Three-finger translation mechanical gripper

Abstract

The utility model discloses a three-finger translation mechanical paw which comprises a power system unit, a mechanical grabbing unit is arranged below the power system unit, the power system unit provides power for the mechanical grabbing unit through a power disc, and the power system unit and the mechanical grabbing unit are connected through a middle shaft in a penetrating mode. The problems that the number of joints of a single finger is large and simultaneous translation of the whole finger and the multiple fingers is difficult to achieve in an existing mechanical gripper are solved, and due to the problems, more mechanical gripper driving units and motors need to be configured for complex and fine cooperative control. And therefore, the control difficulty and the system complexity are increased to a great extent, and meanwhile, the manufacturing cost of the whole mechanical gripper device becomes high.

Description

Technical Field

[0001] This utility model belongs to the field of agricultural production equipment technology, specifically relating to a three-finger translational mechanical gripper. Background Technology

[0002] With the rapid development of industries such as manufacturing and agriculture, robotic grippers, as widely used actuators in automated production, face increasingly higher requirements for speed and precision. Compared to manual operation, robotic grippers exhibit multiple advantages, including high efficiency, adaptability to harsh working environments, and the ability to meet the needs of large-scale production.

[0003] Currently, multi-fingered bionic grippers and pneumatic flat grippers dominate the design of robotic hands. However, multi-fingered bionic gripper designs often involve an increase in the gripper's index and the complexity of individual finger joint structures. This directly leads to the need for more robotic gripper drive units and motors to achieve coordinated control. This complexity not only significantly increases the difficulty of control, making precise and stable operation challenging, but also significantly increases the overall cost due to the increased hardware requirements. Pneumatic grippers, on the other hand, require high-quality gripper materials and cannot grasp sharp objects, greatly limiting their applicability in practical applications. For many application scenarios, this undoubtedly increases the economic burden. Therefore, the industry urgently needs to develop a robotic gripper that is simple in design, highly efficient in operation, and cost-effective, in order to effectively solve the current problems of complex control and high cost while maintaining necessary functionality, and to promote the development of automated production towards greater widespread adoption and efficiency. Utility Model Content

[0004] The purpose of this invention is to provide a three-finger translational robotic gripper, which solves the problem that existing robotic grippers generally have a large number of joints in a single finger and it is difficult to achieve simultaneous translation of the whole finger and multiple fingers. These problems often lead to the need to configure more robotic gripper drive units and motors for complex and precise coordinated control, which greatly increases the difficulty of control and the complexity of the system, and also makes the manufacturing cost of the entire robotic gripper device expensive.

[0005] The technical solution adopted by this utility model is a three-finger translational robotic gripper, including a power system unit, a mechanical gripping unit arranged below the power system unit, the power system unit providing power to the mechanical gripping unit through a power disk, and the power system unit and the mechanical gripping unit being connected through a central shaft.

[0006] The feature of this utility model is that,

[0007] The specific structure of the power system unit is as follows: it includes a slot, the upper part of the central shaft is fixed to the lower part of the slot by a pin, the lower part of the central shaft is installed with a motor mounting plate, an internal meshing gear ring and a power disk in sequence, the motor is mounted on the motor mounting plate, the internal meshing gear ring and the power disk are fixedly connected by pins, the power system unit is powered by the motor, the motor output shaft gear of the motor meshes with the internal meshing gear ring, and the lower surface of the power disk is provided with three circumferentially divided arc-shaped tracks.

[0008] The power disc has a row of balls embedded in the arc-shaped track on both sides, and one end of the power shaft is inserted into the arc-shaped track to form a fitting relationship.

[0009] The power plate is also equipped with an oil nozzle, which is connected to the arc-shaped track.

[0010] The mechanical gripping unit consists of three finger units surrounding the power plate. The specific structure of the mechanical gripping unit is as follows: it includes a guide plate, which is connected to the power plate through a central shaft. The guide plate is evenly divided into three straight guide rails in a circumference. The other end of the power shaft passes through the straight guide rails and is connected to the finger unit. The part of the power shaft located between the power plate and the guide plate is also equipped with a slider. The slider is fixed to the power shaft and is embedded in the straight guide rails. The slider can drive the power shaft to slide along the straight guide rails.

