WO2021179597A1

WO2021179597A1 - Mechanical arm

Info

Publication number: WO2021179597A1
Application number: PCT/CN2020/120520
Authority: WO
Inventors: 雷国华
Original assignee: 雷国华
Priority date: 2020-03-09
Filing date: 2020-10-13
Publication date: 2021-09-16
Also published as: CN111360854A; CN111360854B

Abstract

A mechanical arm, relating to the technical field of fans. The mechanical arm comprises fingers (1), a palm (2), a forearm (3), an upper arm (4), and a fixed seat (5). One end of the upper arm (4) is fixed to the fixed seat (5), and the other end of the upper arm (4) is rotatably connected to one end of the forearm (3). The other end of the forearm (3) is rotatably connected to the palm (2). The multiple fingers (1) are rotatably connected to the palm (2). A rotation axis of the upper arm (4) intersects with a rotation axis of the forearm (3). The finger (1) comprises a first joint (6), a second joint (7), and a third joint (8) rotatably connected in sequence. The first joint (6) is rotatably connected to the palm (2). A first driving assembly comprises a first steel wire (9), a first push rod (10), and a first spring. The first push rod (10) is fixed to the fixed seat (5). A second driving assembly comprises a second steel wire (11), a second push rod (12), and a second spring. The second push rod (12) is fixed to the fixed seat (5). A third driving assembly comprises a third steel wire (13), a third push rod (14), and a third spring. The third push rod (14) is fixed to the fixed seat (5). The mechanical arm has fingers provided with multiple movable joints, is therefore flexible, and has great holding power.

Description

A manipulator

Technical field

The present invention relates to the technical field of manipulators, in particular to a manipulator.

Background technique

In industrial production, when the working environment is dangerous or heavy objects are grasped, it is necessary to use a manipulator to complete it. The existing manipulator generally drives the mechanical finger through a hydraulic drive link or directly drives the mechanical finger through a motor to realize the mechanical finger. However, this drive structure can only control the movements of each mechanical finger, but not each joint. It cannot grab or use tools and objects like a human hand. It has simple movements and low flexibility. The hydraulically driven linkage is used to drive the mechanical fingers. The mechanical fingers are directly driven by the motor. If the motor is installed on the manipulator palm, the area of the manipulator palm needs to be set according to the number of motors installed. When the number of motors installed is three or more, the manipulator palm If the area is too large and the number of installed motors is less than three, the flexibility of the manipulator is low.

Summary of the invention

The technical problem to be solved by the present invention is to provide a manipulator with many fingers with full joint movement, high flexibility and high grip.

In order to solve the above technical problems, the present invention provides a manipulator including fingers, palms, forearms, big arms and a fixing seat, one end of the big arm is fixed on the fixing seat, and the other end of the big arm One end of the forearm is rotatably connected, the other end of the forearm is rotatably connected with the palm, a plurality of the fingers are rotatably connected to the palm, and the axis of rotation of the forearm is connected to the axis of the forearm. The axis of rotation intersects;

The finger includes a first joint, a second joint, and a third joint that are rotationally connected in turn, the first joint is rotationally connected to the palm, and the first joint is connected with a first joint for driving the first joint to rotate. A drive assembly, the second joint is connected with a second drive assembly for driving the second joint to rotate, and the third joint is connected with a third drive assembly for driving the third joint to rotate;

The first drive assembly includes a first steel wire, a first push rod, and a first spring. The first push rod is fixed on the fixing seat. The output end of the first push rod is connected to the first steel wire. One end of the first steel wire is connected, the other end of the first steel wire is connected to the first joint, and the first spring is arranged between the palm and the first joint;

The second drive assembly includes a second steel wire, a second push rod, and a second spring. The second push rod is fixed on the fixing seat. The output end of the second push rod is connected to the second steel wire. One end of the second steel wire is connected to the second joint, and the second spring is arranged between the first joint and the second joint;

The third drive assembly includes a third steel wire, a third push rod, and a third spring. The third push rod is fixed on the fixing seat. The output end of the third push rod is connected to the third steel wire. One end of the third steel wire is connected to the third joint, and the other end of the third steel wire is connected to the third joint. The third spring is arranged between the second joint and the third joint.

As a preferred solution of the present invention, a first drive assembly is provided on the forearm, and the output end of the first drive assembly is connected to the palm and drives the palm to rotate up and down.

As a preferred solution of the present invention, a second drive assembly is provided on the big arm, and the output end of the second drive assembly is connected to the small arm and drives the small arm to rotate around its own axis.

