An adaptive manipulator with adjustable grasp range

Abstract

The application discloses a self-adaptive manipulator with adjustable gripping range, which comprises a shell, a gripping range adjusting mechanism, a differential gear set, a finger mechanism, a finger differential mechanism and a controller. The gripping range adjusting mechanism comprises a rotary power part, a lead screw and a guide rail. The differential gear set is in transmission connection with the power part. The guide rails are in pairs and are in threaded connection with the lead screws on the corresponding sides to realize the mutual approach or separation of the guide rails. The finger mechanism comprises a transition joint, a root finger joint and a tip finger joint, and is hinged to form a multi-link mechanism. The finger differential mechanism comprises a telescopic power part, a force transmission lever, a spring and a thrust assembly. The telescopic end of the telescopic power part is hinged to the middle part of the force transmission lever. The thrust assembly has two groups, one end of which is hinged to the transition joint on the corresponding side, and the other end is slidingly connected to the force transmission lever. The controller is fixedly connected to the shell and is electrically connected with the rotary power part, the telescopic power part and a mechanical arm control box. The application has a large gripping range and low use cost.

Description

TECHNICAL FIELD

[0001] The present application relates to a mechanical hand, in particular to a self-adaptive mechanical hand with adjustable grasping range. BACKGROUND

[0002] In the assembly of most industrial products, there are many parts with large size differences, which is very unfavorable for the implementation of automatic assembly. In automatic assembly, the assembly robot is difficult to automatically perceive the size of the parts like a person, and then adjust the size of the mechanical hand opening and closing and the grasping force. People usually use different special mechanical hands for different parts to achieve grasping, which wastes a lot of time to replace the mechanical hand and increases the cost of enterprises.

[0003] Traditional mechanical hands rely on many assumptions to work, such as the workpiece will always be in a certain position and posture, the mechanical hand will not be disturbed by anything around it when working; even if the industrial vision is added, the accuracy requirement of the mechanical hand to the industrial vision is very high, so the calibration of the industrial camera, the setting of the environmental light, the vision algorithm, etc. for each production line or each part need complicated adjustment; even if the collision detection is added, the mechanical arm only stops all movements when detecting the collision, and it is impossible to continue the work at hand. The dependence on various assumptions determines that the existing mechanical hand needs special personnel to spend a lot of effort and money to deploy for each production line to achieve an application.

[0004] In view of the above problems, it is hoped that the mechanical hand can have some characteristics: 1. The same mechanical hand can be used to grasp parts of different sizes on the assembly line. 2. The mechanical hand can adapt to the uncertainty of the position of the grasped object. 3. It can adapt to the interference of complex external environment. For this purpose, people put forward the concept of self-adaptive mechanical hand according to the ability of human hand to grasp different objects.

[0005] The requirement of the self-adaptive mechanical hand is that even if the position information of the workpiece is not accurate enough, or because of some reason the displacement and posture change during processing, the mechanical hand can adjust the adaptation of the end mechanical hand to the shape of the part in time through the contact with the object and the structure design of itself.

[0006] Although great progress has been made in the research of adaptive manipulators, various full-drive and under-actuated manipulators have been developed and can automatically adapt to the shape and position error of different parts, but they still cannot meet the industrial requirements in terms of compact structure, cost performance, and task requirements in complex environments and multi-task scenarios. The existing full-drive adaptive manipulators usually use multiple motors to coordinate the driving of multiple finger joints, which easily leads to high cost of the manipulator and requires consideration of the coordinated control problem of multiple motors. A few under-actuated adaptive manipulators use one motor to drive multiple joints of a finger, and they usually use passive fitting of the finger joints to the surface of the part. However, the former easily leads to a bulky manipulator structure, and the latter has a small adaptive range for the size of the part. In addition, the existing adaptive manipulators pay more attention to the design of the finger mechanism, and less attention to the study of single-input multi-output differential mechanisms, which is the main reason for the slow development of current single-drive adaptive manipulators.

