A single-degree-of-freedom two-finger coupled gripping manipulator

Abstract

The present invention provides a novel single-degree-of-freedom two-finger coupling clamping manipulator, comprising a bracket, a servo, a gear mechanism, and two symmetrically arranged clamping arms, wherein the servo is arranged on the bracket, and the servo is connected to the two clamping arms through a gear mechanism, and corresponding connecting rod mechanisms are arranged on the two clamping arms. The present invention adopts a single-servo coupling symmetrical clamping method, which greatly reduces the control difficulty compared to the dexterous hand scheme; at the same time, compared to the simple mechanical claw scheme of a single degree of freedom, the volume is reduced within the same grasping range, and it is more flexible; the present invention uses a parallel four-bar linkage mechanism and a reverse four-bar linkage mechanism, which is simple and effective for dynamic transmission, and can accurately grasp objects; the single-servo symmetrical design of the present invention effectively reduces the degree of freedom without losing applicability, reduces costs and processing technology, and is a clamping manipulator with strong applicability.

Description

Technical Field

[0001] The invention relates to a manipulator, in particular to a novel single-degree-of-freedom two-finger coupling clamping manipulator. Background Art

[0002] The two-degree-of-freedom manipulator is the earliest industrial robot and the earliest modern robot. It can replace the heavy labor of people to realize the mechanization and automation of production. It can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy. When grasping a workpiece, the two-degree-of-freedom manipulator usually simulates the grasping action of a human hand. The two-degree-of-freedom manipulator fingers and the two-degree-of-freedom manipulator palm clamp the outer surface of the workpiece from the outside, thereby realizing the grasping and unloading of the workpiece.

[0003] However, these existing mechanical claws are either too simple in design, resulting in large size, small clamping width range, and single function, or too complex, resulting in high price, too much freedom, and too difficult control design.

[0004] However, the single-degree-of-freedom mechanical claw is relatively large in size and has poor flexibility, and cannot be applied to a variety of grasping occasions. The corresponding mechanical claw must be replaced when the occasion changes, which increases the manpower and time cost of replacing the mechanical claw.

[0005] The dexterous hand with multiple degrees of freedom has a complex mechanical design, many degrees of freedom, and increased difficulty in the control part, which increases the difficulty of processing and economic cost. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a novel single-degree-of-freedom two-finger coupled gripping manipulator. The present invention increases the applicability of the two-finger gripping manipulator in practical applications by coupling into a symmetrical design with a single degree of freedom.

[0007] The technical solution of the present invention is: a novel single-degree-of-freedom two-finger coupling clamping manipulator, comprising a bracket, a steering gear, a gear mechanism, and two symmetrically arranged clamping arms, and corresponding connecting rod mechanisms are arranged on the two clamping arms.

[0008] Preferably, the steering gear is arranged on a bracket, and the steering gear is connected to a gear mechanism.

[0009] Preferably, the gear mechanism includes a motor gear and two arm gears, the motor gear is arranged on the motor shaft of the servo and meshes with one of the arm gears, the arm gear meshes with the other arm gear, and the two arm gears are respectively connected to the two clamping arms.

[0010] Preferably, the clamping arm comprises a proximal finger section, a middle finger section, and a distal finger section, one end of the proximal finger section is arranged on the bracket cover via a connecting shaft, and an arm gear is arranged on the proximal finger section, and the arm gear is respectively meshed with the motor gear and another arm gear;

[0011] The other end of the proximal segment of the finger is connected to one end of the middle segment of the finger through a connecting shaft, and the other end of the middle segment of the finger is connected to the distal segment of the finger through a connecting shaft.

[0012] Preferably, the arm gear is fixed to the proximal finger joint by means of a screw, and the proximal finger joint is driven to rotate by the rotation of the arm gear.

[0013] Preferably, the connecting rod mechanism is a parallel four-bar structure and an inverse four-bar structure, and the connecting rod mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod that cooperate with each other.

[0014] Preferably, the first connecting rod, the third connecting rod and the fourth connecting rod each have two connecting ends, and the second connecting rod has three connecting ends.

[0015] Preferably, the second connecting rod is in a Y-shaped structure, having a first arc-shaped portion, a second arc-shaped portion, and a third arc-shaped portion.

[0016] Preferably, the fourth connecting rod has an S-shaped structure, which has a first arc-shaped portion and a second arc-shaped portion.

[0017] One connecting end of the first connecting rod is connected to the bracket cover, the other connecting end of the first connecting rod is connected to one connecting end of the second connecting rod, the second connecting end of the second connecting rod is connected to the connecting shaft between the proximal knuckle and the middle knuckle, the third connecting end of the second connecting rod is connected to one connecting end of the third connecting rod, and the other connecting end of the third connecting rod is connected to the distal knuckle;

[0018] One connecting end of the fourth connecting rod is connected to the bracket cover, and the other connecting end of the fourth connecting rod is connected to the middle section of the finger.

