CN107053242B - Robot bionic gripper - Google Patents
Robot bionic gripper Download PDFInfo
- Publication number
- CN107053242B CN107053242B CN201710424590.4A CN201710424590A CN107053242B CN 107053242 B CN107053242 B CN 107053242B CN 201710424590 A CN201710424590 A CN 201710424590A CN 107053242 B CN107053242 B CN 107053242B
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- Prior art keywords
- connecting rod
- type connecting
- spring
- card slot
- skeleton
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 33
- 210000000707 wrist Anatomy 0.000 claims abstract description 11
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 239000010959 steel Substances 0.000 claims description 5
- 239000003822 epoxy resin Substances 0.000 claims description 3
- 239000003292 glue Substances 0.000 claims description 3
- 229920000647 polyepoxide Polymers 0.000 claims description 3
- 239000000203 mixture Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 15
- 230000033001 locomotion Effects 0.000 description 6
- 238000005381 potential energy Methods 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0233—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by chains, cables or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Present patent application is divisional application.The application number of original bill is: 201610126285.2.The present invention relates to a kind of gripper, in particular to a kind of robot bionic gripper.Robot bionic gripper, including finger and wrist；The wrist includes: skeleton, direct current generator, potentiometer, capstan winch, the direct current generator is fixed on the motor mounting surface of the skeleton, the potentiometer passes through motor output shaft and is fixed on the potentiometer mounting surface of the skeleton, and the capstan winch is fixed on the end of motor output shaft；The fingers number is 3, and the finger is embedded in the card slot or multidigit card slot of the skeleton by the protruding block of rotary body.Robot bionic gripper of the present invention is assemblied in the end of industrial robot for assisting Automatic manual transmission or machine-building process, for completing the automation loading and unloading of workpiece, finger can the flexible geometric shape for adapting to product, adjust automatically realized according to the geometry of workpiece, to realize stable crawl.
Description
Technical field
Present patent application is divisional application.The application number of original bill is: 201610126285.2, the applying date is: 2016
On March 7, in.The present invention relates to a kind of gripper, in particular to a kind of robot bionic gripper.
Background technique
For gripper as one of robot key components and parts, it is final tache and the execution of machine man-environment interaction
Component, the superiority and inferiority of performance largely determine the working performance of entire robot.
The design of the mechanical part of industrial robot is the pith of industrial robot design, although industrial robot is not
It is same as special equipment, it has stronger flexibility, and still, it is unpractical for designing and manufacturing universal robots.Difference is answered
The difference that the other systems of the diversity ratio industrial robot designed with Industrial robots Mechanical's system in field design is much bigger.
It is commonly referred to as end-effector with the hand of robot industrially, it is that robot is directly used in crawl and holds (absorption) with a firm grip
The component that specific purpose tool (such as spray gun, spanner, soldering set, spray head) is operated, it has the function of imitating manpower movement, and pacifies
Front end loaded on robot arm.In gripper application, the hand of robot is generally made of the palm in direction and the finger of nodular.
Finger is the component directly contacted with workpiece.Workpiece is not unclamped and stepped up to receipts, is exactly realized by the opening and closing of finger
's.The hand structure form of robot is often dependant on the shape and characteristic of clamped workpiece.
In order to preferably grab object, need gripper when grabbing object with certain adaptivity, under-actuated robot
Manpower jaw arrangement can preferably realize the control difficulty for mitigating robot hand, and combining has crawl different shape, ruler
The adaptivity of very little object.Although various grippers have been widely applied in each field simultaneously, enterprise has to face
One problem is how that cost is lower so that the structure of gripper is more simple.Therefore, the adaptive drive lacking of design robot
Robot hand has very important realistic meaning.
Summary of the invention
The object of the present invention is to provide a kind of robot bionic gripper, the present invention is suitable for during machine-building,
Realize the carrying transmission of material；Robot bionic gripper of the present invention is assemblied in the end of industrial robot for assisting Automatic manual transmission
Or machine-building process, for completing the automation loading and unloading of workpiece, finger can flexible geometric shape, the root for adapting to product
Adjust automatically is realized according to the geometry of workpiece, to realize stable crawl.