[0007] Therefore, how to provide a manipulator that is simple in structure, low in cost, and large in adaptive range when used with a mechanical arm is a problem that those skilled in the art need to solve. SUMMARY

[0008] Therefore, how to provide a manipulator that is simple in structure, low in cost, and large in adaptive range when used with a mechanical arm is a problem that those skilled in the art need to solve.

[0009] In order to achieve the above purpose, the present application adopts the following technical scheme: an adaptive manipulator with adjustable grasping range, comprising:

[0010] A shell, one end of the shell is connected to a mechanical arm, and the other end of the shell is provided with a position-avoiding gap;

[0011] A grasping range adjusting mechanism, the grasping range adjusting mechanism comprises a rotating power part, a differential gear set, a lead screw and a guide rail, the power part is fixedly connected in the shell, the differential gear set is in transmission connection with the power part, two output gears in the differential gear set are respectively in transmission connection with two lead screws, and the guide rails are arranged in parallel in pairs and are in threaded connection with the lead screws on the corresponding sides to realize the mutual approach or separation of the guide rails;

[0012] A finger mechanism, the finger mechanism has two groups and each group comprises a transition joint, a root finger joint and a tip finger joint, the transition joint, the root finger joint and the tip finger joint are hinged into a multi-link mechanism, the transition joint is hinged to the guide rail on the corresponding side, and the root finger joint extends out of the position-avoiding gap;

[0013] The finger differential mechanism comprises a telescopic power part, a force transmission lever, a spring and a thrust assembly, the telescopic power part is fixedly connected to the shell, the telescopic end of the telescopic power part is hingedly connected to the middle part of the force transmission lever, both ends of the force transmission lever are connected with the spring, the thrust assembly has two groups and one end thereof is hingedly connected to the transition joint on the corresponding side, and the other end is slidingly connected to the force transmission lever;

[0014] The controller is fixedly connected to the shell and is electrically connected with the rotary power part, the telescopic power part and the mechanical arm control box respectively.

[0015] The beneficial effects of the present application are that the rotary power part controls the differential gear set, the two output gears of the differential gear set are in transmission connection with the lead screws, the rotation of the lead screws can realize the translation of the guide rails, the grabbing range of the mechanical hand is adjusted, the force transmission lever is driven by the telescopic power part, the force transmission lever is connected to the transition joint through the thrust assembly, the opening and closing of the root knuckle and the tip knuckle are controlled to grab the parts, the four joints can realize the envelope grabbing of the parts through one power part, the single-drive four-output adaptive grabbing effect is formed, the adjustment of the grabbing range of the mechanical hand is realized through the differential gear set, the anti-interference ability of the mechanical hand to the outside world is enhanced, and the adaptive range of the mechanical hand is expanded.

[0016] Preferably, the inner bottom wall of the shell is fixedly connected with a support and a bearing seat frame, one end between the support and the bearing seat frame is fixedly connected with a cylindrical slide rail, and the other end is rotatably connected with a lead screw, one end of the lead screw is rotatably connected to the bearing seat frame, one end edge of the guide rail is fixedly connected with a nut, the nut is in threaded connection with the lead screw, and the other end of the guide rail is provided with a sliding hole, and the cylindrical slide rail is slidingly connected in the sliding hole.

[0017] The technical effects generated thereby are that the cylindrical slide rail and the lead screw are installed through the support and the bearing seat frame, the lead screw is rotatable and in transmission connection with the output gears of the differential gear set, the two lead screws are differentially rotated under the driving of the differential gear set, and the guide rails are differentially moved.

[0018] Preferably, the rotary power part comprises a stepping motor and an input bevel gear, the stepping motor is electrically connected with the controller, the stepping motor is fixedly connected to the shell and located between the two guide rails, the output shaft of the stepping motor is in transmission connection with the input bevel gear, the differential gear set is located between the two lead screws, the transmission bevel gear in the differential gear set is in mesh transmission with the input bevel gear of the rotary power part, the planetary carrier is fixedly connected to the transmission bevel gear, the planetary bevel gears are rotatably connected to the planetary carrier, and the planetary bevel gears are in mesh with the output gears.