[0011] The specific structure of the finger unit is as follows: a fixing bracket is installed below the power shaft, and the fixing bracket is connected to the right-angled finger base by a pin. One end of the finger base is hinged to one end of the base connecting joint by a pin, and the other end of the connecting joint is hinged to one end of the finger connecting joint by a pin. The other end of the finger base is hinged to one end of the support joint by a pin. Two holes are opened on the fingertip. One hole is hinged to the other end of the finger connecting joint by a pin, and the other hole of the fingertip is hinged to the other end of the support joint by a pin.

[0012] The fingertips are designed in a right-angled triangle shape, with the hypotenuses pointing outwards.

[0013] The central shaft is fixed in the slot by a pin, and the slot is fixed inside the end cover by screws. The side wall of the end cover is tangent to the edge of the guide rail plate. The end of the straight guide rail is in contact with the side wall of the end cover. The power plate is sleeved on the central shaft by a bushing. The motor mounting plate above the power plate is sleeved on the central shaft. The guide rail plate is fixed to the bottom of the central shaft by fixing bolts. The end cover is connected to the flange by four fixing bolts.

[0014] The beneficial effects of this invention are as follows: the three-finger translational robotic gripper, compared to existing multi-finger and two-finger robotic grippers, solves the common problem of numerous joints in individual fingers and the difficulty in achieving simultaneous translational movement of the entire finger or multiple fingers. This improves gripping stability, enables the gripping of objects of different sizes, and reduces control difficulties and manufacturing costs. The power plate is designed with a circumference of three equally divided arc-shaped tracks, with two rows of ball bearings on both sides of the tracks to ensure smooth movement and prevent damage. This allows for smooth three-finger movement from fast to slow. The power plate consists of an upper and lower plate, tightly connected by bolts for stability. Each finger is equipped with a torsion spring to return it to its original position after the gripping action. The overall structure adopts a modular design, facilitating future maintenance and repair. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall three-finger translational robotic gripper of this utility model;

[0016] Figure 2 This is a schematic diagram of the internal structure of the three-finger translational robotic gripper of this utility model;

[0017] Figure 3 This is a schematic diagram of the finger unit structure of the three-finger translational robotic gripper of this utility model;

[0018] Figure 4 This is a schematic diagram of the power disk of the three-finger translational robotic gripper of this utility model;

[0019] Figure 5 This is a top view schematic diagram of the power disk of the three-finger translational manipulator of this utility model;

[0020] Figure 6 This is a schematic diagram of the guide rail disc for the three-finger translational robotic gripper of this utility model;

[0021] Figure 7 This is a schematic diagram of the external structure of the three-finger translational robotic gripper of this utility model;

[0022] Figure 8 This is a schematic diagram of the translational grasping action of the three-finger translational robotic gripper of this utility model;

[0023] Figure 9 This is a schematic diagram of the envelope grasping mechanism of the three-finger translational robotic gripper of this utility model;

[0024] Figure 10 This is a schematic diagram of the power system structure of the three-finger translational robotic gripper of this utility model.

[0025] In the diagram, 1. Power system unit, 2. Mechanical gripping unit, 3. Slot, 4. Central shaft, 5. Motor, 6. Motor mounting plate, 7. Internal meshing gear ring, 8. Power disk, 9. Power shaft, 10. Guide rail disk, 11. Finger unit, 12. Slider, 13. Fixture, 14. Finger base, 15. Base connecting joint, 16. Finger connecting joint, 17. Fingertip, 18. Support joint, 19. Oil nozzle, 20. Ball bearing, 21. Flange, 22. End cap, 23. Small gripping object, 24. Large gripping object, 25. Straight guide rail. Detailed Implementation

[0026] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0027] This utility model relates to a three-finger translational robotic gripper, the structure of which is as follows: Figure 1 As shown, it includes a power system unit 1, and a mechanical gripping unit 2 is arranged below the power system unit 1. The power system unit 1 provides power to the mechanical gripping unit 2 through a power disk 8. The power system unit 1 and the mechanical gripping unit 2 are connected by a central shaft 4.

