A mechanical clamping claw and a multi-degree-of-freedom manipulator including the same

Abstract

The present invention relates to the technical field of accompanying manipulators, and specifically to a mechanical claw and a multi-degree-of-freedom manipulator including the mechanical claw, in order to solve the technical problem of the inconvenience of picking up objects of different volumes. The mechanical claw includes a mounting tube; a telescopic rod, a first push rod, one end of which is fixedly mounted on the free end of the telescopic rod; a mounting base, the lower end of which is fixedly connected to the mounting tube; two finger joints, each of which is movably connected to the mounting base via a pin shaft at one end, and the two finger joints are symmetrically arranged with each other; a second push rod, two in number, the free end of the finger joint is provided with a mounting countersunk hole, a driving module and a movable fingertip are provided in the mounting countersunk hole, and the end of the multi-degree-of-freedom manipulator is provided with the above-mentioned mechanical claw. The telescopic movable fingertip is controlled by the mechanical claw to facilitate the gripping of small objects, and the finger joint itself is used to grip larger objects, so that both large and small objects can be gripped well.

Description

Technical Field

[0001] The present invention relates to the technical field of accompanying manipulators, and in particular to a mechanical clamping claw and a multi-degree-of-freedom manipulator comprising the mechanical clamping claw. Background Art

[0002] Home-based elderly care is the main form of care in my country, which requires a large number of professional elderly care service personnel. Therefore, there is a need for an intelligent robot for elderly care that can perform tasks such as pouring water for the elderly, taking pills, and other objects of different sizes.

[0003] Existing service-type manipulators are generally single repetitive action manipulators, which have many uncertainties in the daily activities of accompanying the elderly. There is also an unstable movement process, which may cause the objects to overturn and be damaged during the grasping process. In addition, the end of the manipulator arm is generally an integral manipulator, which is large in size and occupies a large space, causing great inconvenience to the elderly during use. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a mechanical gripper and a multi-degree-of-freedom manipulator including the mechanical gripper, so as to solve the technical problem of the prior art inconvenience in picking up objects of different volumes.

[0005] Based on the above-mentioned purpose, the present invention provides a mechanical claw, including a mounting tube; a telescopic rod, one end of which is fixedly mounted inside the mounting tube; a first push rod, one end of which is fixedly mounted on the free end of the telescopic rod; a mounting base, the lower end of which is fixedly connected to the mounting tube; two finger joints, each of which has one end movably connected to the mounting base via a pin, and the two finger joints are symmetrically arranged with each other; two second push rods, one end of each of the two second push rods is movably connected to one finger joint via a pin, and the end of the second push rod away from the finger joint is movably connected to the first push rod via a pin; the free end of the finger joint is provided with a mounting countersunk hole, and a drive module and a movable fingertip are provided in the mounting countersunk hole, and the drive module drives the movable fingertip to enter and exit the mounting countersunk hole.

[0006] As a further improvement of the present application, the driving module includes a stopper arranged at the end of the finger joint, an inner sleeve fixedly installed inside the mounting countersunk hole, an outer sleeve sleeved outside the inner sleeve, a transmission ring fixedly installed on the movable fingertip, a gear ring fixedly installed on the outer sleeve, a rotating motor arranged on the side wall of the mounting countersunk hole and a driving gear arranged on the rotating motor, the driving gear is engaged with the gear ring for transmission, a spiral driving groove is provided on the outer sleeve, an I-shaped groove is provided on the inner sleeve, a columnar protrusion is provided on the outside of the transmission ring, the outer end of the protrusion passes through the I-shaped groove and is inserted into the spiral driving groove, and the stopper blocks the upper end of the outer sleeve.

[0007] As a further improvement of the present application, the number of the I-shaped grooves is more than two, which are parallel to each other and parallel to the axis of the inner sleeve.

[0008] As a further improvement of the present application, the number of protrusions on the transmission ring, the number of the I-shaped grooves and the number of the spiral drive grooves are equal, each of the protrusions passes through an I-shaped groove and enters the corresponding spiral drive groove, all the protrusions are at the same horizontal height, and the spiral drive grooves are symmetrically arranged.