[0019] The technical effect generated thereby is that the differential gear set can realize the change of simultaneous movement and non-simultaneous movement of the two guide rails, and the distance between the two guide rails and the position of the center line can be arbitrarily changed.

[0020] Preferably, the telescopic power part comprises a linear motor and a U-shaped rod, the linear motor is electrically connected with the controller, one end of the U-shaped rod is fixedly connected with the output end of the linear motor, the other end of the U-shaped rod is hingedly connected with the middle part of the force transmission lever through a pin shaft, one end of the spring is fixedly connected with the end part of the force transmission lever, and the other end of the spring is fixedly connected on the side wall of the shell.

[0021] The technical effect generated thereby is that the telescopic power part provides the deflection power of the transition joint, and further realizes the linkage folding and grabbing effect of the two root finger joints and the two tip finger joints, thereby facilitating the grabbing of parts.

[0022] Preferably, the telescopic power part comprises a linear motor and a U-shaped rod, the linear motor is electrically connected with the controller, one end of the U-shaped rod is fixedly connected with the output end of the linear motor, the other end of the U-shaped rod is hingedly connected with the middle part of the force transmission lever through a pin shaft, one end of the spring is fixedly connected with the end part of the force transmission lever, and the other end of the spring is fixedly connected on the side wall of the shell.

[0023] The technical effect generated thereby is that the deflection of the force transmission lever can realize the envelope grabbing of different part sizes, and is not limited to the grabbing of symmetrical parts.

[0024] Preferably, the transition joint comprises two triangular deflection plates and a plurality of supporting rods, the supporting rods are fixedly connected between the edges of the two deflection plates, the supporting rod on the first corner of the deflection plate is rotatably connected with the end edge of the guide rail, and the other end of the push rod is hingedly connected with the supporting rod on the second corner of the deflection plate.

[0025] The technical effect generated thereby is that the transition joint realizes the fixed-axis deflection through the push assembly, and further drives the root finger joint and the tip finger joint to fold and grab the parts.

[0026] Preferably, the root knuckles comprise first connecting rods and second connecting rods, the first connecting rods and the second connecting rods are arranged in parallel in pairs, one end of the first connecting rod is hinged to the third corner of the deflection plate, one end of the second connecting rod is hinged to the first corner of the deflection plate, the other end of the first connecting rod and the other end of the second connecting rod are respectively hinged to the tip knuckles.

[0027] Preferably, the tip knuckles comprise two triangular frames and a plurality of supporting rods, the plurality of supporting rods are respectively connected to the edge corners between the two triangular frames, a supporting rod is arranged between the two second connecting rods in a group, a supporting rod is arranged between the two triangular frames, an adjusting plate connecting rod is fixedly connected to the supporting rod, the adjusting plate connecting rod is connected to the support on the self-adapting adjusting plate through a shaft, a tension spring is arranged on both sides of the self-adapting adjusting plate, and the tension spring is connected to the corresponding second connecting rod and triangular frame.

[0028] Therefore, the self-adapting adjusting plate always maintains the original state when not subjected to external force. When the part surface is not parallel to the knuckle surface, the self-adapting adjusting plate is attached to the part surface under the action of the motor force, so that the contact area is increased and the success rate of grabbing is improved.

[0029] Preferably, a joint is connected to the top of the shell, and the joint is connected to the controller and the mechanical arm control box. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 It is an assembly view of the adaptive manipulator with adjustable grabbing range of the application;

[0031] Figure 2 It is an exploded view of the adaptive manipulator with adjustable grabbing range of the application;

[0032] Figure 3 It is a front view of the adaptive manipulator with adjustable grabbing range of the application;

[0033] Figure 4 It is a schematic view of the grabbing range adjusting mechanism of the adaptive manipulator with adjustable grabbing range of the application;

[0034] Figure 5 It is a working principle diagram of the adaptive manipulator with adjustable grabbing range of the application;

[0035] Figure 6 It is a schematic view of the grabbing range adjustment of the adaptive manipulator with adjustable grabbing range of the application Figure 1 ;