[0019] The beneficial effects of the present invention are:

[0020] 1. The present invention adopts a single servo-coupled symmetrical clamping method, which greatly reduces the control difficulty compared to the dexterous hand solution;

[0021] At the same time, compared with the simple mechanical claw solution with a single degree of freedom, it has a smaller size within the same grasping range and is more flexible;

[0022] 2. The present invention uses a parallel four-bar linkage and a reverse four-bar linkage to simply and effectively perform dynamic transmission and can accurately grasp objects;

[0023] 3. The single-servo symmetrical design of the present invention effectively reduces the degree of freedom without losing applicability, reduces costs and processing technology, and is a clamping manipulator with strong applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the present invention;

[0025] Figure 2 It is a structural schematic diagram of another aspect of the present invention;

[0026] Figure 3 It is a structural schematic diagram of the connecting rod structure of the present invention;

[0027] In the figure, 1- bracket, 2- servo, 3- bracket cover, 4- motor gear, 5- arm gear, 6- proximal section of finger, 7- middle section of finger, 8- distal section of finger, 9- first connecting rod, 10- second connecting rod, 11- third connecting rod, 12- fourth connecting rod. DETAILED DESCRIPTION

[0028] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings:

[0029] The present embodiment provides a novel single-degree-of-freedom two-finger coupled gripping robot. The robot described in this embodiment increases the applicability of the robot for wide-size gripping in practical applications by coupling into a single-degree-of-freedom symmetrical design. It can grip a variety of objects of various sizes, reducing the manpower and time costs of replacing the mechanical claws; the mechanical and control designs are not complicated, reducing the difficulty of processing and the economic cost.

[0030] like Figure 1 and 2 As shown, the manipulator described in this embodiment includes a bracket 1, a bracket cover 3, a steering gear 2, a gear mechanism, and two symmetrically arranged clamping arms, and the two clamping arms are provided with corresponding connecting rod mechanisms. The steering gear 2 and the gear mechanism described in this embodiment are arranged on the bracket 1 and the bracket cover 3, and the steering gear 2 is connected to the two symmetrically arranged clamping arms through the gear mechanism.

[0031] Preferably, the steering gear 2 is fixed on the bracket 1 by a plurality of screws, and the motor shaft of the steering gear 2 is connected to the gear mechanism.

[0032] Preferably, the gear mechanism described in this embodiment includes a motor gear 4 and two arm gears 5, the motor gear 4 is arranged on the motor shaft of the servo 2 and meshes with one of the arm gears 5, the arm gear 5 meshes with the other arm gear 5, and the two arm gears 5 are respectively connected to the two clamping arms.

[0033] Preferably, the two clamping arms of this embodiment have the same structure. The clamping arm includes a proximal finger section 6, a middle finger section 7, and a distal finger section 8. One end of the proximal finger section 6 is arranged on the bracket cover 3 through a connecting shaft, and an arm gear 5 is arranged on the proximal finger section 6. The arm gear 5 is fixed to the proximal finger section 6 by a screw, and the rotation of the arm gear 5 drives the proximal finger section 6 to rotate. And the arm gear 5 is respectively meshed with the motor gear 4 and the other arm gear 5. The other end of the proximal finger section 6 is connected to one end of the middle finger section 7 through a connecting shaft, and the other end of the middle finger section 7 is connected to the distal finger section 8 through a connecting shaft.

[0034] Preferably, Figure 3 As shown, the connecting rod mechanism described in this embodiment includes a first connecting rod 9, a second connecting rod 10, a third connecting rod 11, and a fourth connecting rod 12 that cooperate with each other.

[0035] The first connecting rod 9 and the third connecting rod 11 are of a straight-line structure, each having two connecting ends, and each connecting end is provided with a corresponding connecting hole.

[0036] Preferably, the second connecting rod 10 is in a Y-shaped structure, the second connecting rod 10 has three connecting ends, and each connecting end is provided with a corresponding connecting hole. In addition, the second connecting rod 10 also has a first arc-shaped portion, a second arc-shaped portion, and a third arc-shaped portion.

[0037] Preferably, the fourth connecting rod 12 is in an S-shaped structure, and has two connecting ends, each of which is provided with a corresponding connecting hole. In addition, the fourth connecting rod 12 also has a first arc-shaped portion and a second arc-shaped portion.

