CN218195210U

CN218195210U - Single-drive three-finger robot hand

Info

Publication number: CN218195210U
Application number: CN202222289739.1U
Authority: CN
Inventors: 白国超; 韩丙坤
Original assignee: Zhixing Gaoke Beijing Technology Co ltd
Current assignee: Zhixing Gaoke Beijing Technology Co ltd
Priority date: 2022-08-29
Filing date: 2022-08-29
Publication date: 2023-01-03
Anticipated expiration: 2032-08-29

Abstract

The utility model discloses a three finger robot hands of single drive, include: the device comprises a shell, a positioning device and a control device, wherein the shell is provided with an inner cavity, and a mounting plate is arranged in the inner cavity of the shell; the three fingers are connected to the shell and distributed along the circumferential direction of the shell; a actuating mechanism, including set up in motor in the casing, set up in action wheel on the output shaft of motor, can wear to locate with rotating three worm, three worm wheel and three on the mounting panel are followed the driving wheel, and is three the worm wheel is connected respectively in threely on the finger, threely from install respectively in threely the worm orientation one side of motor and with the action wheel is connected, and is three one side that the worm deviates from the motor is equipped with respectively and is used for with three the tooth portion that the worm wheel one-to-one is connected. The volume and the weight of manipulator can be reduced to this scheme, have realized three finger in the finite space and have pointed the snatching of manipulator, release action.

Description

Single-drive three-finger robot hand

Technical Field

The utility model relates to a manipulator technical field, specific are three finger robot hands of single drive.

Background

With the improvement of labor cost and the requirements on efficient production and product quality, more and more automatic equipment such as robots are adopted in factories to replace personnel operation. Although a common manipulator with two fingers (hereinafter referred to as two fingers) can clamp and pinch an article, when the two-finger manipulator clamps round, spherical and other articles, the problem of poor clamping effect caused by insufficient clamping points (surfaces) usually exists, and when the clamped article is heavy, the risk of article dropping even occurs.

At present, three-finger manipulators capable of improving the enveloping and clamping capacity of articles are also available in the market, but most of the three-finger manipulators drive fingers to move through a plurality of motors. Set up a plurality of motors in the manipulator and can lead to the oversize of manipulator, whole weight overweight, when the manipulator is installed in the terminal back of arm, easily appear because of the too big problem that can't reach station in the specific space of manipulator size.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects in the prior art, the embodiment of the utility model provides a single drive three indicate robot hand, it is used for solving above-mentioned problem.

The embodiment of the application discloses: a single drive three finger robotic hand comprising:

the device comprises a shell, a positioning device and a control device, wherein the shell is provided with an inner cavity, and a mounting plate is arranged in the inner cavity of the shell;

the three fingers are connected to the shell and distributed along the circumferential direction of the shell;

a actuating mechanism, including set up in motor in the casing, set up in action wheel on the output shaft of motor, can wear to locate with rotating three worm, three worm wheel and three on the mounting panel are followed the driving wheel, and is three the worm wheel is connected respectively in threely on the finger, threely from install respectively in threely the worm orientation one side of motor and with the action wheel is connected, and is three one side that the worm deviates from the motor is equipped with respectively and is used for with three the tooth portion that the worm wheel one-to-one is connected.

Specifically, any one of the driven wheels is connected with the driving wheel through an intermediate gear, and the intermediate gear is rotatably connected to the mounting plate through a first connecting shaft.

Specifically, the casing includes the lateral wall that is used for enclosing constitution the inner chamber and set up in first end wall and the second end wall at lateral wall both ends, the motor is installed on first end wall, the finger is connected in the casing is close to one end of second end wall.

In particular, an end of the worm facing away from the motor is rotatably connected to the second end wall of the housing.

Specifically, the finger includes a driving arm, a second connecting shaft and a finger end, one end of the driving arm is rotatably connected to the side wall of the housing through the second connecting shaft, the finger end is connected to the other end of the driving arm, and the worm wheel is arranged on the second connecting shaft in a penetrating manner.

Specifically, the finger further comprises a coordinating arm and a third connecting shaft, one end of the coordinating arm is rotatably connected to the shell through the third connecting shaft, and the other end of the coordinating arm is rotatably connected with the finger end.

Specifically, the finger further comprises parallel blocks, and the finger end is respectively connected with the driving arm and the cooperative arm through the parallel blocks.

The utility model discloses following beneficial effect has at least:

the single-drive three-finger robot hand of the embodiment drives the three worms and the worm gears through the motor to realize the expansion and the closing of the three finger ends, the reduction of the number of the motors can greatly reduce the volume and the weight of the manipulator on the one hand, the grabbing and releasing actions of the three-finger manipulator in a limited space are realized, and on the other hand, the overall heating rate of a mechanical drive system can be reduced, so that the phenomenon of overheating in the manipulator can not occur.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a single-drive three-finger robot hand in an embodiment of the present invention;

FIG. 2 isbase:Sub>A cross-sectional view taken at A-A of FIG. 1;

FIG. 3 is a cross-sectional view taken at B-B of FIG. 1;

fig. 4 is a schematic view of the connection of the driving arm with the second connecting shaft according to the embodiment of the present invention.