A kind of robot bionic gripper, including finger and wrist；The wrist include: skeleton, direct current generator, potentiometer,
Capstan winch, the direct current generator are fixed on the motor mounting surface of the skeleton, and the potentiometer is fixed on across motor output shaft
On the potentiometer mounting surface of the skeleton, the capstan winch is fixed on the end of motor output shaft；The fingers number is 3, institute
State unit card slot or multidigit card slot that finger is embedded in the skeleton by the protruding block of rotary body；The quantity of the multidigit card slot
It is two, the quantity of the unit card slot is one, and the sum of the unit card slot and multidigit card slot is three and its central point is constituted etc.
The layout of side triangle；The multidigit card slot includes: central symmetry position, 30 ° of positions, 60 ° of positions, 30 ° of positions and 60 °
Positional symmetry it is arranged in central symmetry position two sides.
The finger specifically includes that upper spring, lower spring, middle spring, JC2 type connecting rod, K-type connecting rod, L-type connecting rod, A1 type
Connecting rod, rotary body, B1 type connecting rod, C1A2 type connecting rod, B2 type connecting rod, wirerope；Activity connects respectively for the end of the JC2 type connecting rod
It is connected to the K-type connecting rod and B2 type connecting rod, the B2 type connecting rod is movably connected on the C1A2 type connecting rod, the upper spring both ends
It is respectively fixedly connected in clamp button of the spring, the K-type connecting rod and C1A2 type connecting rod are movably connected on the L-type connecting rod, the middle spring
Both ends are respectively fixedly connected in clamp button of the spring, and the other end of the L-type connecting rod is movably connected on the middle-end of the A1 type connecting rod, the B1
Type connecting rod two end is movably connected with middle-end and the A1 type connecting rod in the C1A2 type connecting rod, and the rotary body is flexibly connected
In the middle-end of the A1 type connecting rod, the lower both ends of the spring is respectively fixedly connected in clamp button of the spring；
The wirerope is inserted by intake, outlet is drawn, and is adhesively fixed by epoxide-resin glue in steel wire traction slot,
The exit of the wirerope is fixed on wirerope bayonet, and axis hole is fixed on motor output shaft.
More specifically, the end face of the JC type connecting rod, the K-type connecting rod and the L-type connecting rod is bonded with liner respectively.
More specifically, the direct current generator is to be integrated with the DC speed-reducing of retarder.
Compared with traditional technology, robot bionic gripper of the present invention have following positive effect and the utility model has the advantages that
Robot bionic gripper of the present invention, when Clamp blocks, the direct current generator rotates clockwise, passes through institute
It states motor output shaft and passes motion to the capstan winch, the capstan winch rotates clockwise so that the wirerope is by tensile force,
The A1 type connecting rod is driven to rotate in an anti-clockwise direction, the A1 type connecting rod drives the B1 type connecting rod to rotate counterclockwise, while institute
Lower spring elongation is stated, the B1 type connecting rod drives the C1A2 type connecting rod to rotate counterclockwise, described in the C1A2 type connecting rod drive
B2 type connecting rod rotates counterclockwise, while the upper spring stretches, and the B2 type connecting rod drives the JC2 type connecting rod to turn counterclockwise
Dynamic, the JC2 type connecting rod drives the K-type connecting rod to rotate counterclockwise, and the K-type connecting rod drives the L-type connecting rod to turn clockwise
It is dynamic, while the middle spring-compressed.Three fingers are simultaneously to contract at this time, to realize that part clamps.
When unclamping part, the direct current generator rotates counterclockwise, is passed movement by the motor output shaft
The capstan winch is passed, the capstan winch rotates counterclockwise such that the steel wire rope looseness, the elastic potential energy of the upper spring, lower spring
Release is restored to initial equilibrium conditions by tensional state, and the elastic potential energy release of the middle spring is restored to just by compressive state
Beginning equilibrium state, so that the A1 type connecting rod rotates clockwise, the A1 type connecting rod drives the B1 type connecting rod to rotate clockwise,
The B1 type connecting rod drives the C1A2 type connecting rod to rotate clockwise, and the C1A2 type connecting rod drives the B2 type connecting rod clockwise
Rotation, the B2 type connecting rod drive the JC2 type connecting rod to rotate clockwise, and the JC2 type connecting rod drives the K-type connecting rod up time
Needle rotation, the K-type connecting rod drive the L-type connecting rod to rotate counterclockwise.Three fingers are flared out simultaneously at this time, thus
Realize that part unclamps.
