CN105619437B - A kind of modularization two-freedom hand is grabbed - Google Patents
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Abstract
本发明涉及机器人机构，具体地说是一种模块化两自由度手抓，包括旋转模块及夹持模块，旋转模块包括旋转外壳、旋转舵机、转动关节及传动机构，旋转舵机及转动关节的定子分别安装在旋转外壳内，旋转舵机的输出端通过传动机构驱动转动关节的转子旋转，夹持模块与转动关节的转子相连、随转动关节的转子旋转；夹持模块包括夹持外壳、夹持舵机、丝杆滑块机构、支撑架及对称设置在支撑架两侧的夹持机构，夹持外壳连接于转动关节的转子，夹持舵机及支撑架分别安装在夹持外壳内，支撑架两侧的夹持机构结构相同，均与支撑架及丝杆滑块机构中的滑块相铰接。本发明具有模块化结构，体积小重量轻、具有较大的张合范围，可实现夹持自锁。
The invention relates to a robot mechanism, specifically a modular two-degree-of-freedom gripper, which includes a rotating module and a clamping module. The rotating module includes a rotating shell, a rotating steering gear, a rotating joint and a transmission mechanism, and the rotating steering gear and The stators are respectively installed in the rotating housing, the output end of the rotating steering gear drives the rotor of the rotating joint to rotate through the transmission mechanism, the clamping module is connected with the rotor of the rotating joint, and rotates with the rotor of the rotating joint; the clamping module includes a clamping housing, The clamping steering gear, the screw slider mechanism, the support frame and the clamping mechanisms arranged symmetrically on both sides of the support frame, the clamping shell is connected to the rotor of the rotating joint, the clamping steering gear and the support frame are respectively installed in the clamping shell , the structure of the clamping mechanism on both sides of the support frame is the same, and they are all hinged with the slider in the support frame and the screw slider mechanism. The invention has a modular structure, is small in size and light in weight, has a large opening and closing range, and can realize clamping and self-locking.
Description
技术领域technical field
本发明涉及机器人机构，具体地说是一种模块化两自由度手抓。The invention relates to a robot mechanism, in particular to a modular two-degree-of-freedom hand grip.
背景技术Background technique
现今飞行器的发展需求，需要完成用于稳定抓捕合作目标和非合作目标的任务。对于固定的机械臂，为了完成不同规格的夹持作业，需要更换不同的末端执行机构。因而需要一种轻型的模块化末端抓手。The development requirements of today's aircraft need to complete the task of stably capturing cooperative targets and non-cooperative targets. For a fixed robotic arm, in order to complete clamping operations of different specifications, it is necessary to replace different end effectors. There is thus a need for a lightweight modular end gripper.
发明内容Contents of the invention
为了解决现有固定机械臂针对不同规格夹持作业需要更换不同末端扫行机构的问题，本发明的目的在于提供一种模块化两自由度手抓。In order to solve the problem that the existing fixed mechanical arm needs to replace different end sweeping mechanisms for clamping operations of different specifications, the purpose of the present invention is to provide a modular two-degree-of-freedom hand grip.
本发明的目的是通过以下技术方案来实现的：The purpose of the present invention is achieved through the following technical solutions:
本发明包括旋转模块及夹持模块，其中旋转模块包括旋转外壳及分别容置于该旋转外壳内的旋转舵机、转动关节及传动机构，所述旋转舵机及转动关节的定子分别安装在旋转外壳内，该旋转舵机的输出端通过所述传动机构驱动所述转动关节的转子旋转，所述夹持模块与转动关节的转子相连、随转动关节的转子旋转；所述夹持模块包括夹持外壳、夹持舵机、丝杆滑块机构、支撑架及对称设置在支撑架两侧的夹持机构，该夹持外壳连接于所述转动关节的转子，所述夹持舵机及支撑架分别安装在夹持外壳内，该支撑架两侧的所述夹持机构结构相同，均与该支撑架及丝杆滑块机构中的滑块相铰接，所述夹持舵机的输出端通过丝杆滑块机构带动两侧的所述夹持机构同步夹持。The present invention includes a rotating module and a clamping module, wherein the rotating module includes a rotating housing, a rotating steering gear, a rotating joint, and a transmission mechanism respectively accommodated in the rotating housing, and the stators of the rotating steering gear and the rotating joint are installed on the rotating housing respectively. In the housing, the output end of the rotary steering gear drives the rotor of the rotary joint to rotate through the transmission mechanism, and the clamping module is connected with the rotor of the rotary joint and rotates with the rotor of the rotary joint; the clamping module includes a clip The clamping shell, the clamping steering gear, the screw slider mechanism, the support frame and the clamping mechanisms arranged symmetrically on both sides of the support frame, the clamping shell is connected to the rotor of the rotary joint, the clamping steering gear and the support The frames are respectively installed in the clamping shell. The clamping mechanisms on both sides of the support frame have the same structure, and are all hinged with the slider in the support frame and the screw slider mechanism. The output end of the clamping steering gear The clamping mechanisms on both sides are driven to clamp synchronously by the screw rod slider mechanism.