[0028] like Figure 1 , Figure 2 , Figure 4 , Figure 5 As shown, the specific structure of the power system unit 1 is as follows: it includes a slot 3, and the upper part of the central shaft 4 is fixed to the lower part of the slot 3 by a pin. The motor fixing plate 6, the internal meshing gear ring 7 and the power disk 8 are installed in sequence below the central shaft 4. The motor 5 is installed on the motor fixing plate 6. The internal meshing gear ring 7 and the power disk 8 are fixedly connected by a pin. The power system unit 1 is powered by the motor 5. The motor 5 drives the motor output shaft gear to rotate. The motor output shaft gear of the motor 5 meshes with the internal meshing gear ring 7 and transmits the torque to the power disk 8. The lower surface of the power disk 8 is provided with three circumferentially divided arc-shaped tracks. A row of balls 20 embedded in the arc-shaped tracks is provided on both sides of the arc-shaped tracks of the power disk 8. One end of the power shaft 9 is inserted into the arc-shaped track and forms a fitting relationship with the arc-shaped track. When the power disk 8 rotates, it will drive the power shaft 9 to move in the arc-shaped track. The ball bearings 20 on both sides of the arc track can ensure the smooth movement of the power shaft 9 on the arc track and avoid damage to the track and the power shaft 9. In order to ensure the smooth operation of the ball bearings 20 in the arc track, the power plate 8 is also provided with an oil nozzle 19. The oil nozzle 19 is connected to the arc track. Lubricating oil is injected into the oil nozzle 19 regularly to achieve sufficient lubrication.

[0029] like Figure 1 , Figure 2 , Figure 3 , Figure 5 , Figure 6As shown, the mechanical gripping unit 2 consists of three finger units 11 surrounding the power disk 8. The specific structure of the mechanical gripping unit 2 is as follows: it includes a guide rail disk 10, which is connected to the power disk 8 via a central shaft 4. The guide rail disk 10 has three evenly spaced straight guide rails 25 divided into three equal parts. The other end of the power shaft 9 passes through the straight guide rails 25 and connects to the finger units 11. A slider 12 is also provided on the portion of the power shaft 9 located between the power disk 8 and the guide rail disk 10. The slider 12 is fixedly connected to the power shaft 9 and embedded within the straight guide rails 25, enabling the power shaft 9 to slide along the straight guide rails 25. By rotating the power disk 8, the arc-shaped track drives the three power shafts 9 to slide along the straight guide rails 25 in the guide rail disk 10, achieving synchronous translation of the three fingers. To ensure the stability of the guide rail during operation and the overall airtightness, the guide rail disk 10 is fixed below the central shaft 4 using fixing bolts. To ensure the synchronization and stability of finger translation, the center of the outer limit position of the track arc, the center of the track arc, and the center of the disk are placed in the same straight line.

[0030] like Figure 2 , Figure 3 , Figure 6As shown, the finger unit 11 has the following specific structure: a slider 12 is mounted on the power shaft 9, allowing the slider 12 to slide smoothly on the guide rail 10. A fixing frame 13 is installed below the power shaft 9. The fixing frame 13 is connected to a right-angled finger base 14 via a pin. At one end of the finger base 14, a pin is used to hinge a torsion spring and a movable base connecting joint 15. The torsion spring is fitted onto the pin, and its center hole is adapted to the pin, allowing for flexible rotation. The connecting hole of the finger base 14 and the corresponding hole at one end of the base connecting joint 15 are sequentially passed through by the pin carrying the torsion spring, achieving a stable connection between the three. The two legs of the torsion spring rest against different force points on the finger base 14 and the base connecting joint 15. When the gripper grasps, the base connecting joint 15 rotates relative to the finger base 14 around the pin, and the torsion spring deforms and stores energy. When the gripper finishes grasping, the torsion spring uses its elastic potential energy to push the base connecting joint 15 to rotate in the opposite direction, realizing the gripper's reset and allowing it to return to its original position smoothly. The other end of the connecting joint 15 is hinged to one end of the finger connecting joint 16 via a pin. The other end of the finger base 14 is hinged to one end of the support joint 18 via a pin. Two holes are provided on the fingertip 17; one hole is hinged to the other end of the finger connecting joint 16 via a pin, and the other hole is hinged to the other end of the support joint 18 via a pin. The fingertip 17 is designed in a right-angled triangular shape, with its hypotenuses pointing outwards. This allows the finger unit 11 to use the base connecting joint 15 and the finger connecting joint 16 to envelop and grasp objects, and to use the fingertip 17 to perform translational grasping. The finger unit 11 adopts an underactuated structure, achieving enveloping and translational grasping through the contact force generated during the grasping process. By controlling the output torque of the motor 5, the speed of the power shaft 9 is controlled, thereby controlling the magnitude of the contact force of the finger unit 11. After grasping, the motor 5 reverses, the grasping gripper moves outwards, and returns to its initial state under the action of a torsion spring. The overall translational motion of the finger unit 11 can be achieved by changing the distance between the finger and the center point. This is typically accomplished using a linear guide rail for reciprocating motion, thus changing the distance between the finger and the center point. To ensure the synchronicity of the finger's translational motion, the finger unit 11 is designed with an equally divided circular structure. To increase the stability during finger movement, an arc-shaped track can be used for driving.

