CN106041989B - A kind of mechanical joint for two-way catching robot - Google Patents
A kind of mechanical joint for two-way catching robot Download PDFInfo
- Publication number
- CN106041989B CN106041989B CN201610507910.8A CN201610507910A CN106041989B CN 106041989 B CN106041989 B CN 106041989B CN 201610507910 A CN201610507910 A CN 201610507910A CN 106041989 B CN106041989 B CN 106041989B
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- bindiny mechanism
- support
- shaft
- rotating shaft
- catching robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of mechanical joints for two-way catching robot, first rotating shaft and the second shaft including coaxial arrangement, the transmission gear being sheathed in first rotating shaft, first rotating shaft and first support, second support in the second shaft are set, and sliding mechanism, sliding mechanism includes the first bindiny mechanism and the second bindiny mechanism that can be turned round relatively, wherein the first bindiny mechanism is set in first rotating shaft, second bindiny mechanism is set in the second shaft, and friction plate is equipped between the first bindiny mechanism and the second bindiny mechanism；First support is equipped with driving device, and driving device is connected with transmission gear.Its structure is simple, at low cost, and without complicated control system and calculation method, mechanical joint uses pure mechanic structure, it is matched with mechanical finger, suitable for grabbing object of different shapes, including irregularly shaped object, two-way crawl and stable grasp force can be kept.
Description
Technical field
The present invention relates to the technical field of mechanical joint, in particular to a kind of machinery for two-way catching robot closes
Section.
Background technique
Articulated robot, also referred to as joint arm robot or joint Manipulator arm are most common in current industrial circle
One of form of industrial robot, the mechanical automation operation suitable for many industrial circles.For articulated robot, joint
It is its important component, realizes the relative motion of mechanical arm.
When using mechanical arm crawl object, the mechanical finger of several mutually coordinated movements, manipulator can be arranged in end
Finger is respectively divided into several sections of and is connected by joint.Currently, for grabbing different size, object of different shapes, mechanical finger
Adaptive degree is not also high.
Chinese patent application prospectus CN104303709A discloses a kind of dragonfly pawl with bionic geometric structure feature
Formula end effector, the manipulator are assisted by frame-type mechanical platform, intelligence control system, feedback system, transmission system, electric power
System composition；When manipulator contacts fruits and vegetables, by the rotation amplitude of the force value feedback regulation servo motor of sensor, to come
Adjustable claw refers to the tightening or diastole of internal high-strength flexible polyamide rope, and then realizes to different size, fruit of different shapes
Vegetable stablize the purpose of crawl, improves the end effector i.e. adaptive ability of mechanical finger, but the knot of this design
A possibility that structure and control method are all complex, and in-between link is more, break down and fail is bigger also, tired
The error (including measurement error, calculating error etc.) of meter is also bigger.
Summary of the invention
The purpose of invention: the present invention discloses a kind of mechanical joint for two-way catching robot, and structure is simple, cost
Low, without complicated control system and calculation method, mechanical joint uses pure mechanic structure, it is matched with mechanical finger,
Suitable for grabbing object of different shapes, including irregularly shaped object, two-way crawl may be implemented and keep stable grasp force.
Technical solution: in order to achieve the goal above, the invention discloses a kind of machinery for two-way catching robot to close
Section, first rotating shaft and the second shaft including coaxial arrangement, the transmission gear being sheathed in first rotating shaft are arranged in first rotating shaft
With first support, second support and the sliding mechanism in the second shaft, sliding mechanism includes the first connection that opposite can be turned round
Mechanism and the second bindiny mechanism, wherein the first bindiny mechanism is set in first rotating shaft, the second bindiny mechanism is set in second turn
On axis, friction plate is equipped between the first bindiny mechanism and the second bindiny mechanism；First support is equipped with driving device, driving device
It is connected with transmission gear.The mechanical joint of this design is for connecting external mechanical finger, when grabbing object, driving device
Mechanical articulation is driven, thus mechanical finger is driven to firmly grasp object；When mechanical finger tightening object reaches a certain level, i.e.,
When object reaches setting value to the reaction force of mechanical finger, sliding mechanism starts to skid to play a protective role, while mechanical
Finger halts；In this way, it is not damaged not only to can protect the components such as gear, motor, more makes grasp force keep stablizing, prevent
Grab bad object；In addition, when object is loosened, when object reduces to the reaction force of mechanical finger, is lower than setting value, skidding machine
Structure stops skidding, and mechanical finger further rotates promptly object, can keep stable grasp force with this, and be suitable for not similar shape
The object of shape, including irregularly shaped object make to grab process safety, reliable；First bindiny mechanism and the second bindiny mechanism it is opposite
Revolution has amphicheirality, has not only realized the slipping protection of positive crawl, but also realizes the slipping protection reversely grabbed.
