CN112809715B - Manipulator and mechanical arm - Google Patents

Abstract

The invention discloses a manipulator and a manipulator. The manipulator comprises a base, a mechanical finger mechanism, a grasping driving mechanism and a displacement driving mechanism, wherein the mechanical finger mechanism is mounted on the base, and the mechanical finger mechanism comprises two mechanical finger assemblies; A grasping space for placing materials is formed between the two robotic finger assemblies; the grasping drive mechanism is used to drive the two robotic finger assemblies to move toward or away from each other, so as to make the two robotic finger assemblies cooperate or release the grasping accordingly. The material in the space; the displacement drive mechanism is used to drive the two mechanical finger assemblies to move relative to the base. When the material needs to be grasped, the displacement driving mechanism drives the two mechanical finger assemblies to move relative to the base to a finger position suitable for grasping the material, and the grasping driving mechanism can drive the two mechanical finger assemblies to cooperate with grasping the material. This embodiment The manipulator in the machine can not only be used to grab materials of various shapes, and has high versatility, but also has the advantages of simple structure and low cost.

Description

Manipulators and Arms

technical field

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

Background technique

Common manipulators in the prior art can grab a relatively single type of materials. For example, one type of manipulator is required to grab spherical materials, and another type of manipulator is required to grab rod-shaped materials, that is, materials of different shapes need to correspond to each other. Different manipulators are used to complete the grasping. Common manipulators have limited types of grasping materials and low versatility. However, the manipulators in the prior art that can grasp various materials are not only complex in structure, but also expensive to manufacture.

SUMMARY OF THE INVENTION

The main purpose of the present invention is to propose a manipulator and a manipulator, aiming at solving the problems of low versatility, complex structure and high cost of the manipulator.

In order to achieve the above object, the present invention proposes a manipulator, and the manipulator includes:

pedestal;

a robotic finger mechanism, the robotic finger mechanism is mounted on the base, the robotic finger mechanism includes two robotic finger assemblies, and a grasping space for placing materials is formed between the two robotic finger assemblies;

A grasping drive mechanism, the grasping driving mechanism is used to drive the two robotic finger assemblies to move toward or away from each other, so as to make the two robotic finger assemblies cooperate to grasp or release all the grasping spaces. the material;

A displacement driving mechanism, the displacement driving mechanism is used to drive the two mechanical finger assemblies to move relative to the base.

Preferably, the displacement drive mechanism includes a first drive assembly, a transmission plate and two link assemblies, two ends of the transmission plate are respectively hinged with the two link assemblies, and the two link assemblies are respectively hinged. They are respectively connected with two of the manipulator finger assemblies, and the first drive assembly is used to drive the transmission plate to rotate relative to the base, so that each of the link assemblies drives the corresponding manipulator finger assemblies to rotate relative to the base. The base rotates.

Preferably, the first drive assembly includes a drive rod and a first drive member, the transmission plate includes two interconnected transmission arms, one end of the drive rod is connected to the first drive member, and the drive rod The other end of the transmission arm is connected to the connection of the two transmission arms, the two transmission arms are respectively hinged with the two connecting rod assemblies, and the first driving member drives the two transmission arms through the driving rod. The arm rotates relative to the base.

Preferably, the link assembly includes a first link and a second link, the mechanical finger assembly includes at least two fingers, the at least two fingers include a middle finger and at least one side finger, the first link The first end of the rod is hinged with the transmission arm, the second end of the first link is hinged with the middle finger, the first end of the second link is hinged with the middle finger, and the second link is hinged with the middle finger The second end of the rod is hinged with the side fingers, and the number of the second links is consistent with the number of the side fingers and is hinged one-to-one.

Preferably, the base includes a housing with an accommodating cavity, the grasping driving mechanism and the displacement driving mechanism are accommodated in the accommodating cavity, and one side wall of the housing is provided with At least two guide grooves arranged at intervals, each of the fingers is disposed outside the casing, the number of the guide grooves is consistent with the number of the fingers, and each of the fingers can extend along the corresponding guide grooves The link assembly also includes a first transition rod and a second transition rod hinged to each other, the first transition rod is hinged with the second end of the second link, and the second transition rod is connected to the second transition rod. The side fingers are hinged; the displacement driving mechanism further includes a steering assembly, the steering assembly includes a gear and a rack meshed with the gear, the rack is arranged corresponding to the guide groove and extends from the guide groove The directions are the same, the number of the steering components is the same as the number of the side fingers, and the gears in each steering component are connected with the side fingers corresponding to the gear shafts.

Preferably, the middle finger is provided with a connecting shaft and a first hinge block connected with the connecting shaft, and both the second end of the first link and the first end of the second link are hinged to the first link. A hinge block, a first limit plate and a slider are sleeved on the connecting shaft, a first limit slot is formed between the first limit plate and the slider, and a first limit slot corresponding to the middle finger is formed. The side groove wall of the guide groove is limited to the first limit groove; the side finger is provided with a second hinge block connected with the gear shaft, and the second transition rod is hinged to the second hinge block , the gear shaft is sleeved with a second limit plate, a second limit groove is formed between the second limit plate and the gear, and the side groove of the guide groove corresponding to the side finger The wall limit is located in the second limiting groove.