Robot bionic gripper of the present invention utilizes the rope traction and spring using the single direct current generator driving
Realize that gripper promptly and release part, the real-time angular of the direct current generator is detected using the potentiometer, to obtain
The open configuration for taking the finger, while ensure that kinematic accuracy, delicate structure is flexible movements, reliable.In addition, described straight
Galvanic electricity machine is that brushed DC motor drives planetary reducer drive mechanism, and compact-sized, torque is big, ensure that under high load
Crawl work.In addition it is bonded liner respectively in the end face of the JC2 type connecting rod, the K-type connecting rod and the L-type connecting rod, makes
It obtains and scratch is not generated to piece surface in Clamp blocks, while also increasing the frictional force of finger end, so as to more preferably more firm
Solid crawl part.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of robot bionic gripper of the present invention；
Fig. 2 is structural schematic diagram of the wrist of robot bionic gripper of the present invention under dismounting state；
Fig. 3 is structural schematic diagram of the finger of robot bionic gripper of the present invention under dismounting state；
Fig. 4 and Fig. 5 is structural schematic diagram of the skeleton under different perspectives.
Fig. 6 is the structural schematic diagram of the rotary body of robot bionic gripper of the present invention；
Fig. 7 is the internal structure diagrammatic cross-section of the capstan winch of robot bionic gripper of the present invention；
Fig. 8 is the schematic diagram of robot bionic gripper crawl column part of the present invention；
Fig. 9 is the schematic diagram of robot bionic gripper crawl sphere part of the present invention；
Figure 10 is the schematic diagram of robot bionic gripper crawl polyhedron parts of the present invention；
Figure 11 is the kinematic sketch of the grip finger part process of robot bionic gripper of the present invention.
In figure:
Finger 1, wrist 2, clamp button of the spring 3, upper spring 4, clamp button of the spring 5, lower spring 6, wirerope 7, middle spring 8, skeleton
9, direct current generator 10, potentiometer 11, capstan winch 12, motor output shaft 13, motor mounting surface 14, unit card slot 15, multidigit card slot 16,
30 ° of positions 17,18,60 ° of central symmetry position position 19, potentiometer mounting surface 20, JC2 type connecting rod 21, K-type connecting rod 22, L-type connect
Bar 23, A1 type connecting rod 24, rotary body 25, B1 type connecting rod 26, C1A2 type connecting rod 27, B2 type connecting rod 28, liner 29-30, Spring Card
Button 31, clamp button of the spring 33, wirerope bayonet 34, clamp button of the spring 35-36, protruding block 37, steel wire traction slot 38, introduces liner 32
Mouth 39, outlet 40, axis hole 41.
Specific embodiment
It is similar in attached drawing below in conjunction with attached drawing to being described in further detail, but any restrictions not constituted pair
Element numbers represent similar element.As above, a kind of robot bionic gripper is provided, can be used as the end of industrial robot etc.
Actuator grabs part of different shapes for stablizing.
Structure composition described in detail below.
Fig. 1 is the structural schematic diagram of robot bionic gripper of the present invention, and Fig. 2 is structural representation of the wrist under dismounting state
Figure, Fig. 4 and Fig. 5 are structural schematic diagram of the skeleton under different perspectives, and Fig. 6 is the structural schematic diagram of rotary body.A kind of robot
Artificial grip, including finger 1 and wrist 2；The wrist 2 includes: skeleton 9, direct current generator 10, potentiometer 11, capstan winch 12, described
Direct current generator 10 is fixed on the motor mounting surface 14 of the skeleton 9, and the potentiometer 11 passes through motor output shaft 13 and is fixed on
On the potentiometer mounting surface 20 of the skeleton 9, the capstan winch 12 is fixed on the end of motor output shaft 13；1 quantity of finger
It is 3, the finger 1 is embedded in the unit card slot 15 or multidigit card slot 16 of the skeleton 9 by the protruding block 37 of rotary body 25；
The quantity of the multidigit card slot 16 is two, and the quantity of the unit card slot 15 is one, the unit card slot 15 or multidigit card slot 16
Sum be three and its central point constitute equilateral triangle 42 layout；The multidigit card slot 16 includes: central symmetry position
18,60 ° of 19,30 ° of positions position 17,60 ° of positions 19 and 30 ° position 17 are symmetrically arranged at the central symmetry position 18
Two sides.