Further, above-mentioned a kind of mechanical joint for two-way catching robot, during second bindiny mechanism is equipped with
Cavity body, friction plate are arranged on the hollow cavity body wall of the second bindiny mechanism；The setting of first bindiny mechanism one end is in the second connection
In the hollow cavity of mechanism, contacted with friction plate.This design structure is simple, realizes the function of slipping protection, if external
Active force overcomes frictional force to enough its of torque that the second bindiny mechanism generates, then the second bindiny mechanism is with respect to the first bindiny mechanism
Skidding function is realized in rotation, if external force reduces or disappears, frictional force connects the second bindiny mechanism and the first bindiny mechanism
Knot.
Further, above-mentioned a kind of mechanical joint for two-way catching robot, the first support include the first bottom
Plate and two the first side plates for being separately positioned on the first bottom plate both ends, second support include the second bottom plate and are separately positioned on second
Two second side plates at bottom plate both ends；First rotating shaft one end is connected with the first side plate, the second side plate respectively, second shaft one end
It is connected respectively with the first side plate of the other side, the second side plate.This design structure is compact and secured, stablizes.
Further, above-mentioned a kind of mechanical joint for two-way catching robot, the driving device includes motor, with
And the train of reduction gears being connect with motor, wherein train of reduction gears is connected with transmission gear, and motor is fixedly mounted on first
On frame.This design motor is directly installed in first support, it is possible to reduce component quantity saves production cost.
Further, above-mentioned a kind of mechanical joint for two-way catching robot, it is characterised in that: described first
Frame, second support are connected with external mechanical finger.
Further, above-mentioned a kind of mechanical joint for two-way catching robot, second bindiny mechanism it is hollow
Cavity wall is equipped with the groove of installation friction plate.This design can play the role of fixed friction piece, prevent friction plate from existing
The situation for deforming, shifting or even falling off under frictional force effect.
Further, above-mentioned a kind of mechanical joint for two-way catching robot, the friction plate be one group in a ring
The friction plate of array-like distribution.The size of manipulator grasp force be it is relevant with frictional force, Such a design reduces friction plates
Usable floor area, it is appropriate to reduce frictional force, prevent grasp force from crossing macrolesion object；In addition, frictional force can rub according to increase and decrease
Pad quantity adjusts.
Further, above-mentioned a kind of mechanical joint for two-way catching robot, the groove are one group of battle array in a ring
The groove of column-shaped distribution.This design is provided with multiple grooves, and a part of groove of selecting for the property of can choose is packed into friction plate, uses
In adjustment frictional force, applicability is good, flexibility is high.
Above-mentioned technical proposal can be seen that the invention has the following beneficial effects: of the present invention a kind of for two-way
The mechanical joint of catching robot, structure is simple, at low cost, without complicated control system and calculation method, mechanical joint
Using pure mechanic structure, it is matched with mechanical finger, is suitable for grabbing object of different shapes, including irregularly shaped object,
And stable grasp force can be kept；It is not damaged to can protect the components such as gear, motor, more prevents from grabbing bad object；Both it realized
The slipping protection of forward direction crawl, and realize the slipping protection reversely grabbed；Connecting shaft high reliablity when normal work, friction plate peace
Dress is stablized, and frictional force is adjustable, and applicability is good.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the mechanical joint for two-way catching robot of the present invention；
In figure: 1- first rotating shaft, the second shaft of 2-, 3- transmission gear, 4- first support, the first bottom plate of 41-, 42- first
Side plate, 5- second support, the second bottom plate of 51-, the second side plate of 52-, 6- sliding mechanism, the first bindiny mechanism of 61-, 62- second connect
Connection mechanism, 63- friction plate, 7- driving device, 71- motor, 72- train of reduction gears.