[0036] Figure 7 It is a schematic view of the grabbing range adjustment of the adaptive manipulator with adjustable grabbing range of the application Figure 2 ;

[0037] Figure 8 Adaptive envelope grasping schematic for adaptive manipulator with adjustable grasping range Figure 1 ;

[0038] Figure 9 Adaptive envelope grasping schematic for adaptive manipulator with adjustable grasping range Figure 2 ;

[0039] Figure 10 Finger adaptive adjusting plate schematic for adaptive manipulator with adjustable grasping range Figure 1 ;

[0040] Figure 11 Finger adaptive adjusting plate schematic for adaptive manipulator with adjustable grasping range Figure 2 .

[0041] 1 housing, 101 upper cover plate, 102 rear cover plate, 103 left cover plate, 104 lower cover plate, 105 front cover plate, 106 right cover plate, 107 flange, 108 joint, 109 avoidance gap;

[0042] 2 controller;

[0043] 3 finger mechanism, 301 deflection plate, 302 buckle shaft, 303 first connecting rod, 304 second connecting rod, 305 tension spring, 306 adaptive adjusting plate, 307 adjusting plate connecting rod, 308 triangular frame, 309 screw, 310 support, 311 shaft, 312 brace;

[0044] 4 finger differential mechanism, 401 linear motor, 402 U-shaped rod, 403 pin shaft, 404 force transmission lever, 405 guide sleeve, 406 spring, 407 power rod, 408 sliding block, 409 thrust rod;

[0045] 5 grasping range adjusting mechanism, 501 bracket, 502 cylindrical slide rail, 503 guide rail, 504 bearing seat frame, 505 stepper motor, 506 input bevel gear, 507 lead screw, 508 nut, 509 transmission bevel gear, 510 planetary bevel gear, 511 planetary carrier, 512 output gear;

[0046] 6 part one, 7 part two. DETAILED DESCRIPTION

[0047] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0048] The accompanying drawings are referred to in the description of the present application Figures 1 to 11 According to an embodiment of the present application, an adaptive manipulator with adjustable gripping range comprises:

[0049] A shell 1, one end of the shell 1 is connected with a mechanical arm, and the other end of the shell 1 is provided with a position-avoiding gap 109;

[0050] The shell is composed of an upper cover plate 101, a lower cover plate 104, a front cover plate 105, a rear cover plate 102, a left cover plate 103 and a right cover plate 106, which surround the gripping mechanism from six sides to play a fixing and protection role. The manipulator is connected with the mechanical arm through a flange 107 installed on the rear cover plate 102; the position-avoiding gap is opened on the front cover plate 105;

[0051] A gripping range adjusting mechanism 5, the gripping range adjusting mechanism 5 comprises a rotating power part, a differential gear set, a lead screw 507 and a guide rail 503, the power part is fixedly connected in the shell 1, the differential gear set is in transmission connection with the power part, two output gears 512 in the differential gear set are in transmission connection with two lead screws respectively, the guide rails 503 are arranged in pairs and parallel and are in threaded connection with the corresponding side lead screws 507 through nuts 508, so as to realize the mutual approach or separation of the guide rails;

[0052] A finger mechanism 3, the finger mechanism 3 has two groups and each group comprises a transition joint, a root knuckle and a tip knuckle, the transition joint, the root knuckle and the tip knuckle are hinged into a multi-link mechanism, the transition joint is hinged with the corresponding side guide rail 503, and the root knuckle extends out of the position-avoiding gap 109; one root knuckle and one tip knuckle correspond to one guide rail.

