CN207534832U - A kind of adaptive finger, two pawl manipulators and robot - Google Patents
A kind of adaptive finger, two pawl manipulators and robot Download PDFInfo
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- CN207534832U CN207534832U CN201721029089.XU CN201721029089U CN207534832U CN 207534832 U CN207534832 U CN 207534832U CN 201721029089 U CN201721029089 U CN 201721029089U CN 207534832 U CN207534832 U CN 207534832U
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Abstract
The utility model is related to robotic technology fields, provide a kind of adaptive finger, two pawl manipulators and robot, adaptive finger includes the driving portion, fixed part and the crawl section that are a resiliently deformable, during crawl, driving portion occurs elastic deformation and crawl section and fixed part is pushed to be bent to object to be captured, so as to carry out adaptive crawl to object, a gripping surface is further included on adaptive finger, object is crawled available for envelope；Two pawl manipulators include transmission device and above-mentioned adaptive finger, and transmission device drives adaptive finger to be collapsed or opened, and the flexible deformation for adaptive finger provides power so that crawl is more reliable；Robot includes mechanical arm and two above-mentioned pawl manipulators, and mechanical arm such as can be overturn, moved to the two pawls manipulator at the movement, it can be achieved that self-adapting grasping and carrying to object.
Description
Technical field
The utility model is related to a kind of robotic technology field more particularly to adaptive finger, two pawl manipulators and machines
Device people.
Background technology
With science and technology high speed development, in many occasions using automatic machinery substitution manually carry out it is relevant activity and
Operation, such as manipulator are widely used in the fields such as industrial production, logistics, metallurgical medical treatment and 3C industries, to replace people
Hand such as is captured and is carried at repeated, the mechanical sex work, can largely improve production；Simultaneously can also replace human hand into
Some complicated, dangerous high work of row, largely ensure personal safety.But in the prior art, manipulator is using rigidity
Structure, and drive mechanism is complicated, function is single, is only applicable to surface as rigid object, and requires multiple objects shape, big
Small and position immobilizes, and could be captured.Can not capture shape, size, position there are deviation object, it is and existing
Two pawl manipulators treat the envelope energy force difference of crawl object, and grasp stability is poor.For with yielding or destructible feature
Object can not be successfully crawl using existing robot, easily cause the damage of object.
Therefore, it is necessary to for the above-mentioned prior art the problem of, provide a kind of technical solution to solve the above problems.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of adaptive finger for having self-adapting grasping function,
Two pawl manipulators and robot.
Technical solution is used by the utility model solves above-mentioned technical problem：
A kind of adaptive finger is provided, it is described solid including the driving portion, fixed part and crawl section being a resiliently deformable
Determine portion and the crawl section and form a gripping surface, during crawl, the driving portion occurs elastic deformation and simultaneously pushes the crawl section
It is bent with the fixed part to object to be captured.
As an improvement of the above technical solution, the driving portion, the fixed part and the crawl section are intersected in same friendship
At remittance and structure of the Formation cross-section for y types, the lower part for corresponding to y types is the crawl section, and the top of corresponding y types is respectively the drive
Dynamic portion and the fixed part.
As a further improvement of the above technical scheme, the driving portion includes drive section, and the drive section is in bending.
A kind of two pawl manipulators are provided, including transmission device and grabbing device, the grabbing device includes two hands
Referring to, at least one of described finger is above-mentioned adaptive finger, and the adaptive finger is connected with the transmission device,
The transmission device drives the adaptive finger to be moved and deformed, so as to be captured or release movement.
As an improvement of the above technical solution, two fingers are above-mentioned adaptive finger, and two described adaptive
Finger is answered to be symmetrical arranged.
As a further improvement of the above technical scheme, the transmission device includes a pair of link mechanism and a fixing card
Disk, the link mechanism is symmetricly set on the fixed chuck both sides, and is formed two four companies by rack of the fixed chuck
Linkage, the link mechanism include the first side link, connecting rod and the second side link, and first side link and described second connect
Hack lever is hinged respectively with the fixed chuck.
