Planetary gear robot

Abstract

The utility model belongs to the technical field of mechanical hand, concretely is a kind of planetary gear mechanical hand, include: arm and end effector, the end effector includes first motor, planetary gear, shell, second motor, three joint phalange assemblies.The planetary gear includes planet carrier, three planetary gears, sun gear, internal gear, three bearings, connecting shaft.The conventional mechanical hand has less degree of freedom, poor flexibility, can only be clamped to fixed size's article and cannot freely adjust posture, the utility model realizes the gear shifting work of end effector by setting planetary gear, to adapt to the requirement of different working environment, the cooperation of arm and mechanical finger realizes the clamping of different objects, the adjustment of various postures of object, the utility model shows the characteristics of high flexibility, adjustability.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, specifically a planetary gear robotic arm. Background Technology

[0002] A robotic arm is an automated operating device that can mimic certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. It is widely used in many fields such as industrial production, logistics, medical care, and aerospace. It can improve production efficiency, ensure product quality, and reduce labor intensity, playing an important role in modern automated production.

[0003] Traditional robotic arms are mostly designed based on the size and dimensions of objects, and are limited in their ability to grasp fixed objects. When faced with the need to grasp objects of different sizes and adjust their posture, traditional robotic arms become inconvenient, and their improvement in production efficiency is not particularly significant. Therefore, this invention provides a three-finger robotic arm utilizing planetary gears. This robotic arm uses planetary gears to achieve gear shifting of the end effector, thereby adapting to the requirements of different working environments. The coordinated operation of the arm and robotic fingers enables the grasping of different objects and the adjustment of various object postures, demonstrating the high flexibility and adjustability of this invention. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the purpose of this disclosure is to provide a novel robotic arm.

[0005] The purpose of this disclosure can be achieved through the following techniques: A planetary gear manipulator, characterized by comprising an arm and an end effector, wherein the end effector includes a first motor, planetary gears, a housing, a second motor, and three finger assemblies; the planetary gear includes a planet carrier, three planetary gears, a sun gear, an internal gear, three bearings, and a connecting shaft. The lower part of the planet carrier is fixedly connected to the shaft of the first motor, and the upper part has three cylindrical slots on which three bearings are fixedly connected. Planetary gears are rotatably connected to the outer rings of the bearings. The three planetary gears mesh with the sun gear and the internal gear, and the three planetary gears are centrally symmetrically distributed, thus forming a planetary gear train. The center of the sun gear is fixedly connected to the connecting shaft, and the connecting shaft is fixedly connected to the shaft of the second motor.

[0006] Furthermore, the outer side of the internal gear is fixedly connected to the outer shell. The upper end of the outer shell is provided with three sets of centrally symmetrical limiting grooves. Three sets of finger assemblies are installed on the upper end of the outer shell. The finger assembly includes a connecting rod, a connecting plate, a mounting plate, a first connecting rod, a second connecting rod, a third connecting rod, a first cylindrical pin, a fourth connecting rod, a fifth connecting rod, a second cylindrical pin, a third cylindrical pin, a fourth cylindrical pin, a fifth cylindrical pin, a sixth cylindrical pin, and a micro motor. The lower end of the connecting rod is fixedly connected to the inner ring of the bearing, passes through the limiting groove, and the upper end is fixedly connected to the connecting plate. The mounting plate is fixedly connected to the connecting plate. A micro motor is fixedly connected to one end of the mounting plate. The shaft of the micro motor is fixedly connected to one end of the first connecting rod via a second cylindrical pin. A fourth cylindrical pin is fixed in the middle of the first connecting rod. A third connecting rod is rotatably connected to the fourth cylindrical pin. The end of the first connecting rod is rotatably connected to one end of the fifth connecting rod via a first cylindrical pin. A sixth cylindrical pin is fixedly installed in the middle of the fifth connecting rod. A fourth connecting rod is rotatably connected to the sixth cylindrical pin. One end of the second connecting rod is rotatably connected to the mounting plate via a third cylindrical pin. The other end of the second connecting rod is rotatably connected to the fifth cylindrical pin. Therefore, the second connecting rod, the third connecting rod, the fourth connecting rod, and the fifth cylindrical pin form a composite hinge. The knuckle assembly is centrally symmetrically distributed.

