CN220637962U - Three-finger heavy robot hand - Google Patents
Three-finger heavy robot hand Download PDFInfo
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- CN220637962U CN220637962U CN202322292985.7U CN202322292985U CN220637962U CN 220637962 U CN220637962 U CN 220637962U CN 202322292985 U CN202322292985 U CN 202322292985U CN 220637962 U CN220637962 U CN 220637962U
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- robot hand
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- worm
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- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 230000000149 penetrating effect Effects 0.000 claims 1
- 229920001296 polysiloxane Polymers 0.000 claims 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Abstract
The utility model discloses a three-finger heavy robot hand, which comprises: the connecting main body comprises a base, a side wall arranged on the base and a top plate connected with the side wall away from the end of the base, wherein the base, the side wall and the top plate enclose a containing cavity, the base is provided with a first through hole used for communicating the outside with the containing cavity, and the top plate is provided with a plurality of second through holes used for communicating the outside with the containing cavity; three clamping pieces which are movably connected to the top plate; the motor body is connected with the base of the connecting main body, and the output shaft of the motor extends into the accommodating cavity through the first through hole; the transmission mechanism is arranged in the accommodating cavity and comprises a worm and three groups of driven components, the worm is connected with the output shaft of the motor, the driven components comprise a support fixed on the base, a rotating shaft connected with the support through a bearing, a worm wheel and a gear connected to the rotating shaft through a key, and a toothed piece meshed with the gear, and at least part of the toothed piece stretches out of the accommodating cavity through a second through hole to be connected with a clamping piece. The clamping force of robot hand can be improved to this scheme.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a three-finger heavy robot hand.
Background
With the rapid development of intelligent automation devices, more and more robots are applied to various industries. In general, a robot performs a work such as gripping by a gripper (hereinafter simply referred to as a robot hand) connected to its end. Conventional robots are mostly used for gripping small and lightweight articles, and thus, the gripping force of the conventional robot hand is about between several to tens of newtons. Along with the increase of robot application scenes and the increase of the volume and the mass of the clamped objects, the traditional robot hand is difficult to meet the grabbing requirement. Therefore, it is necessary to increase the gripping force of the robot hand so that the robot can be adapted to grip heavier objects.
Disclosure of Invention
In order to overcome the defects in the prior art, the embodiment of the utility model provides a three-finger heavy robot hand, which is used for solving the problems.
The embodiment of the application discloses: a three-finger heavy robotic hand comprising:
the connecting main body comprises a base, a side wall arranged on the base and a top plate connected to one end of the side wall, which is away from the base, wherein the base, the side wall and the top plate enclose a containing cavity, the base is provided with a first through hole used for communicating the outside with the containing cavity, and the top plate is provided with a plurality of second through holes used for communicating the outside with the containing cavity;
three clamping pieces which can be movably connected to the top plate;
the motor body is connected with the base of the connecting main body, and an output shaft of the motor extends into the accommodating cavity through the first through hole;
the transmission mechanism is arranged in the accommodating cavity and comprises a worm and three groups of driven components, the worm is connected to an output shaft of the motor, the driven components comprise a support fixed on the base, a rotating shaft connected with the support through a bearing, a worm wheel and a gear connected with the rotating shaft through a key, a toothed piece meshed with the gear, and at least part of the toothed piece stretches out of the accommodating cavity through a second through hole to be connected with one clamping piece.
Specifically, the support includes the horizontal plate and connect in two vertical boards on the horizontal plate, the horizontal plate be used for with the base is connected, two vertical boards are used for with the both ends of pivot are connected.
Specifically, the top plate is provided with three sliding grooves, and the three clamping pieces are respectively connected with the three sliding grooves through sliding seats.
Specifically, the clamping piece comprises a first part and a second part which are connected, wherein the first part is connected with the sliding seat, and the second part is used for clamping an article.
Specifically, the second part is plate-shaped, and a buffer piece for contacting with the article to be clamped is further arranged on the second part.
Specifically, the buffer piece is made of silica gel or rubber.
Specifically, the toothed member comprises a connecting plate, a toothed portion arranged on one side of the connecting plate and two connecting portions arranged on the other side of the connecting plate, wherein the toothed portion is used for being meshed with the gear, and the two connecting portions respectively penetrate into one second through hole to be connected with the sliding seat.
The utility model has at least the following beneficial effects:
1. in the embodiment, the gear is driven by the worm and the worm gear to be meshed with the toothed part, and the transmission ratio of the worm and worm gear mechanism is obviously better than that of the traditional gear mechanism, so that the transmission mechanism of the embodiment can obviously improve the clamping force of the clamping part (the clamping force of the robot hand of the embodiment can be up to 3200N), and the robot hand of the embodiment can be suitable for grabbing objects with larger volume and larger weight.
2. The clamping piece of the embodiment has large contact area and large contact friction force with the article to be clamped, and further improves the clamping force on the article.
3. The connection strength of the rotating shaft and the support and the connection strength of the toothed piece and the clamping piece are high.
