CN108673539B - Mechanical thumb and mechanical arm - Google Patents
Mechanical thumb and mechanical arm Download PDFInfo
- Publication number
- CN108673539B CN108673539B CN201810865496.7A CN201810865496A CN108673539B CN 108673539 B CN108673539 B CN 108673539B CN 201810865496 A CN201810865496 A CN 201810865496A CN 108673539 B CN108673539 B CN 108673539B
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- thumb
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- 210000003813 thumb Anatomy 0.000 title claims abstract description 175
- 230000001012 protector Effects 0.000 claims description 17
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 238000005452 bending Methods 0.000 abstract description 9
- 210000004247 hand Anatomy 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a mechanical thumb and a mechanical hand, wherein the mechanical thumb comprises: a fixed base; a swing base hinged to the fixed base; the thumb proximal knuckle is hinged to the swing base; a thumb distal knuckle hinged to the thumb proximal knuckle; the first driving device is hinged to the swing base and drives the thumb proximal knuckle and the thumb distal knuckle to stretch and bend; the second driving device is arranged on the fixed base and can drive the swinging base to swing; wherein, the swing axis of swing base has the contained angle between the articulated axis of first drive arrangement. The mechanical thumb disclosed by the invention realizes the stretching, bending and swinging of the whole thumb, and improves the degree of simulating human hands, thereby improving the flexibility; at the same time, the structure is simplified and the weight is reduced.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a mechanical thumb and a mechanical arm.
Background
The manipulator is designed by imitating a human hand, and is widely used gradually along with the progress of science and technology. At present, the mechanical thumb of the mechanical hand can only stretch and bend, so that the degree of simulating a human hand is low and the flexibility is low.
In addition, the mechanical thumb adopts a stay wire driving structure, and the stay wire driving structure is complex, so that the structure of the mechanical thumb is complex, the failure rate is high, and the maintenance is difficult.
In summary, how to design the mechanical thumb to improve the degree of human hand imitation and to improve the flexibility and reliability is a problem to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a mechanical thumb which is used for improving the degree of human hand imitation and improving the flexibility and the reliability. Another object of the present invention is to provide a manipulator having the above-mentioned mechanical thumb.
In order to achieve the above object, the present invention provides the following technical solutions:
a mechanical thumb comprising:
a fixed base;
a swing base hinged to the fixed base;
a thumb proximal knuckle hinged to the swing base;
a thumb distal knuckle hinged to the thumb proximal knuckle;
a first driving device hinged to the swing base and driving the thumb proximal knuckle and the thumb distal knuckle to extend and bend;
the second driving device is arranged on the fixed base and can drive the swinging base to swing;
wherein, the swing axis of swing base has the contained angle with the articulated axis of first drive arrangement between.
Preferably, the first driving device includes: a first linear drive and a first link, the first linear drive comprising: the first telescopic rod and the first linear driver body for driving the first telescopic rod to stretch;
one end of the first linear driver body is hinged to the swing base, the other end of the first linear driver body is hinged to one end of the first connecting rod, the other end of the first connecting rod is hinged to the thumb distal knuckle, and the first telescopic rod, the thumb proximal knuckle and the thumb distal knuckle are hinged to each other through the same hinge axis;
when the first linear driver body drives the first telescopic rod to extend, the thumb proximal knuckle and the thumb distal knuckle extend; when the first linear driver body drives the first telescopic rod to retract, the thumb proximal knuckle and the thumb distal knuckle are bent.
Preferably, the second driving device includes a second linear driver, and the second linear driver includes: the second telescopic rod and the second linear driver body drive the second telescopic rod to stretch and retract;
one of the second linear driver body and the second telescopic rod is hinged to the swing base, and the other is hinged to the fixed base.
Preferably, the second driving device includes a third linear driver, and the third linear driver includes: the telescopic device comprises a third telescopic rod and a third linear driver body for driving the third telescopic rod to stretch and retract;
one of the third linear driver body and the third telescopic rod is fixed on the fixed base, and the other is in sliding connection with the swing base;
the second driving device further comprises a first limiting part, and when the third linear driver body is in sliding connection with the swing base, the first limiting part limits the relative sliding displacement of the third linear driver body and the swing base; when the third telescopic rod is in sliding connection with the swing base, the first limiting part limits the relative sliding displacement of the third telescopic rod and the swing base.
Preferably, the second driving device includes a rotation driver that drives the swing base to swing.
Preferably, the swing base is hinged to the fixed base through a swing shaft, and an output shaft of the rotary driver is in transmission connection with the swing shaft.
