Quick mounting structure for robot dexterous hand

Abstract

The utility model relates to the related technical field of manipulators, in particular to a quick mounting structure for a dexterous hand of a robot, which comprises a mechanical arm and a dexterous hand mechanism connected with the mechanical arm, and further comprises a first connecting piece, a second connecting piece, a third connecting piece and a fourth connecting piece, the first connecting piece is connected to the first fixing end of the dexterous hand mechanism and arranged in the extending direction of the first fixing end. One end of the second connecting piece is provided with a clamping groove allowing one end of the second connecting piece to pass through. And a connecting mechanism. The first connecting piece and the second connecting piece are arranged at the end, connected with the mechanical arm, of the dexterous hand mechanism, when the dexterous hand mechanism is connected to the mechanical arm, the first connecting piece can be directly connected to the second connecting piece in an inserted mode, and meanwhile the first connecting piece is fixed to the second connecting piece through the connecting mechanism; therefore, the purpose that the dexterous hand mechanism is fixed to the mechanical arm is achieved.

Description

Technical Field

[0001] This utility model relates to a quick-assembly structure, and more particularly to a quick-assembly structure for a robot's dexterous hand, belonging to the field of robot-related technical fields. Background Technology

[0002] The robot's bionic dexterous hand can perform precise assembly and inspection tasks on automated production lines. Its structure mimics that of a human hand, and its high degree of freedom and flexibility can adapt to parts of different shapes, sizes and materials, thereby improving production efficiency. The mechanical structure of the dexterous hand can maintain multi-point contact with the target during the grasping operation. By using appropriate grasping methods and planning algorithms, it can apply arbitrary motion and force to objects of any shape, thereby achieving high-precision and stable grasping of objects of various complex shapes without changing the end effector, and performing a certain degree of fine manipulation on the grasped objects.

[0003] The dexterous hand structure of a robot mainly includes a bionic dexterous hand structure and a robotic arm used to connect the bionic hand structure. When in use, the bionic dexterous hand structure is connected to the robotic arm by multiple bolts. The robotic arm can drive the dexterous hand structure to move, and then the dexterous hand structure can grasp the object, thereby realizing the transfer of the object's position. However, the dexterous hand structure needs to be frequently inspected or replaced during use. However, the bolt connection method reduces the disassembly and assembly efficiency of the dexterous hand structure, thus affecting the robot's usage efficiency.

[0004] Therefore, there is an urgent need to improve the quick-assembly structure used for dexterous hands in robots in order to solve the aforementioned problems. Utility Model Content

[0005] The purpose of this utility model is to provide a quick-assembly structure for a robot's dexterous hand. By setting a connector one and a connector two on the end where the dexterous hand mechanism is connected to the robot arm, when the dexterous hand mechanism is connected to the robot arm, connector one can be directly inserted into connector two. At the same time, a connecting mechanism is used to fix connector one to connector two, thereby achieving the purpose of fixing the dexterous hand mechanism to the robot arm.

[0006] To achieve the above objectives, the main technical solution adopted by this utility model includes: a robotic arm and a dexterous hand mechanism connected to the robotic arm, wherein one end of the dexterous hand mechanism connected to the robotic arm is respectively designated as a fixed end one and a fixed end two; and further includes: a connector one, connected to the fixed end one of the dexterous hand mechanism and arranged along the extension direction of the fixed end one; a connector two, one end of which is provided with a snap-fit ​​groove for accommodating the end of the connector one, the connector two being connected to the fixed end two of the robotic arm and arranged along the extension direction of the fixed end two; and a connecting mechanism, provided on the connector one and the connector two, wherein when the connector one is inserted into the interior of the connector two, the connector one is fixed to the connector two by the connecting mechanism.

[0007] Preferably, both connector one and connector two are tubular structures with through ends and hollow structures; wherein, the interior of connector two is adapted to accommodate connector one, and when connector one and connector two are connected, the interiors of connector one and connector two are connected to form a circuit channel.

[0008] Preferably, the connecting mechanism includes a placement hole, an arc-shaped groove, and a ball: wherein the placement hole is formed on and passes through the second connector; the arc-shaped groove is formed on the outer side wall of the first connector and corresponds to the placement hole; the ball is fitted into the placement hole with a gap, and one side of the ball extends to the outside through the placement hole and is movably engaged with the arc-shaped groove.