[0007] Furthermore, the arm includes a wrist, a pneumatic piston, a first arm, a second arm, an arm base, a third motor, a fourth motor, a fifth motor, and a connecting seat. The fifth motor is fixedly connected to the upper part of the arm base. The second arm is fixedly connected to the shaft of the fifth motor. The fourth motor is located on one side of the upper end of the second arm. The first arm is fixedly connected to the shaft of the fourth motor. A piston is slidably connected inside the first arm. The connecting seat is fixedly connected to the end of the piston. The third motor is fixedly connected to the side of the connecting seat. The shaft of the third motor is fixedly connected to the lower end of the wrist. The piston and the first arm slide together to realize the linear movement of the connecting seat. The arm base is used to fix the entire device.

[0008] Furthermore, the housing of the first motor is fixedly installed on the inner side of the upper end of the wrist, and the side of the housing is detachably connected to the side of the wrist, thereby enabling the wrist to drive the end effector to move.

[0009] Furthermore, the knuckle assembly is made of aluminum alloy.

[0010] The explanations of the nouns, conjunctions, or adjectives used in the above technical solutions are as follows: Fixed connection: refers to a connection in which parts or components are fixed in place, with no relative movement. It is divided into two types: detachable and non-detachable connections.

[0011] (1) Detachable connection: Detachable connection uses screws, splines, wedges, etc. to fix the parts together. This type of connection can be disassembled during maintenance without damaging the parts. However, the specifications of the connecting parts used must be correct (such as the length of the bolts, keys, wedges) and properly tightened.

[0012] (2) Non-removable connections: Non-removable connections mainly refer to welding, riveting, and tenon joints. Since forging, sawing, or oxyacetylene cutting is required for disassembly during repair or replacement, the parts generally cannot be reused. At the same time, attention should be paid to process quality, technical inspection, and remedial measures (such as correction, polishing, etc.) when making connections.

[0013] The beneficial effects of this disclosure are: The end effector of this planetary gear robotic arm adopts a planetary gear structure, which is compact, has a strong load-bearing capacity, high transmission efficiency, and smooth movement. It uses two motors to achieve speed variation to meet work requirements. The finger assembly adopts a multi-link structure, achieving stable and reliable clamping through envelope gripping and force amplification effects, and can flexibly handle workpieces of different shapes and sizes. The finger assembly slides along a fixed trajectory through the movement of planetary gears and the restriction of limiting grooves, enabling multi-directional gripping of objects, demonstrating the high flexibility and adjustability of this invention. The three sets of finger assemblies are driven by micro-motors, and the relative movement of each lever achieves the closing and retraction of the fingers, realizing stable gripping. The arm has four degrees of freedom, and through the interaction of the motor and piston cylinder on the arm, the end effector can be moved to various working areas. The structure is simple and easy to operate. The connection between the end effector and the wrist of the arm is detachable, facilitating future inspection and maintenance. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this utility model; Figure 2 This is a schematic diagram of the end effector of an embodiment of the present invention; Figure 3 This is an exploded view of the planetary gear according to an embodiment of the present invention; Figure 4 This is a front structural diagram of the knuckle assembly according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the reverse side structure of the knuckle assembly according to an embodiment of the present invention; Figure 6 This is a schematic diagram showing the position of the micro motor in an embodiment of this utility model; Figure 7 This is an exploded view of the arm in an embodiment of this utility model; Figure 8 This is a schematic diagram showing the connection between the end effector and the wrist in an embodiment of this utility model; Figure 9 This is a schematic diagram illustrating the process of the knuckle component grasping an object according to an embodiment of this utility model; Figure 10 This is a schematic diagram illustrating the process of placing an item using the knuckle component in an embodiment of this utility model.