Specific embodiment
With reference to the accompanying drawing, the specific embodiment of the invention is described in detail.
Embodiment
A kind of mechanical joint for two-way catching robot of the invention, as shown in Figure 1, including the first of coaxial arrangement
Shaft 1 and the second shaft 2, the transmission gear 3 being sheathed in first rotating shaft 1 are arranged in first rotating shaft 1 and the second shaft 2
First support 4, second support 5 and sliding mechanism 6 and driving device 7, sliding mechanism 6 include the first company that opposite can be turned round
Connection mechanism 61 and the second bindiny mechanism 62, wherein the first bindiny mechanism 61 is set in first rotating shaft 1, the second 62 sets of bindiny mechanism
It is located in the second shaft 2, friction plate 63 is equipped between the first bindiny mechanism 61 and the second bindiny mechanism 62；Second bindiny mechanism 62
Equipped with hollow cavity, friction plate 63 is arranged on the hollow cavity body wall of the second bindiny mechanism 62；First bindiny mechanism, 61 one end is set
It sets in the hollow cavity of the second bindiny mechanism 62, is contacted with friction plate 63；On the hollow cavity body wall of second bindiny mechanism 62
The groove of one group of circular array shape distribution equipped with installation friction plate 63, wherein the installation for the property of can choose enters friction plate
63, frictional force size, the distribution of 63 circular array shape of friction plate are adjusted by increase and decrease 63 quantity of friction plate.
First support 4, second support 5 are connected with external mechanical finger, and first support 4 includes the first bottom plate 41 and divides
Two first side plates 42 at 41 both ends of the first bottom plate are not set, and second support 5 includes the second bottom plate 51 and is separately positioned on the
Two second side plates 52 at two bottom plates, 51 both ends；1 one end of first rotating shaft is connected with the first side plate 42, the second side plate 52 respectively,
Second shaft, 2 one end is connected with the first side plate 42 of the other side, the second side plate 52 respectively；First support 4 is equipped with driving dress
7 are set, driving device 7 includes motor 71, and the train of reduction gears 72 connecting with motor 71, wherein train of reduction gears 72 and transmission
Gear 3 is connected, and motor 71 is fixedly mounted in first support 4.
Transmission gear 3 is fixedly connected with first rotating shaft 1, and the first bindiny mechanism 61 is fixedly connected with first rotating shaft 1, and second connects
Connection mechanism 62 is fixedly connected with the second shaft 2, and the first side plate 42 is rotatablely connected with first rotating shaft 1 and is equipped with bearing, with second turn
Axis 2 is rotatablely connected and is equipped with bearing；Second side plate 52 is rotatablely connected with first rotating shaft 1 and is equipped with bearing, fixed with the second shaft 2
Connection.