Preferably, the grasping driving mechanism includes a second driving assembly, a rope holder, a reel, and a main drawstring wound around the reel, the main drawstring is connected to the rope holder, and each finger passes through the reel. The auxiliary pulling rope is connected with the rope frame, the second driving component is used to drive the reel to rotate relative to the base, and the reel passes through the rope frame, the main pulling rope and the auxiliary pulling The rope pulls or loosens each of the fingers to rotate each of the fingers toward or away from the gripping space.

Preferably, each of the fingers includes at least two knuckles, the auxiliary pull cord is passed through and connected to the two knuckles, and the auxiliary pull cord can pull at least one of the knuckles from the initial position toward the desired knuckle. The grasping space is bent to the grasping position; the two knuckles are hinged through a rotating shaft, a torsion spring is sleeved on the rotating shaft, and the two torsion arms of the torsion spring are respectively connected to the two knuckles correspondingly, and the torsion spring can drive at least one of the knuckles to rebound from the grabbing position away from the grabbing space to the initial position; and/or,

A guide rod is provided at the position of the rope rack corresponding to each of the guide grooves, and the guide rod and the guide groove extend in the same direction, and a sleeve is provided at one end of each of the auxiliary ropes close to the rope rack. Each of the sleeves is respectively sleeved on the corresponding guide rod, and can slide along the extending direction of the guide rod.

Preferably, the second driving assembly includes a driving bevel gear, a driven bevel gear and a second driving member, the driving bevel gear is engaged with the driven bevel gear, and the driven bevel gear is connected with the reel , the second driving member drives the driven bevel gear through the driving bevel gear to drive the reel to rotate relative to the base.

The present invention also provides a mechanical arm, which includes a base hinged in sequence, a first driving arm, a second driving arm and the above-mentioned manipulator.

In the manipulator of the present invention, the two mechanical finger assemblies are symmetrically arranged and mounted on the base. The grasping space formed between the two mechanical fingers is used to place materials. When the materials need to be grasped, the materials are first placed in the grasping space. Inside, the grasping drive mechanism drives the two mechanical finger assemblies to move toward each other, and the two mechanical finger assemblies cooperate to grasp the material located in the grasping space. When the spherical material needs to be grasped, the displacement drive mechanism drives the two mechanical finger assemblies to move relative to the base to the ring finger position, and the grasping drive mechanism can drive the two mechanical finger assemblies to cooperate with grasping the spherical material; when the grasping rod is required When the material is in shape, the displacement driving mechanism drives the two mechanical finger assemblies to move to the parallel finger position relative to the base, and the grasping driving mechanism can drive the two mechanical finger assemblies to cooperate with the grasping of the rod-shaped material. The manipulator in this embodiment can not only be used to grab materials of various shapes, and has high versatility, but also has the advantages of simple structure and low cost.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained according to the structures shown in these drawings without creative efforts.

1 is a three-dimensional schematic diagram of a robotic arm according to an embodiment of the present invention;

FIG. 2 is a three-dimensional schematic diagram of an embodiment of the present invention when the manipulator is not grasping the material;

3 is a schematic diagram of a partial structure of an embodiment of the present invention when the manipulator is not grasping materials;

FIG. 4 is a three-dimensional schematic diagram of an embodiment of the present invention when a manipulator grabs a material and is positioned at a ring finger position;

5 is a schematic diagram of a partial structure when a manipulator grabs a material and is positioned at a ring finger position according to an embodiment of the present invention;

6 is a schematic three-dimensional schematic diagram of an embodiment of the present invention when a manipulator grabs a material and is positioned in a parallel finger position;

7 is a schematic diagram of a partial structure when a manipulator grabs a material and is positioned in a parallel finger position according to an embodiment of the present invention;

8 is a schematic diagram of a partial structure of a manipulator from a viewing angle according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of a partial structure of a manipulator from another perspective according to an embodiment of the present invention;

FIG. 10 is a three-dimensional schematic diagram of a finger in a manipulator according to an embodiment of the present invention.

Description of reference numbers:

The realization, functional characteristics and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments.

Detailed ways

The technical solutions in this embodiment will be clearly and completely described below with reference to the drawings in this embodiment. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that all directional indications (such as up, down, left, right, front, back...) in this embodiment are only used to explain the relative relationship between various components under a certain posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly.

In addition, descriptions such as "first", "second", etc. in the present invention are only for descriptive purposes, and should not be construed as indicating or implying their relative importance or implicitly indicating the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.

In the present invention, unless otherwise expressly specified and limited, the terms "connected", "fixed" and the like should be understood in a broad sense, for example, "fixed" may be a fixed connection, a detachable connection, or an integrated; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be an internal communication between two elements or an interaction relationship between the two elements, unless otherwise explicitly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

The descriptions of the orientations of "upper", "lower", "front", "rear", "left" and "right" in the present invention are based on the orientations shown in Figs. 2 to the relative positional relationship between the components in the postures shown in FIG. 9, if the specific posture changes, the directional indication also changes accordingly.