As a preferred solution of the present invention, the first steel wire jacket is provided with a first guide wire tube, one end of the first guide wire tube is fixed to the fixing seat, and the other end of the first guide wire tube is fixed to On the palm.

As a preferred solution of the present invention, the second steel wire jacket is provided with a second guide wire tube, one end of the second guide wire tube is fixed to the fixing seat, and the other end of the second guide wire tube is fixed to The first joint.

As a preferred solution of the present invention, the third steel wire jacket is provided with a third guide wire tube, one end of the third guide wire tube is fixed to the fixing seat, and the other end of the third guide wire tube is fixed to The second joint.

As a preferred solution of the present invention, the first guide line tube, the second guide line tube and the third guide line tube are all connected to the fixing base through a wiring board, and a plurality of Through holes respectively for the first steel wire, the second steel wire and the third steel wire to pass through.

As a preferred solution of the present invention, a wire tube rack for accommodating the first guide wire tube, the second guide wire tube and the third guide wire tube is provided on the palm.

As a preferred solution of the present invention, the first steel wire, the second steel wire and the third steel wire are respectively connected to the first joint, the second joint and the third joint through a fixing pin.

Compared with the prior art, the manipulator according to the embodiment of the present invention has the following beneficial effects:

When the item needs to be loosened, the piston rod of the first push rod retracts and pulls the first wire backwards, which in turn drives the first joint to rotate upwards, the first spring is compressed, and the piston rod of the second push rod retracts and tightens backwards The second wire then drives the second joint to rotate upwards, the second spring is compressed, the piston rod of the third push rod retracts and pulls the third wire backwards, which in turn drives the third joint to rotate upwards, and the third spring is compressed. When the finger is in an open state, the object can be released; when the object needs to be grasped, the piston rod of the first push rod extends forward to relax the first steel wire, and the first joint rotates downwards under the action of the restoring force of the first spring. When it is against the object, the piston rod of the second push rod extends forward to loosen the second wire. The second joint rotates downward under the action of the restoring force of the second spring until it collides against the object, and the piston rod of the third push rod extends forward. Relax the third wire, the third joint rotates downward under the action of the restoring force of the third spring until it is against the object. At this time, the fingers are in a closed state to grasp the object; thus, each wire is controlled by the push rod. The rotation of the joints allows the manipulator to move flexibly, with high flexibility, and springs with different elastic coefficients can be selected according to the needs of the use. The maximum gripping force of the manipulator is large, and it can be used to grab heavy objects.

Description of the drawings

FIG. 1 is a schematic structural diagram of a manipulator provided by an embodiment of the present invention;

Figure 2 is a schematic diagram of the installation of the finger;

Figure 3 is a schematic diagram of the installation of the line pipe rack;

In the figure, 1. Finger; 2. Palm; 3. Forearm; 4. Big arm; 5. Fixing seat; 6. First joint; 7. Second joint; 8. Third joint; 9. First wire; 10. The first push rod; 11. The second steel wire; 12. The second push rod; 13, The third steel wire; 14, The third push rod; 15. The first guide wire tube; 16. The second guide wire tube; , The third guide line tube; 18. Wiring board; 19. Line tube rack; 20, fixed pin.

Detailed ways

The specific implementation of the present invention will be described in further detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but not to limit the scope of the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "horizontal", "upper", "lower", "front", "rear", "left", "left" are used in the present invention. The orientation or positional relationship indicated by "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, and are only for ease of description The present invention and simplified description do not indicate or imply that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance.

As shown in Figures 1 and 2, a preferred embodiment of a manipulator according to the preferred embodiment of the present invention includes a finger 1, a palm 2, a small arm 3, a large arm 4, and a fixing seat 5. The large arm 4 One end of the forearm is fixed on the fixing seat 5, the other end of the big arm 4 is rotatably connected with one end of the forearm 3, the other end of the forearm 3 is rotatably connected with the palm 2, and the palm 2 is connected to a plurality of said fingers 1 rotatably, the rotation axis of the big arm 4 intersects the rotation axis of the forearm 3; the finger 1 includes a first joint 6, a second joint 7 and The third joint 8, the first joint 6 is rotatably connected with the palm 2, the first joint 6 is connected with a first drive assembly for driving the first joint 6 to rotate, and the second joint 7 is connected with For the second drive assembly that drives the second joint 7 to rotate, the third joint 8 is connected with a third drive assembly for driving the third joint 8 to rotate;

The first drive assembly includes a first steel wire 9, a first push rod 10, and a first spring. The first push rod 10 is fixed on the fixed seat 5, and the output end of the first push rod 10 is connected to One end of the first steel wire 9 is connected, the other end of the first steel wire 9 is connected to the first joint 6, and the first spring is arranged between the palm 2 and the first joint 6;