Fig. 3 is structural schematic diagram of the finger under dismounting state.The finger 1 specifically include that upper spring 4, lower spring 6,
Middle spring 8, JC2 type connecting rod 21, K-type connecting rod 22, L-type connecting rod 23, A1 type connecting rod 24, rotary body 25, B1 type connecting rod 26, C1A2 type
Connecting rod 27, B2 type connecting rod 28；The end of the JC2 type connecting rod 21 is movably connected in the K-type connecting rod 22 and B2 type connecting rod
28, the B2 type connecting rod 28 is movably connected on the C1A2 type connecting rod 27, and 4 both ends of upper spring are respectively fixedly connected in clamp button of the spring
3 and 5, the K-type connecting rod 22 and C1A2 type connecting rod 27 are movably connected on the L-type connecting rod 23, middle 8 both ends of the spring difference
It is fixed on clamp button of the spring 31 and 33, the other end of the L-type connecting rod 23 is movably connected on the middle-end of the A1 type connecting rod 24, described
26 both ends of B1 type connecting rod are movably connected with middle-end and the A1 type connecting rod 24 in the C1A2 type connecting rod 27, the rotary body
25 are movably connected on the middle-end of the A1 type connecting rod 24, and lower 6 both ends of spring are respectively fixedly connected in clamp button of the spring 35 and 36.
Fig. 7 is the internal structure diagrammatic cross-section of the capstan winch 12.Wirerope 7 is inserted by intake 39, outlet 40 draws
Out, and by epoxide-resin glue it is adhesively fixed in steel wire traction slot 38, the exit of wirerope 7 is fixed on wirerope bayonet 34, axis
Hole 41 is fixed on motor output shaft 13.
More specifically, the end face of the JC2 type connecting rod 21, the K-type connecting rod 22 and the L-type connecting rod 23 is bonded with respectively
Liner 29,30 and 32.
More specifically, the direct current generator 10 is to be integrated with the DC speed-reducing of retarder.
Fig. 8 is the schematic diagram of robot bionic gripper crawl column part of the present invention, and Fig. 9 is robot bionic of the present invention
Gripper grabs the schematic diagram of sphere part, and Figure 10 is the schematic diagram of robot bionic gripper crawl polyhedron parts of the present invention, figure
11 be the kinematic sketch of grip finger part process.Fig. 1 to 11 is seen, next, the present invention is described in detail robot bionic gripper
The course of work and working principle:
Robot bionic gripper of the present invention, during the work time, one of them described finger 1 pass through the rotary body 25
The protruding block 37 is embedded in constant in the unit card slot 15 of the skeleton 9, and other two described finger 1 is described more
Position in the card slot 16 of position is according to crawl part shape adjustment: when the part shape of crawl is sphere such as ball, respectively will
The protruding block 37 of the two fingers 1 is transposed to the central symmetry position 18 in the multidigit card slot 16, makes
Three fingers 1 clamp part about substantially symmetrical about its central axis, and simultaneously；When the part shape of crawl is column such as method
When blue disk, the protruding block 37 of the two fingers 1 is transposed to 60 ° of positions in the multidigit card slot 16 respectively
19 are set, three fingers 1 are in parallel position state at this time, and it is same that two fingers 1 in 60 ° of positions 19 are located at part
Side simultaneously clamps on part edge, and the finger 1 in the unit card slot 15 is located at the part other side, to part
Center clamps；When the part shape of crawl is polyhedron such as hex nut, respectively by the described convex of the two fingers 1
Bittiness 37 are transposed to 30 ° of positions 17 in the multidigit card slot 16, described in two for being now in 30 ° of positions 17
Finger 1 is clamped part, and the not Clamp blocks of the finger 1 in the unit card slot 15.Robot of the present invention
The skeleton 9 of Artificial grip is generated using rapid shaping printer, ensure that bone using the support of three legs and supporting ring structure
Frame intensity, while the multidigit card slot 16 is used, 1 position of finger can be conveniently adjusted, different shape zero is realized
Part crawl.