Preferably, the second driving device includes a buffer protector, and the swing base swings by deformation of the buffer protector when the swing base is passively subjected to a swing external force.
Preferably, the second driving device includes:
a fourth linear drive, the fourth linear drive comprising: a fourth telescopic rod and a fourth linear driver body for driving the fourth telescopic rod to stretch;
the second driving device further comprises a second limiting part for limiting the relative sliding displacement of the fixed base and the fourth telescopic rod;
or, the fourth linear driver body is hinged to the fixed base, the swing base is in sliding connection with the fourth telescopic rod, two ends of the buffer protection piece are fixedly connected with the fourth telescopic rod and the swing base respectively, the buffer protection piece deforms along the sliding direction of the fourth telescopic rod, and the second driving device further comprises a third limiting part for limiting the relative sliding displacement of the swing base and the fourth telescopic rod.
Preferably, the second driving device includes: a fifth linear actuator and a second link;
wherein the fifth linear driver includes: a fifth telescopic rod and a fifth linear driver body driving the fifth telescopic rod to be telescopic, wherein one of the fifth linear driver body and the fifth telescopic rod is hinged with the fixed base, and the other of the fifth linear driver body and the fifth telescopic rod is hinged with the second connecting rod;
the second connecting rod, the swing base and the fixed base are hinged by the same hinge axis;
two ends of the buffer protection piece are fixedly connected with the second connecting rod and the swing base respectively;
the swing base is provided with a fourth limiting part for limiting the second connecting rod to swing outwards by a preset angle.
Based on the mechanical thumb provided by the invention, the invention also provides a mechanical hand, which comprises the mechanical thumb, wherein the mechanical thumb is any one of the mechanical thumbs.
According to the mechanical thumb, the first driving device drives the thumb near knuckle and the thumb far knuckle to stretch and bend, and the second driving device drives the swinging base to swing, so that the stretching bending and swinging of the whole thumb are realized, the degree of humanoid hand is improved, and the flexibility and reliability are improved; meanwhile, the first driving device is hinged to the swinging base, so that the thumb proximal knuckle and the thumb distal knuckle can be driven to synchronously stretch and synchronously bend, the structure is simplified, and the weight is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a mechanical thumb according to an embodiment of the present invention;
FIG. 2 is a side view of a mechanical thumb provided in an embodiment of the present invention;
FIG. 3 is a schematic view of the mechanical thumb of FIG. 2 with the thumb hidden from view;
fig. 4 is a schematic structural diagram of the mechanical thumb according to the embodiment of the present invention when the swing base is not swung;
fig. 5 is a schematic diagram of a structure of a swing base of a mechanical thumb after swinging according to an embodiment of the present invention;
fig. 6 is a schematic diagram of another structure of the swing base of the mechanical thumb according to the embodiment of the present invention when the swing base is not swung;
FIG. 7 is a schematic view of the swing base of the thumb of FIG. 6 after swinging;
fig. 8 is a schematic diagram of another structure of the swing base of the mechanical thumb according to the embodiment of the present invention when the swing base is not swung;
fig. 9 is a schematic diagram of another structure of the swing base of the mechanical thumb according to the embodiment of the present invention when the swing base is not swung;
fig. 10 is a schematic diagram of another structure of the swing base of the mechanical thumb according to the embodiment of the present invention when the swing base is not swung;
FIG. 11 is a schematic view of a mechanical thumb with a buffer protection according to an embodiment of the present invention;
FIG. 12 is a schematic view of the swing base of the mechanical thumb of FIG. 11 after swinging under the action of a clockwise force;
FIG. 13 is a schematic view of another embodiment of the present invention of a mechanical thumb with a buffer protector;
FIG. 14 is a schematic view of the swing base of the thumb of FIG. 13 after swinging under a clockwise force;
FIG. 15 is a schematic view of another embodiment of the present invention of a mechanical thumb with a buffer protector;
fig. 16 is a schematic view of the swing base of the mechanical thumb in fig. 15 after swinging under the action of a clockwise external force.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 3, the mechanical thumb provided in the embodiment of the present invention includes: a fixed base 1, a swinging base 2, a thumb proximal knuckle 9, a thumb distal knuckle 6, a first driving device and a second driving device.