[0009] A multi-degree-of-freedom manipulator comprises the mechanical gripper described in any one of the above items; a mounting seat; a horizontal motion module, arranged on the mounting seat; an intermediate mounting seat, fixedly arranged above the horizontal motion module; a longitudinal drive motor, fixedly mounted on the intermediate mounting seat; a longitudinal drive shaft, mounted on the intermediate mounting seat, one end of which is power-connected to the output shaft of the longitudinal drive motor; a longitudinal swing arm, one end of which is fixed to the longitudinal drive shaft and the other end of which is provided with a mounting hole; a longitudinal synchronous rotation shaft, one end of which is inserted into the mounting hole and the other end of which is connected to the mechanical gripper; a synchronous belt, which wraps the longitudinal drive shaft and the longitudinal synchronous rotation shaft so that the longitudinal synchronous rotation shaft rotates synchronously with the longitudinal drive shaft.

[0010] As a further improvement of the present application, the longitudinal drive shaft and the longitudinal synchronous rotation shaft are parallel to each other, and synchronous teeth are provided at the contact part between the longitudinal drive shaft and the synchronous belt, the contact part between the longitudinal synchronous rotation shaft and the synchronous belt, and the inner side of the synchronous belt.

[0011] As a further improvement of the present application, a tensioning mechanism is also provided on the longitudinal swing arm, and the tensioning mechanism includes an oblique groove arranged on the longitudinal swing arm, a locking screw arranged in the oblique groove, locking nuts arranged on both ends of the locking screw, a push rod fixed on the locking screw, and a tensioning wheel arranged on the push rod, and the tensioning wheel has the freedom to rotate around its own axis on the push rod.

[0012] As a further improvement of the present application, the longitudinal swing arm includes two arm plates, the synchronous belt is located in the middle position of the two arm plates, each arm plate is provided with an oblique groove, and the two ends of the locking screw are respectively inserted into the oblique grooves of the two arm plates.

[0013] As a further improvement of the present application, the free end of the longitudinal synchronous rotating shaft is further provided with an end motor, and the mounting tube of the mechanical claw is mounted on the output shaft of the end motor.

[0014] The beneficial effects of the present invention are as follows: the mechanical claws control the telescopic movable fingertips to facilitate the gripping of small objects, and the knuckles themselves are used to grip larger objects, thereby achieving good gripping of both large and small objects.

[0015] The mechanical claw maintains its state on the multi-degree-of-freedom manipulator to prevent the mechanical claw from rotating with the longitudinal drive shaft, further preventing the object clamped by the mechanical claw from falling, making the object grabbing process smooth and not easy to fall off, with the advantages of easy to pick up and put, and smooth grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 1 is a schematic side view of a mechanical gripper according to a specific embodiment of the present invention;

[0018] Figure 2 1 is a schematic cross-sectional view of a mechanical gripper according to a specific embodiment of the present invention;

[0019] Figure 3 1 is a schematic diagram of a cross-sectional structure of a mechanical gripper at the tip of a knuckle according to a specific embodiment of the present invention;

[0020] Figure 4 1 is a structural diagram of an outer sleeve of a mechanical gripper according to a specific embodiment of the present invention;

[0021] Figure 5 1 is a schematic structural diagram of an inner sleeve of a mechanical gripper according to a specific embodiment of the present invention;

[0022] Figure 6 It is a structural schematic diagram of a transmission ring of a mechanical claw according to a specific embodiment of the present invention;

[0023] Figure 7 It is a schematic cross-sectional view of the gear ring of a knuckle of a mechanical claw according to a specific embodiment of the present invention;

[0024] Figure 8 2 is a schematic structural diagram of a multi-degree-of-freedom manipulator according to a specific embodiment of the present invention;

[0025] Figure 9 Schematic diagram of the structure of the tensioning mechanism of the multi-degree-of-freedom manipulator according to a specific embodiment of the present invention;