其中：所述夹持机构包括手指、第一连杆及第二连杆，该第一连杆的两端分别铰接于手指及支撑架，所述第二连杆的一端铰接于手指，另一端分别铰接于支撑架及滑块；所述支撑架每侧的手指、第一连杆及第二连杆与支撑架之间均形成一双摇杆四连杆机构；所述支撑架每侧的第一连杆与第二连杆沿丝杆滑块机构中滑块的移动方向前后设置；Wherein: the clamping mechanism includes a finger, a first connecting rod and a second connecting rod, the two ends of the first connecting rod are respectively hinged to the finger and the support frame, one end of the second connecting rod is hinged to the finger, and the other end Respectively hinged on the support frame and the slider; the fingers on each side of the support frame, the first connecting rod and the second connecting rod and the support frame form a double rocker four-bar linkage mechanism; the second link on each side of the support frame The first connecting rod and the second connecting rod are arranged front and rear along the moving direction of the slider in the screw slider mechanism;
所述夹持舵机的输出端通过齿轮副与丝杆滑块机构相连，该丝杆滑块机构包括转动安装在所述支撑架上的丝杆及与丝杆螺纹连接、可沿丝杆轴向往复移动的滑块，所述齿轮副中的一个齿轮与夹持舵机的输出端相连，另一个齿轮与所述丝杆固接、且与所述一个齿轮啮合传动；The output end of the clamping steering gear is connected with the screw rod slider mechanism through a gear pair, and the screw rod slider mechanism includes a screw rod installed on the support frame and is threadedly connected with the screw rod, and can be moved along the screw shaft. For the reciprocating slider, one gear in the gear pair is connected to the output end of the clamping steering gear, and the other gear is fixedly connected to the screw rod and meshed with the one gear for transmission;
所述传动机构包括内齿轮及外齿轮，该外齿轮与所述旋转舵机的输出端相连，所述内齿轮为齿圈、与所述转动关节的转子相连，该转动关节的转子上安装有带动所述夹持模块旋转的输出连接架；所述夹持外壳安装在输出连接架上，该夹持外壳内设有固接在所述输出连接架上的夹持基座，所述夹持舵机固定在该夹持基座上；The transmission mechanism includes an internal gear and an external gear. The external gear is connected to the output end of the rotary steering gear. The internal gear is a ring gear and is connected to the rotor of the rotary joint. The rotor of the rotary joint is equipped with The output connecting frame that drives the rotation of the clamping module; the clamping shell is installed on the output connecting frame, and the clamping shell is provided with a clamping base fixed on the output connecting frame, and the clamping The steering gear is fixed on the clamping base;
所述旋转外壳内设有与其固接的转动基座，所述旋转舵机固定在该转动基座上。A rotating base is fixedly connected to the rotating housing, and the rotating steering gear is fixed on the rotating base.
本发明的优点与积极效果为：Advantage of the present invention and positive effect are:
1.模块化结构；本发明采用模块化接口，旋转模块与夹持模块可以非常方便地安装在多种运动机械臂的末端，作为执行机构。1. Modular structure; the present invention adopts a modular interface, and the rotation module and the clamping module can be very conveniently installed at the ends of various moving mechanical arms as actuators.
2.体积小、重量轻；本发明采用夹持舵机带动齿轮副、丝杆传动，既可实现两自由度的运动，同时结构简单实用，利用简单的结构就可达到需求的工作目的。2. Small in size and light in weight; the present invention adopts the clamping steering gear to drive the gear pair and the screw drive, which can realize the movement of two degrees of freedom, and at the same time, the structure is simple and practical, and the required working purpose can be achieved by using the simple structure.