As a further improvement of the above technical scheme, be provided with the first mounting portion on second side link, it is described from
Fixed part and first mounting portion for adapting to finger are detachably connected.
As a further improvement of the above technical scheme, first side link include a toothed disc, the toothed disc with
The hinge joint of first side link and the fixed chuck is the center of circle, the toothed disc phase on two first side links
Mutually engagement drives one of them described first side link rotation that another described first side link can be driven to rotate synchronously.
As a further improvement of the above technical scheme, the fixed chuck includes mounting disc and fixing bracket, and described the
Two side links are hinged with the fixing bracket, are provided with the second mounting portion on the fixing bracket, the driving portion of the finger with
Second mounting portion is detachably connected.
A kind of robot, mechanical arm and two above-mentioned pawl manipulators are additionally provided, the mechanical arm drives the machinery
Hand is moved.
The beneficial effects of the utility model are：
A kind of adaptive finger of the utility model includes the driving portion, fixed part and the crawl section that are a resiliently deformable, institute
It states fixed part and the crawl section and forms a gripping surface, during crawl, the driving portion occurs elastic deformation and grabs described in pushing
Portion and the fixed part is taken to be bent to object to be captured, so as to carry out adaptive crawl to object, is also wrapped on adaptive finger
A gripping surface is included, object is crawled available for envelope；Two pawl manipulators include transmission device and above-mentioned adaptive finger, transmission
Device drives adaptive finger to be collapsed or opened, and the flexible deformation for adaptive finger provides power, so as to fulfill to shape
Shape, size, position are there are the object progress self-adapting grasping of deviation or release, using the gripping surface on adaptive finger to being grabbed
Object is taken to carry out envelope so that the more reliable object outer surface that reclines of adaptive finger so that crawl is more reliable；Robot packet
Include mechanical arm and two above-mentioned pawl manipulators, the movement such as mechanical arm can overturn the two pawls manipulator, move is, it can be achieved that right
The self-adapting grasping of object and carrying.
Description of the drawings
It is required in being described below to embodiment in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used briefly describes：
Fig. 1 is the stereoscopic schematic diagram of one embodiment of finger in a kind of two pawls manipulator of the utility model；
Fig. 2 is finger shown in Fig. 1 in the stereoscopic schematic diagram of seized condition；
Fig. 3 is a kind of stereoscopic schematic diagram of two pawls manipulator one embodiment releasing orientation of the utility model；
Fig. 4 is the front view of Fig. 3；
Fig. 5 is the stereoscopic schematic diagram of embodiment illustrated in fig. 3 seized condition；
Fig. 6 is the front view of Fig. 5；
Fig. 7 is the stereoscopic schematic diagram of one embodiment of link mechanism in a kind of two pawls manipulator of the utility model；
Fig. 8 is the stereoscopic schematic diagram of support bracket fastened one embodiment in a kind of two pawls manipulator of the utility model.
Specific embodiment
The technique effect of the design of the utility model, concrete structure and generation is carried out below with reference to embodiment and attached drawing
It clearly and completely describes, to be completely understood by the purpose of this utility model, feature and effect.Obviously, described embodiment
It is the part of the embodiment rather than whole embodiments of the utility model, the embodiment based on the utility model, the skill of this field
The other embodiment that art personnel are obtained without creative efforts belongs to the model of the utility model protection
It encloses.In addition, all connection/connection relations arrived involved in patent, not singly refer to component and directly connect, and refer to can be according to specific
Performance, by adding or reducing couple auxiliary, to form more preferably coupling structure.In the utility model it is involved it is upper,
Under, the orientation such as left and right description be only for the mutual alignment relation of each component part of the utility model in attached drawing.
Each technical characteristic in the utility model, can be with combination of interactions under the premise of not conflicting conflict.