[0016] In the diagram: 1. End effector; 2. Planetary gear; 3. Housing; 4. Second motor; 5. Finger assembly; 6. Connecting rod; 7. Connecting plate; 8. Mounting plate; 9. First link; 10. Second link; 11. Third link; 12. First cylindrical pin; 13. Fourth link; 14. Fifth link; 15. Second cylindrical pin; 16. Third cylindrical pin; 17. Fourth cylindrical pin; 18. Fifth cylindrical pin; 19. Sixth cylindrical pin ; 20. Planetary carrier; 21. Planetary gear; 22. Sun gear; 23. Internal gear; 24. Bearing; 25. Wrist; 26. Piston; 27. First arm; 28. Second arm; 29. ​​Arm base; 30. Connecting shaft; 31. Arm; 32. First motor; 33. Third motor; 34. Fourth motor; 35. Fifth motor; 36. Micro motor; 37. Connecting seat; 100. Cylindrical groove; 101. Limiting groove. Detailed Implementation

[0017] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0018] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0019] Examples of the embodiments are shown in the accompanying drawings, wherein the terms "a" and "b" are used to distinguish identical or similar elements. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0020] As one technical optimization of this utility model, please refer to Figure 2 and Figure 3 The device includes an arm 31 and an end effector 1, a planetary gear manipulator. The end effector 1 includes a first motor 32, planetary gears 2, a housing 3, a second motor 4, and three finger assemblies 5. The planetary gears 2 include a planet carrier 20, three planetary gears 21, a sun gear 22, an internal gear 23, three bearings 24, and a connecting shaft 30. The lower part of the planet carrier 20 is fixedly connected to the shaft of the first motor 32, and the upper part has three cylindrical slots 100, each fixedly connected to one of the three bearings 24. The outer rings of the bearings 24 are rotatably connected to the planetary gears 21. The three planetary gears 21 mesh with the sun gear 22 and the internal gear 23. The three planetary gears 21 are centrally symmetrically distributed, thus forming a planetary gear train. The center of the sun gear 22 is fixedly connected to the connecting shaft 30, which is fixedly connected to the shaft of the second motor 4. By adopting the planetary gear structure described above, the fast and slow gears can be interchanged through different transmission modes, thereby meeting the working requirements under different working conditions. Furthermore, the transmission structure achieved by planetary gears is compact, has a strong load-bearing capacity, high transmission efficiency, and smooth operation.

