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Screw-driven and worm-driven finger mechanisms

A screw drive and finger technology, applied in the direction of manipulators, manufacturing tools, chucks, etc., can solve the problems of cumbersome transmission mechanism structure, large manipulator size, inconvenient use, etc., achieve large clamping force, reduce settings, and save space.

Inactive Publication Date: 2020-05-29
ZORPIA ROBOT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The transmission mechanism of the manipulator in the prior art has a cumbersome structure and is not easy to maintain
In addition, the transmission mechanism of the prior art takes up a lot of space, resulting in a large size of the manipulator, which is inconvenient to use

Method used

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  • Screw-driven and worm-driven finger mechanisms
  • Screw-driven and worm-driven finger mechanisms
  • Screw-driven and worm-driven finger mechanisms

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0039] Such as Figure 1 to Figure 4 As shown, it is a schematic diagram of the principle of the screw-driven finger mechanism of the embodiment of the present invention. The screw-driven finger mechanism of the embodiment of the present invention includes a first motor 1, a first pull rod 2, a first screw rod 3 and the first screw rod 3 Cooperating first nut 4, base knuckle 5 and proximal knuckle 6, base knuckle 5 and proximal knuckle 6 are rotatably connected through the first rotating shaft 7, and one end of the first screw rod 3 cooperates with the internal thread of the first nut 4 , the other end of the first screw rod 3 is in drive connection with the output shaft at the front end of the first motor 1 , and the rear end of the first motor 1 is fixedly connected with one end of the first pull rod 2 . In practical applications, since the output speed of the first motor 1 may be different from the actual required speed, a deceleration assembly may also be included to adjus...

Embodiment 2

[0051] Such as Figure 5 to Figure 12 As shown, it is a schematic diagram of the principle of the screw-driven finger mechanism of the second embodiment. The difference between this embodiment and the first embodiment is that a finger frame 9 and a second pull rod 10 are added in this embodiment, and the base knuckle 5 is rotatably connected to the finger frame 9 through a third rotating shaft 11 .

[0052] Since the finger mechanism in Embodiment 1 involves the flexion motion of the proximal knuckle relative to the base knuckle, in practical applications, it may be necessary for the base knuckle to perform flexion motion relative to the finger frame. Therefore, as Figure 5 to Figure 8 As shown, the present embodiment is provided with a second pull rod 10 between the base knuckle 5 and the finger frame 9, and one end of the second pull rod 10 is rotatably connected with the first motor 1 through a fourth rotating shaft 12, and the second pull rod 10 The other end is rotatabl...

Embodiment 3

[0062] Such as Figure 13 to Figure 16 As shown, it is a schematic diagram of the principle of the finger mechanism driven by the worm gear of the third embodiment. Since the movement of the finger body in the prior art involves only the flexion movement, in practical applications, the finger body may need to perform attitude adjustment movements relative to the palm of the manipulator, for example, the finger body may need to perform a swinging movement relative to the palm of the manipulator. Posture adjustment can be used to adjust the direction of flexor movement. In addition, the movement of the finger body relative to the palm itself can also be used as one of the action links for the robot to grasp objects or realize other functions. Therefore, the finger mechanism driven by the worm gear of the present embodiment includes a finger frame 9, a worm wheel 15 and a worm wheel 16 cooperating with the worm screw 15, a second motor 17 and a motor bracket 18, and the motor bra...

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PUM

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Abstract

The invention provides a spirally-driven and worm-and-gear-driven finger mechanism. A finger rack is rotationally connected with one end of a base knuckle through a third rotation shaft, and the otherend of the base knuckle is rotationally connected with a near knuckle through a first rotation shaft. One end of a fourth screw is matched with an inner thread of a fourth nut. The other end of the fourth screw is in transmission connection with an output shaft at the front end of a fourth motor. The fourth motor is connected with the finger rack through a fourth pull rod. The fourth motor is connected with one end of a fifth pull rod through a tenth rotation shaft. According to the provided spirally-driven and worm-and-gear-driven finger mechanism, the finger mechanism, motors, pull rods, screws and nuts are specially assembled, and therefore the space occupied by axial transmission output is saved.

Description

technical field [0001] The embodiment of the present invention relates to a finger mechanism, in particular to a finger mechanism driven by a screw and a worm gear. Background technique [0002] The manipulator can imitate certain motion functions of the human hand and arm, and is used to grab, carry objects or operate automatic operating devices according to a fixed program. Manipulators can replace human heavy labor to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety, so they are widely used in various sectors of industrial production. In addition, many manipulators are also designed for the disabled to act as prosthetics for the disabled, so that the disabled have a certain ability to grasp objects. [0003] The transmission mechanism of the manipulator in the prior art has a complex structure and is not easy to maintain. In addition, the transmission mechanism in the prior art takes up a lot of space...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/00
CPCB25J15/0009
Inventor 白劲实
Owner ZORPIA ROBOT CO LTD