3.夹持范围大、可自锁；本发明的夹持模块采用丝杆作为传动环节，可实现扭转力的放大并且实现自锁功能，而且指端的双摇杆四连杆机构的设计可以实现大范围的夹持作用。3. The clamping range is large and can be self-locking; the clamping module of the present invention uses a screw as the transmission link, which can realize the amplification of the torsional force and realize the self-locking function, and the design of the double-rocker four-bar linkage mechanism at the fingertip can realize Wide range of clamping action.
附图说明Description of drawings
图1为本发明的外观立体结构示意图；Fig. 1 is the appearance three-dimensional structure schematic diagram of the present invention;
图2为本发明内部结构示意图之一；Fig. 2 is one of the schematic diagrams of the internal structure of the present invention;
图3为本发明内部结构示意图之二；Fig. 3 is the second schematic diagram of the internal structure of the present invention;
图4为本发明夹持部分的传动原理图；Fig. 4 is the transmission schematic diagram of the clamping part of the present invention;
其中：A为旋转模块，B为夹持模块，1为手指，2为第一连杆，3为第二连杆，4为滑块，5为支撑架，6为丝杆，7为齿轮副，8为夹持舵机，9为夹持基座，10为输出连接架，11为旋转外壳，12为转动关节，13为内齿轮，14为外齿轮，15为旋转舵机，16为转动基座，17为夹持外壳。Among them: A is the rotating module, B is the clamping module, 1 is the finger, 2 is the first connecting rod, 3 is the second connecting rod, 4 is the slider, 5 is the support frame, 6 is the screw rod, 7 is the gear pair , 8 is the clamping steering gear, 9 is the clamping base, 10 is the output connection frame, 11 is the rotating shell, 12 is the rotating joint, 13 is the internal gear, 14 is the external gear, 15 is the rotating steering gear, 16 is the rotation The base, 17 is a clamping shell.
具体实施方式detailed description
下面结合附图对本发明作进一步详述。The present invention will be described in further detail below in conjunction with the accompanying drawings.
如图1所示，本发明包括旋转模块A及夹持模块B，这两个模块使本发明具有两个自由度。一个是旋转模块A，用于驱动后续载荷的轴向旋转；另一个是夹持模块B，用于手指夹持机构的张合。As shown in FIG. 1 , the present invention includes a rotating module A and a clamping module B, and these two modules enable the present invention to have two degrees of freedom. One is the rotation module A, which is used to drive the axial rotation of the subsequent load; the other is the clamping module B, which is used for the opening and closing of the finger clamping mechanism.
如图2、图3所示，旋转模块A包括旋转外壳11及分别容置于该旋转外壳11内的转动基座16、旋转舵机15、转动关节12、输出连接架10及传动机构，该传动机构为外齿轮副，包括内齿轮13及外齿轮14。转动基座16及转动关节12的定子分别固定在外壳11内，旋转舵机15固接在该转动基座16上；外齿轮14连接于旋转舵机15的输出端，内齿轮13与转动关节12的转子及输出连接架10固接，内齿轮13为齿圈、与外齿轮14啮合传动，带动输出连接架10旋转。As shown in Figure 2 and Figure 3, the rotating module A includes a rotating housing 11, a rotating base 16, a rotating steering gear 15, a rotating joint 12, an output connecting frame 10 and a transmission mechanism respectively accommodated in the rotating housing 11. The transmission mechanism is an external gear pair, including an internal gear 13 and an external gear 14 . The stators of the rotating base 16 and the rotating joint 12 are respectively fixed in the casing 11, and the rotating steering gear 15 is fixedly connected on the rotating base 16; the external gear 14 is connected to the output end of the rotating steering gear 15, and the internal gear 13 and the rotating joint The rotor of 12 is fixedly connected with the output connecting frame 10, and the internal gear 13 is a ring gear, which is meshed with the external gear 14 to drive the output connecting frame 10 to rotate.