[0031] like Figure 1 , Figure 2 , Figure 8 , Figure 9As shown, the finger grasping mode is initially set with the finger unit 11 in the open state. When the fingertip 17 is subjected to a lateral force from an object, the base connecting joint 15 and the finger connecting joint 16 are subjected to tension, and the support joint 18 is subjected to pressure, the finger will definitely grasp in parallel. However, when the base connecting joint 15 and the finger connecting joint 16 are subjected to pressure, and the support joint 18 is subjected to tension, an envelope grasp is generated. The force on the joints depends on the contact position of the grasped object. After completing the grasping task, the motor 5 reverses, the finger unit 11 moves outward, and the finger unit 11 returns to its initial state under the action of the torsion spring.

[0032] like Figure 1 , Figure 2 , Figure 3 , Figure 8 As shown, the parallel gripping relies on the frictional force generated between the fingertip 17 and the small grasping object 23 to achieve stable gripping. The normal force mainly originates from the deformation force generated by the small grasping object 23 during contact. To ensure that the small grasping object 23 is not damaged during the gripping process, the deformation stress must be lower than the yield limit of the object, and the surface must not be damaged. In parallel gripping, the requirements for deformation are relatively relaxed, as long as it is ensured that it remains within the effective gripping range of the hand after deformation.

[0033] like Figure 1 , Figure 2 , Figure 3 , Figure 9 As shown, the enveloping grasping requires contact force to cause the finger unit 11 to create an envelope that wraps around the large grasping object 24. During the enveloping grasping process, the deformation force of the large grasping object 24 provides the contact force. To avoid damage to the large grasping object 24 during the enveloping process and to ensure the effectiveness of the envelopment, the deformation should not be too large while ensuring that the deformation pressure is lower than the yield limit of the object. For soft objects, a low elastic coefficient torsion spring or a soft material finger is selected to both protect the object and ensure effective envelopment.

[0034] like Figure 1 , Figure 2 , Figure 6 , Figure 7 , Figure 10 As shown, the central shaft 4 is fixed in the slot 3 by a pin, and the slot 3 is fixed inside the end cover 22 by screws. The side wall of the end cover 22 is tangent to the edge of the guide rail disk 10. The end of the straight guide rail 25 is in contact with the side wall of the end cover 22. The side wall of the end cover 22 limits the end of the straight guide rail 25. The power disk 8 is sleeved on the central shaft 4 by a bushing. The motor fixing plate 6 above the power disk 8 is sleeved on the central shaft 4. The guide rail disk 10 is fixed below the central shaft 4 by fixing bolts. The end cover 22 is connected to the flange 21 by four fixing bolts.

[0035] Example 1

[0036] This utility model relates to a three-finger translational robotic gripper, the structure of which is as follows: Figure 1 As shown, it includes a power system unit 1, and a mechanical gripping unit 2 is arranged below the power system unit 1. The power system unit 1 provides power to the mechanical gripping unit 2 through a power disk 8. The power system unit 1 and the mechanical gripping unit 2 are connected by a central shaft 4.

[0037] Example 2

[0038] This utility model relates to a three-finger translational robotic gripper, the structure of which is as follows: Figure 1 As shown, it includes a power system unit 1, and a mechanical gripping unit 2 is arranged below the power system unit 1. The power system unit 1 provides power to the mechanical gripping unit 2 through a power disk 8. The power system unit 1 and the mechanical gripping unit 2 are connected by a central shaft 4.

[0039] like Figure 1 , Figure 2 , Figure 4 , Figure 5 As shown, the specific structure of the power system unit 1 is as follows: it includes a slot 3, and the upper part of the central shaft 4 is fixed to the lower part of the slot 3 by a pin. The motor fixing plate 6, the internal meshing gear ring 7 and the power disk 8 are installed in sequence below the central shaft 4. The motor 5 is installed on the motor fixing plate 6. The internal meshing gear ring 7 and the power disk 8 are fixedly connected by a pin. The power system unit 1 is powered by the motor 5. The motor 5 drives the motor output shaft gear to rotate. The motor output shaft gear of the motor 5 meshes with the internal meshing gear ring 7 and transmits the torque to the power disk 8. The lower surface of the power disk 8 is provided with three circumferentially divided arc-shaped tracks. A row of balls 20 embedded in the arc-shaped tracks is provided on both sides of the arc-shaped tracks of the power disk 8. One end of the power shaft 9 is inserted into the arc-shaped track and forms a fitting relationship with the arc-shaped track. When the power disk 8 rotates, it will drive the power shaft 9 to move in the arc-shaped track. The ball bearings 20 on both sides of the arc track can ensure the smooth movement of the power shaft 9 on the arc track and avoid damage to the track and the power shaft 9. In order to ensure the smooth operation of the ball bearings 20 in the arc track, the power plate 8 is also provided with an oil nozzle 19. The oil nozzle 19 is connected to the arc track. Lubricating oil is injected into the oil nozzle 19 regularly to achieve sufficient lubrication.