Fig. 1 is a kind of stereoscopic schematic diagram of one embodiment of adaptive finger of the utility model, and Fig. 2 is real shown in Fig. 1
The stereoscopic schematic diagram of the adaptive finger grip state of example is applied, with reference to Fig. 1 and Fig. 2, in the present embodiment, adaptive finger 100
Including the driving portion 110, fixed part 120 and crawl section 130 being a resiliently deformable, fixed part 120 and crawl section 130 form one
A gripping surface 140, during crawl, driving portion 110 is acted on by external force to be occurred elastic deformation and pushes crawl section 130 and fixed part 120
It is bent to object to be captured.Driving portion 110, fixed part 120 and 130 three of crawl section are intersected in same intersection 150, are formed
Approximate y types structure, as shown in Figure 1, the lower part of corresponding y type structures is crawl section 130, top is respectively driving portion 110 and fixed
Portion 120, the wherein left side are driving portion 110, and the right is fixed part 120.The first connector 111 is provided on driving portion 110, it is fixed
The second connector 121, the first connector 111 and the second connector 121 are provided in portion for being connect with external transmission device.Extremely
Few two adaptive fingers 100 are symmetrical arranged, and object can be captured by mutually being collapsed the two by external transmission device, by the two
Object can be discharged by mutually opening.
Driving portion 110 includes the first connector 111 and drive section 112, and the first connector 111 is used for and ex-ternal transmission component
It is mutually clamped, to drive adaptive finger motion and deformation, drive section 112 is in bending, is conducive to lead its bending direction
To preventing drive section material during its stress deformation from being crimped to fixed part 120 so that 112 material of drive section is to far from fixed part
120 direction curling, ensures enough deformation spaces.
Fixed part 120 is in straight panel shape, including the second connector 121 and fixed section 122, gripping surface 140 by fixed section 122 with
Crawl section 130 is collectively formed,, will using the frictional force between object and gripping surface 140 for directly being acted on object to be captured
Object is fixed between the fingers.Driving portion 110 is more than fixed part 120 with respect to the friendship with respect to the distance of three intersection 150
150 distance at remittance.150 thickness of intersection of three is larger, can increase intensity and toughness at this, and crawl section 130 is from its end
Portion gradually increases to 150 material thickness of intersection, is conducive to increase elastic force.
Fig. 3 be a kind of stereoscopic schematic diagram of two pawls manipulator one embodiment releasing orientation of the utility model, Fig. 4 Fig. 3
Front view, with reference to Fig. 3 and Fig. 4, two pawl manipulators include at least one above-mentioned adaptive finger 100, transmission device
200 and power plant 300, the present embodiment include two above-mentioned adaptive fingers 100, the finger and 200 phase of transmission device
Connection, 300 driving transmission device 200 of power plant drive adaptive finger 100 to move and it are made to generate elastic deformation, thus into
Row grasping movement；Deformation when 300 driving transmission device 200 of power plant drives adaptive finger 100 to move and eliminates crawl,
So as to carry out release movement.Connection structure 400 with external transfer structure for being connected, such as mechanical arm etc., can drive this two
Pawl manipulator such as is overturn, is moved at the actions.
In the present embodiment, adaptive finger 100 is made of flexible soft material, is a resiliently deformable, including driving
Portion 110, fixed part 120 and crawl section 130, the driving portion 110, fixed part 120 and crawl section 130 are structure as a whole.
Transmission device 200 includes a pair of link mechanism 210 and one and fixes chuck 220, and link mechanism 210 is symmetricly set on solid
Determine 220 both sides of chuck, two adaptive fingers 100 are fixedly connected respectively with link mechanism 210.
Two link mechanisms 210 form two four-bar mechanisms with fixed chuck 220 respectively, and are to fix chuck 220
Rack, specifically, link mechanism 210 includes the first side link 211, the second side link 212 and connecting rod 213, the first side link 211
It is hinged with fixed chuck 220 respectively with the second side link 212, kink four bar linkage is formed, the first side link 211 and second connects
Hack lever 212 can be relatively fixed chuck 220 and be swung respectively.First side link 211 includes a toothed disc 211a, the toothed disc
211a is using the hinge joint of the first side link 211 and fixed chuck 220 as the center of circle, the toothed disc on two the first side links 211
211a is intermeshed, power plant 300 drive the rotation of one of them first side link 211 can be driven by toothed disc another the
One side link rotates, so as to which two link mechanisms be driven to be moved.