[0026] In the figure, 1. mounting tube; 2. telescopic rod; 3. first push rod; 4. mounting base; 5. finger joint; 6. second push rod; 7. movable fingertip; 8. inner sleeve; 9. outer sleeve; 10. transmission ring; 11. gear ring; 12. driving gear; 21. mounting seat; 22. intermediate mounting seat; 23. longitudinal drive motor; 24. longitudinal drive shaft; 25. longitudinal swing arm; 26. longitudinal synchronous rotation shaft; 27. synchronous belt; 28. synchronous belt; 31. horizontal drive motor; 32. horizontal drive motor; 33. transmission shaft; 34. worm gear; 251. oblique groove; 252. locking screw; 253. push rod; 254. tensioning pulley. DETAILED DESCRIPTION

[0027] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to specific embodiments.

[0028] It should be noted that, unless otherwise defined, the technical or scientific terms used in the present invention should have the usual meanings understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0029] like Figure 1-3 As shown, a mechanical claw includes a mounting tube 1; a telescopic rod 2, one end of which is fixedly mounted inside the mounting tube 1; a first push rod 3, one end of which is fixedly mounted on the free end of the telescopic rod 2; a mounting base 4, the lower end of which is fixedly connected to the mounting tube 1; two finger joints 5, each of which has one end movably connected to the mounting base 4 through a pin, and the two finger joints 5 are arranged symmetrically with each other; two second push rods 6, one end of each of the two second push rods 6 is movably connected to one finger joint 5 through a pin, and the end of the second push rod 6 away from the finger joint 5 is movably connected to the first push rod 3 through a pin; the free end of the finger joint 5 is provided with a mounting countersunk hole, and a driving module and a movable fingertip 7 are provided in the mounting countersunk hole, and the driving module drives the movable fingertip 7 to enter and exit the mounting countersunk hole.

[0030] When grabbing a larger object, the telescopic rod 2 is extended and retracted, driving the first push rod 3 to control the finger joint 5 to rotate and directly grab the object. When grabbing a smaller object, the movable fingertip 7 is first controlled to extend out of the mounting countersunk hole and then lock itself, and then the object is grabbed by the movable fingertip 7.

[0031] like Figure 3-7 As shown, the driving module includes a stopper arranged at the end of the finger joint 5, an inner sleeve 8 fixedly installed inside the mounting countersunk hole, an outer sleeve 9 sleeved outside the inner sleeve 8, a transmission ring 10 fixedly installed on the movable fingertip 7, a gear ring 11 fixedly installed on the outer sleeve 9, a rotating motor arranged on the side wall of the mounting countersunk hole and a driving gear 12 arranged on the rotating motor, the driving gear 12 is engaged with the gear ring 11 for transmission, a spiral driving groove is provided on the outer sleeve 9, an I-shaped groove is provided on the inner sleeve 8, a columnar protrusion is provided on the outside of the transmission ring 10, the outer end of the protrusion passes through the I-shaped groove and is inserted into the spiral driving groove, and the stopper blocks the upper end of the outer sleeve 9.

[0032] The stopper and the mounting countersunk hole cooperate to limit the movement of the outer sleeve 9 along the axis, preventing the outer sleeve 9 from moving up and down when the outer sleeve 9 rotates. The outer sleeve 9 rotates, pushing the columnar protrusion to move up and down along the I-shaped groove, and then moving the transmission ring 10 and the movable fingertip 7 up and down.

[0033] In order to achieve the locking function, the rotating motor is a stepping motor.

[0034] like Figure 4-6 As shown, to maintain smooth movement, there are at least two I-shaped grooves, which are parallel to each other and to the axis of the inner sleeve 8. The number of protrusions on the transmission ring 10, the number of I-shaped grooves, and the number of spiral drive grooves are equal. Each protrusion passes through an I-shaped groove and enters the corresponding spiral drive groove. All protrusions are located at the same horizontal height, and the spiral drive grooves are arranged symmetrically.

