板。
进一步的，所述减速器的输出端通过平键连接齿轮，所述齿轮套设在平键上，所述齿轮上设置定位槽，所述平键卡入定位槽内。
进一步的，还包括与所述电机连接的制动器，所述制动器安装在电机底部。
进一步的，还包括弹簧护套，所述弹簧护套套设在电缆上且设置于电缆和控制基座的接触位置，用于保护电缆，避免因外力折弯磨损。
进一步的，所述手腕本体上设置若干减重孔，用于减轻重量。
进一步的，所述手腕上还安装相机支架，所述相机支架上安装相机，所述相机连接电路板。
有益效果
本发明的机械手通过电机驱动齿轮转动，进而控制手指的开合，手指移动精度高，实现机电控制一体化；
该机械手为模块化设计，实现了低成本和较高的通用性，它的应用将大力拓展机械臂在服务业、特种环境及农业自动化领域的应用潜力；
嵌入显示屏，可直接通过按键、旋钮、码盘等方式设定运动参数；
手指结构多样化，可以根据夹取产品的需求选择不同结构的手指；
外壳设有减重孔，减轻本体重量。
附图说明
图1为本发明驱控一体化的智能电动机械手结构示意图；
图2为本发明手指和滑块连接结构示意图；
图3为本发明手指和手掌连接结构示意图；
图4为本发明手掌本体结构示意图；
图5为本发明手腕结构示意图；
图6为本发明手腕内部结构示意图；
图7为本发明智能电动机械手剖视图；
图8为本发明手指打开时齿条和齿轮连接关系示意图；
图9为本发明手指闭合时齿条和齿轮连接关系示意图；
图10本发明智能控制模块结构示意图；
图11为本发明智能控制模块底面结构示意图；
图12为本发明手指结构示意图一；
图13为本发明手指结构示意图二；
图14为本发明手指结构示意图三；
图15为本发明手指结构示意图四；
附图中，各标号所代表的部件列表如下：
10-手指，
20-手掌，2001-手掌本体，2002-滑块，2003-按键，2004-显示屏，2005-定位销，2006-螺栓，200101-凹孔，200102-凹槽，200103-槽口，200201-齿条，
30-相机支架，
40-手腕，4001-手腕本体，4002-齿轮，4004-减速器，4005-电机，4006-制动器，4007平键，4010-电路板，400102-减重孔，
50-智能控制模块，5001-控制基座，5002-控制芯体，5003-弹簧护套，5004-电缆，5005-弹性顶针公头。
本发明的实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。
如图1所示，本发明提供了一种驱控一体化的智能电动机械手，包括手指10、手掌20、手腕40和智能控制模块50，所述手指10安装手掌20上，所述手掌20安装在手腕40顶部，所述智能控制模块50安装在手腕40底部；
如图2-4所示，所述手掌20包括手掌本体2001和两个滑块2002，所述两个滑块2002上均通过螺栓2006固定安装手指10，所述手掌本体2001内中心对称设置两个槽口200103，所述两个滑块2002分别滑动嵌入两个槽口200103内，并可在槽口内水平滑动，所述两个滑块2002的内侧均设置齿条200201；
如图5-7所示，所述手腕40包括手腕本体4001，所述手腕本体4001内安装减速器4004、电机4005和电路板4010，所述减速器4004安装在电机4005上方并连接电机4005的转轴，所述减速器4004的输出端通过平键4007连接齿轮4002， 所述齿轮4002套设在平键4007上，所述齿轮4002上设置定位槽，所述平键4007卡入定位槽内，所述减速器4004的输出端连接齿轮4002，所述齿轮4002设置于两个齿条200201之间且与两个齿条200201啮合连接，如图8-9所示，所述齿轮4002转动带动两侧的齿条200201左右移动，继而实现手指10的开合，所述电机4005的转轴的底部安装磁珠，所述磁珠位于电路板4010上方且正对电路板4010的磁感应区，电路板4010控制电机4005的转速和转向；
如图10-11所示，所述智能控制模块50包括控制基座5001、控制芯体5002和电缆5004，所述控制芯体5002安装在控制基座5001内部，所述控制芯体5002连接电缆5004，所述控制芯体5002内嵌入弹性顶针公头5005，所述电路板4010内嵌入弹性顶针母头，所述控制芯体5002通过弹性顶针公头5005和弹性顶针母头的触发连接电路板4010，所述手掌20上安装显示屏2004和按键2003，其中，显示屏2004和按键2003分别嵌入设置于手掌本体2001上的凹槽200102和凹孔200101中，所述显示屏2004和按键2003连接电路板4010，可直接通过按键、旋钮、码盘等方式设定运动参数。