[0040] Example 3

[0041] This utility model relates to a three-finger translational robotic gripper, the structure of which is as follows: Figure 1 As shown, it includes a power system unit 1, and a mechanical gripping unit 2 is arranged below the power system unit 1. The power system unit 1 provides power to the mechanical gripping unit 2 through a power disk 8. The power system unit 1 and the mechanical gripping unit 2 are connected by a central shaft 4.

[0042] like Figure 1 , Figure 2 , Figure 4 , Figure 5 As shown, the specific structure of the power system unit 1 is as follows: it includes a slot 3, and the upper part of the central shaft 4 is fixed to the lower part of the slot 3 by a pin. The motor fixing plate 6, the internal meshing gear ring 7 and the power disk 8 are installed in sequence below the central shaft 4. The motor 5 is installed on the motor fixing plate 6. The internal meshing gear ring 7 and the power disk 8 are fixedly connected by a pin. The power system unit 1 is powered by the motor 5. The motor 5 drives the motor output shaft gear to rotate. The motor output shaft gear of the motor 5 meshes with the internal meshing gear ring 7 and transmits the torque to the power disk 8. The lower surface of the power disk 8 is provided with three circumferentially divided arc-shaped tracks. A row of balls 20 embedded in the arc-shaped tracks is provided on both sides of the arc-shaped tracks of the power disk 8. One end of the power shaft 9 is inserted into the arc-shaped track and forms a fitting relationship with the arc-shaped track. When the power disk 8 rotates, it will drive the power shaft 9 to move in the arc-shaped track. The ball bearings 20 on both sides of the arc track can ensure the smooth movement of the power shaft 9 on the arc track and avoid damage to the track and the power shaft 9. In order to ensure the smooth operation of the ball bearings 20 in the arc track, the power plate 8 is also provided with an oil nozzle 19. The oil nozzle 19 is connected to the arc track. Lubricating oil is injected into the oil nozzle 19 regularly to achieve sufficient lubrication.

[0043] like Figure 1 , Figure 2 , Figure 3 , Figure 5 , Figure 6 As shown, the mechanical gripping unit 2 consists of three finger units 11 surrounding the power disk 8. The specific structure of the mechanical gripping unit 2 is as follows: it includes a guide rail disk 10, which is connected to the power disk 8 via a central shaft 4. The guide rail disk 10 has three evenly spaced straight guide rails 25 divided into three equal parts. The other end of the power shaft 9 passes through the straight guide rails 25 and connects to the finger units 11. A slider 12 is also provided on the portion of the power shaft 9 located between the power disk 8 and the guide rail disk 10. The slider 12 is fixedly connected to the power shaft 9 and embedded within the straight guide rails 25, enabling the power shaft 9 to slide along the straight guide rails 25. By rotating the power disk 8, the arc-shaped track drives the three power shafts 9 to slide along the straight guide rails 25 in the guide rail disk 10, achieving synchronous translation of the three fingers. To ensure the stability of the guide rail during operation and the overall airtightness, the guide rail disk 10 is fixed below the central shaft 4 using fixing bolts. To ensure the synchronization and stability of finger translation, the center of the outer limit position of the track arc, the center of the track arc, and the center of the disk are placed in the same straight line.

[0044] Example 4

[0045] This utility model relates to a three-finger translational robotic gripper, the structure of which is as follows: Figure 1As shown, it includes a power system unit 1, and a mechanical gripping unit 2 is arranged below the power system unit 1. The power system unit 1 provides power to the mechanical gripping unit 2 through a power disk 8. The power system unit 1 and the mechanical gripping unit 2 are connected by a central shaft 4.