The present invention provides a manipulator.

A manipulator 100 in this embodiment includes a base 10 , a manipulator mechanism 20 , a grasping drive mechanism 30 and a displacement drive mechanism 40 , wherein the manipulator mechanism 20 is installed on the base 10 , and the manipulator mechanism 20 Including two robot finger assemblies 21, a grab space 22 for placing materials is formed between the two robot finger assemblies 21; the grab driving mechanism 30 is used to drive the two robot finger assemblies The two robot finger assemblies 21 cooperate to grasp or release the material in the grasping space 22 ; the displacement driving mechanism 40 is used to drive the two robot finger assemblies 21 to move relative to the base 10 .

The manipulator 100 of the present invention can be used to grab materials of various shapes, such as spherical materials, square materials and rod-shaped materials, etc. The manipulator 100 uses different finger positions when grabbing different types of materials. When the material is used, a ring finger position can be used, as shown in Figure 4; when the manipulator 100 grabs a rod-shaped material, a parallel finger position can be used, as shown in Figure 6, in this embodiment, the manipulator 100 uses a ring finger position or parallel finger position to grasp materials are used as an example.

In this embodiment, as shown in FIG. 2 , FIG. 4 , FIG. 6 , FIG. 8 and FIG. 9 , the two robot finger assemblies 21 are symmetrically arranged and mounted on the base 10 . The grabbing space 22 is used to place materials. When the material needs to be grabbed, the material should be placed in the grabbing space 22 first, and the grabbing drive mechanism 30 drives the two robot finger assemblies 21 to move toward each other, and then the two robot finger assemblies 21 cooperate to grab the material. Take the material located in the grab space 22 . Understandably, when the material needs to be loosened, the grasping drive mechanism 30 drives the two manipulator finger assemblies 21 to move opposite each other, so that the two manipulator finger assemblies 21 can cooperate to loosen the material located in the grasping space 22, so that the material can be separated from the material. Grab Space 22.

As shown in FIG. 4 , when the spherical material needs to be grasped, the displacement driving mechanism 40 drives the two robot finger assemblies 21 to move to the ring finger position relative to the base 10 , and the grasping driving mechanism 30 can drive the two robot finger assemblies 21 Cooperate with grabbing spherical materials; as shown in FIG. 6 , when the rod-shaped material needs to be grabbed, the displacement driving mechanism 40 drives the two mechanical finger assemblies 21 to move to the parallel finger position relative to the base 10 , and the grabbing driving mechanism 30 is sufficient. The two mechanical finger assemblies 21 are driven to cooperate to grab the rod-shaped material. The manipulator 100 in this embodiment can not only be used for grasping materials of various shapes, and has high versatility, but also has the advantages of simple structure and low cost.

The displacement drive mechanism 40 of the manipulator 100 in this embodiment includes a first drive assembly 41 , a transmission plate 42 and two link assemblies 43 . The rod assemblies 43 are respectively connected with the two manipulator finger assemblies 21 correspondingly, and the first drive assembly 41 is used to drive the transmission plate 42 to rotate relative to the base 10 , so that each link assembly 43 drives the corresponding manipulator finger assemblies 21 to rotate relative to the base 10 .

When the manipulator 100 is used to grab the material, the connecting rod assembly 43 on the left and the connecting rod assembly 43 on the right move in the same way, the connecting rod assembly 43 on the left is the left connecting rod assembly 43a, and the connecting rod assembly 43 on the right The connecting rod assembly 43 is a right connecting rod assembly 43b, and the left connecting rod assembly 43a and the right connecting rod assembly 43b are symmetrical with each other. In this embodiment, only the left connecting rod assembly 43a is used as an example for description.

3, 5 and 7, the transmission plate 42 is connected to the first drive assembly 41, the left end of the transmission plate 42 is hinged with the left link assembly 43a, the right end of the transmission plate 42 is hinged with the right link assembly 43b, and the left end of the transmission plate 42 is hinged with the left link assembly 43a. The link assembly 43a and the right link assembly 43b are respectively connected with one robot finger assembly 21 . As shown in FIG. 2 to FIG. 9 , when the spherical material or rod-shaped material needs to be grasped, the first drive assembly 41 drives the transmission plate 42 to rotate relative to the base 10 , and the transmission plate 42 drives the left link assembly 43 a and the right link assembly 43b rotates relative to the base 10, so that each link assembly 43 drives the corresponding robot finger assembly 21 to rotate relative to the base 10 to a ring finger position or a parallel finger position, and the grasping driving mechanism 30 can drive the two robot finger assemblies 21. In cooperation with grasping spherical materials or rod-shaped materials, the manipulator 100 drives the two mechanical finger assemblies 21 through the displacement drive mechanism 40 to rotate relative to the base 10 to a finger position suitable for materials of different shapes, so as to grasp various shapes of materials. materials.

