WO2021147667A1

WO2021147667A1 - Mechanical hand

Info

Publication number: WO2021147667A1
Application number: PCT/CN2021/070356
Authority: WO
Inventors: 程二亭; 韩久琦
Original assignee: 京东数科海益信息科技有限公司
Priority date: 2020-01-22
Filing date: 2021-01-05
Publication date: 2021-07-29
Also published as: CN111152247B; CN111152247A

Abstract

A mechanical hand: a palm (1), a finger (2) connected to the palm; a mounting base (4) arranged on the palm side of the palm; a drive part (3), one end thereof being connected to the mounting base by means of a pin shaft (5), and the other end thereof being hinged to the finger (2) in order to drive the finger to move relative to the palm; and a first limiting part arranged on the palm and configured to stop the drive part from rotating around the pin shaft. The drive part is connected to the mounting base by means of the pin shaft and the first limiting part restricts the drive part from rotating around the pin shaft, thereby implementing fixed mounting of the drive part. The mounting structure of the drive part is simple and low cost, with convenient operation and reliable fixation.

Description

Manipulator

The present disclosure is based on the application with the CN application number CN202010073321.X and the filing date on January 22, 2020, and claims its priority. The disclosure of the CN application is hereby incorporated into the present disclosure as a whole.

Technical field

The present disclosure relates to the field of automation equipment, and specifically to a manipulator.

Background technique

Generally, automation equipment includes an actuator and a driving part (such as a motor) that drives the movement of the actuator. The driving part is mostly fixed on the mounting seat through a threaded connection. The method of fixing the driving part by a threaded connection has a complicated structure and inconvenient installation and disassembly. And the problem of higher cost.

Public content

The present disclosure aims to provide a manipulator to solve the problem of complicated installation structure of the driving part in the related art.

According to an aspect of the embodiments of the present disclosure, a manipulator is provided, and the manipulator includes:

palm;

Fingers, connected to the palm;

Mounting seat, set on the palm side of the palm;

A driving part, one end is connected with the mounting seat through a pin shaft, and the other end is hinged with the fingers to drive the fingers to move relative to the palm; and

The first limiting part is arranged on the palm and configured to prevent the driving part from rotating around the pin shaft.

In some embodiments, the first limiting portion includes a mounting groove adapted to the driving portion, and the driving portion is at least partially embedded in the mounting groove to restrict the rotation of the driving portion around the pin shaft.

In some embodiments, a second limiting portion is further provided on the palm, and the second limiting portion is provided in the mounting groove and configured to restrict the driving portion from moving in a direction away from the pin axis along the thickness direction of the palm.

In some embodiments, the second limiting portion is provided at an end of the mounting groove that is away from the mounting seat along the thickness direction of the palm.

In some embodiments, the driving part is hingedly connected to an end of the mounting seat away from the palm of the hand.

In some embodiments, the driving part includes a driving part main body and a protruding part provided on the driving part main body, the protruding part is provided with a first pin hole, and the mounting seat is provided with a notch adapted to the protruding part And a second pin shaft hole coaxial with the first pin shaft hole, and the pin shaft penetrates the first pin shaft hole and the second pin shaft hole.

In some embodiments, the mount includes:

The base is attached to the palm side of the palm and connected with the palm;

The plate-shaped member is connected to the base and extends in a direction perpendicular to the palm of the hand, and the end of the plate-shaped member away from the base is connected with the driving part.

In some embodiments, the driving part includes:

The main body of the drive unit is connected to the mounting base;

The moving part can telescopically move relative to the main body of the driving part, and is connected with the finger to drive the finger to stretch and bend.

In some embodiments, the driving part includes a motor.

In some embodiments, the driving part includes a linear motor.

Applying the technical solution of the present disclosure, the driving part is connected to the mounting base through a pin shaft, and the first limiting part restricts the driving part from rotating around the pin shaft, thereby realizing the installation and fixing of the driving part. The installation structure of the driving part of this embodiment It is simple, easy to operate, low cost and reliable.

Through the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings, other features and advantages of the present disclosure will become clear.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present disclosure or related technologies, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or related technologies. Obviously, the accompanying drawings in the following description are merely the present invention. For some of the disclosed embodiments, those of ordinary skill in the art can obtain other drawings based on these drawings without creative labor.