It is provided with the first mounting portion 212a on second side link 212, in the present embodiment, first mounting portion 212a is specially
T-slot, the first connector 111 on the driving portion 110 of adaptive finger are specially to be matched with the T-slot of the first mounting portion 212a
T connector, which can be caught in the first mounting portion 212a so as to be fixedly connected, and can carry out as needed
Dismounting.
Fixed chuck 220 includes mounting disc 221 and fixing bracket 222, the second above-mentioned side link 212 and the fixing bracket
222 is hinged, the second mounting portion 222a is provided on fixing bracket 222, second mounting portion 222a is specially T-slot, adaptively
The second connector 121 on 100 fixed part 120 of finger is specially the matched T connector of T-slot with the second mounting portion 222a,
Second connector 121 can be caught in the second mounting portion 222a so as to be fixedly connected, and can be dismantled as needed.
To ensure that clamping is reliable, which is preferably that rigid material is made, Huo Zhewei
Flexible soft material is made and is provided with rigid material inside it, prevents the first connector 111 and the second connector 121 from deforming
It measures and is detached from the first mounting portion 212a and the second mounting portion 222a.
Power plant 300 is directly fixed on fixed chuck 220, and power plant can be electronic, pneumatic or liquid at this time
The modes such as pressure driving provide rotary power, and preferably motor, motor output end are connected with one of them first side link 211 herein
It connects and first side link 211 can be driven to rotate, may connect to the hinged place of the first side link 211 and fixed chuck 220.
When it is implemented, two pawl manipulators can also connect external connection power, for driving one of them 211 turns of first side link
It is dynamic.
Fig. 5 is the stereoscopic schematic diagram of embodiment illustrated in fig. 3 seized condition, and Fig. 6 is the front view of Fig. 5；With reference to Fig. 5 and
Fig. 6, two pawl manipulator of the present embodiment is in crawl, any one first frame linking in 300 driving transmission device 200 of power plant
Bar 211 rotates, and defines the rotation direction as forward direction, the first side link 211 that should be connected at this time with power plant passes through toothed disc
211a drives another first side link to rotate synchronously, and the first side link 211 drives the second side link 212 to transport by connecting rod 213
It is dynamic, the first connector 111 is driven to be fixedly mounted on the second side link 212 on the driving portion 110 of two adaptive fingers 100
In first mounting portion 212a, the second side link 212 can drive first connector 111 to be moved when moving, on fixed part 120
The second connector 121 (being blocked by the second side link in figure) be fixedly mounted on the fixing bracket 222 on fixed chuck 220
In the second mounting portion 222a (being blocked by the second side link in figure) of setting, its position is constant during connecting rod mechanism movement, so as to
So that the second side link 212 compressing driving portion 110 makes its deformation, since adaptive finger 100 is made of flexible soft material, therefore
The deformation that driving portion 110 generates is elastic deformation, the fixed part 120 of elastic force two adaptive fingers 100 of promotion and crawl section
130 opposite bendings, the two is collapsed, so as to fulfill grasping movement.Above-mentioned flexible soft material can be natural rubber, silica gel
Environmental-protecting materials are waited, have the characteristics that hardness is relatively low, degree of deformability is high.
Adaptive finger 100 is made of flexible soft material, therefore in the object for capturing different shape sizes, have adaptive
The function of answering avoids rigid finger that from can not adapting to object appearance and size deviation and captures the situation of failure, while avoid because of rigidity
Oppress and damage the situation of object to be captured.Object is gripped using the crawl section 130 of adaptive finger 100, crawl section 130 can
Elastic deformation is adaptively generated according to the shape size of object to be captured, it is made to offset with the outside adaptively with object
It leans on, is captured using the frictional force between crawl section and object.Gripping surface 140, which can also be used, envelope is carried out outside object,
The elastic deformability of adaptive finger may be such that its gripping surface compresses and is bonded body surface well.