[0009] Preferably, the connecting mechanism further includes an extrusion ring slidably connected to the outer side wall of the connector and a driving member for pushing the axis of the extrusion ring to move. When the extrusion ring is located outside the placement hole, it will squeeze the ball to engage in the arc-shaped groove.

[0010] Preferably, the driving component includes an annular sliding ring connected to the side wall of the extrusion ring, the sliding ring having a sliding groove around the axis, the outer side wall of the connecting component two having a threaded portion, the threaded portion having a rotating ring threadedly connected to it, and one side wall of the rotating ring being connected to the sliding groove through an annular pushing component.

[0011] Preferably, a spring plate is fixedly connected to the outer side wall of the second connector, and a spring is connected to the side wall of the spring plate facing the extrusion ring. One end of the spring is connected to a telescopic ring, and the telescopic ring is in movable contact with the extrusion ring.

[0012] Preferably, the end of the connector one and the connector two opposite each other are provided with positioning grooves and buffer pads at equal intervals around the axis. A sliding plate is slidably connected in the positioning groove, and a spring two is connected between the sliding plate and the bottom wall of the positioning groove. The connector two is internally connected with a plugging protrusion corresponding to the positioning groove, and the plugging protrusion is adapted to be movably engaged in the positioning groove.

[0013] This utility model has at least the following beneficial effects:

[0014] This application provides a first connector and a second connector on the end where the dexterous hand mechanism connects to the robotic arm. When the dexterous hand mechanism is connected to the robotic arm, the first connector can be directly inserted into the second connector. At the same time, the first connector is fixed to the second connector using a connecting mechanism, thereby achieving the purpose of fixing the dexterous hand mechanism to the robotic arm. In this process, compared with the bolt connection method, this method makes it more convenient to maintain and replace the dexterous hand mechanism, improves the disassembly and assembly efficiency of the dexterous hand structure, and avoids affecting the efficiency of robot use. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0016] Figure 1 A three-dimensional structural schematic diagram provided for this utility model;

[0017] Figure 2 Provided by this utility model Figure 1 Schematic diagram of the middle section;

[0018] Figure 3 Provided by this utility model Figure 2 Explosion structure diagram;

[0019] Figure 4 A three-dimensional structural diagram of the connector provided by this utility model;

[0020] Figure 5 Provided by this utility model Figure 2 Cross-sectional structural diagram;

[0021] Figure 6 Provided by this utility model Figure 5 Enlarged structural diagram at point A in the middle;

[0022] Figure 7 Provided by this utility model Figure 5 Enlarged structural diagram at point B.

[0023] In the diagram: 1. Robotic arm; 101. Fixed end two; 102. Connector two; 103. Snap-fit ​​groove; 2. Dexterous hand mechanism; 201. Fixed end one; 202. Connector one; 3. Circuit channel; 501. Placement hole; 502. Arc-shaped snap-fit ​​groove; 503. Sphere; 504. Compression ring; 505. Sliding ring; 506. Sliding groove; 601. Threaded part; 602. Rotating ring; 603. Pushing part; 7. Spring plate; 8. Spring one; 9. Telescopic ring; 10. Positioning groove; 11. Buffer pad; 12. Sliding plate; 13. Spring two; 14. Insertion protrusion. Detailed Implementation

[0024] The following will describe in detail the implementation of this application with reference to the accompanying drawings and embodiments, so that the implementation process of how this application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0025] like Figures 1-7 As shown, the quick-assembly structure for a robot dexterous hand provided in this embodiment includes a robotic arm 1 and a dexterous hand mechanism 2 connected to the robotic arm 1. The end of the dexterous hand mechanism 2 connected to the robotic arm 1 is respectively designated as a fixed end 201 and a fixed end 101. It also includes a connector 202, a connector 102, and a connecting mechanism. Specifically, the connector 202 is connected to the fixed end 201 of the dexterous hand mechanism 2 and is arranged along the extending direction of the fixed end 201. The connector 102... One end is provided with a snap-fit ​​groove 103 for accommodating the end of connector 1 202. Connector 2 102 is connected to the fixed end 2 101 of the robotic arm 1 and is arranged along the extension direction of the fixed end 2 101. A connecting mechanism is provided on connector 1 202 and connector 2 102. When connector 1 202 is inserted into the interior of connector 2 102, connector 1 202 is fixed on connector 2 102 by the connecting mechanism to lock the connection relationship between connector 1 202 and connector 2 102.

