A mechanical arm with extrusion transmission

Abstract

The present invention discloses a manipulator with extrusion transmission, including a palm and a finger, wherein the finger has a proximal knuckle, a driving assembly is arranged on the palm, an output shaft is arranged on the driving assembly, and a cam is arranged on the output shaft; a finger connecting end is arranged on the palm, a first pin is arranged on the finger connecting end, the first pin passes through the root of the proximal knuckle, and a pressure plate is arranged at the root of the proximal knuckle; the cam abuts against the pressure plate and drives the pressure plate to rotate; an elastic reset mechanism is arranged between the proximal knuckle and the palm, and the elastic reset mechanism is used to reset the proximal knuckle after rotation. The manipulator with extrusion transmission of the present invention realizes force transmission by arranging a cam on the output shaft of the driving assembly and a pressure plate on the proximal knuckle, and the extrusion sliding of the cam and the pressure plate realizes force transmission, thereby solving the problem that conventional transmission methods cannot be used for force transmission under special circumstances, and has reasonable structural design, sufficient space utilization, and large transmission torque.

Description

Technical Field

[0001] The invention relates to the field of robots, and in particular to an extrusion-driven manipulator. Background Art

[0002] With the development of artificial intelligence, intelligent robots will gradually help or even replace the existing labor force in many aspects. Traditional robotic arms and mechanical grippers are mainly used in industrial production, while in the future, intelligent robots will collaborate more with humans and even independently complete daily life tasks. Therefore, as artificial intelligence moves towards daily life, robots will be more integrated into the existing human operating environment and compatible with the existing operating mode to work together. The existing extrusion transmission robot technology solutions either have too large motors or use small motors that cannot provide driving force for large loads. In particular, due to some special structures, the power input end and the execution output end are neither vertical nor parallel, making it difficult to achieve direct transmission. Summary of the invention

[0003] In order to solve the above technical problems, the main purpose of the present invention is to provide an extrusion transmission manipulator, in which a cam is arranged on the output shaft of the driving assembly, and a pressure plate is arranged on the proximal knuckle, so as to realize force transmission through the extrusion and sliding of the cam and the pressure plate.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions.

[0005] A manipulator with extrusion transmission comprises a palm and fingers, wherein the fingers have proximal knuckles, a driving assembly is arranged on the palm, an output shaft is arranged on the driving assembly, and a cam is arranged on the output shaft; a finger connecting end is arranged on the palm, a first pin is arranged on the finger connecting end, the first pin passes through the root of the proximal knuckle, and a pressure plate is arranged at the root of the proximal knuckle; the cam abuts against the pressure plate and drives the pressure plate to rotate; an elastic reset mechanism is arranged between the proximal knuckle and the palm, and the elastic reset mechanism is used to reset the proximal knuckle after rotation.

[0006] Furthermore, the driving assembly includes a motor, a worm is arranged on the output shaft of the motor, the worm is meshed with a worm wheel, and the output shaft of the worm wheel serves as the output shaft of the driving assembly.

[0007] Furthermore, the elastic reset mechanism is a torsion spring, and the torsion spring is arranged on the first pin shaft. Furthermore, the elastic reset mechanism is a compression spring, and the compression spring is arranged on the back side of the extrusion surface of the pressure plate.

[0008] Furthermore, the angle between the pressure plate and the longitudinal axis of the proximal phalanx is in the range of 90°-160°.

[0009] Furthermore, the finger also includes a distal knuckle, and the distal knuckle is provided with upper and lower hinge holes near the palm end; the finger connecting end is provided with upper and lower hinge holes; a first connecting rod arm is provided between the upper hinge hole of the finger connecting end and the lower hinge hole of the distal knuckle, and a second connecting rod arm is provided between the lower hinge hole of the finger connecting end and the upper hinge hole of the distal knuckle; the first connecting rod arm and the second connecting rod serve as the proximal knuckle; a first pin is provided in the upper hinge hole of the finger connecting end, and the first connecting rod is fixedly connected to the first pin; a second pin is provided in the lower hinge hole of the finger connecting end.

[0010] Furthermore, a downward swing limit block is provided on the distal knuckle, and the downward swing limit block is used to limit the extreme position of the downward rotation of the proximal knuckle; an upward swing limit block is provided on the finger connecting end, and the upward swing limit block is used to limit the extreme position of the upward rotation of the proximal knuckle.

[0011] Furthermore, the first connecting rod arm is a crank arm.

[0012] Furthermore, the second connecting rod arm is a crank arm.