For mechanical joint for connecting external mechanical finger, working principle is as follows: when grabbing object, driving device driving is passed
Moving gear 3, first rotating shaft 1 and the rotation of the first bindiny mechanism 61, normally when crawl, under frictional force effect, the first bindiny mechanism
61 drive the second bindiny mechanism 62, the second shaft 2 and second support 5 to rotate, i.e., drive mechanical finger grabs object and gradually receives
Tight object, mechanical finger can generate grasp to object at this time, correspondingly, object can generate reaction force to mechanical finger,
Grasp is gradually increased with reaction force in tightening process, when the torque that reaction force generates the second bindiny mechanism 62 enough its
Overcome frictional force, then the second bindiny mechanism 62 rotates relative to the first bindiny mechanism 61, realizes and skids, before mechanical finger stops at this time
Into；If manipulator carries out short distance carrying, simple for structure and control, motor 71 can be held with continuous running, sliding mechanism 6
It is continuous to skid；When object is loosened, and object reduces to the reaction force of mechanical finger, is lower than setting value, sliding mechanism 6 stops
Skid, the first bindiny mechanism 61 drives the second bindiny mechanism 62, the second shaft 2 and second support 5 to continue to rotate, mechanical finger into
One step tightens object, avoids object from because loosening and falling off caused by shift in position, being especially suitable for not advising in the process of grasping with this
The then crawl of object, and grasp force can keep stable, grasp force can friction parameters by friction plate 63, size sum number
Amount is to calculate and design.When the cavity that manipulator protrudes into hollow body grabs object, it only need to first close up mechanical finger, protrude into chamber
Reversely expansion mechanical finger (reversion of motor 71) again after in vivo, basic principle is same as above.
The above is only a preferred embodiment of the present invention, it should be noted that for those skilled in the art
For, without departing from the principle of the present invention, several improvement can also be made, these improvement also should be regarded as guarantor of the invention
Protect range.
Claims (3)
1. a kind of working method of the mechanical joint for two-way catching robot, the mechanical joint of two-way catching robot include
The first rotating shaft (1) and the second shaft (2) of coaxial arrangement, the transmission gear (3) being sheathed on first rotating shaft (1), setting is the
First support (4), second support (5) and sliding mechanism (6) in one shaft (1) and the second shaft (2), sliding mechanism (6)
Including the first bindiny mechanism (61) and the second bindiny mechanism (62) that can be turned round relatively, wherein the first bindiny mechanism (61) is set in
In first rotating shaft (1), the second bindiny mechanism (62) is set on the second shaft (2), the first bindiny mechanism (61) and the second connection
Friction plate (63) are equipped between mechanism (62)；Second bindiny mechanism (62) is equipped with hollow cavity, and friction plate (63) setting exists
On the hollow cavity body wall of second bindiny mechanism (62)；First bindiny mechanism (61) one end is arranged in the second bindiny mechanism (62)
In cavity body, contacted with friction plate (63)；The hollow cavity body wall of second bindiny mechanism (62) is equipped with installation friction plate
(63) groove；The friction plate (63) is the friction plate (63) of one group of circular array shape distribution；The groove is one group
The groove of circular array shape distribution；First support (4) is equipped with driving device (7), driving device (7) and transmission gear (3)
It is connected, the first support (4), second support (5) are connected with external mechanical finger；
It is characterized by: a kind of working method of above-mentioned mechanical joint for two-way catching robot: including the following steps:
When grabbing object, driving device drives transmission gear (3), first rotating shaft (1) and the first bindiny mechanism (61) rotation, in frictional force
Under effect, the first bindiny mechanism (61) drives the second bindiny mechanism (62), the second shaft (2) and second support (5) rotation, i.e. band
Dynamic external mechanical finger crawl object simultaneously gradually tightens object, and external mechanical finger can generate grasp to object at this time, accordingly
, object can generate reaction force to external mechanical finger, and grasp is gradually increased with reaction force in tightening process, when anti-
Active force overcomes frictional force to enough its of torque that the second bindiny mechanism (62) generates, then the second bindiny mechanism (62) opposite first
Bindiny mechanism (61) rotation, realizes and skids, and external mechanical finger halts at this time.
2. a kind of working method of mechanical joint for two-way catching robot according to claim 1, feature exist
In: the first support (4) includes the first bottom plate (41) and two the first side plates for being separately positioned on the first bottom plate (41) both ends
(42), second support (5) includes the second bottom plate (51) and two the second side plates for being separately positioned on the second bottom plate (51) both ends
(52)；First rotating shaft (1) one end is connected with the first side plate (42), the second side plate (52), the second shaft (2) one end and the other side
The first side plate (42), the other side the second side plate (52) be connected.