[0026] When it is necessary to connect the dexterous hand mechanism 2 to the robotic arm 1, simply insert connector 1 202 into connector 2 102. Once connector 1 202 is stably inserted into connector 2 102, the connecting mechanism can be used to fix connector 1 202 into connector 2 102, thereby connecting the dexterous hand mechanism 2 to the robotic arm 1. When it is necessary to remove the dexterous hand mechanism 2 from the robotic arm 1, simply use the connecting mechanism to release the fixing state of connector 2 102 to connector 1 202. In this process, compared with the bolt connection method, this method makes it more convenient to maintain and replace the dexterous hand mechanism 2, improves the disassembly and assembly efficiency of the dexterous hand structure, and thus avoids affecting the efficiency of robot use.

[0027] Specifically, such as Figure 5As shown, both connector 1 202 and connector 2 102 are tubular structures with hollow structures that are open at both ends. The interior of connector 2 102 is suitable for accommodating the insertion of connector 1 202. When connector 1 202 and connector 2 102 are connected, the interiors of connector 1 202 and connector 2 102 are connected to form a circuit channel 3, which facilitates the connection of the circuit of the dexterous hand mechanism 2 with the circuit wires on the robotic arm 1, and increases the functionality of connector 1 202 and connector 2 102.

[0028] Among them, such as Figure 7 As shown, the connecting mechanism includes a placement hole 501, an arc-shaped groove 502, and a ball 503. The placement hole 501 is formed on and passes through the second connector 102. The arc-shaped groove 502 is formed on the outer side wall of the first connector 202 and corresponds to the placement hole 501. The ball 503 is fitted into the placement hole 501 with a clearance. One side of the ball 503 extends to the outside through the placement hole 501 and is movably engaged with the arc-shaped groove 502. When the first connector 202 is inserted into the second connector 102, the outer side wall of the first connector 202 will squeeze and push the ball 503 located in the placement hole 501 until the ball 503 is pushed into the arc-shaped groove 502. By fixing the ball 503, the first connector 202 can be stably connected to the second connector 102.

[0029] Next, in order to facilitate the fixing of the ball 503, the connecting mechanism also includes an extrusion ring 504 that is axially slidably connected to the outer wall of the connector 102 and a driving member for pushing the axis of the extrusion ring 504 to move. When the axis of the extrusion ring 504 moves and the extrusion ring 504 is located outside the placement hole 501, it will squeeze the ball 503 to engage in the arc-shaped slot 502.

[0030] The driving component includes an annular sliding ring 505 connected to the side wall of the extrusion ring 504, such as Figure 7 As shown, a sliding groove 506 is provided on the sliding ring 505 around the axis, and a threaded part 601 is provided on the outer side wall of the connecting part 2 102. A rotating ring 602 is threadedly connected to the threaded part 601. One side wall of the rotating ring 602 is connected to the sliding groove 506 through an annular pusher 603. When the rotating ring 602 rotates, it will move forward under the action of the threaded part 601, thereby pushing the pusher 603 to rotate synchronously and move axially. Through the pusher 603, the axis of the sliding ring 505 is moved, and finally the extrusion ring 504 is moved synchronously. In this process, the rotational motion of the rotating ring 602 is converted into the linear motion of the extrusion ring 504.

[0031] To address the problem of deflection occurring when the rotating ring 602 is subjected to dynamic vibration, therefore, as follows: Figure 2As shown, a spring plate 7 is fixedly connected to the outer wall of the connecting piece 2 102. A spring 8 is connected to the side wall of the spring plate 7 facing the extrusion ring 504. One end of the spring 8 is connected to a telescopic ring 9. The telescopic ring 9 is in movable contact with the extrusion ring 504. When the extrusion ring 504 is located outside the placement hole 501, and the side wall of the extrusion ring 504 abuts against the telescopic ring 9, the friction between the rotating ring 602 and the teeth of the threaded part 601 is increased, thereby solving the problem that the rotating ring 602 will deflect when subjected to dynamic vibration.