[0013] Compared with the prior art, the extrusion transmission manipulator of the technical solution of the present invention has a cam on the output shaft of the driving component and a pressure plate on the proximal knuckle. Force transmission is achieved through the extrusion and sliding of the cam and the pressure plate, which solves the problem that conventional transmission methods cannot be used for force transmission in special environments. The structural design is reasonable, the space utilization is sufficient, and the transmission torque is large. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0015] Figure 1 It is a three-dimensional schematic diagram of a manipulator with extrusion transmission according to the present invention;

[0016] Figure 2 It is a schematic diagram of a cross-section of the finger connection of a manipulator with extrusion transmission according to the present invention;

[0017] In the above figure: 1 proximal knuckle; 11 first link arm; 12 second link arm; 2 drive assembly; 21 motor; 22 worm; 23 worm wheel; 3 cam; 4 finger connecting end; 41 upper swing limit block; 5 first pin shaft; 6 pressure plate; 7 distal knuckle; 71 lower swing limit block. DETAILED DESCRIPTION

[0018] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0019] In the following description, specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in a variety of other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0020] refer to Figure 1 and Figure 2 A manipulator with extrusion transmission comprises a palm and a finger, the finger having a proximal knuckle 1, a driving assembly 2 is arranged on the palm, an output shaft is arranged on the driving assembly 2, and a cam 3 is arranged on the output shaft; a finger connecting end 4 is arranged on the palm, a first pin shaft 5 is arranged on the finger connecting end 4, the first pin shaft 5 passes through the root of the proximal knuckle 1, and a pressing plate 6 is arranged at the root of the proximal knuckle 1; the cam 3 abuts against the pressing plate 6 and drives the pressing plate 6 to rotate; an elastic reset mechanism is arranged between the proximal knuckle 1 and the palm, and the elastic reset mechanism is used to reset the proximal knuckle 1 after rotation.

[0021] In the above embodiments, since the spatial angle between the proximal knuckle 1 and the palm is relatively special, the general worm gear or gear transmission cannot meet the requirements. In this embodiment, the cam 3 mechanism is used for indirect force transmission, thereby achieving force transmission at any angle in space.

[0022] Furthermore, the driving assembly 2 includes a motor 21 , a worm 22 is disposed on the output shaft of the motor 21 , a worm wheel 23 is meshed with the worm 22 , and the output shaft of the worm wheel 23 serves as the output shaft of the driving assembly 2 .

[0023] In the above embodiments, the driving assembly 2 is preferably driven by a motor 21, a worm gear 23 and a worm 22, which has the advantages of huge transmission force and compact structure.

[0024] Furthermore, a torsion spring is arranged on the first pin shaft 5, and the torsion spring serves as the elastic reset mechanism. A compression spring is arranged on the back side of the pressing surface of the cam 3 of the pressure plate 6, and the compression spring serves as the elastic reset mechanism.

[0025] In the above embodiments, in order to drive the proximal phalanx 1 rotated by the cam 3 to return to the initial state, an elastic reset mechanism needs to be provided for the proximal phalanx 1. This embodiment specifically adopts a torsion spring provided on the first pin shaft 5. When the proximal phalanx 1 is driven to rotate, the reverse action force of the torsion spring will cause the proximal phalanx 1 to return to the initial position.

[0026] Furthermore, the angle between the pressing plate 6 and the longitudinal axis of the proximal phalanx 1 is 90 to 160 degrees. In this embodiment, which is specifically applied to the thumb of a manipulator with a squeeze drive, the angle between the pressing plate 6 and the longitudinal axis of the proximal phalanx 1 is preferably 90 to 160 degrees.

[0027] Furthermore, the finger also includes a distal knuckle 7, and the distal knuckle 7 is provided with upper and lower hinge holes near the palm end; the finger connecting end 4 is provided with upper and lower hinge holes; a first connecting rod arm 11 is provided between the upper hinge hole of the finger connecting end 4 and the lower hinge hole of the distal knuckle 7, and a second connecting rod arm 12 is provided between the lower hinge hole of the finger connecting end 4 and the upper hinge hole of the distal knuckle 7; the first connecting rod arm 11 and the second connecting rod arm 12 serve as the proximal knuckle 1; a first pin shaft 5 is provided in the upper hinge hole of the finger connecting end 4, and the first connecting rod arm 11 is fixedly connected to the first pin shaft 5; a second pin shaft is provided in the lower hinge hole of the finger connecting end 4.

[0028] In the above embodiments, the finger of the extrusion transmission manipulator includes a distal knuckle 7 and a proximal knuckle 1. The distal knuckle 7 and the finger connection end 4 are connected together by a crossed first link arm 11 and a second link arm 12, that is, the first link arm 11 and the second link arm 12 serve as the proximal knuckle 1. The distal knuckle 7, the finger connection end 4, the first link arm 11, and the second link arm 12 are hinged to form a crossed four-bar linkage. During the clockwise rotation of the second link arm 12, the angle between the distal knuckle 7 and the proximal knuckle 1 becomes smaller and smaller, that is, the proximal knuckle 1 curls and the distal knuckle 7 also curls. The action formed by this mechanism is closer to the curling process of human fingers. When a non-crossed four-bar linkage is used, when the proximal knuckle 1 curls toward the palm of the hand, the distal knuckle 7 curls toward the palm of the hand as a whole, but the distal knuckle 7 is turned outward relative to the proximal knuckle 1, which does not conform to the curling process of human fingers. Therefore, the use of a crossed four-bar linkage is better than a non-crossed four-bar linkage.