[0038] In this embodiment, the connection relationship of the connecting rod structure is:

[0039] One connecting end of the first connecting rod 9 is connected to the bracket cover 3, the other connecting end of the first connecting rod 9 is connected to a connecting end of the second connecting rod 10, the second connecting end of the second connecting rod 10 is connected to the connecting axis between the proximal segment 6 and the middle segment 7 of the finger, the third connecting end of the second connecting rod 10 is connected to a connecting end of the third connecting rod 11, and the other connecting end of the third connecting rod 11 is connected to the proximal segment 8 of the finger; one connecting end of the fourth connecting rod 12 is connected to the bracket cover 3, and the other connecting end of the fourth connecting rod 12 is connected to the middle segment 7 of the finger.

[0040] This embodiment is implemented in one step in actual use. That is, the servo 2 is driven, and the proximal finger section 6 fixedly connected to the gear is driven to rotate through the gear mechanism, and the proximal finger section 6 opens and closes. The middle finger section 7 forms a reverse four-bar linkage through a connecting rod mechanism to further enlarge the opening and closing angle. In addition, the distal finger section 8 is connected to the bracket cover 3 through a series of parallel four-bar linkages and always remains parallel. The two clamping arms are symmetrically meshed through the gear mechanism and open and close synchronously at the same time. In this way, the present invention ensures that objects with a larger width range can be clamped.

[0041] This embodiment adopts a single-servo-coupled symmetrical clamping solution, which greatly reduces the control difficulty compared to the dexterous hand solution; at the same time, compared to a simple mechanical claw solution with a single degree of freedom, it has a smaller volume within the same grasping range and is more flexible.

[0042] In the embodiment, a parallel four-bar linkage and a reverse four-bar linkage are used to simply and effectively perform dynamic transmission, and can accurately grasp objects. The single servo symmetrical design effectively reduces the degree of freedom without losing applicability, reducing costs and processing technology. It is a clamping manipulator with strong applicability.

[0043] The above embodiments and descriptions are only for illustrating the principles and best embodiments of the present invention. Without departing from the spirit and scope of the present invention, the present invention may be subject to various changes and improvements, all of which fall within the scope of the present invention to be protected.

Claims

1. A single-degree-of-freedom two-finger coupling gripping manipulator, characterized in that: It includes a bracket, a steering gear, a gear mechanism, and two symmetrically arranged clamping arms, the two clamping arms are provided with corresponding connecting rod mechanisms, and the connecting rod mechanisms are parallel four-bar connecting rod structures and reverse four-bar connecting rod structures; The connecting rod mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod that cooperate with each other; The first connecting rod and the third connecting rod are in a straight line shape, and each of the first connecting rod and the third connecting rod has two connecting ends, and each connecting end is provided with a corresponding connecting hole; The second connecting rod is in a Y-shaped structure; The second connecting rod has three connecting ends, and the second connecting rod also has a first arc-shaped portion, a second arc-shaped portion, and a third arc-shaped portion; The fourth connecting rod is in an S-shaped structure; The fourth connecting rod has two connecting ends, and the fourth connecting rod also has a first arc-shaped portion and a second arc-shaped portion; One connecting end of the first connecting rod is connected to the bracket cover, the other connecting end of the first connecting rod is connected to one connecting end of the second connecting rod, the second connecting end of the second connecting rod is connected to the connecting shaft between the proximal knuckle and the middle knuckle, the third connecting end of the second connecting rod is connected to one connecting end of the third connecting rod, and the other connecting end of the third connecting rod is connected to the distal knuckle; One connecting end of the fourth connecting rod is connected to the bracket cover, and the other connecting end of the fourth connecting rod is connected to the middle section of the finger.

2. A single-degree-of-freedom two-finger coupling gripping manipulator according to claim 1, characterized in that: The steering gear is arranged on the bracket through a plurality of screws, and the steering gear is connected with the gear mechanism.

3. A single-degree-of-freedom two-finger coupling gripping manipulator according to claim 1, characterized in that: The gear mechanism comprises a motor gear and two arm gears. The motor gear is arranged on the motor shaft of the servo and meshes with one of the arm gears, and the arm gear meshes with another arm gear. The two arm gears are respectively connected with two clamping arms.

4. A single-degree-of-freedom two-finger coupling gripping manipulator according to claim 1, characterized in that: The clamping arm comprises a proximal finger section, a middle finger section and a distal finger section, one end of the proximal finger section is arranged on the bracket cover through a connecting shaft, and an arm gear is arranged on the proximal finger section, and the arm gear is respectively meshed with the motor gear and another arm gear; The other end of the proximal segment of the finger is connected to one end of the middle segment of the finger through a connecting shaft, and the other end of the middle segment of the finger is connected to the distal segment of the finger through a connecting shaft.

5. A single-degree-of-freedom two-finger coupling gripping manipulator according to claim 4, characterized in that: The arm gear is fixed on the proximal finger joint by means of screws, and the proximal finger joint is driven to rotate by the rotation of the arm gear.

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