In the mechanical thumb, the swing base 2 is hinged with the fixed base 1; the thumb proximal knuckle 9 is hinged on the swing base 2; the thumb distal knuckle 6 is hinged to the thumb proximal knuckle 9; the first driving device is hinged to the swing base 2 and drives the thumb proximal knuckle 9 and the thumb distal knuckle 6 to stretch and bend; the second driving device is arranged on the fixed base 1 and can drive the swinging base 2 to swing; the swinging axis of the swinging base 2 and the hinge axis of the first driving device form an included angle.
It will be appreciated that the first actuation means actuates the extension of the thumb proximal knuckle 9 and the thumb distal knuckle 6, and the bending of the thumb proximal knuckle 9 and the thumb distal knuckle 6. The stretching and bending of the thumb proximal knuckle 9 means that the thumb proximal knuckle 9 rotates around the hinging axis of the thumb proximal knuckle and the swinging base 2, and the rotating directions are opposite when stretching and bending; the extension and bending of the thumb distal knuckle 6 means that the thumb distal knuckle 6 rotates about its hinge axis with the thumb proximal knuckle 9 in opposite directions. The swing axis of the swing base 2 is the hinge axis of the swing base 2 and the fixed base 1. The hinge axis of the first driving device is the hinge axis of the first driving device and the swinging base 2.
The hinge axis of the first driving device is parallel to the hinge axis of the thumb proximal knuckle 9 and the hinge axis of the thumb distal knuckle 6.
According to the mechanical thumb provided by the embodiment of the invention, the first driving device drives the thumb near knuckle 9 and the thumb far knuckle 6 to stretch and bend, and the second driving device drives the swinging base 2 to swing, so that the stretching, bending and swinging of the whole thumb are realized, the degree of humanoid hands is improved, and the flexibility and reliability are improved; meanwhile, the first driving device is hinged to the swinging base 2, so that the thumb proximal knuckle 9 and the thumb distal knuckle 6 can be driven to synchronously stretch and synchronously bend, the structure is simplified, and the weight is reduced.
In order to improve the simulation, the pivot axis of the pivot base 2 is perpendicular to the pivot axis of the first drive. Of course, the angle between the swing axis of the swing base 2 and the hinge axis of the first driving device may be an acute angle or an obtuse angle, which is not limited to the above embodiment.
In the mechanical thumb, the stretching and bending of the thumb proximal knuckle 9 and the thumb distal knuckle 6 can be realized by only the first driving device.
Preferably, the first driving device includes: a first linear actuator and a first link 5, the first linear actuator comprising: a first telescopic rod 4 and a first linear actuator body 3 for driving the first telescopic rod 4 to stretch and retract. It will be appreciated that the first linear actuator body 3 drives the first telescopic rod 4 to retract, i.e. the first telescopic rod 4 is telescopic relative to the first linear actuator body 3.
One end of the first linear actuator body 3 is hinged to the swing base 2, the other end of the first linear actuator body 3 is hinged to one end of the first link 5, the other end of the first link 5 is hinged to the thumb distal knuckle 6, and the first telescopic link 4, the thumb proximal knuckle 9 and the thumb distal knuckle 6 are hinged to each other with the same hinge axis. It will be appreciated that the first telescopic link 4, the thumb proximal knuckle 9 and the thumb distal knuckle 6 are hinged in pairs.
When the first linear actuator body 3 drives the first telescopic rod 4 to extend, the thumb proximal knuckle 9 and the thumb distal knuckle 6 extend; when the first linear actuator body 3 drives the first telescopic rod 4 to contract, the thumb proximal knuckle 9 and the thumb distal knuckle 6 bend.
It will be appreciated that the first telescopic link 4, the thumb proximal knuckle 9 and the thumb distal knuckle 6 are hinged in the same position. The hinge axes of both ends of the first link 5 are parallel, and the hinge axes of both ends of the first link 5 are parallel to the hinge axis of the first linear actuator body 3. The thumb proximal knuckle 9 is located on the same side of the first telescopic link 4 as the hinge position of the swing base 2 and the hinge position of the first linear actuator body 3 and the first link 5. The first linear actuator body 3 and the first telescopic rod 4 may be of a split type structure or an integral type structure.
There are various hinging modes, and pivot hinging is preferred for convenience of arrangement. Specifically, as shown in fig. 1 to 4, the first linear actuator body 3 is hinged to the first link 5 through a first pivot a, the first link 5 is hinged to the thumb distal knuckle 6 through a second pivot B, the first telescopic link 4, the thumb proximal knuckle 9 and the thumb distal knuckle 6 are hinged through a third pivot C, the thumb proximal knuckle 9 is hinged to the swing base 2 through a fourth pivot D, the first linear actuator body 3 is hinged to the swing base 2 through a fifth pivot E, and the swing base 2 is hinged to the fixed base 1 through a sixth pivot F. The first pivot A, the second pivot B, the third pivot C, the fourth pivot D and the fifth pivot E are mutually parallel, and the sixth pivot F is perpendicular to the fifth pivot E.