[0021] As one technical optimization of this utility model, please refer to Figure 4 , Figure 5 , Figure 6 , Figure 9 and Figure 10A planetary gear manipulator, wherein the outer side of the internal gear 23 is fixedly connected to the outer shell 3, the upper end of the outer shell 3 is provided with three sets of centrally symmetrical limiting grooves 101, and the upper end of the outer shell 3 is equipped with three sets of finger assemblies 5, the finger assembly 5 including a connecting rod 6, a connecting plate 7, a mounting plate 8, a first connecting rod 9, a second connecting rod 10, a third connecting rod 11, a first cylindrical pin 12, a fourth connecting rod 13, a fifth connecting rod 14, a second cylindrical pin 15, a third cylindrical pin 16, a fourth cylindrical pin 17, a fifth cylindrical pin 18, a sixth cylindrical pin 19, and a micro motor 36. The lower end of the connecting rod 6 is fixedly connected to the inner ring of the bearing 24, passes through the limiting groove 101, and the upper end is fixedly connected to the connecting plate 7, and the mounting plate 8 is fixedly connected to the connecting plate 7. A micro motor 36 is fixedly connected to one end of the mounting plate 8. The shaft of the micro motor 36 is fixedly connected to one end of the first connecting rod 9 via a second cylindrical pin 15. A fourth cylindrical pin 17 is fixed in the middle of the first connecting rod 9. A third connecting rod 11 is rotatably connected to the fourth cylindrical pin 17. The end of the first connecting rod 9 is rotatably connected to one end of the fifth connecting rod 14 via a first cylindrical pin 12. A sixth cylindrical pin 19 is fixedly installed in the middle of the fifth connecting rod 14. A fourth connecting rod 13 is rotatably connected to the sixth cylindrical pin 19. One end of the second connecting rod 10 is rotatably connected to the mounting plate 8 via a third cylindrical pin 16. The other end of the second connecting rod 10 is rotatably connected to the fifth cylindrical pin 18. Therefore, the second connecting rod 10, the third connecting rod 11, the fourth connecting rod 13, and the fifth cylindrical pin 18 form a composite hinge. The knuckle assembly 5 is centrally symmetrically distributed. The knuckle assembly 5 adopts a multi-link structure, achieving stable and reliable clamping through envelope gripping and force amplification effects, and can flexibly handle workpieces of different shapes and sizes. Furthermore, the knuckle assembly 5 can slide along a fixed trajectory through the movement of the planetary gear 21 and the restriction of the limiting groove 101, thereby enabling multi-directional gripping of objects and demonstrating the high flexibility and adjustability of this utility model. The three sets of knuckle assemblies 5 are driven by the micro motor 36, and the relative movement of each rod enables the closing and retraction of the fingers, achieving stable gripping.

[0022] In summary, when the first motor 32 operates, it controls the rotation of the upper planetary carrier 20, thereby driving the bearing 24 fixed above the planetary carrier 20 to move, further driving the planetary gear 21 and the connecting rod 6 fixed inside the bearing to move, ultimately realizing the movement of the finger assembly 5 above the bearing 24. The movement range of the finger assembly 5 is limited by the limiting groove 101, allowing it to move within the limiting groove 101. The second motor 4 directly controls the rotation of the connecting shaft 30, thereby driving the rotation of the sun gear 22, and further driving the rotation of the planetary gear 21 through meshing. Under the constraint of the internal gear 23, the planetary gear 21 rolls inside the internal gear 23, ultimately realizing the operation of the planetary gear 2, and further realizing the movement of the finger assembly 5. Since the transmission ratios are different for different transmission methods, the gear controlled by the first motor 32 is the fast gear, and the gear controlled by the second motor 4 is the slow gear.

[0023] like Figure 9 as well as Figure 10 As shown, when the micro motor 36 operates clockwise, it drives the first connecting rod 9 connected to the shaft of the micro motor 36 to move clockwise. Furthermore, through the constraint between the rods, it drives the movement of each connecting rod in the knuckle assembly 5, ultimately achieving the movement of the fifth connecting rod 14. The movement direction of each connecting rod in the entire knuckle assembly 5 is as follows: Figure 9 As shown; when the micro motor 36 operates counterclockwise, the first connecting rod 9 rotates counterclockwise through the shaft of the micro motor 36, and the constraint between the rods drives the movement of each connecting rod in the finger joint assembly 5, ultimately realizing the movement of the fifth connecting rod 14. The movement direction of each connecting rod in the entire finger joint assembly 5 is as follows. Figure 10 As shown.