Further, the first drive assembly 41 includes a drive rod 411 and a first drive member 412 , the transmission plate 42 includes two interconnected transmission arms 421 , one end of the drive rod 411 is connected to the first drive member 412 , and the other end of the drive rod 411 One end is connected to the connection of the two transmission arms 421 , the two transmission arms 421 are respectively hinged with the two link assemblies 43 , and the first driving member 412 drives the two transmission arms 421 to rotate relative to the base 10 through the driving rod 411 .

As shown in FIG. 2 to FIG. 9 , the two transmission arms 421 are connected to each other, and the two transmission arms 421 are hinged with the left link assembly 43 a and the right link assembly 43 b respectively. The lower end of the driving rod 411 is connected with the first driving member 412. The first driving member 412 drives the two transmission arms 421 to rotate relative to the base 10 through the driving rod 411, and the two transmission arms 421 respectively drive the corresponding left The rod assembly 43a and the right link assembly 43b rotate relative to the base 10, so that each link assembly 43 drives its corresponding mechanical finger assembly 21 to rotate relative to the base 10 to a finger position suitable for materials of different shapes, so as to achieve Grab materials of various shapes.

In this embodiment, the link assembly 43 includes a first link 431 and a second link 432 , the mechanical finger assembly 21 includes at least two fingers 23 , and the at least two fingers 23 include a middle finger 24 and at least one side finger 25 . The first end of a link 431 is hinged with the transmission arm 421, the second end of the first link 431 is hinged with the middle finger 24, the first end of the second link 432 is hinged with the middle finger 24, and the second link 432 is hinged with the middle finger 24. The ends are hinged with the side fingers 25 , and the number of the second links 432 is consistent with the number of the side fingers 25 and is hinged one-to-one.

In one embodiment, as shown in FIGS. 2 to 9 , each mechanical finger assembly 21 includes three fingers 23, and the three fingers 23 include a middle finger 24 and two side fingers 25. In the left link assembly 43a, the first The right end of the first link 431 is the first end, the left end of the first link 431 is the second end, the left end of the second link 432 is the first end, the right end of the second link 432 is the second end, and the left link 432 is the second end. The assembly 43 a includes two second connecting rods 432 , and the second ends of the second connecting rods 432 are respectively hinged with the two side fingers 25 . The first driving member 412 drives the two transmission arms 421 to rotate relative to the base 10 through the driving rod 411 , and the transmission arm 421 connected to the left link assembly 43a drives the first link 431 in the left link assembly 43a to rotate relative to the base 10 , so that the first link 431 drives the middle finger 24 to translate relative to the base 10 to a ring finger position or a parallel finger position, and the middle finger 24 drives the second link 432 to rotate relative to the base 10 , so that the second link 432 drives its corresponding The side finger 25 translates relative to the base 10 and rotates to a ring finger position or a parallel finger position. The grasping driving mechanism 30 can drive the two mechanical finger assemblies 21 to cooperate, so that the manipulator 100 can grasp spherical materials or rod-shaped materials. It can be understood that the movement mode of the right link assembly 43b when the manipulator 100 grabs the material is similar to the movement mode of the left link assembly 43a, and details are not repeated here.

In another embodiment, each robotic finger assembly 21 may include two, four or other numbers of fingers 23 . The number of fingers 23 can be flexibly set according to actual usage requirements. The number of fingers 23 is not limited by the robotic hand 100 of the present invention.

The base 10 of the manipulator 100 in this embodiment includes a housing 11 having a accommodating cavity 111 . Both the grasping driving mechanism 30 and the displacement driving mechanism 40 are accommodated in the accommodating cavity 111 , and one side wall of the housing 11 is opened There are at least two guide grooves 112 arranged at intervals, and each finger 23 is disposed outside the housing 11 .

As shown in FIG. 2 to FIG. 9 , the housing 11 accommodates the grab driving mechanism 30 and the displacement driving mechanism 40 in the accommodating cavity 111 , and three guide grooves 112 are formed on the upper side wall of the housing 11 . The grooves 112 are arranged at intervals in the front-rear direction, and the three guide grooves 112 extend in the left-right direction. The middle finger 24 is installed in the guide groove 112 in the middle, and the two side fingers 25 are installed in the guide grooves 112 on the front and rear sides respectively. , the three fingers 23 are arranged outside the casing 11, when the displacement driving mechanism 40 drives the three fingers 23 to move relative to the casing 11, each finger 23 moves along the extending direction of the corresponding guide groove 112, and the guide groove 112 starts to a guiding role.

In this embodiment, as shown in FIG. 2 , FIG. 4 and FIG. 6 , the two guide grooves 112 corresponding to the two middle fingers 24 in the two robot finger assemblies 21 communicate with each other and are close to the two robot finger assemblies 21 . The two guide grooves 112 corresponding to the provided two side fingers 25 are communicated with each other, which has the advantages of simplified structure, omitted processing steps and easy fabrication. It can be understood that the number of the guide grooves 112 may also be two, four or other numbers, and the number of the guide grooves 112 is consistent with the number of the fingers 23 , and the number of the guide grooves 112 is not limited by the manipulator 100 of the present invention.