The relative positions of the first pivot a, the second pivot B, the third pivot C, the fourth pivot D, the fifth pivot E and the sixth pivot F are designed according to actual needs, so long as the requirement that the thumb proximal knuckle 9 and the thumb distal knuckle 6 extend when the first linear actuator body 3 drives the first telescopic rod 4 to extend and the thumb proximal knuckle 9 and the thumb distal knuckle 6 bend when the first linear actuator body 3 drives the first telescopic rod 4 to retract is satisfied, which will not be repeated herein.
As shown in fig. 3, when the first linear actuator body 3 drives the first telescopic rod 4 to extend, i.e., the first telescopic rod 4 extends relative to the first linear actuator body 3, the first linear actuator body 3 will rotate counterclockwise relative to the swing base 2, the thumb distal knuckle 6 will also rotate counterclockwise relative to the first telescopic rod 4, and at the same time, the thumb proximal knuckle 9 will rotate counterclockwise relative to the swing base 2 under the pushing of the first linear actuator body 3, so as to simulate the extending motion of the thumb of a human hand. When the first linear actuator body 3 drives the first telescopic rod 4 to retract, i.e. the first telescopic rod 4 is shortened relative to the first linear actuator body 3, the above movement is reversed, i.e. the first linear actuator body 3 will rotate clockwise relative to the swing base 2, the thumb distal knuckle 6 will also rotate clockwise relative to the first telescopic rod 4, and simultaneously, the thumb proximal knuckle 9 will rotate clockwise relative to the swing base 2 under the action of the first linear actuator body 3, thereby simulating the bending movement of the thumb of a person.
The first driving device may also have other structures, for example, the thumb proximal knuckle 9 and the thumb distal knuckle 6 are bent when the first linear actuator body 3 drives the first telescopic rod 4 to extend, and the thumb proximal knuckle 9 and the thumb distal knuckle 6 are extended when the first linear actuator body 3 drives the first telescopic rod 4 to retract, which is not limited to the above embodiment.
In the above-mentioned mechanical thumb, there are various structures of the second driving device. The following description is made by way of a number of examples.
As shown in fig. 4 and 5, in a specific embodiment, the second driving device includes a second linear driver, where the second linear driver includes: a second telescopic rod 8 and a second linear actuator body 7 for driving the second telescopic rod 8 to extend and retract. The second linear actuator body 7 is hinged to the swing base 2, and the second telescopic rod 8 is hinged to the fixed base 1.
Specifically, the second linear actuator body 7 drives the second telescopic rod 8 to be telescopic, that is, the second telescopic rod 8 is telescopic with respect to the second linear actuator body 7. The second linear driver body 7 drives the second telescopic rod 8 to stretch and retract, so that the swinging base 2 swings back and forth around the hinge axis of the swinging base and the fixed base 1.
It will be appreciated that the hinge position of the second linear actuator body 7 and the hinge position of the second telescopic rod 8 are located at both ends of the second telescopic rod 8, respectively. The hinge axis of the swing base 2 and the fixed base 1, the hinge axis of the second linear actuator body 7 and the swing base 2 and the hinge axis of the second telescopic rod 8 are parallel to each other, and the hinge axis of the swing base 2 and the fixed base 1 is positioned at one side of the hinge axis of the swing base 2 and the second linear actuator body 7, which is close to the thumb proximal knuckle 9. The first linear actuator body 7 and the first telescopic rod 8 may be of a split type or an integral type.
There are various hinging modes, and pivot hinging is preferred for convenience of arrangement. Specifically, as shown in fig. 4, the swing base 2 and the fixed base 1 are hinged to a sixth pivot F, the swing base 2 and the second linear actuator body 7 are hinged to a seventh pivot G, and the second telescopic link 8 and the fixed base 1 are hinged to an eighth pivot H. Wherein the sixth pivot F, the seventh pivot G and the eighth pivot H are parallel to each other.