3. a kind of working method of mechanical joint for two-way catching robot according to claim 1, feature exist
In: the driving device (7) includes motor (71), and the train of reduction gears (72) connecting with motor (71), wherein reducing gear
Wheel group (72) is connected with transmission gear (3), and motor (71) is fixedly mounted on first support (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610507910.8A CN106041989B (en) | 2016-07-01 | 2016-07-01 | A kind of mechanical joint for two-way catching robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610507910.8A CN106041989B (en) | 2016-07-01 | 2016-07-01 | A kind of mechanical joint for two-way catching robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106041989A CN106041989A (en) | 2016-10-26 |
| CN106041989B true CN106041989B (en) | 2019-03-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610507910.8A Active CN106041989B (en) | 2016-07-01 | 2016-07-01 | A kind of mechanical joint for two-way catching robot |
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| Country | Link |
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| CN (1) | CN106041989B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3013264B2 (en) * | 1991-02-26 | 2000-02-28 | 光洋精工株式会社 | Magnetic levitation actuator |
| CN101058184A (en) * | 2007-06-07 | 2007-10-24 | 上海交通大学 | Simulative mechanical hand with under-driven adaptive mechanism |
| CN101234489A (en) * | 2008-01-04 | 2008-08-06 | 清华大学 | Belt wheel under-driven robot finger device |
| CN202579705U (en) * | 2012-02-27 | 2012-12-05 | 浙江中益机械有限公司 | Torque limiter |
| CN103122948A (en) * | 2011-11-20 | 2013-05-29 | 江苏仁安高新技术有限公司 | Torsion overload safety protection device |
| CN203051665U (en) * | 2013-02-21 | 2013-07-10 | 宁波拓尔电机有限公司 | Intermediate slipping device of gearbox |
| CN205064614U (en) * | 2015-10-29 | 2016-03-02 | 芜湖美智空调设备有限公司 | Excessive pressure shaft coupling is prevented to manipulator friction -type |
| CN205735005U (en) * | 2016-07-01 | 2016-11-30 | 苏州塞默机械有限公司 | A kind of two-way mechanical joint for catching robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7296835B2 (en) * | 2005-08-11 | 2007-11-20 | Anybots, Inc. | Robotic hand and arm apparatus |
-
2016
- 2016-07-01 CN CN201610507910.8A patent/CN106041989B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3013264B2 (en) * | 1991-02-26 | 2000-02-28 | 光洋精工株式会社 | Magnetic levitation actuator |
| CN101058184A (en) * | 2007-06-07 | 2007-10-24 | 上海交通大学 | Simulative mechanical hand with under-driven adaptive mechanism |
| CN101234489A (en) * | 2008-01-04 | 2008-08-06 | 清华大学 | Belt wheel under-driven robot finger device |
| CN103122948A (en) * | 2011-11-20 | 2013-05-29 | 江苏仁安高新技术有限公司 | Torsion overload safety protection device |
| CN202579705U (en) * | 2012-02-27 | 2012-12-05 | 浙江中益机械有限公司 | Torque limiter |
| CN203051665U (en) * | 2013-02-21 | 2013-07-10 | 宁波拓尔电机有限公司 | Intermediate slipping device of gearbox |
| CN205064614U (en) * | 2015-10-29 | 2016-03-02 | 芜湖美智空调设备有限公司 | Excessive pressure shaft coupling is prevented to manipulator friction -type |
| CN205735005U (en) * | 2016-07-01 | 2016-11-30 | 苏州塞默机械有限公司 | A kind of two-way mechanical joint for catching robot |
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| Publication number | Publication date |
|---|---|
| CN106041989A (en) | 2016-10-26 |
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Effective date of registration: 20210915 Address after: 215100 North 1st floor, No. 25, Futai Road, Taiping Street, Xiangcheng District, Suzhou City, Jiangsu Province Patentee after: Suzhou zhunyide Precision Machinery Co.,Ltd. Address before: 215138 No. 8, xihenggang street, Yangchenghu Town, Xiangcheng District, Suzhou City, Jiangsu Province Patentee before: SUZHOU SAIMO MACHINERY Co.,Ltd. |
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