[0024] As one technical optimization of this utility model, please refer to Figure 7A planetary gear manipulator is disclosed. The arm 31 has four degrees of freedom and can move the end effector to various working areas through the interaction of a motor and a piston cylinder on the arm. It features a simple structure and convenient operation. The arm 31 includes a wrist 25, a pneumatic piston 26, a first arm 27, a second arm 28, an arm base 29, a third motor 33, a fourth motor 34, a fifth motor 35, and a connecting seat 37. The fifth motor 35 is fixedly connected to the upper part of the arm base 29. The second arm 28 is fixedly connected to the shaft of the fifth motor 35. The fourth motor 34 is located on one side of the upper end of the second arm 28. The first arm 27 is fixedly connected to the shaft of the fourth motor 34. The first arm 27 has a sliding mechanism inside. A piston 26 is connected to the first arm 27, with a connecting seat 37 fixedly connected to its end. A third motor 33 is fixedly connected to the side of the connecting seat 37, and the shaft of the third motor 33 is fixedly connected to the lower end of the wrist 25. The piston 26 slides with the first arm 27 to achieve linear movement of the connecting seat 37. The arm base 29 is used to fix the entire device. The fifth motor 35 drives the second arm 28 to rotate about the axis of rotation, enabling the robot to work in various directions when the arm base 29 is fixed. Above the second arm 28 is the first arm 27, which is fixedly connected to the shaft of the fourth motor 34. The fourth motor 34 achieves the fixed-axis rotation of the first arm 27. The piston 26 is located inside the first arm 27 and is driven by compressed air from the air pump to achieve relative sliding with the first arm 27, thereby pushing the connecting seat 37 to move linearly. The wrist 25 achieves fixed-axis rotation through the third motor 33, thereby enabling fine adjustment of the position of the end effector 1 during operation.

[0025] It should be noted that the side of the outer shell 3 of the robotic arm disclosed in this device is detachably connected to the side of the wrist 25. Disassembly is simple and convenient, making it easier to inspect and maintain the device and extending the service life of the entire device.

[0026] It should be noted that the finger joint component 5 of the robotic arm disclosed in this device is made of aluminum alloy, which makes the entire device lightweight and corrosion resistant.

[0027] The working principle and usage process of this utility model are as follows: First, the entire device is fixed by the arm base 29. The operation of the fifth motor 35 drives the second arm 28 to rotate. After adjusting to the appropriate position, the fifth motor 35 is turned off. Compressed airflow is injected into the end of the first arm 27 to push the piston 26 to move, which in turn drives the connecting seat 37 to move in the axial direction of the piston rod 26. The air pump is turned off, and the compressed airflow stops entering. Next, the fourth motor 34 is started to make a coarse adjustment of the position of the end effector 1. After reaching the appropriate position, the fourth motor 34 is turned off and the third motor 33 is started to make a fine adjustment of the spatial position of the end effector 1 so that the end effector 1 is located in the working area. Then, depending on the work requirements, select the fast gear controlled by the first motor 32 and the slow gear controlled by the second motor 4, or a combination of fast and slow gears. After adjusting the knuckle assembly 5 to the appropriate position, turn off the two motors. Then, the micro motor 36 works counterclockwise. Through the constraint between the links in the knuckle assembly 5, the fifth link 14 is driven to move to grip the required item. Turn off the micro motor 36. Then, through the cooperation of the motors in the arm 31 and the piston 26, the item is moved to the designated area and the relevant drive components are turned off. The implementation method is the same as the above scheme. Finally, turn on the micro motor 36 again to make it work clockwise to place the item. The work is now complete.

[0028] The foregoing has shown and described the basic principles, main features, and advantages of this disclosure. Those skilled in the art should understand that this disclosure is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this disclosure. Various changes and modifications can be made to this disclosure without departing from its spirit and scope, and all such changes and modifications fall within the scope of this disclosure as claimed.

Claims

1. A planetary gear manipulator, characterized in that, The device includes an arm (31) and an end effector (1). The end effector (1) includes a first motor (32), a planetary gear (2), a housing (3), a second motor (4), and three finger assemblies (5). The planetary gear (2) includes a planet carrier (20), three planetary gears (21), a sun gear (22), an internal gear (23), three bearings (24), and a connecting shaft (30). The lower part of the planet carrier (20) is fixedly connected to the shaft of the first motor (32), and the upper part has three cylindrical slots (100) respectively fixedly connected to three bearings (24). The outer ring of the bearings (24) is rotatably connected to the planetary gears (21). The three planetary gears (21) mesh with the sun gear (22) and the internal gear (23). The three planetary gears (21) are centrally symmetrically distributed to form a planetary gear system. The center of the sun gear (22) is fixedly connected to the connecting shaft (30), and the connecting shaft (30) is fixedly connected to the shaft of the second motor (4).