In this embodiment, the link assembly 43 further includes a first transition rod 433 and a second transition rod 434 that are hinged to each other, the first transition rod 433 is hinged with the second end of the second link 432, and the second transition rod 434 is connected to the side Finger 25 hinged. As shown in FIG. 2 to FIG. 9 , the second connecting rod 432 , the first transition rod 433 and the second transition rod 434 are hinged in sequence, and the first driving member 412 drives the two transmission arms 421 to rotate relative to the base 10 through the driving rod 411 . The transmission arm 421 drives the first link 431 in the corresponding link assembly 43 to rotate relative to the base 10, so that the first link 431 drives the middle finger 24 to translate along the extending direction of the corresponding guide groove 112 to the ring finger position or Parallel to the finger position, the middle finger 24 drives the second connecting rod 432 to rotate relative to the base 10, and then the second connecting rod 432 drives the corresponding first transition rod 433 and the second transition rod 434 to rotate relative to the base 10, and the second transition rod 434 drives the side fingers 25 to translate along the extending direction of the corresponding guide grooves 112 and rotate to a ring finger position or a parallel finger position, and the grasping driving mechanism 30 can drive the two mechanical finger assemblies 21 to cooperate, so that the robot hand 100 can grasp the spherical material or rod-shaped material. It can be understood that, in this embodiment, the number of the first transition rods 433 and the second transition rods 434 is the same as the number of the side fingers 25 and is hinged in one-to-one correspondence.

The displacement driving mechanism 40 of the manipulator 100 in this embodiment further includes a steering assembly 44 . The steering assembly 44 includes a gear 441 and a rack 442 engaged with the gear 441 . The rack 442 is provided corresponding to the guide groove 112 and is aligned with the extending direction of the guide groove 112 . Consistently, the number of the steering assemblies 44 is the same as the number of the side fingers 25 , and the gears 441 in each steering assembly 44 are connected to the corresponding side fingers 25 through the gear shaft 443 . As shown in FIG. 2 to FIG. 9 , the lower end of each side finger 25 is provided with a gear shaft 443 , the gear 441 is sleeved on the gear shaft 443 , the rack 442 extends in the left-right direction, and meshes with the gear 441 . When the mechanism 40 drives the side finger 25 to translate along the extending direction of the corresponding guide groove 112 and rotate to the ring finger position or the parallel finger position, the gear 441 and the rack 442 play the role of assisting the rotation of the side finger 25 . It can be understood that, in this embodiment, the number of the steering components 44 is the same as the number of the side fingers 25 and is set in a one-to-one correspondence.

In this embodiment, the middle finger 24 is provided with a connecting shaft 241 and a first hinge block 242 connected with the connecting shaft 241 , the second end of the first link 431 and the first end of the second link 432 are both hinged to the first hinge Block 242, the connecting shaft 241 is sleeved with a first limit plate 243 and a slider 244, a first limit groove 245 is formed between the first limit plate 243 and the slider 244, and the guide groove 112 corresponding to the middle finger 24 The side groove wall is limited to the first limit groove 245; the side finger 25 is provided with a second hinge block 251 connected to the gear shaft 443, the second transition rod 434 is hinged to the second hinge block 251, and the gear shaft 443 is sleeved There is a second limit plate 252 , a second limit groove 253 is formed between the second limit plate 252 and the gear 441 , and the side groove wall of the guide groove 112 corresponding to the side finger 25 is limited to the second limit groove 253 .

As shown in FIGS. 2 to 9 , the lower end of the middle finger 24 is provided with a connecting shaft 241 , the lower end of the connecting shaft 241 is provided with a first hinge block 242 , and the first limiting plate 243 and the slider 244 are both sleeved on the connecting shaft 241 , and the first limit plate 243 and the slider 244 are spaced apart, and a first limit groove 245 is formed between the first limit plate 243 and the slider 244 for the side groove wall of the guide groove 112 corresponding to the middle finger 24 to extend into The lower end of the side finger 25 is provided with a gear shaft 443, the lower end of the gear shaft 443 is provided with a second hinge block 251, the second limit plate 252 and the gear 441 are all sleeved on the gear shaft 443, and the second limit plate 252 It is spaced from the gear 441, and a second limiting groove 253 is formed between the second limiting plate 252 and the gear 441 for the side groove wall of the guide groove 112 corresponding to the side finger 25 to extend into. The displacement driving mechanism 40 drives the middle finger. When the 24 and the side finger 25 move along the extending direction of the corresponding guide groove 112 , the first limiting groove 245 and the second limiting groove 253 play a limiting role.

