[0016] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings: this embodiment is implemented under the premise of the technical solution of the present invention, and detailed implementation modes and specific operating procedures are given, but the protection scope of the present invention is not limited to The following examples.
[0017] Such as figure 1 , figure 2 with image 3 As shown, this embodiment includes: reduction motor 1, motor bracket 2, lower plate 3, upper plate 4, joint 5, small bevel gear 6, large bevel gear 7, small gear 9, large gear 10, first counter-rotating Gear 11, second counter-rotating gear 14, first gear shaft 8, second gear shaft 12, third gear shaft 13, right finger assembly 15, left finger assembly 16, outer cover 17, multi-sensing system 18.
[0018] The interconnection relationship of the components is: the lower plate 3, the upper plate 4, the motor bracket 2, the connector 5, and the camera bracket 38 of the multi-sensing system 18 are fixed together, and the motor bracket 2, the connector 5 and the camera bracket 38 are clamped on the lower plate Between 3 and the upper plate 4, the joint 5 is on the geometric center axis of the gripper, and is a component that connects the gripper with other robots or mechanical arms. The first gear shaft 8, the second gear shaft 12, and the third gear shaft 13 are all connected between the lower plate 3 and the upper plate 4 in a pin manner, and can rotate freely. The geared motor 1 is fixed on the motor support 2. The small bevel gear 6 is installed on the output shaft of the reduction motor 1, the large bevel gear 7 and the small gear 9 are coaxially fixed on the first gear shaft 8, and the large gear 10 and the first counter-rotating gear 11 are coaxially fixed on the second gear. On the shaft 12, the second counter-rotating gear 14 is fixed on the third gear shaft 13. The right finger assembly 15 and the left finger assembly 16 are connected between the lower plate 3 and the upper plate 4 in a pin manner. The outer cover 17 covers the outside of the claws to prevent dust and foreign objects from entering. The multi-sensing system 18 utilizes the internal space of the gripper mechanism and is integrated in the gripper mechanism.
[0019] The decelerating motor 1 is an AC servo motor or a DC servo motor.
[0020] Such as Figure 4 As shown, the right finger assembly 15 and the left finger assembly 16 adopt the same but left-right symmetrical structure, including: an incomplete gear 19, a finger frame 20, a pin shaft 21, and a fingertip 22. The finger frame 20 is connected to the pin shaft 21 in a pin manner, and can be relatively freely rotated. Since the opening and closing of the pawl is a reciprocating rotation mode with a limited range, the incomplete gear 19 is obtained by processing a part of the complete gear. The complete gear 19 is a one-sixth sector of the complete gear, that is, 60 degrees. The non-complete gear is fixed on the finger frame 20 and its axis is coaxial with the pin shaft 21. The fingertip 22 is connected to the finger frame 20 in a pin manner, and the angle can be adjusted passively and adaptively according to the shape of the object to be grasped.
[0021] The opening and closing range of the right finger assembly 15 and the left finger assembly 16 is 300 mm.
[0022] The number of teeth of the large bevel gear 7 is greater than the number of teeth of the small bevel gear 6 and maintain external meshing with each other. The number of teeth of the large gear 10 is greater than the number of teeth of the small gear 9 and maintain external meshing with each other. Externally, the first pair of rotating gears 11 and the incomplete gear 19 of the right finger assembly 15 maintain external engagement, and the second pair of rotating gears 14 and the incomplete gear 19 of the left finger assembly 16 maintain external engagement.
[0023] Such as image 3 with Figure 5As shown, the multi-sensing system 18 includes: a distance sensor 31, a closed position limit switch 32, an open position limit switch 33, an encoder 34, a current sensor 35, six proximity sensors 36, a camera 37, a camera bracket 38. Electronic listening device 39. The distance sensor 31 adopts a laser method and is centrally installed on the lower plate 3 in the remaining space between the right finger assembly 15 and the left finger assembly 16, and can detect the distance between the object directly in front of the claw and the claw, with a range of 1 meter. The closed position limit switch 32 and the open position limit switch 33 both use Hall elements, which are respectively installed on the lower plate 3, and detect the limit angle position of the opening and closing action of the right finger assembly 15 or the left finger assembly 16 in a non-contact manner. The paw opening and closing are symmetrical actions, so the closed position limit switch 32 and the open position limit switch 33 are used to detect the action of the right finger assembly 15 or to detect the action of the left finger assembly 16. The effect is the same, and this embodiment is not specific. Define. The encoder 34 is coaxially installed on the decelerating motor 1, and the relative value encoding method is used to cooperate with the closed position limit switch 32 or the open position limit switch 33 to measure the distance between the fingers to open and close. Of course, the encoder can also use the absolute value method to directly measure the distance of the finger opening and closing. The current sensor 35 is an external component, which calculates the gripping force on the finger by measuring the current value of the decelerating motor 1, which provides the possibility for force control. Six proximity sensors 36 are distributed on the top, bottom, left, right, right finger assembly 15, and left finger assembly 16, respectively detecting whether there is an object approaching from the top, bottom, left, and right directions of the claw, or from the right finger assembly 15 and the left finger assembly 16 The outside of it is close. The camera 37 and the electronic listening device 39 are external components, which are all fixed on the camera bracket 38 to collect the image and sound information around the claw.
[0024] The use and working process of the gripper is as follows: the multi-sensor system 18 collects various information about the gripper environment, and guides the operator or the control system to take corresponding actions manually or automatically. After finding the operation target object, use other equipment to make the operation target object enter the gripping range of the claw. Control the rotation of the reduction motor 1 to drive the small bevel gear 6 and the large bevel gear 7 to mesh and rotate, the small gear 9 and the large bevel gear 7 rotate synchronously to drive the large gear 10 to rotate, and the first counter-rotating gear 11 and the large gear 10 rotate synchronously to drive the second The counter-rotating gear 14 rotates. The rotational angular velocity of the second counter-rotating gear 14 is the same as that of the first counter-rotating gear 11 but in the opposite direction. The first counter-rotating gear 11 and the second counter-rotating gear 14 respectively drive the right finger assembly 15 and the left finger assembly 16 rotation, so as to realize the left-right symmetrical opening and closing, and complete the grasping action of the operation target object. The size of the grasping force can be indirectly measured by the current sensor 35 of the multi-sensing system 18 to ensure a reliable grasping action.
[0025] The present invention adopts a servo-mode deceleration motor and an open gear mechanism to realize transmission. If a deceleration motor with a rated torque of 69Nm and a rated speed of 25 revolutions per minute is used, it will be further decelerated through the open gear and transmitted to the right finger assembly and the left hand. At the finger assembly, a positive pressure of 1685N can be provided at the fingertips, and the relative opening and closing speed of the two fingertips is 74mm/s; the right finger assembly and the left finger assembly have the same structure and are symmetrical. The long structure design can achieve 300mm opening and closing. Scope: Integrate multiple sensor systems including distance sensors, proximity sensors, current sensors, cameras, electronic listening devices, etc., which are required to perform special dangerous operations, into the mechanical system. The invention has the advantages of compact structure, complete design, reasonable layout, high efficiency, high integration of mechanism and sensing system, large load capacity, high opening and closing speed of finger ends, large opening and closing range, strong grasping applicability, etc., and can be widely used. It is applied to various industrial fields, and is especially suitable for grabbing items that are inaccessible to humans, such as explosives and chemicals, in special hazardous environments.