The second drive assembly includes a second steel wire 11, a second push rod 12, and a second spring. The second push rod 12 is fixed on the fixing base 5, and the output end of the second push rod 12 is connected to One end of the second steel wire 11 is connected, the other end of the second steel wire 11 is connected to the second joint 7, and the second spring is arranged between the first joint 6 and the second joint 7 ；

The third drive assembly includes a third steel wire 13, a third push rod 14 and a third spring. The third push rod 14 is fixed on the fixed seat 5, and the output end of the third push rod 14 is connected to One end of the third wire 13 is connected, the other end of the third wire 13 is connected to the third joint 8, and the third spring is arranged between the second joint 7 and the third joint 8 .

The working process of the present invention is: when the article needs to be loosened, the piston rod of the first push rod 10 retracts and pulls the first steel wire 9 backward, thereby driving the first joint 6 to rotate upward, the first spring is compressed, and the second push The piston rod of the rod 12 retracts and pulls the second steel wire 11 backwards, which in turn drives the second joint 7 to rotate upward, the second spring is compressed, and the piston rod of the third push rod 14 retracts to pull the third steel wire 13 backwards. In turn, the third joint 8 is driven to rotate upward, and the third spring is compressed. At this time, the finger 1 is in an open state to realize the release of the object; when the object needs to be grasped, the piston rod of the first push rod 10 extends forward to loosen the first wire 9. The first joint 6 rotates downwards under the action of the restoring force of the first spring until it abuts against the article. The piston rod of the second push rod 12 extends forward to relax the second wire 11, and the second joint 7 is at the position of the second spring. Under the action of the restoring force, the piston rod of the third push rod 14 extends forward to loosen the third wire 13, and the third joint 8 rotates downward under the action of the restoring force of the third spring until it hits the object. In contrast, at this time, the finger 1 is in a closed state to realize grabbing objects.

Exemplarily, a first drive assembly is provided on the forearm 3, the output end of the first drive assembly is connected to the palm 2 and drives the palm 2 to rotate up and down, and the first drive assembly is a gear drive assembly Or a belt drive assembly. In this embodiment, the first drive assembly is a gear drive assembly, so that the manipulator can pick and place items from different heights.

Exemplarily, a second drive assembly is provided on the big arm 4, and the output end of the second drive assembly is connected to the small arm 3 and drives the small arm 3 to rotate around its own axis. The second drive assembly It is a gear drive assembly or a belt drive assembly. In this embodiment, the second drive assembly is a gear drive assembly, so that the manipulator can pick and place objects from different angles.

Exemplarily, the first steel wire 9 is sheathed with a first guide wire tube 15, one end of the first guide wire tube 15 is fixed on the fixing seat 5, and the other end of the first guide wire tube 15 Fixed on the palm 2 can well protect the first steel wire 9 and prolong the service life of the first steel wire 9. At the same time, it can guide the first steel wire 9 so that the first steel wire 9 can pull the first steel wire 9 better. Joint 6.

Exemplarily, the second steel wire 11 is sheathed with a second guide wire tube 16, one end of the second guide wire tube 16 is fixed on the fixing seat 5, and the other end of the second guide wire tube 16 Fixed on the first joint 6, can well protect the second wire 11, prolong the service life of the second wire 11, and at the same time, play a guiding role for the second wire 11, so that the second wire 11 can be pulled better. The second joint 7.

Exemplarily, the third steel wire 13 is sheathed with a third guide wire tube 17, one end of the third guide wire tube 17 is fixed on the fixing seat 5, and the other end of the third guide wire tube 17 Fixing on the second joint 7 can well protect the third steel wire 13 and prolong the service life of the third steel wire 13. At the same time, it can guide the third steel wire 13 so that the third steel wire 13 can be pulled better. The third joint 8.

Exemplarily, the first guide line tube 15, the second guide line tube 16 and the third guide line tube 17 are all connected to the fixing base through a wiring board 18, and a plurality of There are two through holes respectively for the first steel wire 9, the second steel wire 11 and the third steel wire 13 to pass through. When the steel wire moves, the guide wire tube is fixed, which can better protect the steel wire.

Exemplarily, as shown in FIG. 3, a wire tube rack 19 is provided on the palm for accommodating the first guide wire tube 15, the second guide wire tube 16, and the third guide wire tube 17, Make the guide line tube neatly placed.