[0035] like Figure 8As shown, in order to achieve the accompanying function, a multi-degree-of-freedom manipulator includes a mechanical claw as described in any one of the above items; a mounting seat 21; a horizontal motion module, arranged on the mounting seat 21; an intermediate mounting seat 22, fixedly arranged above the horizontal motion module; a longitudinal drive motor 23, fixedly mounted on the intermediate mounting seat 22; a longitudinal drive shaft 24, mounted on the intermediate mounting seat 22, one end of which is connected to the output shaft power of the longitudinal drive motor 23; a longitudinal swing arm 25, one end of which is fixed on the longitudinal drive shaft 24, and the other end is provided with a mounting hole; a longitudinal synchronous rotation shaft 26, one end of which is inserted into the mounting hole, and the other end is connected to the mechanical claw; a synchronous belt 27, which wraps the longitudinal drive shaft 24 and the longitudinal synchronous rotation shaft 26, so that the longitudinal synchronous rotation shaft 26 rotates synchronously with the longitudinal drive shaft 24.

[0036] The horizontal motion module includes a horizontal drive motor 31 mounted on the mounting base 21, a worm 32 mounted on the output shaft of the horizontal drive motor 31, a transmission shaft 33 fixed to the bottom of the intermediate mounting base 22, and a worm gear 34 fixed to the lower end of the transmission shaft 33. The worm gear 34 engages with the worm 32. The horizontal drive motor 31 rotates the worm 32, which in turn rotates the worm gear 34, which in turn rotates the transmission shaft 33 and the intermediate mounting base 22 mounted on the transmission shaft 33.

[0037] Furthermore, the mounting seat 21 is provided with a through hole, which is stepped, with a larger inner diameter at the upper part and a smaller diameter at the lower part. The transmission shaft 33 is a stepped shaft, and the upper diameter of the transmission shaft 33 is larger than the diameter of the lower part of the through hole, and the lower diameter of the transmission shaft 33 is smaller than the diameter of the lower part of the through hole.

[0038] The longitudinal drive shaft 24 and the longitudinal synchronous rotation shaft 26 are parallel to each other. Synchronous teeth are provided at the contact parts between the longitudinal drive shaft 24 and the synchronous belt 27 , at the contact parts between the longitudinal synchronous rotation shaft 26 and the synchronous belt 27 , and on the inner side of the synchronous belt 27 .

[0039] like Figure 9 As shown, the longitudinal swing arm 25 is also provided with a tensioning mechanism, which includes an oblique groove 251 arranged on the longitudinal swing arm 25, a locking screw 252 arranged in the oblique groove 251, locking nuts arranged on both ends of the locking screw 252, a push rod 253 fixed on the locking screw 252, and a tensioning wheel 254 arranged on the push rod 253. The tensioning wheel 254 has the freedom to rotate around its own axis on the push rod 253.

[0040] like Figure 8 and 9As shown, the longitudinal swing arm 25 includes two arm plates, the synchronous belt 27 is located in the middle of the two arm plates, each arm plate is provided with an oblique groove 251, and the two ends of the locking screw 252 are respectively inserted into the oblique grooves 251 of the two arm plates.

[0041] The free end of the longitudinal synchronous rotating shaft 26 is further provided with an end motor 28 , and the mounting tube 1 of the mechanical claw is mounted on the output shaft of the end motor 28 .

[0042] The multi-degree-of-freedom manipulator of the present application can be fixedly installed at a designated location, or can be installed on a remotely controlled mobile vehicle to achieve fixed-location escort or mobile escort functions.