夹持模块B整体安装在输出连接架10上，随输出连接架10旋转。夹持模块B包括夹持外壳17、夹持基座9、夹持舵机8、齿轮副7、丝杆滑块机构、支撑架5及对称设置在支撑架5两侧的夹持机构，丝杆滑块机构包括丝杆6及滑块4；两侧的夹持机构结构相同，均包括手指1、第一连杆2及第二连杆3。夹持外壳17固定在输出连接架10上，该夹持外壳17内设有固接在输出连接架10上的夹持基座9，夹持舵机8位于夹持外壳17内、固定在该夹持基座9上。齿轮副7、丝杆6、滑块4及支撑架5均位于夹持外壳17内，支撑架5固定在夹持外壳17内，丝杆6转动安装在支撑架5上，滑块4与丝杆6螺纹连接、可沿丝杆6轴向往复移动；齿轮副7中的一个齿轮与夹持舵机8的输出端相连，另一个齿轮与丝杆6固接、且与所述一个齿轮啮合传动。The clamping module B is integrally installed on the output connecting frame 10 and rotates with the output connecting frame 10 . The clamping module B includes a clamping shell 17, a clamping base 9, a clamping steering gear 8, a gear pair 7, a screw slider mechanism, a support frame 5 and a clamping mechanism symmetrically arranged on both sides of the support frame 5. The rod-slider mechanism includes a screw rod 6 and a slider 4; the clamping mechanisms on both sides have the same structure, and both include a finger 1, a first connecting rod 2 and a second connecting rod 3. The clamping shell 17 is fixed on the output connecting frame 10, and the clamping base 9 fixedly connected on the output connecting frame 10 is arranged in the clamping shell 17, and the clamping steering gear 8 is located in the clamping shell 17 and is fixed on the clamping shell 17. clamping base 9. Gear pair 7, screw mandrel 6, slide block 4 and support frame 5 are all located in the clamping shell 17, and support frame 5 is fixed in the clamping shell 17, and screw mandrel 6 is rotatably installed on the support frame 5, slide block 4 and wire The rod 6 is threaded and can reciprocate axially along the screw rod 6; one gear in the gear pair 7 is connected to the output end of the clamping steering gear 8, and the other gear is fixedly connected to the screw rod 6 and meshed with the one gear transmission.
支撑架5每侧的手指1、第一连杆2及第二连杆3与支撑架5之间均形成一双摇杆四连杆机构，其有效夹持范围可为φ35～φ80mm。A double rocker four-bar linkage mechanism is formed between the fingers 1, the first connecting rod 2 and the second connecting rod 3 on each side of the support frame 5 and the support frame 5, and its effective clamping range can be φ35～φ80mm.
第一连杆2的两端分别铰接于手指1及支撑架5，第二连杆3的一端铰接于手指1，另一端分别铰接于支撑架5及滑块4；支撑架5每侧的第一连杆2与第二连杆3沿丝杆滑块机构中滑块的移动方向前后设置。夹持舵机8通过齿轮副7驱动丝杆6旋转，带动滑块4沿丝杆6的轴向移动，通过滑块4的位置改变第二连杆3的角度，从而改变夹持开口的大小，实现夹持机构的张合。The two ends of the first connecting rod 2 are respectively hinged on the finger 1 and the support frame 5, one end of the second connecting rod 3 is hinged on the finger 1, and the other end is respectively hinged on the support frame 5 and the slider 4; A connecting rod 2 and a second connecting rod 3 are arranged front and rear along the moving direction of the slider in the screw-screw slider mechanism. The clamping steering gear 8 drives the screw rod 6 to rotate through the gear pair 7, drives the slider 4 to move along the axial direction of the screw rod 6, and changes the angle of the second connecting rod 3 through the position of the slider 4, thereby changing the size of the clamping opening , to realize the opening and closing of the clamping mechanism.