The grasping driving mechanism 30 of the manipulator 100 in this embodiment includes a second driving assembly 31 , a rope frame 32 , a reel 33 and a main pulling rope 34 wound around the reel 33 . The main pulling rope 34 is connected to the rope frame 32 . The fingers 23 are connected to the rope frame 32 through the auxiliary rope 35 , the second drive assembly 31 is used to drive the reel 33 to rotate relative to the base 10 , and the reel 33 is pulled or loosened by the rope frame 32 , the main rope 34 and the auxiliary rope 35 Each finger 23 is rotated toward or away from the grasping space 22 .

As shown in FIGS. 8 and 9 , the lower end of the main rope 34 is wound around the drum 33 , the upper end of the main rope 34 is connected to the rope frame 32 , the lower end of the auxiliary rope 35 is connected to the rope frame 32 , and the auxiliary rope 35 The upper end is connected with the finger 23, the number of auxiliary ropes 35 is three, and the three fingers 23 are respectively connected with the rope frame 32 through an auxiliary rope 35. When the displacement driving mechanism 40 drives the fingers 23 to move to the ring finger position or parallel During fingering, the second drive assembly 31 drives the reel 33 to rotate relative to the base 10 , and the reel 33 pulls each finger 23 through the main pull rope 34 , the rope frame 32 and the auxiliary pull rope 35 in turn, so that the two mechanical finger assemblies 21 Opposite movement, that is, each finger 23 rotates toward the grasping space 22 , so as to grasp the material located in the grasping space 22 . It can be understood that when the material needs to be loosened, the second drive assembly 31 drives the reel 33 to rotate in the opposite direction relative to the base 10, and the reel 33 relaxes each finger 23 through the main pull rope 34, the rope frame 32 and the auxiliary pull rope 35 in turn. In order to make the two robot finger assemblies 21 move opposite to each other, that is, each finger 23 rotates away from the grasping space 22, so as to loosen the material located in the grasping space 22, and the material is separated from the grasping space 22. In addition, the auxiliary pull rope The number of 35 is the same as the number of fingers 23 , and the number of auxiliary pull ropes 35 is not limited by the manipulator 100 of the present invention.

In this embodiment, each finger 23 includes at least two knuckles 231 , the auxiliary pull cord 35 is passed through and connected to the two knuckles 231 , and the auxiliary pull cord 35 can pull at least one knuckle 231 from the initial position toward the grasping space 22 is bent to the grasping position; the two knuckles 231 are hinged through the rotating shaft 232, a torsion spring 233 is sleeved on the rotating shaft 232, and the two torsion arms 234 of the torsion spring 233 are respectively connected with the two knuckles 231, and the torsion spring 233 At least one knuckle 231 can be driven to bounce back from the grabbing position back to the grabbing space 22 to the initial position.

In one embodiment, as shown in FIGS. 8 to 10 , each finger 23 includes three knuckles 231 , and the three knuckles 231 include a first knuckle 231a and two second knuckles 231b that are hinged in sequence, wherein A second knuckle 231b is disposed close to the casing 11, the first knuckle 231a is disposed away from the casing 11, the upper end of the auxiliary pull cord 35 is provided with a clip 352, and the auxiliary pull rope 35 passes through the two second knuckles 231b The first phalanx 231a and the lower end of each second phalanx 231b both have a horizontal surface 2311, the upper end of each second phalanx 231b has an inclined surface 2312, and the horizontal surface 2311 and The angle between the inclined surfaces 2312 is tapered along the direction away from the grabbing space 22 . The second driving assembly 31 drives the reel 33 to rotate relative to the base 10 , and the reel 33 pulls the fingers 23 through the main pull rope 34 , the rope frame 32 and the auxiliary pull rope 35 in sequence, then the angle between the horizontal plane 2311 and the inclined plane 2312 It is gradually reduced so that the horizontal surface 2311 is in contact with the inclined surface 2312, that is, the first knuckle 231a and the second knuckle 231b provided away from the housing 11 are bent from the initial position toward the grabbing space 22 to the grabbing position, thereby realizing grabbing Take the material located in the grab space 22 .

As shown in FIG. 8 to FIG. 10 , the first knuckle 231a and one of the second knuckles 231b disposed away from the housing 11 are hinged through a rotating shaft 232 , and a torsion spring 233 is sleeved on the rotating shaft 232 . One torsion arm 234 is connected with the first knuckle 231a, and the other torsion arm 234 of the torsion spring 233 is connected with the second knuckle 231b; the two second knuckles 231b are hinged through a rotating shaft 232, and the rotating shaft 232 is sleeved with a torsion arm 231b. The spring 233, the two torsion arms 234 of the torsion spring 233 are respectively connected with the two second knuckles 231b. The second drive assembly 31 drives the reel 33 to rotate relative to the base 10 , the reel 33 pulls the fingers 23 through the main pull rope 34 , the rope frame 32 and the auxiliary pull rope 35 in turn, and the torsion spring 233 is deformed by the torsion force, then the torsion spring 233 is in a twisted state. When the material needs to be loosened, the second drive assembly 31 drives the reel 33 to rotate in the opposite direction relative to the base 10. The reel 33 relaxes each finger 23 through the main rope 34, rope frame 32 and auxiliary rope 35 in turn. , under the action of the torsion force of the torsion spring 233, the first knuckle 231a and the second knuckle 231b provided away from the housing 11 are driven to rebound from the grabbing position back to the grabbing space 22 to the initial position, thereby realizing the loosening position in the grabbing position. When the material in the space 22 is taken, the material is separated from the grabbing space 22, and this embodiment utilizes the torsion force of the torsion spring 233 to realize the rebound of the knuckle 231, and the structural design is ingenious.