[0046] like Figure 1 , Figure 2 , Figure 4 , Figure 5 As shown, the specific structure of the power system unit 1 is as follows: it includes a slot 3, and the upper part of the central shaft 4 is fixed to the lower part of the slot 3 by a pin. The motor fixing plate 6, the internal meshing gear ring 7 and the power disk 8 are installed in sequence below the central shaft 4. The motor 5 is installed on the motor fixing plate 6. The internal meshing gear ring 7 and the power disk 8 are fixedly connected by a pin. The power system unit 1 is powered by the motor 5. The motor 5 drives the motor output shaft gear to rotate. The motor output shaft gear of the motor 5 meshes with the internal meshing gear ring 7 and transmits the torque to the power disk 8. The lower surface of the power disk 8 is provided with three circumferentially divided arc-shaped tracks. A row of balls 20 embedded in the arc-shaped tracks is provided on both sides of the arc-shaped tracks of the power disk 8. One end of the power shaft 9 is inserted into the arc-shaped track and forms a fitting relationship with the arc-shaped track. When the power disk 8 rotates, it will drive the power shaft 9 to move in the arc-shaped track. The ball bearings 20 on both sides of the arc track can ensure the smooth movement of the power shaft 9 on the arc track and avoid damage to the track and the power shaft 9. In order to ensure the smooth operation of the ball bearings 20 in the arc track, the power plate 8 is also provided with an oil nozzle 19. The oil nozzle 19 is connected to the arc track. Lubricating oil is injected into the oil nozzle 19 regularly to achieve sufficient lubrication.

[0047] like Figure 1 , Figure 2 , Figure 3 , Figure 5 , Figure 6 As shown, the mechanical gripping unit 2 consists of three finger units 11 surrounding the power disk 8. The specific structure of the mechanical gripping unit 2 is as follows: it includes a guide rail disk 10, which is connected to the power disk 8 via a central shaft 4. The guide rail disk 10 has three evenly spaced straight guide rails 25 divided into three equal parts. The other end of the power shaft 9 passes through the straight guide rails 25 and connects to the finger units 11. A slider 12 is also provided on the portion of the power shaft 9 located between the power disk 8 and the guide rail disk 10. The slider 12 is fixedly connected to the power shaft 9 and embedded within the straight guide rails 25, enabling the power shaft 9 to slide along the straight guide rails 25. By rotating the power disk 8, the arc-shaped track drives the three power shafts 9 to slide along the straight guide rails 25 in the guide rail disk 10, achieving synchronous translation of the three fingers. To ensure the stability of the guide rail during operation and the overall airtightness, the guide rail disk 10 is fixed below the central shaft 4 using fixing bolts. To ensure the synchronization and stability of finger translation, the center of the outer limit position of the track arc, the center of the track arc, and the center of the disk are placed in the same straight line.

[0048] like Figure 2 , Figure 3 , Figure 6 As shown, the finger unit 11 has the following specific structure: a slider 12 is mounted on the power shaft 9, allowing the slider 12 to slide smoothly on the guide rail 10. A fixing frame 13 is installed below the power shaft 9. The fixing frame 13 is connected to a right-angled finger base 14 by a pin. One end of the finger base 14 is hinged to one end of a base connecting joint 15 by a pin, and the other end of the connecting joint 15 is hinged to one end of a finger connecting joint 16 by a pin. The other end of the finger base 14 is hinged to one end of a support joint 18 by a pin. The fingertip 17 has two holes. One hole is hinged to the other end of the finger connecting joint 16 by a pin, and the other hole is hinged to the other end of the support joint 18 by a pin. The fingertip 17 is designed in a right-angled triangular shape, with the hypotenuses of the fingertip 17 pointing outwards. This allows the finger unit 11 to use the base connecting joint 15 and the finger connecting joint 16 to envelop and grasp objects, and to use the fingertip 17 to perform fingertip translational grasping. The finger unit 11 employs an underactuated structure, achieving envelope grasping and translational grasping through the contact force generated during the grasping process. The magnitude of the contact force of the finger unit 11 is controlled by adjusting the output torque of the motor 5 and the speed of the power shaft 9. After grasping, the motor 5 reverses, causing the grasping gripper to translate outwards, returning to its initial state under the action of a torsion spring. The overall translational movement of the finger unit 11 can be achieved by changing the distance between the finger and the center point, typically using a linear guide rail for reciprocating motion. To ensure the synchronicity of the finger translational movement, the finger unit 11 is designed with an equally divided circular structure. To increase the stability of the finger movement, an arc-shaped track can be used for driving.