[0053] A finger differential mechanism 4, the finger differential mechanism 4 comprises a telescopic power part, a force transmission lever 404, a spring 406 and a thrust assembly, the telescopic power part is fixedly connected on the shell 1, the telescopic end of the telescopic power part is hinged with the middle part of the force transmission lever 404, both ends of the force transmission lever 404 are connected with the springs, the thrust assembly has two groups and one end of each group is hinged with the corresponding side transition joint, and the other end is slidingly connected on the force transmission lever 404; the thrust assembly can control the linkage of multiple knuckles to be closed to grip a part;

[0054] The controller 2 is fixedly connected to the rear cover plate 102 of the shell 1 and is electrically connected to the rotating power unit, the telescopic power unit and the mechanical arm control box respectively. The controller 2 mainly sends control instructions to the two motors to control the adjustment of the grabbing range of the whole mechanism and the adaptive grabbing. The controller 2 is connected to the mechanical arm control box through the 108 connector.

[0055] In other embodiments, the inner bottom wall of the shell 1 is fixedly connected with a bracket 501 and a bearing seat frame 504. A cylindrical slide rail 502 is fixedly connected between the bracket 501 and the bearing seat frame 504 at one end, and a lead screw 507 is rotatably connected at the other end. One end of the lead screw 507 is rotatably connected to the bearing seat frame 504. A nut 508 is fixedly connected to the edge of one end of the guide rail 503, and the nut 508 is threadedly connected to the lead screw 507. The other end of the guide rail 503 is provided with a sliding hole, and the cylindrical slide rail 502 is slidably connected in the sliding hole. The rotation of the lead screw provides power for the translation of the guide rail, and the cylindrical slide rail provides a guiding effect for the translation of the guide rail.

[0056] The rotation of the gear is converted into the linear motion of the guide rail on the cylindrical slide rail by the cooperation of the lead screw and the nut. The finger mechanism is hinged to the lower end of the guide rail through the buckle shaft 303, and the whole finger mechanism moves with the guide rail, so that the distance between the two grabbing mechanisms can be adjusted, and the center line position of the grabbing mechanism can be adjusted arbitrarily, thereby adjusting the grabbing range of the mechanical hand. When neither of the two fingers touches the part, the fingers move synchronously under the drive of the stepping motor 505, and when one of the fingers touches the part, the other finger will continue to move towards the part under the action of the differential gear set until both fingers touch the part. The whole mechanism is fixed on the rear cover plate of the mechanical hand through the bracket.

[0057] In other specific embodiments, the rotating power unit includes a stepping motor 505 and an input bevel gear 506. The stepping motor 505 is electrically connected to the controller 2, and the stepping motor provides power for the differential gear set to achieve the translation adjustment effect of the two guide rails. The stepping motor 505 is fixedly connected to the lower cover plate 104 of the shell 1 and located between the two guide rails 503. The output shaft of the stepping motor 505 is in transmission connection with the input bevel gear 506. The differential gear set is located between the two lead screws 507. The transmission bevel gear 509 in the differential gear set is in meshing transmission with the input bevel gear 506 of the rotating power unit. The planetary carrier 511 is fixedly connected to the transmission bevel gear 509, the planetary bevel gear 510 is rotatably connected to the planetary carrier 511, and the planetary bevel gear 510 is in meshing with the output gear 512. When the two guide rails move simultaneously, the output gear rotates synchronously, and the planetary bevel gear on the planetary carrier rotates with the planetary carrier without self-rotation. When the two guide rails do not move simultaneously, the planetary bevel gear on the planetary carrier rotates with the planetary carrier while self-rotating, driving the output gear to rotate. At this time, the two output gears are not synchronized, and there is a differential effect, thereby adjusting the rotating action of the two lead screws.

[0058] In some other embodiments, the telescopic power unit comprises a linear motor 401 and a U-shaped rod 402, the linear motor 401 is electrically connected with the controller 2, the linear motor provides telescopic power, one end of the U-shaped rod 402 is fixedly connected with the output end of the linear motor 401, the other end of the U-shaped rod 402 is hingedly connected with the middle part of the force transmission lever 404 through a pin shaft 403, one end of the spring 406 is fixedly connected with the end part of the force transmission lever 404, and the other end of the spring 406 is fixedly connected on the rear cover plate 102 of the shell 1.