In another embodiment, each finger 23 may include two, four or other number of knuckles 231 , and the number of knuckles 231 can be flexibly set according to actual use requirements, and the number of knuckles 231 is not limited by the manipulator 100 of the present invention .

In this embodiment, guide rods 321 are provided at positions of the rope rack 32 corresponding to the guide grooves 112 . The guide rods 321 and the guide grooves 112 extend in the same direction. A sleeve is provided at one end of each auxiliary rope 35 close to the rope rack 32 . 351, each sleeve 351 is sleeved on the corresponding guide rod 321, and can slide along the extending direction of the guide rod 321. As shown in FIG. 8 to FIG. 10 , the guide rods 321 extend in the left-right direction, and the lower ends of each auxiliary cable 35 are provided with sleeves 351 , and each sleeve 351 is sleeved on the corresponding guide rods 321 respectively. When the driving mechanism 40 drives each finger 23 to move along the extending direction of the corresponding guide groove 112 , each auxiliary pull cord 35 drives the sleeve 351 to slide along the extending direction of the corresponding guide rod 321 , and the guide rod 321 plays a guiding role. It can be understood that the number of the guide rods 321 is the same as the number of the fingers 23 , and the manipulator 100 of the present invention does not limit the number of the guide rods 321 .

The second driving assembly 31 of the manipulator 100 in this embodiment includes a driving bevel gear 311 , a driven bevel gear 312 and a second driving member 313 . The driving bevel gear 311 is meshed with the driven bevel gear 312 , and the driven bevel gear 312 is connected with the reel. 33 is connected, and the second driving member 313 drives the driven bevel gear 312 through the driving bevel gear 311 to drive the reel 33 to rotate relative to the base 10 .

In one embodiment, as shown in FIGS. 8 to 10 , the second driving assembly 31 includes a second driving member, a driving bevel gear 311 and two driven bevel gears 312 , and the two driven bevel gears 312 are in the left-right direction. The two driven bevel gears 312 are arranged at intervals, and both the driven bevel gears 312 mesh with the driving bevel gear 311. A mounting bracket 331 is provided on the inner wall of the housing 11 corresponding to each driven bevel gear 312. The two driven bevel gears 312 are respectively Correspondingly installed with the two mounting brackets 331 , the number of the reel 33 , the main pulling rope 34 and the rope rack 32 is two. The two driven bevel gears 312 are driven by the driving bevel gear 311 to drive the corresponding reels 33 to rotate relative to the base 10 respectively, so that each reel 33 is pulled or The fingers 23 are loosened to grasp or loosen the material located in the grasping space 22, and the structure design is ingenious and reasonable.

The present invention also provides a robotic arm 200, which includes a base 201, a first driving arm 202, a second driving arm 203, and the aforementioned robotic arm 100 that are hinged in sequence. As shown in FIG. 1 , when the material needs to be grasped, first, the first driving arm 202 drives the manipulator 100 to rotate relative to the base 201 through the second driving arm 203 to move the manipulator 100 to the position of the material to be grasped, so that the The material is located in the grasping space 22. Then, the mechanical finger mechanism 20 can be adjusted to the finger position suitable for the material through the displacement driving mechanism 40 according to the shape of the material, and then the grasping driving mechanism 30 can be used to drive the mechanical finger mechanism 20 to grasp. Material located in the grab space 22 .

Understandably, when the material grasped by the manipulator 100 needs to be placed in a suitable position, first, the first driving arm 202 drives the manipulator 100 to rotate relative to the base 201 through the second driving arm 203, so as to move the manipulator 100 to the place where the material needs to be placed. Then, the grasping driving mechanism 30 drives the mechanical finger mechanism 20 to loosen the material located in the grasping space 22, so that the material is separated from the grasping space 22, and then the material is placed in a suitable position. The specific structure of the manipulator 100 refers to the above-mentioned embodiments. Since the manipulator 200 adopts all the technical solutions of the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here. .

The above descriptions are only the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Under the inventive concept of the present invention, the equivalent structural transformations made by the contents of the description and drawings of the present invention, or the direct/indirect application Other related technical fields are included in the scope of patent protection of the present invention.