该实施例驱控一体化的智能电动机械手的工作原理为：电缆5004为控制芯体5002供电，控制芯体5002通过弹性顶针公头5005和弹性顶针母头的触发连接电路板4010为电路板4010供电，电路板4010通电后，电路板4010上的磁感应区产生磁场，磁珠感应到磁场，电机4005通电，通过安装在手掌20的显示屏2004和按键2003设置具体运动参数并将参数信息传送至电路板4010，电路板4010控制电机4005的通电、断电、正反转及转速，当给电机4005通电后，电机4005工作，通过减速器4004实现扭矩的增大，并将扭矩传递到齿轮4002上，带动齿轮4002转动，驱动两个齿条200201反向运动，进而带动手指10的闭合与张开，实现手指10的抓放动作。
具体的，所述手指10和滑块2002上正对设置通孔，且通孔内安装定位销2005，用于实现手指10的精准定位。
具体的，所述手腕40上安装LED灯4008，所述LED灯4008连接电路板4010，LED灯4008亮表示指手通电，LED灯4008不亮表示指手没有通电，起警示作用，所述手腕40上还安装相机支架30，所述相机支架30上安装相机，所述相机连接电路板4010，用于捕获产品位置，便于产品的精准夹取。
具体的，还包括与所述电机4005连接的制动器4006，所述制动器4006安装在电机4005底部，在手指10抓取物体后，制动器4006限制电机4005的轴转动，进而防止电机4005在外力作用下可能发生的自转，手指10张开，被抓取物意外跌落，提高机械手的使用安全性。
具体的，还包括弹簧护套5003，所述弹簧护套5003套设在电缆5004上且设置于电缆5004和控制基座5001的接触位置，用于保护电缆5004，避免因外力折弯磨损。
具体的，所述手腕本体4001上设置若干减重孔400102，用于减轻重量。
其中，手指10为模块化设计，可以根据实际产品需求设置手指的端部的结构，如图12-15所示，当然还可以选择其他结构的手指。
综上，本发明的机械手通过电机驱动齿轮转动，进而控制手指的开合，手指移动精度高，实现机电控制一体化；该机械手为模块化设计，实现了低成本和较高的通用性，它的应用将大力拓展机械臂在服务业、特种环境及农业自动化领域的应用潜力；嵌入显示屏，可直接通过按键、旋钮、码盘等方式设定运动参数；手指结构多样化，可以根据夹取产品的需求选择不同结构的手指；外壳设有减重孔，减轻本体重量。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (9)

  1. 一种驱控一体化的智能电动机械手，其特征在于，包括手指、手掌、手腕和智能控制模块，所述手指安装在手掌上，所述手掌安装在手腕顶部，所述智能控制模块安装在手腕底部；
    所述手掌包括手掌本体和两个滑块，所述两个滑块上均固定安装手指，所述手掌本体内中心对称设置两个槽口，所述两个滑块分别滑动嵌入两个槽口内，所述两个滑块的内侧均设置齿条；
    所述手腕包括手腕本体，所述手腕本体内安装减速器、电机和电路板，所述减速器安装在电机上方并连接电机的转轴，所述减速器的输出端连接齿轮，所述齿轮设置于两个齿条之间且与两个齿条啮合连接，所述电机的转轴的底部安装磁珠，所述磁珠位于电路板上方且正对电路板的磁感应区；
    所述智能控制模块包括控制基座、控制芯体和电缆，所述控制芯体安装在控制基座内部，所述控制芯体连接电缆，所述控制芯体内嵌入弹性顶针公头，所述电路板内嵌入弹性顶针母头，所述控制芯体通过弹性顶针公头和弹性顶针母头的触发连接电路板。
  2. 根据权利要求1所述的驱控一体化的智能电动机械手，其特征在于，所述手指的底部通过螺栓固定安装在滑块上，所述手指和滑块上正对设置通孔，且通孔内安装定位销，用于实现手指的精准定位。
  3. 根据权利要求1所述的驱控一体化的智能电动机械手，其特征在于，所述手掌上安装显示屏和按键，所述显示屏和按键连接电路板。
  4. 根据权利要求1所述的驱控一体化的智能电动机械手，其特征在于，所述手腕上安装LED灯，所述LED灯连接电路板。
  5. 根据权利要求1所述的驱控一体化的智能电动机械手，其特征在于，所述减速器的输出端通过平键连接齿轮，所述齿轮套设在平键上，所述齿轮上设置定位槽，所述平键卡入定位槽内。
  6. 根据权利要求1所述的驱控一体化的智能电动机械手，其特征在于，还包括与所述电机连接的制动器，所述制动器安装在电机底部。
  7. 根据权利要求1所述的驱控一体化的智能电动机械手，其特征在于，还包括弹簧护套，所述弹簧护套套设在电缆上且设置于电缆和控制基座的接触位置，用于保护电缆，避免因外力折弯磨损。
  8. 根据权利要求1所述的驱控一体化的智能电动机械手，其特征在于，所述手腕本体上设置若干减重孔，用于减轻重量。
  9. 根据权利要求1所述的驱控一体化的智能电动机械手，其特征在于，所述手腕上还安装相机支架，所述相机支架上安装相机，所述相机连接电路板。
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