During release, power plant drives the first side link 211 connected to it to rotate backward (with positive turn defined above
Dynamic direction is opposite), the first side link 211 that should be connected at this time with power plant drives another the first company by toothed disc 211a
Hack lever rotates synchronously, and the first side link 211 drives the second side link 212 to move by connecting rod 213 so that the second side link 212
Two adaptive fingers 100 is driven mutually to leave, and eliminate the deformation of driving portion 110, fixed part 120 and crawl section 130,
The two is opened mutually, so as to fulfill release movement, at this time the two pawls manipulator be restored to Fig. 3, state shown in 4.
Fig. 7 is the stereoscopic schematic diagram of one embodiment of link mechanism in a kind of two pawls manipulator of the utility model；With reference to
Fig. 7, link mechanism 210 include the first side link 211, the second side link 212 and connecting rod 213.
First side link 211 includes a toothed disc 211a, and toothed disc is with the first side link 211 and above-mentioned fixation chuck
Hinge joint is the center of circle, and the toothed disc intermeshing on two the first side links drives the rotation of one of them first side link can band
It moves another first side link to rotate synchronously, so as to which 213 and second side link 212 of connecting rod be driven to be moved accordingly.
Second side link 212 includes two hinged seats 2121 being separated from each other and two pendulum for being symmetrical arranged and being separated from each other
Bar 2122, two swing rods are connected by connecting portion 2123, hinged seat 2121 be arranged on connecting portion 2123 and with two swing rods
It setting at an angle, the first mounting portion 212a is arranged on connecting portion 2123, the T-slot for running through connecting portion 2123 for one,
Be conducive to uniformly exert a force to the adaptive finger being mounted in it, adaptive finger is prevented to be distorted, meanwhile, it is fixed to prevent
Adaptive finger in the T-slot slips, and can set locking baffle in connecting portion both ends of the surface, prevents adaptive finger along T-shaped
Slot length direction slips.
213 both ends of connecting rod are hinged with the first side link 211 and the second side link 212 respectively, and the other end is cut with scissors with connecting rod 213
It connects, connecting rod 213 includes the first curved bar 2131 and the second curved bar 2132, and there are one 2132 each tools of the first curved bar 2131 and the second curved bar
Bending section so that the articulated shaft of the two pulls open corresponding distance, so that on the first curved bar 2131 and the second curved bar 2132
Articulated shaft matches hinged with the hinged seat 2121 on the second side link 212 so that stable transmission is reliable.
Fig. 8 is the stereoscopic schematic diagram of one embodiment that chuck is fixed in a kind of two pawls manipulator of the utility model, is referred to
Fig. 8, fixed chuck 220 include mounting disc 221 and fixing bracket 222, and fixing bracket 222 as shown in Figure 8 includes two mounting bases
2221 and a pair of of clamping plate 2222, mounting base 2221 is separately positioned on both ends of clamping plate 2222 and perpendicular with the plane of clamping plate, and two
A mounting base 2221 is symmetrically set.Two clamping plates 2222 are used to mounting disc 221 being clipped among the two and pass through fastener
It is fixedly connected with mounting disc 221, so as to be fixed in mounting disc 221, the second mounting portion 222a is provided in mounting base 2221,
Second mounting portion 222a is the T-slot through the mounting base 2221, is conducive to uniform to the adaptive finger being mounted in it
Force, prevents adaptive finger to be distorted, meanwhile, it is slipped to prevent from being fixed on the adaptive finger in the T-slot, it can be even
Socket part both ends of the surface setting locking baffle, prevents adaptive finger from being slipped along T-slot length direction.
A kind of robot drives the manipulator to be moved including mechanical arm and two above-mentioned pawl manipulators, mechanical arm, from
And object is captured and is carried.
The preferred embodiment of the utility model is above are only, but the utility model is not restricted to the embodiment, be familiar with
Those skilled in the art can also make a variety of equivalent variations or replacement without departing from the spirit of the present invention, this
Equivalent deformation or replacement are all contained in the application claim limited range a bit.
Claims (10)
1. a kind of adaptive finger, it is characterised in that：Including driving portion, fixed part and crawl section, the driving portion, the fixation
Portion and the crawl section are a resiliently deformable, and the fixed part and the crawl section form a gripping surface, during crawl, institute
It states driving portion elastic deformation occurs and the crawl section and the fixed part is pushed to be bent to object to be captured, the gripping surface can
Envelope object to be captured.