[0059] The finger differential mechanism mainly controls the enveloping gripping of the manipulator. The linear motor pushes the force transmission lever downward through the U-shaped rod. When the two finger joints do not contact the part, the force transmission lever does not deflect, and the two power rods are perpendicular to the force transmission lever. Under the pushing of the force transmission lever, the sliding block slides downward, driving the push rod to push the buckle shaft of the finger mechanism, thereby pushing the closing of the finger joints. Because the two proximal joints of the fingers have contacted the part under the action of the gripping range adjustment mechanism assembly in the previous step, only the distal joint of the finger will rotate under the pushing of the linear motor. When the distal joint of one finger contacts the part, the sliding block of the pushing finger no longer moves, and the force transmission lever will tilt under the pushing of the U-shaped rod, continuously pushing the other sliding block to move downward until the distal joint of the other finger contacts the part, thereby realizing enveloping gripping of the object. After completing the gripping, the force transmission lever will return to the horizontal position under the pulling of the spring.

[0060] As shown in Figure 5 The main functions of the manipulator of the present application are gripping range adjustment and adaptive enveloping gripping. When the two finger mechanisms simultaneously grip, the force transmission lever is balanced, simultaneously acting on the push force assemblies on both sides of the force transmission lever, thereby realizing synchronous closing of the proximal joints and the distal joints on both sides. When the two finger mechanisms grip irregular parts, that is, when the finger joints on both sides do not close synchronously, the force transmission lever tilts, completing the enveloping gripping of the irregular part.

[0061] In some other specific embodiments, the push force assembly comprises a guide sleeve 405, a power rod 407, a sliding block 408, and a push rod 409. The guide sleeve 405 has two groups, and is slidingly connected on the force transmission lever 404. One end of the power rod 407 is hingedly connected with the guide sleeve 405, and the guide sleeve ensures synchronous movement of the push force assembly and ensures the stress effect when the guide rail translates. The other end of the power rod 407 is hingedly connected with the sliding block 408, and the sliding block plays a role in intermediate transmission of push force, with high directionality. The sliding block 408 is slidingly connected on the guide rail 503. One end of the push rod 409 is hingedly connected with the sliding block 408, and the other end of the push rod 409 is hingedly connected with the transition joint to make the transition joint rotate by a certain angle. In turn, the finger joints are linked to close and grip the part.

[0062] In some other embodiments, the transition joint comprises triangular deflection plates 301 arranged in pairs and a plurality of support rods, each of which is fixedly connected between two adjacent edges of the deflection plates 301, and the support rod at the first corner of the deflection plate is rotatably connected to one end of the guide rail 503, and the other end of the push rod 409 is hingedly connected to the support rod at the second corner of the deflection plate. That is, when the push rod acts on the deflection plate, the deflection plate can rotate around one corner. By means of the linkage mechanism of the root knuckle and the tip knuckle, the part is grasped.

[0063] In some other embodiments, the root knuckle comprises a first connecting rod 303 and a second connecting rod 304, both of which are arranged in parallel in pairs, one end of the first connecting rod 303 is hingedly connected to the third corner of the deflection plate 301, one end of the second connecting rod 304 is hingedly connected to the first corner of the deflection plate, and the other end of the first connecting rod 303 and the other end of the second connecting rod 304 are respectively hingedly connected to the tip knuckle.

[0064] In some other embodiments, the tip knuckle comprises two triangular frames 308 and a plurality of support rods, each of which is connected between two adjacent edges of the triangular frames 308, a support rod 312 is arranged between two second connecting rods 304 arranged in pairs, a support rod is arranged between the two triangular frames 308, an adjusting plate connecting rod 307 is fixedly connected to the support rod 312, the adjusting plate connecting rod 307 is connected to a support 310 on an adaptive adjusting plate 306 through a shaft 311, a tension spring 305 is arranged on both sides of the adaptive adjusting plate 306, and the tension spring 305 is connected to the corresponding second connecting rod and triangular frame through a plurality of screws 309. The adaptive adjusting plates on the root knuckle and the tip knuckle are arranged on the same side, facilitating the grasping of the part.