Robot bionic gripper of the present invention, when Clamp blocks, the direct current generator 10 rotates clockwise, passes through
The motor output shaft 13 passes motion to the capstan winch 12, the capstan winch 12 rotate clockwise so that the wirerope 7 by
To tensile force, the A1 type connecting rod 24 is driven to rotate in an anti-clockwise direction, the A1 type connecting rod 24 drives the B1 type connecting rod 26 inverse
Hour hands rotation, while the lower spring 6 stretches, the B1 type connecting rod 26 drives the C1A2 type connecting rod 27 to rotate counterclockwise, institute
Stating C1A2 type connecting rod 27 drives the B2 type connecting rod 28 to rotate counterclockwise, while the upper spring 4 stretches, the B2 type connecting rod 28
The JC2 type connecting rod 21 is driven to rotate counterclockwise, the JC2 type connecting rod 21 drives the K-type connecting rod 22 to rotate counterclockwise, described
K-type connecting rod 22 drives the L-type connecting rod 23 to rotate clockwise, while the middle spring 8 compresses.Three fingers 1 are same at this time
When to contract, thus realize part clamp.
When unclamping part, the direct current generator 10 rotates counterclockwise, will fortune by the motor output shaft 13
Dynamic to pass to the capstan winch 12, the capstan winch 12 rotates counterclockwise such that the relaxation of wirerope 7, the upper spring 4, lower spring
6 elastic potential energy release is restored to initial equilibrium conditions, the elastic potential energy release of the middle spring 8, by compressing by tensional state
State is restored to initial equilibrium conditions, so that the A1 type connecting rod 24 rotates clockwise, the A1 type connecting rod 24 drives the B1
Type connecting rod 26 rotates clockwise, and the B1 type connecting rod 26 drives the C1A2 type connecting rod 27 to rotate clockwise, and the C1A2 type connects
Bar 27 drives the B2 type connecting rod 28 to rotate clockwise, and the B2 type connecting rod 28 drives the JC2 type connecting rod 21 to rotate clockwise,
The JC2 type connecting rod 21 drives the K-type connecting rod 22 to rotate clockwise, and the K-type connecting rod 22 drives 23 inverse time of L-type connecting rod
Needle rotation.Three fingers 1 are flared out simultaneously at this time, to realize that part unclamps.
Robot bionic gripper of the present invention is driven using the single direct current generator 10, using the wirerope 7 traction and
Spring realizes gripper promptly and discharges part, and the real-time angular of the direct current generator 10 is detected using the potentiometer 11, from
And the open configuration of finger 1 described in indirect gain, while ensure that kinematic accuracy, delicate structure is flexible movements, reliable.Separately
Outside, the direct current generator 10 is that brushed DC motor drives planetary reducer drive mechanism, and compact-sized, torque is big, protects
The crawl work under high load is demonstrate,proved.In addition at the end of the JC2 type connecting rod 21, the K-type connecting rod 22 and the L-type connecting rod 23
Face is bonded liner 29,30 and 32 respectively, so that not generating scratch to piece surface in Clamp blocks, while also increasing finger
The frictional force of 1 end, so as to more preferable stronger crawl part.
Finally it is pointed out that above embodiments are only the more representational examples of the present invention.It is clear that the invention is not restricted to
Above-described embodiment, acceptable there are many deformations.Any letter to the above embodiments according to the technical essence of the invention
Single modification, equivalent variations and modification, are considered as belonging to the scope of protection of the present invention.
Claims (3)
1. a kind of robot bionic gripper, it is characterised in that composition is as follows: including finger and wrist；The wrist include: skeleton,
Direct current generator, potentiometer, capstan winch, the direct current generator are fixed on the motor mounting surface of the skeleton, and the potentiometer passes through
Motor output shaft is fixed on the potentiometer mounting surface of the skeleton, and the capstan winch is fixed on the end of motor output shaft；It is described
Fingers number is 3, and the finger is embedded in the unit card slot or multidigit card slot of the skeleton by the protruding block of rotary body；Institute
The quantity for stating multidigit card slot is two, and the quantity of the unit card slot is one, the sum of the unit card slot and multidigit card slot is three,
And its central point constitutes the layout of equilateral triangle；The multidigit card slot includes: central symmetry position, 30 ° of positions, 60 ° of positions,
It is arranged in central symmetry position two sides to 30 ° of positions and 60 ° of positional symmetries；
The finger specifically include that upper spring, lower spring, middle spring, JC2 type connecting rod, K-type connecting rod, L-type connecting rod, A1 type connecting rod,
Rotary body, B1 type connecting rod, C1A2 type connecting rod, B2 type connecting rod, wirerope；The end of the JC2 type connecting rod be movably connected in
The K-type connecting rod and B2 type connecting rod, the B2 type connecting rod are movably connected on the C1A2 type connecting rod, the upper spring both ends difference
It is fixed on clamp button of the spring, the K-type connecting rod and C1A2 type connecting rod are movably connected on the L-type connecting rod, the middle both ends of the spring
It is respectively fixedly connected in clamp button of the spring, the other end of the L-type connecting rod is movably connected on the middle-end of the A1 type connecting rod, and the B1 type connects
Bar both ends are movably connected with middle-end and the A1 type connecting rod, the rotary body in the C1A2 type connecting rod and are movably connected on institute
The middle-end of A1 type connecting rod is stated, the lower both ends of the spring is respectively fixedly connected in clamp button of the spring；The wirerope is inserted by intake, is drawn
Mouth is drawn, and is adhesively fixed by epoxide-resin glue in steel wire traction slot, and the exit of the wirerope is fixed on wirerope bayonet,
Axis hole is fixed on motor output shaft；The potentiometer detects the real-time angular of the direct current generator, thus described in indirect gain
The open configuration of finger.