Reference numbers to the above figures: 1. a housing; 11. a side wall; 12. a first end wall; 13. a second end wall; 21. a drive arm; 22. a second connecting shaft; 23. a finger tip; 24. a coordinating arm; 25. a third connecting shaft; 26. a parallel block; 3. mounting a plate; 41. a motor; 411. an output shaft; 42. a driving wheel; 43. a worm; 431. a tooth portion; 44. a worm gear; 45. a driven wheel; 46. an intermediate gear; 47. a first connecting shaft.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

As shown in fig. 1 and fig. 2, the single-drive three-finger robot hand of the present embodiment mainly includes: a housing 1, three fingers and a drive mechanism. The casing 1 is provided with an inner cavity, the inner cavity of the casing 1 is provided with a mounting plate 3 for mounting a driving mechanism, and three fingers are connected to the casing 1 and are uniformly distributed along the circumferential direction of the casing 1. The driving mechanism includes a motor 41 disposed in the housing 1, a driving wheel 42 disposed on an output shaft 411 of the motor 41, three worms 43 rotatably disposed through the mounting plate 3, three worm wheels 44 respectively connected with three fingers, and three driven wheels 45. The three driven wheels 45 are respectively installed on one sides, facing the motor 41, of the three worms 43 and are connected with the driving wheel 42, and one sides, facing away from the motor 41, of the three worms 43 are respectively provided with tooth portions 431 used for being connected with the three worm wheels 44 in a one-to-one correspondence mode.

Specifically, the housing 1 includes a side wall 11 for enclosing the inner cavity, and a first end wall 12 and a second end wall 13 provided at both ends of the side wall 11, the motor 41 is mounted on the first end wall 12, and three fingers are attached to one end of the housing 1 near the second end wall 13. Three worm screws 43 are respectively connected to the mounting plate 3 through bearings to realize rotation, a driven wheel 45 is installed on one side, facing the motor 41, of the worm screws 43 on the mounting plate 3, and a tooth part 431 is arranged on one side, facing away from the motor 41, of the worm screws 43 on the mounting plate 3.

Specifically, as shown in fig. 2 and 3, the single-drive three-finger robot hand of the present embodiment further includes three intermediate gears 46 and three first connecting shafts 47. Each intermediate gear 46 is rotatably connected to the mounting plate 3 by a first connecting shaft 47, and each driven gear 45 is connected to the driving gear 42 by an intermediate gear 46. By adopting the scheme, the distance between the three fingers can be increased, and the manipulator can clamp articles with larger sizes.

In particular, as shown in fig. 2, the end of the worm 43 facing away from the motor 41 may also be rotatably connected to the second end wall 13 of the housing 1 by means of a bearing, so that the stability of the rotation of the worm 43 may be increased.

As shown in fig. 1, 2 and 4, the finger of the present embodiment mainly includes a driving arm 21, a second connecting shaft 22 and a finger tip 23. One end of the driving arm 21 is rotatably connected to the side wall 11 of the housing 1 through a second connecting shaft 22, the other end of the driving arm 21 is connected to a finger end 23, and the finger end 23 is used for gripping an article. The worm wheel 44 is inserted through the second connecting shaft 22 to be engaged with the tooth 431 of the worm 43.

Further, the finger further includes a cooperating arm 24 and a third connecting shaft 25, one end of the cooperating arm 24 is rotatably connected to the housing 1 through the third connecting shaft 25, and the other end of the cooperating arm 24 is rotatably connected to the finger end 23. The finger may further comprise a parallel block 26 connected to the finger end 23, the finger end 23 being connected to the drive arm 21 and the cooperating arm 24, respectively, via the parallel block 26. By adopting the scheme, the rigidity and the movement stability of the fingers can be improved.

The action process of the single-drive three-finger robot hand of the embodiment is as follows: when the motor 41 is started, the output shaft 411 of the motor 41 drives the driving wheel 42 to rotate, the driving wheel 42 sequentially drives the middle size and the driven wheel 45 to rotate, the worm 43 rotates along with the driven wheel 45 to drive the worm wheel 44 to rotate, and the fingers rotate along with the worm wheel 44 to realize unfolding and closing.

In summary, the single-drive three-finger robot hand of the embodiment drives the three worm screws 43 and the worm wheel 44 to drive through the motor 41, so as to realize the unfolding and closing of the three finger ends 23, and the reduction of the number of the motors 41 can greatly reduce the volume and weight of the robot hand, realize the grabbing and releasing actions of the three-finger robot hand in a limited space, and can reduce the overall heating rate of the machine drive system, so that the phenomenon of overheating in the robot hand can not occur.

The present invention has been explained by using specific embodiments, and the explanation of the above embodiments is only used to help understand the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the specific implementation and application scope, to sum up, the content of the present specification should not be understood as the limitation of the present invention.

Claims

1. A single-drive three-finger robot hand, comprising:

2. A single-drive three-fingered robotic hand as claimed in claim 1 wherein either of the driven wheels and the driving wheel are connected by an intermediate gear wheel, the intermediate gear wheel being rotatably connected to the mounting plate by a first connecting shaft.

3. The single-drive three-finger robot hand according to claim 1, wherein the housing includes a side wall for enclosing the inner cavity, and a first end wall and a second end wall provided at both ends of the side wall, the motor is mounted on the first end wall, and the fingers are connected to one end of the housing near the second end wall.

4. A single drive three finger robotic hand as claimed in claim 3 in which the end of the worm remote from the motor is rotatably connected to the second end wall of the housing.

5. The single-drive three-finger robot hand according to claim 3, wherein the fingers include a drive arm, a second connecting shaft and a finger end, one end of the drive arm is rotatably connected to the side wall of the housing through the second connecting shaft, the finger end is connected to the other end of the drive arm, and the worm wheel is disposed through the second connecting shaft.

6. The single drive three finger robotic hand of claim 5, wherein the fingers further comprise a cooperating arm and a third connecting shaft, one end of the cooperating arm being rotatably connected to the housing by the third connecting shaft, the other end of the cooperating arm being rotatably connected to the finger end.

7. The single drive three finger robotic hand of claim 6, wherein the fingers further comprise parallel blocks through which the finger tips are connected with the drive arm and the cooperating arm, respectively.