[0065] When the adaptive adjusting plate is not subjected to external force, it always maintains the original state. When the surface of the part is not parallel to the surface of the knuckle, the adaptive adjusting plate will be in contact with the surface of the part under the action of the motor force, thereby increasing the contact area and improving the success rate of grasping.

[0066] The working principle diagram of the adaptive adjusting plate in the application is shown in Figure 8 When there is an inclination angle between the surface of the part and the surface of the finger, the adaptive adjusting plate will rotate around the hinged point of the support 310 and the adjusting plate connecting rod 307 under the action of the motor force, and automatically contact the surface of the part.

[0067] In some other embodiments, the upper cover plate 101 of the shell 1 is connected with a connector 108, and the connector 108 is electrically connected with the controller 2 and the mechanical arm control box.

[0068] In the application, one linear motor is used to control the enveloping grasping of the part by four joints of two fingers, forming a single-drive four-output adaptive grasping, which can automatically adapt to a certain range of part shape and position changes, and can be used for grasping irregular parts.

[0069] The underactuated mechanism in the application is based on a connecting rod guide sleeve mechanism, simple in structure and capable of simplifying the mechanism of the adaptive manipulator;

[0070] The application installs the finger base on the movable guide rail by the combination of the screw nut and the guide rail, and realizes the differential motion of the two fingers by using a motor and a differential mechanism, so as to realize the adjustment of the gripping range of the manipulator.

[0071] The design of the novel adaptive adjustment plate can realize the adhesion of the passive finger and the surface of the part, increase the gripping area and improve the success rate of gripping.

[0072] For the device and the use method of the embodiments, since they correspond to the method disclosed in the embodiments, the description is relatively simple, and the related parts can be referred to the method part.

[0073] The above description of the disclosed embodiments enables those skilled in the art to implement or use the application. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the application. Therefore, the application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An adaptive manipulator with adjustable grasping range, characterized by, The utility model relates to a kind of mechanical arm, including: Shell (1), one end of the shell (1) is connected with mechanical arm, and the other end of the shell (1) is provided with a gap (109) for avoiding position; Grabbing range adjusting mechanism (5), the grabbing range adjusting mechanism (5) includes rotary power part, differential gear set, lead screw (507) and guide rail (503), the power part is fixedly connected in the shell (1), the differential gear set is drivingly connected with power part, two output gears (512) in the differential gear set are drivingly connected with two lead screws respectively, the guide rail (503) is arranged in parallel in group two by two and is threadedly connected with the lead screw (507) of corresponding side to realize the mutual approach or away of guide rail; Finger mechanism (3), the finger mechanism (3) has two groups and includes transition joint, root finger joint and sharp finger joint, the transition joint, root finger joint and sharp finger joint are hinged into multi-link mechanism, the transition joint is hinged with the guide rail (503) of corresponding side, the root finger joint extends the gap (109) for avoiding position; Finger differential mechanism (4), the finger differential mechanism (4) includes telescopic power part, force transmission lever (404), spring (406) and thrust assembly, the telescopic power part is fixedly connected on the shell (1), the telescopic end of the telescopic power part is hinged with the middle part of force transmission lever (404), both ends of the force transmission lever (404) are connected with spring, the thrust assembly has two groups and one end of the thrust assembly is hinged with the transition joint of corresponding side, and the other end is slidingly connected on the force transmission lever (404); Controller (2), the controller (2) is fixedly connected on the shell (1) and is electrically connected with rotary power part, telescopic power part and mechanical arm control box respectively.

2. The self-adapting manipulator with adjustable grasping range according to claim 1, characterized in that, The inner side bottom wall of the shell (1) is fixedly connected with support (501) and bearing seat frame (504), one end between the support (501) and the bearing seat frame (504) is fixedly connected with cylindrical slide rail (502), the other end is rotatably connected with lead screw (507), one end of the lead screw (507) is rotatably connected on the bearing seat frame (504), one end edge of the guide rail (503) is fixedly connected with nut (508), the nut (508) is threadedly connected with the lead screw (507), the other end of the guide rail (503) is provided with slide hole, the cylindrical slide rail (502) is slidingly connected in the slide hole.