[0043] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples. Within the scope of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0044] The present invention is intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A mechanical claw, characterized in that: include Mounting tube (1); A telescopic rod (2), one end of which is fixedly mounted inside the mounting tube (1); A first push rod (3), one end of which is fixedly mounted on the free end of the telescopic rod (2); A mounting base (4), the lower end of which is fixedly connected to the mounting tube (1); There are two finger joints (5), one end of each of which is movably connected to the mounting base (4) via a pin, and the two finger joints (5) are symmetrically arranged with each other; There are two second push rods (6), one end of each of the two second push rods (6) is movably connected to one of the finger joints (5) via a pin, and one end of the second push rod (6) away from the finger joint (5) is movably connected to the first push rod (3) via a pin; A mounting countersunk hole is provided at the free end of the finger joint (5), a driving module and a movable fingertip (7) are provided in the mounting countersunk hole, and the driving module drives the movable fingertip (7) to enter and exit the mounting countersunk hole; The driving module comprises a stopper arranged at the end of the finger joint (5), an inner sleeve (8) fixedly mounted inside the mounting countersunk hole, an outer sleeve (9) sleeved outside the inner sleeve (8), a transmission ring (10) fixedly mounted on the movable fingertip (7), a gear ring (11) fixedly mounted on the outer sleeve (9), a rotating motor arranged on the side wall of the mounting countersunk hole, and a driving gear (12) arranged on the rotating motor, wherein the driving gear (12) is meshed with the gear ring (11) for transmission, a spiral driving groove is provided on the outer sleeve (9), an I-shaped groove is provided on the inner sleeve (8), a columnar protrusion is provided on the outside of the transmission ring (10), the outer end of the protrusion passes through the I-shaped groove and is inserted into the spiral driving groove, and the stopper blocks the upper end of the outer sleeve (9).

2. The mechanical gripper according to claim 1, characterized in that: The number of the I-shaped grooves is more than two, and they are parallel to each other and to the axis of the inner sleeve (8).

3. The mechanical gripper according to claim 2, characterized in that: The number of protrusions on the transmission ring (10), the number of the I-shaped grooves, and the number of the spiral drive grooves are equal; each protrusion passes through an I-shaped groove and enters the corresponding spiral drive groove; all protrusions are located at the same horizontal height, and the spiral drive grooves are symmetrically arranged.

4. A multi-degree-of-freedom manipulator, characterized in that: comprising the mechanical gripper according to any one of claims 1 to 3; Mounting seat (21); A horizontal motion module, arranged on the mounting seat (21); An intermediate mounting seat (22) is fixedly arranged above the horizontal motion module; A longitudinal drive motor (23) is fixedly mounted on the intermediate mounting seat (22); A longitudinal drive shaft (24) is mounted on the intermediate mounting seat (22), one end of which is connected to the output shaft of the longitudinal drive motor (23); A longitudinal swing arm (25), one end of which is fixed to the longitudinal drive shaft (24) and the other end of which is provided with a mounting hole; A longitudinal synchronous rotating shaft (26), one end of which is inserted into the mounting hole and the other end of which is connected to the mechanical claw; A synchronous belt (27) wraps the longitudinal drive shaft (24) and the longitudinal synchronous rotation shaft (26), so that the longitudinal synchronous rotation shaft (26) and the longitudinal drive shaft (24) rotate synchronously.

5. The multi-degree-of-freedom manipulator according to claim 4, characterized in that: The longitudinal drive shaft (24) and the longitudinal synchronous rotation shaft (26) are parallel to each other, and the contact portion between the longitudinal drive shaft (24) and the synchronous belt (27), the contact portion between the longitudinal synchronous rotation shaft (26) and the synchronous belt (27), and the inner side of the synchronous belt (27) are all provided with synchronous teeth.

6. The multi-degree-of-freedom manipulator according to claim 4, characterized in that: The longitudinal swing arm (25) is also provided with a tensioning mechanism, comprising an oblique groove (251) provided on the longitudinal swing arm (25), a locking screw (252) provided in the oblique groove (251), locking nuts provided at both ends of the locking screw (252), a push rod (253) fixedly provided on the locking screw (252), and a tensioning wheel (254) provided on the push rod (253), wherein the tensioning wheel (254) has the freedom to rotate around its own axis on the push rod (253).

7. The multi-degree-of-freedom manipulator according to claim 6, characterized in that: The longitudinal swing arm (25) includes two arm plates, the synchronous belt (27) is located in the middle of the two arm plates, each arm plate is provided with an oblique groove (251), and both ends of the locking screw (252) are respectively inserted into the oblique grooves (251) of the two arm plates.

8. The multi-degree-of-freedom manipulator according to claim 4, characterized in that: The free end of the longitudinal synchronous rotating shaft (26) is further provided with an end motor (28), and the mounting tube (1) of the mechanical clamping claw is mounted on the output shaft of the end motor (28).

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