Claims (6)

1. A robot hand, characterized by comprising:

a base;

the mechanical finger mechanism is arranged on the base and comprises two mechanical finger assemblies, and a grabbing space for placing materials is formed between the two mechanical finger assemblies;

the grabbing driving mechanism is used for driving the two mechanical finger assemblies to move towards or away from each other so as to correspondingly enable the two mechanical finger assemblies to grab or release the material in the grabbing space in a matched mode;

the displacement driving mechanism is used for driving the two mechanical finger assemblies to move relative to the base;

the displacement driving mechanism comprises a first driving assembly, a transmission plate and two connecting rod assemblies, two ends of the transmission plate are correspondingly hinged with the two connecting rod assemblies respectively, the two connecting rod assemblies are correspondingly connected with the two mechanical finger assemblies respectively, and the first driving assembly is used for driving the transmission plate to rotate relative to the base so that each connecting rod assembly drives the corresponding mechanical finger assembly to rotate relative to the base;

the first driving assembly comprises a driving rod and a first driving piece, the driving plate comprises two mutually connected driving arms, one end of the driving rod is connected to the first driving piece, the other end of the driving rod is connected to the joint of the two driving arms, the two driving arms are correspondingly hinged with the two connecting rod assemblies respectively, and the first driving piece drives the two driving arms to rotate relative to the base through the driving rod;

the connecting rod assembly comprises a first connecting rod and a second connecting rod, the mechanical finger assembly comprises at least two fingers, the at least two fingers comprise a middle finger and at least one side finger, the first end of the first connecting rod is hinged with the transmission arm, the second end of the first connecting rod is hinged with the middle finger, the first end of the second connecting rod is hinged with the middle finger, the second end of the second connecting rod is hinged with the side finger, and the number of the second connecting rods is consistent with that of the side fingers and the second connecting rods are hinged in a one-to-one correspondence manner;

the base comprises a shell with an accommodating cavity, the grabbing driving mechanism and the displacement driving mechanism are accommodated in the accommodating cavity, at least two guide grooves arranged at intervals are formed in the wall of one side of the shell, each finger is arranged outside the shell, the number of the guide grooves is consistent with that of the fingers, and each finger can move along the extending direction of the corresponding guide groove; the connecting rod assembly further comprises a first transition rod and a second transition rod which are hinged with each other, the first transition rod is hinged with the second end of the second connecting rod, and the second transition rod is hinged with the side finger; the deflection driving mechanism further comprises steering assemblies, each steering assembly comprises a gear and a rack meshed with the gear, the racks are arranged corresponding to the guide grooves and are consistent with the extending directions of the guide grooves, the number of the steering assemblies is consistent with that of the side fingers, and the gears in the steering assemblies are connected with the side fingers corresponding to the side fingers through gear shafts.

2. The manipulator according to claim 1, wherein the middle finger is provided with a connecting shaft and a first hinge block connected with the connecting shaft, the second end of the first connecting rod and the first end of the second connecting rod are both hinged to the first hinge block, a first limiting plate and a sliding block are sleeved on the connecting shaft, a first limiting groove is formed between the first limiting plate and the sliding block, and a side groove wall of the guide groove corresponding to the middle finger is limited in the first limiting groove; the other finger be provided with the articulated piece of second that the gear shaft is connected, the second transition pole articulate in the articulated piece of second, the cover is equipped with the second limiting plate on the gear shaft, the second limiting plate with be formed with the second spacing groove between the gear, with other finger corresponds the side groove wall of guide way is spacing in the second spacing inslot.

3. The manipulator according to any one of claims 1 or 2, wherein the grasping drive mechanism includes a second drive unit, a rope holder, a reel, and a main pulling rope wound around the reel, the main pulling rope being connected to the rope holder, each of the fingers being connected to the rope holder via a sub pulling rope, the second drive unit being configured to drive the reel to rotate relative to the base, the reel being configured to pull or release each of the fingers via the rope holder, the main pulling rope, and the sub pulling rope, so that each of the fingers rotates toward or away from the grasping space.

4. The manipulator according to claim 3, wherein each finger includes at least two knuckles, the secondary pull string is inserted through and connected to the two knuckles, and the secondary pull string can pull at least one of the knuckles to bend from an initial position toward the grasping space to a grasping position; the two knuckles are hinged through a rotating shaft, a torsion spring is sleeved on the rotating shaft, two torsion arms of the torsion spring are correspondingly connected with the two knuckles respectively, and the torsion spring can drive at least one knuckle to rebound from a grabbing position to the grabbing space to an initial position; and/or the presence of a gas in the gas,

the rope frame is provided with guide rods corresponding to the guide grooves, the extension directions of the guide rods and the guide grooves are the same, one end of each auxiliary pull rope, close to the rope frame, is provided with a sleeve, and each sleeve is sleeved on the corresponding guide rod and can slide along the extension direction of the guide rod.

5. The manipulator according to claim 3, wherein the second driving assembly comprises a driving bevel gear, a driven bevel gear and a second driving member, the driving bevel gear is engaged with the driven bevel gear, the driven bevel gear is connected with the winding drum, and the second driving member drives the driven bevel gear to drive the winding drum to rotate relative to the base through the driving bevel gear.

6. A robot arm comprising a base, a first drive arm, a second drive arm, and a robot arm according to any one of claims 1 to 5, which are hinged in this order.

Images