3. The self-adapting manipulator with adjustable grasping range according to claim 2, wherein, The rotating power part comprises a stepper motor (505) and an input bevel gear (506), the stepper motor (505) is electrically connected with the controller (2), the stepper motor (505) is fixedly connected on the shell (1) and located between two guide rails (503) in a group, the output shaft of the stepper motor (505) is in transmission connection with the input bevel gear (506), the differential gear set is located between two lead screws (507), the transmission bevel gear (509) in the differential gear set is in meshing transmission with the input bevel gear (506) of the rotating power part, the transmission bevel gear (509) is fixedly connected with a planet carrier (511), the planet carrier (511) is rotatably connected with a planet bevel gear (510), and the planet bevel gear (510) is in meshing with the output gear (512).

4. The self-adapting manipulator with adjustable grasping range according to claim 3, wherein, The telescopic power part comprises a linear motor (401) and a U-shaped rod (402), the linear motor (401) is electrically connected with the controller (2), one end of the U-shaped rod (402) is fixedly connected with the output end of the linear motor (401), the other end of the U-shaped rod (402) is hingedly connected with the middle part of the force transmission lever (404) through a pin shaft (403), one end of the spring (406) is fixedly connected with the end of the force transmission lever (404), and the other end of the spring (406) is fixedly connected on the side wall of the shell (1).

5. The self-adapting manipulator with adjustable grasping range according to claim 4, characterized in that, The thrust assembly comprises a guide sleeve (405), a power rod (407), a sliding block (408) and a thrust rod (409), the guide sleeve (405) has two groups, the guide sleeve (405) is slidingly connected on the force transmission lever (404), one end of the power rod (407) is hingedly connected with the guide sleeve (405), the other end of the power rod (407) is hingedly connected with the sliding block (408), the sliding block (408) is slidingly connected on the guide rail (503), one end of the thrust rod (409) is hingedly connected with the sliding block (408), and the other end of the thrust rod (409) is hingedly connected with the transition joint to rotate the transition joint by a certain angle.

6. The self-adapting manipulator with adjustable grasping range according to claim 5, wherein, The transition joint comprises triangular deflection plates (301) and a plurality of supporting rods arranged in pairs, the supporting rods are fixedly connected between the edge corners of two deflection plates (301) respectively, the supporting rod on the first corner of the deflection plate is rotatably connected to the end edge of the guide rail (503), and the other end of the thrust rod (409) is hingedly connected with the supporting rod on the second corner of the deflection plate.

7. The self-adapting manipulator with adjustable grasping range according to claim 6, wherein, The root knuckles comprise first connecting rods (303) and second connecting rods (304), the first connecting rods (303) and the second connecting rods (304) are arranged in pairs in parallel, one end of the first connecting rod (303) is hingedly connected with the third corner of the deflection plate (301), one end of the second connecting rod (304) is hingedly connected with the first corner of the deflection plate, and the other end of the first connecting rod (303) and the other end of the second connecting rod (304) are respectively hingedly connected with the tip knuckles.

8. The self-adapting manipulator with adjustable grasping range according to claim 7, wherein, The pointed phalangeal segment comprises two triangular frames (308) and a plurality of supporting rods, the plurality of supporting rods are respectively connected to the edges and corners between the two triangular frames (308), a support rod (312) is arranged between two groups of second connecting rods (304), a support rod is connected between the two triangular frames (308), the support rod (312) is fixedly connected with an adjusting plate connecting rod (307), the adjusting plate connecting rod (307) is connected with a support (310) on a self-adaptive adjusting plate (306) through a shaft (311), the self-adaptive adjusting plate (306) is connected with a tension spring (305) on both sides, and the tension spring (305) is connected with the corresponding second connecting rod and triangular frame.

9. The adaptive manipulator with adjustable grasping range according to claim 1, wherein, The top of the shell (1) is connected with a joint (108), and the joint (108) is connected with the controller (2) and a mechanical arm control box.

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