Fig. 1 shows a schematic structural diagram of a manipulator according to an embodiment of the present disclosure;

FIG. 2 shows a schematic diagram of the structure of the palm of the manipulator according to the embodiment of the present disclosure;

FIG. 3 shows a schematic structural diagram of the palm of the manipulator according to the embodiment of the present disclosure from another angle;

FIG. 4 shows a schematic structural diagram of a mounting seat of a manipulator according to an embodiment of the present disclosure;

FIG. 5 shows a schematic structural diagram of a driving part of a manipulator according to an embodiment of the present disclosure;

Fig. 6 shows a schematic structural diagram of a hinge shaft of a manipulator according to an embodiment of the present disclosure.

In the picture:

1. Palm; 11. Mounting groove; 12, first end; 13, second end; 14, second limit part; 2. finger; 3. driving part; 31, driving part main body; 32, moving parts; 33 4. Protruding part; 4. Mounting seat; 41, base; 42, plate-shaped member; 43, second pin hole; 44, notch; 5. pin; 51, convex edge; 52, annular groove; 6. Circlip.

Detailed ways

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative, and in no way serves as any limitation to the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present disclosure.

FIG. 1 shows a schematic diagram of the structure of the manipulator of this embodiment, FIG. 2 shows a schematic diagram of the structure of the palm of the manipulator of this embodiment, and FIG. 3 shows a schematic diagram of the structure of the palm of this embodiment from another angle.

As shown in FIGS. 1 to 3, the manipulator of this embodiment includes a palm 1, a finger 2, a driving part 3, a mounting seat 4 and a first limiting part. The finger 2 is connected to the palm 1 and can move relative to the palm 1; the mounting seat 4 is provided on the palm side of the palm 1; one end of the driving part 3 is connected to the mounting seat 4 by a pin 5, and the other end is hinged with the finger 2 to drive the fingers 2 moves relative to the palm 1; the first limiting part is provided on the palm 1 and is configured to prevent the driving part 3 from rotating around the pin shaft 5.

In this embodiment, the driving part 3 is connected to the mounting base 4 through the pin shaft 5, and the first limiting part restricts the driving part 3 to rotate around the pin shaft 5, thereby realizing the installation and fixing of the driving part 3. The installation structure of the part 3 is simple, convenient to operate, low in cost and reliable in fixing.

In some embodiments, the driving part 3 includes a motor. In this embodiment, the driving part 3 includes a linear motor.

The first limiting portion includes a mounting groove 11 that is adapted to the driving portion 3, and the driving portion 3 is at least partially embedded in the mounting groove 11 to restrict the rotation of the driving portion 3 around the pin shaft 5.

The first end 12 of the mounting groove 11 prevents the driving part 3 from rotating in the first direction about the pin shaft 5, and the second end 13 of the mounting groove 11 restricts the driving part 3 from rotating in the second direction about the pin shaft 5. The direction is opposite.

The mounting base 4 is erected on the end of the mounting groove 11 away from the fingers 2, and the side of the driving part 3 away from the mounting groove 11 is connected to the end of the mounting base 4 away from the palm 1 by a pin 5.

The palm 1 is also provided with a second limiting portion 14, the second limiting portion 14 is provided in the mounting groove 11, and is configured to restrict the driving portion 3 to move away from the pin shaft 5 along the thickness direction of the palm 1, so as to prevent Due to the gap between the pin shaft 5 and the pin shaft hole, the driving part 3 is moved.

The second limiting portion 14 is provided at an end of the mounting groove 11 that is away from the mounting base 4 in the thickness direction of the palm 1, that is, the second limiting portion 14 is provided at the bottom of the mounting groove 11.

FIG. 4 shows a schematic diagram of the structure of the mounting base 4 of the manipulator of this embodiment, and FIG. 5 shows a schematic diagram of the structure of the driving part 3 of the manipulator of this embodiment. FIG. 6 shows a schematic diagram of the structure of the pin shaft 5 of this embodiment.

1 to 6, the driving part 3 includes a driving part main body 31 and a protruding part 33 provided on the driving part main body 31. The protruding part 33 is provided with a first pin hole, and the mounting seat 4 is provided with a The notch 44 matched with the protruding portion 33 and the second pin hole 43 coaxial with the first pin hole, the pin 5 is inserted in the first pin hole and the second pin hole 43.