2. adaptive finger according to claim 1, it is characterised in that：It the driving portion, the fixed part and described grabs
The structure that portion is intersected in same intersection and Formation cross-section is y types is taken, the lower part of corresponding y types is the crawl section, corresponding y types
Top is respectively the driving portion and the fixed part.
3. adaptive finger according to claim 2, it is characterised in that：The driving portion includes drive section, the driving
Section is in bending.
4. a kind of two pawl manipulators, it is characterised in that：Including transmission device and grabbing device, the grabbing device includes two hands
Refer to, at least one of described finger is the adaptive finger described in any one of claims 1 to 3, the adaptive hand
Finger is connected with the transmission device, and the transmission device drives the adaptive finger to be moved and deformed, so as to carry out
Crawl or release movement.
5. two pawls manipulator according to claim 4, it is characterised in that：Two fingers are in claims 1 to 3
The adaptive finger of any one of them, two adaptive fingers are symmetrical arranged.
6. two pawls manipulator according to claim 5, it is characterised in that：The transmission device include a pair of link mechanism and
One fixes chuck, and the link mechanism is symmetricly set on the fixed chuck both sides, and is formed using the fixed chuck as rack
Two four-bar mechanisms, the link mechanism include the first side link, connecting rod and the second side link, first side link and institute
The second side link is stated to be hinged with the fixed chuck respectively.
7. two pawls manipulator according to claim 6, it is characterised in that：The first installation is provided on second side link
Portion, the fixed part of the adaptive finger and first mounting portion are detachably connected.
8. two pawls manipulator according to claim 6, it is characterised in that：First side link includes a toothed disc, institute
Toothed disc is stated using the hinge joint of first side link and the fixed chuck as the center of circle, the institute on two first side links
Toothed disc intermeshing is stated, drives one of them described first side link rotation that another described first side link can be driven to synchronize
Rotation.
9. the two pawl manipulators according to any one of claim 6~8, it is characterised in that：The fixed chuck includes
Mounting disc and fixing bracket, second side link are hinged with the fixing bracket, and the second peace is provided on the fixing bracket
Dress portion, the driving portion and second mounting portion are detachably connected.
10. a kind of robot, it is characterised in that：Including the two pawls machinery described in any one of mechanical arm and claim 4~9
Hand, the mechanical arm drive the manipulator to be moved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721029089.XU CN207534832U (en) | 2017-08-16 | 2017-08-16 | A kind of adaptive finger, two pawl manipulators and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721029089.XU CN207534832U (en) | 2017-08-16 | 2017-08-16 | A kind of adaptive finger, two pawl manipulators and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207534832U true CN207534832U (en) | 2018-06-26 |
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ID=62607805
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721029089.XU Active CN207534832U (en) | 2017-08-16 | 2017-08-16 | A kind of adaptive finger, two pawl manipulators and robot |
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| Country | Link |
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| CN (1) | CN207534832U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107363856A (en) * | 2017-08-16 | 2017-11-21 | 深圳果力智能科技有限公司 | A kind of adaptive finger, two pawl manipulators and robot |
| CN109514523A (en) * | 2018-12-29 | 2019-03-26 | 贺州学院 | A kind of flexible mechanical arm |
-
2017
- 2017-08-16 CN CN201721029089.XU patent/CN207534832U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107363856A (en) * | 2017-08-16 | 2017-11-21 | 深圳果力智能科技有限公司 | A kind of adaptive finger, two pawl manipulators and robot |
| CN107363856B (en) * | 2017-08-16 | 2023-09-08 | 深圳果力智能科技有限公司 | Self-adaptive finger, two-claw mechanical arm and robot |
| CN109514523A (en) * | 2018-12-29 | 2019-03-26 | 贺州学院 | A kind of flexible mechanical arm |
| CN109514523B (en) * | 2018-12-29 | 2024-03-12 | 贺州学院 | Flexible mechanical arm |
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