Exemplarily, the first steel wire 9, the second steel wire 11, and the third steel wire 13 are connected to the first joint 6, the second joint 7 and the third joint 8 through a fixing pin 20, respectively. The connection increases the strength of the connection between the steel wire and the joint, and at the same time facilitates the installation and replacement of the steel wire.

To sum up, the embodiment of the present invention provides a manipulator, which controls the rotation of each joint of the finger 1 by pulling the wire through the push rod, so that the finger 1 can be fully movable, and the rotation of the palm 2 and the forearm 3 is controlled by the drive assembly. The manipulator can pick and place items at multiple angles. The manipulator has high flexibility and can choose springs with different elastic coefficients according to the needs of use. The maximum grip of the manipulator is large and can be used to grab heavy items; in addition, it can be used according to the use. The number of fingers 1 needs to be set. In this embodiment, there are five fingers 1 to imitate human hands to pick and place items, which can smoothly pick and place items. It can also control a single finger 1 alone or control multiple fingers 1 at the same time to achieve movement. wide range.

In the description of the present invention, it should be understood that the terms "installed", "connected", and "connected" in the present invention should be understood in a broad sense, unless otherwise clearly defined and limited. For example, it may be a fixed connection or It can be a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between the two components. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in the present invention can be understood in specific situations.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the technical principles of the present invention, several improvements and substitutions can be made. These improvements and substitutions It should also be regarded as the protection scope of the present invention.

Claims

A manipulator, characterized in that it comprises fingers, a palm, a small arm, a large arm, and a fixed seat, one end of the large arm is fixed on the fixed seat, and the other end of the large arm is connected to the fixed seat. One end is rotatably connected, the other end of the forearm is rotatably connected with the palm, a plurality of the fingers are rotatably connected to the palm, and the rotation axis of the big arm intersects the rotation axis of the forearm;

The finger includes a first joint, a second joint, and a third joint that are rotationally connected in turn, the first joint is rotationally connected to the palm, and the first joint is connected with a first joint for driving the first joint to rotate. A drive assembly, the second joint is connected with a second drive assembly for driving the second joint to rotate, and the third joint is connected with a third drive assembly for driving the third joint to rotate;

The first drive assembly includes a first steel wire, a first push rod, and a first spring. The first push rod is fixed on the fixing seat. The output end of the first push rod is connected to the first steel wire. One end of the first steel wire is connected, the other end of the first steel wire is connected to the first joint, and the first spring is arranged between the palm and the first joint;

The second drive assembly includes a second steel wire, a second push rod, and a second spring. The second push rod is fixed on the fixing seat. The output end of the second push rod is connected to the second steel wire. One end of the second steel wire is connected to the second joint, and the second spring is arranged between the first joint and the second joint;

The third drive assembly includes a third steel wire, a third push rod, and a third spring. The third push rod is fixed on the fixing seat. The output end of the third push rod is connected to the third steel wire. One end of the third steel wire is connected to the third joint, and the other end of the third steel wire is connected to the third joint. The third spring is arranged between the second joint and the third joint.
The manipulator according to claim 1, wherein a first driving assembly is provided on the forearm, and the output end of the first driving assembly is connected with the palm and drives the palm to rotate up and down.
The manipulator according to claim 1, wherein a second driving assembly is provided on the big arm, and the output end of the second driving assembly is connected with the forearm, and drives the forearm around Rotate on its own axis.
The manipulator according to claim 1, wherein the first steel wire jacket is provided with a first guide wire tube, one end of the first guide wire tube is fixed on the fixing seat, and the first The other end of the guide wire tube is fixed on the palm.
A manipulator according to claim 4, wherein the second steel wire jacket is provided with a second guide wire tube, one end of the second guide wire tube is fixed on the fixing seat, and the second The other end of the guide wire tube is fixed on the first joint.
The manipulator according to claim 5, wherein the third steel wire jacket is provided with a third guide wire tube, one end of the third guide wire tube is fixed on the fixing seat, and the third The other end of the guide wire tube is fixed on the second joint.
The manipulator according to claim 6, wherein the first guide line tube, the second guide line tube and the third guide line tube are all connected to the fixing base through a wiring board, so The connecting plate is provided with a plurality of through holes respectively through which the first steel wire, the second steel wire and the third steel wire can pass.
The manipulator according to claim 6, wherein the palm is provided with a wire tube rack for accommodating the first guide wire tube, the second guide wire tube and the third guide wire tube .
The manipulator according to claim 1, wherein the first steel wire, the second steel wire and the third steel wire are connected to the first joint, the second joint and the fixed pin respectively through a fixed pin. The third joint is connected.