2. robot bionic gripper according to claim 1, which is characterized in that the JC2 type connecting rod, the K-type connecting rod
It is bonded with liner respectively with the end face of the L-type connecting rod.
3. robot bionic gripper according to claim 1, which is characterized in that the direct current generator is to be integrated with retarder
DC speed-reducing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710424590.4A CN107053242B (en) | 2016-03-07 | 2016-03-07 | Robot bionic gripper |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710424590.4A CN107053242B (en) | 2016-03-07 | 2016-03-07 | Robot bionic gripper |
| CN201610126285.2A CN105563513B (en) | 2016-03-07 | 2016-03-07 | Flexible self adaptation under-actuated robot hand pawl |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610126285.2A Division CN105563513B (en) | 2016-03-07 | 2016-03-07 | Flexible self adaptation under-actuated robot hand pawl |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107053242A CN107053242A (en) | 2017-08-18 |
| CN107053242B true CN107053242B (en) | 2019-08-13 |
Family
ID=55874421
Family Applications (6)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710424589.1A Withdrawn CN107214715A (en) | 2016-03-07 | 2016-03-07 | Flexible ultrahigh speed manipulator |
| CN201710424591.9A Active CN107053243B (en) | 2016-03-07 | 2016-03-07 | Revolute robot's gripper |
| CN201610126285.2A Active CN105563513B (en) | 2016-03-07 | 2016-03-07 | Flexible self adaptation under-actuated robot hand pawl |
| CN201710424585.3A Withdrawn CN107175680A (en) | 2016-03-07 | 2016-03-07 | Robot delicate |
| CN201710424015.4A Withdrawn CN107243919A (en) | 2016-03-07 | 2016-03-07 | Adaptive dexterity type manipulator |
| CN201710424590.4A Active CN107053242B (en) | 2016-03-07 | 2016-03-07 | Robot bionic gripper |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710424589.1A Withdrawn CN107214715A (en) | 2016-03-07 | 2016-03-07 | Flexible ultrahigh speed manipulator |
| CN201710424591.9A Active CN107053243B (en) | 2016-03-07 | 2016-03-07 | Revolute robot's gripper |
| CN201610126285.2A Active CN105563513B (en) | 2016-03-07 | 2016-03-07 | Flexible self adaptation under-actuated robot hand pawl |
| CN201710424585.3A Withdrawn CN107175680A (en) | 2016-03-07 | 2016-03-07 | Robot delicate |
| CN201710424015.4A Withdrawn CN107243919A (en) | 2016-03-07 | 2016-03-07 | Adaptive dexterity type manipulator |
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- 2016-03-07 CN CN201710424591.9A patent/CN107053243B/en active Active
- 2016-03-07 CN CN201610126285.2A patent/CN105563513B/en active Active
- 2016-03-07 CN CN201710424585.3A patent/CN107175680A/en not_active Withdrawn
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107053243A (en) | 2017-08-18 |
| CN107053242A (en) | 2017-08-18 |
| CN105563513A (en) | 2016-05-11 |
| CN107243919A (en) | 2017-10-13 |
| CN107214715A (en) | 2017-09-29 |
| CN105563513B (en) | 2017-07-07 |
| CN107175680A (en) | 2017-09-19 |
| CN107053243B (en) | 2019-08-13 |
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