The driving part 3 also includes a moving part 32 that can telescopically move relative to the driving part main body 31. The driving part main body 31 is connected to the mounting base 4 through the pin shaft 5, the moving part 32 is connected to the finger 2, and the moving part 32 is retracted into the driving part main body 31 to drive the finger 2 to bend toward the palm side of the palm 1, and the moving part 32 extends In the process of exiting the main body 31 of the driving part, the fingers 2 are driven to straighten.

The mounting base 4 includes a base 41 and a plate-shaped member 42. The base 41 is attached to the palm side of the palm 1 and connected to the palm 1; the plate-shaped member 42 is connected to the base 41 and extends along the direction perpendicular to the palm 1. Extend, the end of the plate-shaped member 42 away from the base 41 is connected to the driving part 3. The second pin hole 43 and the notch 44 are provided at one end of the plate-shaped member 42 far away from the base 41.

In some embodiments, the base 41 and the palm 1 are connected by bolts or screws.

Figure 6 shows a schematic structural view of the pin shaft 5 of this embodiment. As shown in Figure 6, the first end of the pin shaft 5 is provided with a protruding edge 51 in the radial direction, and the second end of the pin shaft 5 is provided with The annular groove 52, in the process of connecting the driving part 3 and the mounting base 4, pass the second end of the pin shaft 5 through the first pin shaft hole and the second pin shaft hole 43, and then clamp the circlip 6 in the annular groove 52 To prevent the pin from detaching from the pin hole.

The above are only exemplary embodiments of the present disclosure and are not intended to limit the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure. Inside.

Claims

A manipulator, including:

Palm (1);

Fingers (2), connected with the palm (1);

The mounting seat (4) is set on the palm side of the palm (1);

The driving part (3), one end is connected with the mounting seat (4) through a pin (5), and the other end is hinged with the finger (2) to drive the finger (2) relative to the palm (1) Exercise; and

The first limiting part is arranged on the palm (1) and configured to prevent the driving part (3) from rotating around the pin shaft (5).
The manipulator according to claim 1, wherein the first limiting portion includes a mounting slot (11) adapted to the driving portion (3), and the driving portion (3) is at least partially embedded in the mounting The groove (11) is used to restrict the driving part (3) from rotating around the pin shaft (5).
The manipulator according to claim 2, wherein the palm (1) is further provided with a second limiting portion (14), and the second limiting portion (14) is provided in the mounting groove (11) and configured to The driving part (3) is restricted from moving in a direction away from the pin shaft (5) along the thickness direction of the palm (1).
The manipulator according to claim 3, wherein the second limiting portion (14) is provided at an end of the mounting groove (11) that is away from the mounting seat (4) along the thickness direction of the palm (1) .
The manipulator according to claim 1, wherein the driving part (3) is hingedly connected with an end of the mounting seat (4) away from the palm (1).
The manipulator according to claim 1, wherein the driving part (3) comprises a driving part main body (31) and a protruding part (33) provided on the driving part main body (31), the protruding part (33) ) Is provided with a first pin hole, the mounting seat (4) is provided with a notch (44) adapted to the protrusion (33) and a first pin hole coaxial with the first pin hole Two pin shaft holes (43), the pin shaft (5) is penetrated in the first pin shaft hole and the second pin shaft hole (43).
The manipulator according to claim 1, wherein the mounting base (4) comprises:

The base (41) is attached to the palm side of the palm (1) and connected with the palm (1); and

The plate-shaped member (42) is connected to the base (41) and extends in a direction perpendicular to the palm (1). The plate-shaped member (42) is away from the base (41) One end is connected with the driving part (3).
The manipulator according to claim 1, wherein the driving part (3) comprises:

The driving part main body (31) is connected with the mounting seat (4); and

The moving part (32) can be telescopically moved relative to the main body (31) of the driving part, and is connected with the finger (2) to drive the finger (2) to stretch and bend.
The manipulator according to claim 1, wherein the driving part (3) includes a motor.
The manipulator according to claim 1, wherein the driving part (3) comprises a linear motor.