[0049] Example 5

[0050] This utility model relates to a three-finger translational robotic gripper, the structure of which is as follows: Figure 1 As shown, it includes a power system unit 1, and a mechanical gripping unit 2 is arranged below the power system unit 1. The power system unit 1 provides power to the mechanical gripping unit 2 through a power disk 8. The power system unit 1 and the mechanical gripping unit 2 are connected by a central shaft 4.

[0051] like Figure 1 , Figure 2 , Figure 4 , Figure 5As shown, the specific structure of the power system unit 1 is as follows: it includes a slot 3, and the upper part of the central shaft 4 is fixed to the lower part of the slot 3 by a pin. The motor fixing plate 6, the internal meshing gear ring 7 and the power disk 8 are installed in sequence below the central shaft 4. The motor 5 is installed on the motor fixing plate 6. The internal meshing gear ring 7 and the power disk 8 are fixedly connected by a pin. The power system unit 1 is powered by the motor 5. The motor 5 drives the motor output shaft gear to rotate. The motor output shaft gear of the motor 5 meshes with the internal meshing gear ring 7 and transmits the torque to the power disk 8. The lower surface of the power disk 8 is provided with three circumferentially divided arc-shaped tracks. A row of balls 20 embedded in the arc-shaped tracks is provided on both sides of the arc-shaped tracks of the power disk 8. One end of the power shaft 9 is inserted into the arc-shaped track and forms a fitting relationship with the arc-shaped track. When the power disk 8 rotates, it will drive the power shaft 9 to move in the arc-shaped track. The ball bearings 20 on both sides of the arc track can ensure the smooth movement of the power shaft 9 on the arc track and avoid damage to the track and the power shaft 9. In order to ensure the smooth operation of the ball bearings 20 in the arc track, the power plate 8 is also provided with an oil nozzle 19. The oil nozzle 19 is connected to the arc track. Lubricating oil is injected into the oil nozzle 19 regularly to achieve sufficient lubrication.

[0052] like Figure 1 , Figure 2 , Figure 6 , Figure 7 , Figure 10 As shown, the central shaft 4 is fixed in the slot 3 by a pin, and the slot 3 is fixed inside the end cover 22 by screws. The side wall of the end cover 22 is tangent to the edge of the guide rail disk 10. The end of the straight guide rail 25 is in contact with the side wall of the end cover 22. The side wall of the end cover 22 limits the end of the straight guide rail 25. The power disk 8 is sleeved on the central shaft 4 by a bushing. The motor fixing plate 6 above the power disk 8 is sleeved on the central shaft 4. The guide rail disk 10 is fixed below the central shaft 4 by fixing bolts. The end cover 22 is connected to the flange 21 by four fixing bolts.

[0053] Example 6

[0054] This utility model relates to a three-finger translational robotic gripper, the structure of which is as follows: Figure 1 As shown, it includes a power system unit 1, and a mechanical gripping unit 2 is arranged below the power system unit 1. The power system unit 1 provides power to the mechanical gripping unit 2 through a power disk 8. The power system unit 1 and the mechanical gripping unit 2 are connected by a central shaft 4.

[0055] like Figure 2 , Figure 3 , Figure 6As shown, the finger unit 11 has the following specific structure: a slider 12 is mounted on the power shaft 9, allowing the slider 12 to slide smoothly on the guide rail 10. A fixing frame 13 is installed below the power shaft 9. The fixing frame 13 is connected to a right-angled finger base 14 by a pin. One end of the finger base 14 is hinged to one end of a base connecting joint 15 by a pin, and the other end of the connecting joint 15 is hinged to one end of a finger connecting joint 16 by a pin. The other end of the finger base 14 is hinged to one end of a support joint 18 by a pin. The fingertip 17 has two holes. One hole is hinged to the other end of the finger connecting joint 16 by a pin, and the other hole is hinged to the other end of the support joint 18 by a pin. The fingertip 17 is designed in a right-angled triangular shape, with the hypotenuses of the fingertip 17 pointing outwards. This allows the finger unit 11 to use the base connecting joint 15 and the finger connecting joint 16 to envelop and grasp objects, and to use the fingertip 17 to perform fingertip translational grasping. The finger unit 11 employs an underactuated structure, achieving envelope grasping and translational grasping through the contact force generated during the grasping process. The magnitude of the contact force of the finger unit 11 is controlled by adjusting the output torque of the motor 5 and the speed of the power shaft 9. After grasping, the motor 5 reverses, causing the grasping gripper to translate outwards, returning to its initial state under the action of a torsion spring. The overall translational movement of the finger unit 11 can be achieved by changing the distance between the finger and the center point, typically using a linear guide rail for reciprocating motion. To ensure the synchronicity of the finger translational movement, the finger unit 11 is designed with an equally divided circular structure. To increase the stability of the finger movement, an arc-shaped track can be used for driving.