[0032] like Figure 5 As shown, the connecting parts 1 and 202 are provided with positioning grooves 10 and buffer pads 11 at equal intervals around the axis on the opposite ends of the connecting parts 1 and 202, which further enhances the stability of the connection between the connecting parts 1 and 202. A sliding plate 12 is slidably connected in the positioning groove 10, and a spring 2 13 is connected between the sliding plate 12 and the bottom wall of the positioning groove 10. The connecting parts 2 102 are internally connected with insertion protrusions 14 corresponding to the positioning groove 10. The insertion protrusions 14 are suitable for being movably engaged in the positioning groove 10, which increases the engagement structure between the connecting parts 1 and 202, thereby increasing the engagement area between the two and increasing the stability of the connection between the two. At the same time, it also prevents the connecting parts 1 and 202 from rotating in the connecting frame 2, further increasing the stability of the connection between the two.

[0033] The foregoing description illustrates and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A quick-mount structure for a robotic dexterous hand, comprising a robot arm (1) and a dexterous hand structure (2) connected to the robot arm (1), the dexterous hand structure (2) being provided with a fixed end one (201) and a fixed end two (101) at the end connected to the robot arm (1), characterized in that: Also include: ​ The adapter one (202) is connected to the fixed end one (201) of the dexterous mobile phone structure (2), and is arranged along the extension direction of the fixed end one (201); The adapter two (102) is provided with a clamping groove (103) for accommodating the end of the adapter one (202), and is connected to the fixed end two (101) of the mechanical arm (1) and arranged along the extension direction of the fixed end two (101); The connecting mechanism is arranged on the adapter one (202) and the adapter two (102), and when the adapter one (202) is inserted into the adapter two (102), the adapter one (202) is fixed on the adapter two (102) through the connecting mechanism.

2. The quick-mount structure for a robotic hand according to claim 1, wherein: The adapter one (202) and the adapter two (102) are both tubular structures with hollow structure and through two ends; wherein the inside of the adapter two (102) is suitable for accommodating the insertion of the adapter one (202), when the adapter one (202) is connected with the adapter two (102), the adapter one (202) and the adapter two (102) are connected with each other inside and form a line channel (3).

3. The quick-mount structure for a robotic hand according to claim 1, wherein: The connecting mechanism includes a placement hole (501), an arc-shaped clamping groove (502) and a ball (503): wherein the placement hole (501) is opened on the adapter two (102) and penetrates the adapter two (102); the arc-shaped clamping groove (502) is opened on the outer side wall of the adapter one (202) and corresponds to the placement hole (501); the ball (503) is gap fitted in the placement hole (501), one side of the ball (503) extends to the outside through the placement hole (501) and is movably clamped in the arc-shaped clamping groove (502).

4. The quick-mount structure for a robotic hand according to claim 3, wherein: The connecting mechanism further includes a pressing ring (504) slidingly connected to the outer side wall of the adapter two (102) and a driving member provided for pushing the axis of the pressing ring (504) to move, when the pressing ring (504) is located outside the placement hole (501), the ball (503) is clamped in the arc-shaped clamping groove (502).

5. The quick-mount structure for a robotic hand according to claim 4, wherein: The driving member includes a ring-shaped sliding ring (505) connected to the side wall of the pressing ring (504), a sliding groove (506) is opened around the axis on the sliding ring (505), a threaded portion (601) is provided on the outer side wall of the adapter two (102), a rotating ring (602) is threadedly connected on the threaded portion (601), and one side wall of the rotating ring (602) is connected with the sliding groove (506) through a ring-shaped pushing member (603).

6. The quick-mount structure for a robotic hand according to claim 4, wherein: The outer side wall of the adapter two (102) is fixedly connected with a spring plate (7), one side wall of the spring plate (7) facing the pressing ring (504) is connected with a spring one (8), one end of the spring one (8) is connected with an elastic ring (9), and the elastic ring (9) is movably contacted with the pressing ring (504).

7. The quick-mount structure for a robotic hand according to claim 1, wherein: The opposite end of the adapter one (202) and the adapter two (102) is equidistantly provided with a positioning slot (10) and a buffer pad (11) around the axis, the positioning slot (10) is slidably connected with a sliding plate (12), the sliding plate (12) and the bottom wall of the positioning slot (10) are connected with a spring two (13); the inside of the adapter two (102) is connected with a plug-in protrusion (14) corresponding to the positioning slot (10), the plug-in protrusion (14) is suitable for being movably clamped in the positioning slot (10).

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