The foregoing and other objects, features and advantages of the utility model will be apparent from the following more particular description of preferred embodiments, as illustrated in the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of the overall structure of a three-finger heavy robot hand in an embodiment of the present utility model;
FIG. 2 is a schematic view of an internal structure of a three-finger heavy robot hand in an embodiment of the present utility model;
FIG. 3 is a schematic view of a connecting body according to an embodiment of the present utility model;
FIG. 4 is a schematic view of a top plate according to an embodiment of the present utility model;
FIG. 5 is a schematic view of the connection of a rotor to a support in an embodiment of the present utility model;
FIG. 6 is a schematic view of a structure of a clamping member connected to a top plate according to an embodiment of the present utility model;
fig. 7 is a schematic view of the structure of the toothed member in the embodiment of the present utility model.
Reference numerals of the above drawings: 1. a connecting body; 11. a base; 111. a first through hole; 12. a sidewall; 13. a top plate; 131. a second through hole; 2. a clamping member; 21. a first section; 22. a second section; 23. a buffer member; 3. a motor; 41. a worm; 42. a support; 421. a horizontal plate; 422. a vertical plate; 43. a rotating shaft; 44. a worm wheel; 45. a gear; 46. a toothed member; 461. a connecting plate; 462. a tooth portion; 463. a connection part; 5. a chute; 6. a slide seat.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application can be understood by those of ordinary skill in the art in a specific context.
In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first feature and the second feature being in direct contact, and may also include both the first feature and the second feature not being in direct contact but being in contact with each other by way of additional features therebetween. Moreover, a first feature being "above," "below," and "above" a second feature includes both the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being "below" and obliquely below "the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present embodiment, it should be understood that the terms "center," "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of the present application.
Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for providing a special meaning.
As shown in conjunction with fig. 1 to 4, the three-finger heavy robot hand of the present embodiment mainly includes: the connecting body 1, three clamping pieces 2, a motor 3 and a transmission mechanism. The connecting body 1 is mainly used for installing the clamping piece 2, the motor 3 and the transmission mechanism, and comprises a base 11, a side wall 12 arranged on the base 11 and a top plate 13 connected to one end, deviating from the base 11, of the side wall 12, wherein the side wall 12, the base 11 and the top plate 13 at two ends of the side wall jointly enclose a containing cavity. The base 11 is provided with a first through hole 111 for communicating the outside and the accommodating chamber, and the top plate 13 is provided with a plurality of second through holes 131 for communicating the outside and the accommodating chamber. Preferably, the first through hole 111 is a circular hole, and the second through hole 131 is a waist-shaped hole. Three clamps 2 are movably connected to the top plate 13. The organism of motor 3 is connected with the base 11 fixed connection of connecting body 1, and the output shaft of motor 3 stretches into the holding intracavity through first through-hole 111 on base 11 and is connected with the drive mechanism that sets up in holding intracavity. The transmission mechanism comprises a worm 41 and three groups of driven components, one end of the worm 41 is connected with the output shaft of the motor 3, and the other end of the worm 41 is rotatably connected with the top plate 13 of the connecting body 1. The driven assembly includes a support 42 fixed to the base 11 of the connection body 1, a rotation shaft 43 connected to the support 42 through a bearing (not shown), a worm wheel 44 and a gear 45 keyed to the rotation shaft 43, and a toothed member 46 engaged with the gear 45, at least a portion of the toothed member 46 protruding out of the receiving chamber through a second through hole 131 of the top plate 13 to be connected to one of the holding members 2.
Specifically, three clamping members 2 are uniformly distributed on the top plate 13 of the connecting body 1 along the circumferential direction, three driven assemblies are uniformly distributed on the base 11 along the circumferential direction, and each driven assembly is used for driving one corresponding clamping member 2 to move. When the motor 3 is started, the worm 41 rotates along with the output shaft of the motor 3 and drives the worm wheel 44 to rotate, the worm wheel 44 drives the rotating shaft 43 connected with the worm wheel 44 in a key way to rotate, and then the gear 45 coaxially arranged on the rotating shaft 43 with the worm wheel 44 is driven to rotate, the gear 45 drives the toothed piece 46 to move, so that the clamping piece 2 connected with the toothed piece 46 is driven to move, and the object clamping and object releasing of the three clamping pieces 2 are realized.
The transmission mode of the traditional robot hand is generally as follows: the transmission is realized only by the engagement of a driving gear connected to the output shaft of the motor and a driven gear connected to the clamping piece. In the embodiment, the worm gear 44 and the worm 41 drive the gear 45 to be meshed with the toothed member 46, and the transmission ratio of the worm gear 44 and the worm 41 is obviously better than that of the traditional gear 45, so that the transmission mechanism of the embodiment can obviously improve the clamping force of the clamping member 2, and the robot hand of the embodiment can be suitable for grabbing objects with larger volume and larger mass.