2. The planetary gear manipulator according to claim 1, characterized in that, The outer side of the internal gear (23) is fixedly connected to the outer shell (3). The upper end of the outer shell (3) is provided with three sets of centrally symmetrical limiting grooves (101). The upper end of the outer shell (3) is equipped with three sets of finger assemblies (5). The finger assembly (5) includes a connecting rod (6), a connecting plate (7), a mounting plate (8), a first connecting rod (9), a second connecting rod (10), a third connecting rod (11), a first cylindrical pin (12), a fourth connecting rod (13), a fifth connecting rod (14), a second cylindrical pin (15), a third cylindrical pin (16), a fourth cylindrical pin (17), a fifth cylindrical pin (18), a sixth cylindrical pin (19), and a micro motor (36). The lower end of the connecting rod (6) is fixedly connected to the inner ring of the bearing (24), passes through the limiting groove (101), and the upper end is fixedly connected to the connecting plate (7). The mounting plate (8) is fixedly connected to the connecting plate (7). The micro motor (36) is fixedly connected to one end of the mounting plate (8). The shaft of the micro motor (36) is fixedly connected to one end of the first connecting rod (9) by the second cylindrical pin (15). The first connecting rod (9) is fixed with a fourth cylindrical pin (17) in the middle. The fourth cylindrical pin (17) is provided with a third connecting rod (11) that is rotatably connected. The end of the first connecting rod (9) is rotatably connected to one end of the fifth connecting rod (14) by the first cylindrical pin (12). The middle part of the fifth connecting rod (14) is fixedly installed with a sixth cylindrical pin (19). The sixth cylindrical pin (19) is provided with a fourth connecting rod (13) that is rotatably connected. One end of the second connecting rod (10) is rotatably connected to the mounting plate (8) by the third cylindrical pin (16). The other end of the second connecting rod (10) is rotatably connected to the fifth cylindrical pin (18). Therefore, the second connecting rod (10), the third connecting rod (11), the fourth connecting rod (13) and the fifth cylindrical pin (18) form a composite hinge. The knuckle assembly (5) is centrally symmetrically distributed.

3. A planetary gear manipulator according to claim 1, characterized in that, The arm (31) includes a wrist (25), a piston (26), a first arm (27), a second arm (28), an arm base (29), a third motor (33), a fourth motor (34), a fifth motor (35), and a connecting seat (37). The fifth motor (35) is fixedly connected to the upper part of the arm base (29). The second arm (28) is fixedly connected to the shaft of the fifth motor (35). The fourth motor (34) is provided on one side of the upper end of the second arm (28). 4) A first arm (27) is fixedly connected to the rotating shaft. The first arm (27) is provided with a piston (26) that is slidably connected inside. A connecting seat (37) is fixedly connected to the end of the piston (26). A third motor (33) is fixedly connected to the side end of the connecting seat (37). The rotating shaft of the third motor (33) is fixedly connected to the lower end of the wrist (25). The piston (26) and the first arm (27) slide together to realize the linear movement of the connecting seat (37). The arm base (29) is used to fix the entire device.

4. A planetary gear manipulator according to any one of claims 1-3, characterized in that, The outer casing of the first motor (32) is fixedly installed on the inner side of the upper end of the wrist (25). The side of the outer casing (3) is detachably connected to the side of the wrist (25), thereby enabling the wrist (25) to drive the end effector (1) to move.

5. A planetary gear manipulator according to claim 3, characterized in that, The knuckle assembly (5) is made of aluminum alloy.

Images