[0029] Furthermore, a downward swing limit block 71 is provided on the distal phalanx 7, and the downward swing limit block 71 is used to limit the extreme position of the downward rotation of the proximal phalanx 1; an upward swing limit block 41 is provided on the finger connecting end 4, and the upward swing limit block 41 is used to limit the extreme position of the upward rotation of the proximal phalanx 1.

[0030] In order to limit the swing range of fingers relative to the palm, the characteristics of the cross four-bar linkage are used. Figure 2A lower swing limit block 71 is provided in the middle of the upper and lower hinge holes of the distal knuckle 7. When the proximal knuckle 1 rotates counterclockwise, the lower surface of the second link arm 12 touches the lower swing limit block 71, which is the lower limit of the swing of the proximal knuckle 1; an upper swing limit block 41 is provided on the finger connection end 4. When the proximal knuckle 1 rotates clockwise, the upper surface of the first link arm 11 touches the upper swing limit block 41, which is the upper limit of the swing of the proximal knuckle 1. Obviously, the positions of the lower swing limit block 71 and the upper swing limit block 41 can also be set in other ways, which will not be repeated here.

[0031] Further, the first connecting rod arm 11 is a crank arm. Similarly, the second connecting rod arm 12 is a crank arm.

[0032] In this embodiment, the bent crutch arm has two advantages. First, the bending of the first link arm 11 better conforms to the shape of the proximal knuckle 1 of the human body. Second, the crutch arm is stronger than the straight arm.

[0033] Although the present invention has been described in detail in this specification by means of general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements may be made thereto on the basis of the present invention. Therefore, these modifications or improvements made without departing from the present invention all fall within the scope of protection claimed by the present invention.

Claims

1. A manipulator with an extrusion drive, comprising a palm and fingers, wherein the fingers have proximal knuckles (1), characterized in that: A driving component (2) is arranged on the palm, an output shaft is arranged on the driving component (2), and a cam (3) is arranged on the output shaft; The palm is provided with a finger connection end (4), the finger connection end (4) is provided with a first pin shaft (5), the first pin shaft (5) passes through the root of the proximal knuckle (1), and the root of the proximal knuckle (1) is provided with a pressure plate (6); The cam (3) abuts against the pressing plate (6) and drives the pressing plate (6) to rotate; An elastic reset mechanism is provided between the proximal phalanx (1) and the palm, and the elastic reset mechanism is used to reset the proximal phalanx (1) after rotation. The drive assembly (2) comprises a motor (21), an output shaft of the motor (21) is provided with a worm (22), the worm (22) is meshed with a worm wheel (23), and the output shaft of the worm wheel (23) serves as the output shaft of the drive assembly (2). The elastic reset mechanism is a compression spring, which is arranged on the back side of the pressing surface of the pressure plate (6), and the angle between the pressure plate (6) and the longitudinal axis of the proximal phalanx (1) is in the range of 90°-160°. The finger further comprises a distal phalanx (7), and the distal phalanx (7) is provided with upper and lower hinge holes near the palm end; The finger connection end (4) is provided with upper and lower hinge holes; A first link arm (11) is arranged between the upper hinge hole of the finger connection end (4) and the lower hinge hole of the distal knuckle (7), and a second link arm (12) is arranged between the lower hinge hole of the finger connection end (4) and the upper hinge hole of the distal knuckle (7); the first link arm (11) and the second link arm (12) serve as the proximal knuckle (1); A first pin shaft (5) is arranged in the upper hinge hole of the finger connection end (4), and the first connecting rod arm (11) is fixedly connected to the first pin shaft (5); a second pin shaft is arranged in the lower hinge hole of the finger connection end (4); The first link arm (11) is a crank arm, the second link arm (12) is a crank arm, and the distal finger joint (7), the finger connection end (4), the first link arm (11), and the second link arm (12) are hinged to form a cross four-bar linkage.

2. The extrusion transmission manipulator according to claim 1, characterized in that: The elastic reset mechanism is a torsion spring, and the torsion spring is arranged on the first pin shaft (5).

3. The extrusion transmission manipulator according to claim 1, characterized in that: The distal phalanx (7) is provided with a downward swing limit block (71), and the downward swing limit block (71) is used to limit the extreme position of the downward rotation of the proximal phalanx (1); the finger connecting end (4) is provided with an upward swing limit block (41), and the upward swing limit block (41) is used to limit the extreme position of the upward rotation of the proximal phalanx (1).

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