[0056] like Figure 1 , Figure 2 , Figure 6 , Figure 7 , Figure 10 As shown, the central shaft 4 is fixed in the slot 3 by a pin, and the slot 3 is fixed inside the end cover 22 by screws. The side wall of the end cover 22 is tangent to the edge of the guide rail disk 10. The end of the straight guide rail 25 is in contact with the side wall of the end cover 22. The side wall of the end cover 22 limits the end of the straight guide rail 25. The power disk 8 is sleeved on the central shaft 4 by a bushing. The motor fixing plate 6 above the power disk 8 is sleeved on the central shaft 4. The guide rail disk 10 is fixed below the central shaft 4 by fixing bolts. The end cover 22 is connected to the flange 21 by four fixing bolts.

Claims

1. A three-fingered translational manipulator gripper, characterized by The utility model provides a kind of mechanical hand grabbing unit and power system unit, including power system unit (1), mechanical grabbing unit (2) is arranged below power system unit (1), power system unit (1) provides power for mechanical grabbing unit (2) by power disc (8), and power system unit (1) and mechanical grabbing unit (2) are connected through middle shaft (4) through;The specific structure of the power system unit (1) is as follows: including slot (3), middle shaft (4) is fixed below slot (3) by latch on top, motor fixed plate (6), inner meshing gear ring (7) and power disc (8) are installed in sequence below middle shaft (4), motor (5) is installed on motor fixed plate (6), inner meshing gear ring (7) is fixedly connected with power disc (8) by pin, power system unit (1) provides power by motor (5), motor (5) motor output shaft gear is engaged with inner meshing gear ring (7), 3 circular circumferential three equal parts arc-shaped tracks are set on the lower surface of power disc (8), one row of ball bearings (20) embedded in both sides of arc-shaped track is arranged on both sides of the arc-shaped track of power disc (8), one end of power shaft (9) is clamped into arc-shaped track and forms the inlaying relationship with arc-shaped track, oil nozzle (19) is further set on power disc (8), and oil nozzle (19) is communicated with arc-shaped track, the mechanical grabbing unit (2) is composed of three finger units (11) around power disc (8) below, and the specific structure of the mechanical grabbing unit (2) is as follows: including guide rail disc (10), guide rail disc (10) is connected through middle shaft (4) with power disc (8), guide rail disc (10) is evenly provided with 3 straight guide rails (25) in the way of circular circumferential three equal parts, the other end of power shaft (9) is connected with finger unit (11) after passing through straight guide rail (25), and the part of power shaft (9) between power disc (8) and guide rail disc (10) is further provided with sliding block (12), and sliding block (12) is fixedly connected with power shaft (9) and embedded in straight guide rail (25), sliding block (12) can drive power shaft (9) to slide along straight guide rail (25), the specific structure of the finger unit (11) is as follows: fixed frame (13) is installed below power shaft (9), and the fixed frame (13) is connected with right-angled finger base (14) by pin below, one end below finger base (14) is hinged with base connecting joint (15) by pin, the other end of connecting joint (15) is hinged with one end of finger connecting joint (16) by pin, the other end below finger base (14) is hinged with one end of supporting joint (18) by pin, two hole positions are set on fingertip (17), one hole position is hinged with the other end of finger connecting joint (16) by pin, and the other hole position of fingertip (17) is hinged with the other end of supporting joint (18) by pin.

2. The three-finger translational gripper of claim 1, wherein, The fingertip (17) is designed in right-angled triangle shape, and the hypotenuse of fingertip (17) is outward.

3. The three-finger translational gripper of claim 2, wherein, The middle shaft (4) is fixed in the clamping groove (3) by a latch, the clamping groove (3) is fixed in the end cover (22) by a screw, the side wall of the end cover (22) is tangent to the edge of the guide rail disc (10), the end of the straight guide rail (25) is attached to the side wall of the end cover (22), the power disc (8) is sleeved on the middle shaft (4) through a shaft sleeve, the motor fixing plate (6) above the power disc (8) is sleeved on the middle shaft (4), the guide rail disc (10) is fixed below the middle shaft (4) by a fixing bolt, and the end cover (22) is connected with the flange plate (21) by four fixing bolts.

Images