本发明的工作原理为：Working principle of the present invention is:
如图4所示，当手抓1需要抓取某物体时，首先需要让旋转模块A旋转到手抓1能够有效抓取到物体的方向。旋转舵机15启动工作，带动外齿轮14和与之啮合的内齿轮13；固定在转动关节12转子上的内齿轮13，从而可以相对于转动基座16旋转，进而带动固定在转动关节12转子上的输出连接架10旋转。达到设定的角度之后，夹持模块B开始动作。夹持舵机8启动工作，通过齿轮副7驱动丝杆6转动，从而带动滑块4与固定支撑架5产生相对的滑动，滑块4的运动接触带动第二连杆3的转动，从而驱动整个双摇杆四连杆机构中第一连杆2和手指1的连动；两个对称的手指1即可相对运动，就可以有效地夹持住目标物。夹紧目标物之后，夹持舵机8可以去电停止，丝杆6与滑块4的作用可以有效地实现夹持自锁。此时，旋转模块A的旋转可带动夹持物整体转动，将夹持舵机8反向旋转就可以松开夹持物。As shown in Figure 4, when the hand grip 1 needs to grab an object, it is first necessary to rotate the rotation module A to a direction where the hand grip 1 can effectively grab the object. The rotary steering gear 15 starts to work, drives the external gear 14 and the internal gear 13 meshed with it; the internal gear 13 fixed on the rotor of the rotary joint 12 can rotate relative to the rotary base 16, and then drives the rotor fixed on the rotary joint 12 The upper output connecting frame 10 rotates. After reaching the set angle, the clamping module B starts to move. The clamping steering gear 8 starts to work, and the screw rod 6 is driven to rotate through the gear pair 7, thereby driving the slider 4 to slide relative to the fixed support frame 5, and the movement contact of the slider 4 drives the rotation of the second connecting rod 3, thereby driving The linkage between the first link 2 and the finger 1 in the entire double-rocker four-bar linkage mechanism; the two symmetrical fingers 1 can move relative to each other, and can effectively clamp the target. After the target object is clamped, the clamping steering gear 8 can be de-energized to stop, and the action of the screw mandrel 6 and the slider 4 can effectively realize clamping self-locking. At this time, the rotation of the rotating module A can drive the clamped object to rotate as a whole, and the clamped object can be released by rotating the clamping steering gear 8 in reverse.
Claims (6)
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| KR102020907B1 (en) * | 2016-11-22 | 2019-09-11 | 재단법인대구경북과학기술원 | Detachable and attachable modular gripper for universal use |
| CN107139206B (en) * | 2017-05-17 | 2020-06-09 | 巢湖学院 | A variable attitude garbage pickup end effector |
| CN107568317B (en) * | 2017-10-31 | 2020-04-21 | 浙江海洋大学 | a clamping device |
| CN108145730B (en) * | 2018-02-28 | 2024-03-12 | 浙江机电职业技术学院 | Multi-angle grabbing mechanical claw and grabbing method thereof |
| CN108656146B (en) * | 2018-05-29 | 2020-11-10 | 北京航空航天大学 | A Continuously Rotating Multifunctional Three-Finger Mechanical Gripper |
| CN109664308B (en) * | 2018-12-18 | 2024-02-02 | 哈瓦国际航空技术（深圳）有限公司 | Explosive-handling manipulator |
| CN109391101B (en) * | 2018-12-24 | 2023-08-29 | 江苏朗信电气股份有限公司 | Stator assembly machine |
| CN113334410A (en) * | 2021-05-17 | 2021-09-03 | 东南大学 | Shovel type double-rocker mechanical gripper mechanism |
| CN114227742B (en) * | 2022-01-06 | 2023-08-29 | 中国科学技术大学 | Steering mechanical arm |
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| CN101439479A (en) * | 2007-11-22 | 2009-05-27 | Smc株式会社 | Drive mechanism and gripper mechanism equipped with drive mechanism |
| CN102101298A (en) * | 2009-12-18 | 2011-06-22 | 中国科学院沈阳自动化研究所 | Rotational joint module of modularized reconfigurable robot |
| CN103056888A (en) * | 2013-01-08 | 2013-04-24 | 深圳市硕安迪科技开发有限公司 | Rotatable servo mechanical grabber |
| CN203804976U (en) * | 2014-03-20 | 2014-09-03 | 西北工业大学 | Truncated half cuboid modularized robot |
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| JP2009297886A (en) * | 2008-06-17 | 2009-12-24 | Kitagawa Iron Works Co Ltd | Workpiece gripping device |
| JP5428097B2 (en) * | 2010-01-29 | 2014-02-26 | ビー・エル・オートテック株式会社 | Robot hand |
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| CN2796971Y (en) * | 2005-04-21 | 2006-07-19 | 桂林电子工业学院 | Mini type wire cutting mechanical hand |
| CN101439479A (en) * | 2007-11-22 | 2009-05-27 | Smc株式会社 | Drive mechanism and gripper mechanism equipped with drive mechanism |
| CN102101298A (en) * | 2009-12-18 | 2011-06-22 | 中国科学院沈阳自动化研究所 | Rotational joint module of modularized reconfigurable robot |
| CN103056888A (en) * | 2013-01-08 | 2013-04-24 | 深圳市硕安迪科技开发有限公司 | Rotatable servo mechanical grabber |
| CN203804976U (en) * | 2014-03-20 | 2014-09-03 | 西北工业大学 | Truncated half cuboid modularized robot |
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