Specifically, as shown in fig. 5, the support 42 of the present embodiment includes a horizontal plate 421 and two vertical plates 422 connected to both ends of the horizontal plate 421. Wherein, the horizontal plate 421 is used for fixedly connecting with the base 11 of the connecting body 1, and the two vertical plates 422 are used for connecting with two ends of the rotating shaft 43 of the transmission mechanism. By adopting the above scheme, the support 42 of the present embodiment can ensure the reliability of supporting the rotating shaft 43, improve the stability of rotation of the worm wheel 44 and the gear 45, and is beneficial to improving the transmission ratio of the transmission mechanism.
Specifically, as shown in fig. 6, the top plate 13 of the present embodiment is provided with three slide grooves 5, and the three holding members 2 are respectively connected with the three slide grooves 5 through the slide carriage 6. The chute 5 is used for guiding the movement of the clamping member 2, and ensures the accuracy of the movement of the clamping member 2. Further, the clamping member 2 comprises a first portion 21 and a second portion 22 connected to each other, wherein the first portion 21 is fixedly connected to the slide 6, and the second portion 22 is used for clamping an article. Preferably, the first portion 21 and the second portion 22 of the clamping member 2 of the present embodiment have a plate-like structure, so as to improve the strength of connection between the first portion 21 and the slide 6 of the clamping member 2 and increase the contact area between the second portion 22 and the clamped article. The second portion 22 of the clamping member 2 may further be provided with a buffer member 23 for contacting with the article to be clamped, where the buffer member 23 may be made of silica gel or rubber, and the buffer member 23 may avoid hard contact between the second portion 22 of the clamping member 2 and the article to be clamped, and meanwhile, the buffer member 23 may also improve friction between the clamping member 2 and the article to be clamped, so as to further improve clamping force of the clamping member 2 on the article.
As shown in fig. 7, the toothed member 46 of the present embodiment includes a connecting plate 461, a tooth portion 462 provided on one side of the connecting plate 461, and two connecting portions 463 provided on the other side of the connecting plate 461. Wherein, the tooth 462 is used for meshing with the gear 45, and the two connecting portions 463 respectively penetrate into the second through holes 131 of the top plate 13 and penetrate through the sliding groove 5 to be connected with the sliding seat 6. The strength of the connection of the toothed member 46 to the holder 2 can be improved by connecting the two connecting portions 463 to the slider 6.
The principles and embodiments of the present utility model have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present utility model; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present utility model, the present description should not be construed as limiting the present utility model in view of the above.
Claims (7)
1. A three-finger heavy robot hand, comprising:
the connecting main body comprises a base, a side wall arranged on the base and a top plate connected to one end of the side wall, which is away from the base, wherein the base, the side wall and the top plate enclose a containing cavity, the base is provided with a first through hole used for communicating the outside with the containing cavity, and the top plate is provided with a plurality of second through holes used for communicating the outside with the containing cavity;
three clamping pieces which can be movably connected to the top plate;
the motor body is connected with the base of the connecting main body, and an output shaft of the motor extends into the accommodating cavity through the first through hole;
the transmission mechanism is arranged in the accommodating cavity and comprises a worm and three groups of driven components, the worm is connected to an output shaft of the motor, the driven components comprise a support fixed on the base, a rotating shaft connected with the support through a bearing, a worm wheel and a gear connected with the rotating shaft through a key, a toothed piece meshed with the gear, and at least part of the toothed piece stretches out of the accommodating cavity through a second through hole to be connected with one clamping piece.
2. The three-finger heavy robotic hand of claim 1, wherein the support comprises a horizontal plate for connection with the base and two vertical plates connected to the horizontal plate for connection with both ends of the shaft.
3. The three-finger heavy robot hand according to claim 1, wherein the top plate is provided with three slide grooves, and the three clamping members are respectively connected with the three slide grooves through slide carriages.
4. The three-fingered heavy duty robot hand of claim 3, wherein the gripping member includes first and second joined portions, the first portion being coupled to the carriage and the second portion being for gripping an article.
5. The three-finger heavy robot hand according to claim 4, wherein the second portion is plate-shaped, and a buffer member for contacting with the object to be clamped is further provided on the second portion.
6. The three-finger heavy robot hand of claim 5, wherein the buffer is made of silicone or rubber.
7. The three-finger heavy robot hand according to claim 3, wherein the toothed member comprises a connection plate, a toothed portion provided at one side of the connection plate, and two connection portions provided at the other side of the connection plate, the toothed portion being adapted to engage with the gear, the two connection portions penetrating into a second through hole to be connected with the slider, respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322292985.7U CN220637962U (en) | 2023-08-25 | 2023-08-25 | Three-finger heavy robot hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322292985.7U CN220637962U (en) | 2023-08-25 | 2023-08-25 | Three-finger heavy robot hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220637962U true CN220637962U (en) | 2024-03-22 |
Family
ID=90268761
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322292985.7U Active CN220637962U (en) | 2023-08-25 | 2023-08-25 | Three-finger heavy robot hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220637962U (en) |
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2023
- 2023-08-25 CN CN202322292985.7U patent/CN220637962U/en active Active
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