The second linear driver body 7 drives the second telescopic rod 8 to extend and retract, and the swing base 2 swings along with the second telescopic rod, and drives the thumb proximal knuckle 9, the thumb distal knuckle 6 and the first driving device to swing, as shown in fig. 5, so as to simulate the swing motion of the thumb of a person relative to the palm. Specifically, when the mechanical thumb is in the state shown in fig. 4, the second linear driver body 7 drives the second telescopic rod 8 to stretch, the swing base 2 swings anticlockwise around the sixth pivot F, and drives the thumb proximal knuckle 9, the thumb distal knuckle 6 and the first driving device to swing in the same direction; when the mechanical thumb is in the state shown in fig. 5, the second linear driver body 7 drives the second telescopic rod 8 to extend, the swing base 2 swings clockwise around the sixth pivot F, and drives the thumb proximal knuckle 9, the thumb distal knuckle 6 and the first driving device to swing in the same direction.
In the above embodiment, the hinge positions of the second linear actuator body 7 and the second telescopic rod 8 may be exchanged, specifically, the second linear actuator body 7 is hinged to the fixed base 1, and the second telescopic rod 8 is hinged to the swing base 2. For specific structures, reference may be made to the above structures, which are not described here again.
As shown in fig. 6 and 7, in a specific embodiment, the second driving device includes: a third linear actuator, the third linear actuator comprising: a third telescopic rod 8-1 and a third linear actuator body 7-1 for driving the third telescopic rod 8-1 to extend and retract. Specifically, the third linear actuator body 7-1 drives the third telescopic rod 8-1 to be telescopic, i.e., the third telescopic rod 8-1 is telescopic as compared with the third linear actuator body 7-1.
The third linear actuator body 7-1 is fixed on the fixed base 1, the swinging base 2 is slidably connected with the third telescopic rod 8-1, and the second driving device further comprises a first limiting portion for limiting the relative sliding displacement of the swinging base 2 and the third telescopic rod 8-1. The relative sliding displacement of the swing base 2 and the third telescopic link 8-1 has a maximum value and a minimum value by the limit of the first limit portion.
The mechanical thumb drives the third telescopic rod 8-1 to extend and retract through the third linear driver body 7-1 so as to realize the reciprocating swing of the swing base 2 around the hinge axis of the swing base and the fixed base 1.
In order to facilitate the sliding connection, one of the swinging base 2 and the third telescopic rod 8-1 is provided with a first sliding groove I in a strip shape, and the other is provided with a first positioning shaft G' which is in sliding fit with the first sliding groove I. It will be appreciated that the hinged position of the swing base 2 is located on the side of the first runner slide I adjacent the thumb proximal knuckle 9. The side walls at the two ends of the first chute I are the first limiting parts.
As shown in fig. 6 and 7, the first chute I is provided to the swing base 2, and the first positioning shaft G' is provided to the third telescopic link 8-1. When the third linear driver body 7-1 drives the third telescopic rod 8-1 to shrink, the swing base 2 is driven to rotate anticlockwise through the first chute I; when the third linear driver body 7-1 drives the third telescopic rod 8-1 to extend, the swinging base 2 is driven to rotate clockwise through the first sliding groove I.
In the above embodiment, the third linear actuator body 7-1 may be slidably connected to the swing base 2, and the third telescopic rod 8-1 may be fixed to the fixed base 1, where the first limiting portion limits the relative sliding displacement of the third linear actuator body 7-1 and the swing base 2. For specific structures, reference may be made to the above structures, and no further description is given herein.
In the above embodiment, the second driving device is a linear driver, but the second driving device may be a rotary driver 7-2. As shown in fig. 8-10, the second driving means includes a rotary driver 7-2, and the rotary driver 7-2 drives the swing base 2 to swing. It will be appreciated that the rotary actuator 7-2 is provided to the stationary base 1.
The above-described rotary actuator 7-2 drives the swing base 2 to swing, and there are various structures.
In one embodiment, as shown in fig. 8, the swing base 2 is hinged to the fixed base 1 through a swing shaft, and an output shaft of the rotary driver 7-2 is in transmission connection with the swing shaft. It will be appreciated that the oscillating axle is the sixth pivot F mentioned above.
The output shaft of the rotary actuator 7-2 and the swing shaft are integrally formed, and the rotary actuator 7-2 is fixed to the fixed base 1.
In one embodiment, as shown in fig. 9, the swing base is hinged to the fixed base 1 through a sixth pivot F, and the rotation driver 7-2 drives the swing base 2 to swing through a gear mechanism. Specifically, the gear mechanism includes: the driving wheel 10 and the driven wheel meshed with the driving wheel 10, the output shaft P of the rotary driver 7-2 is in transmission connection with the driving wheel 10, and the driven wheel is fixedly connected with the swinging base 2. In order to simplify the structure, the driven wheel and the swing base 2 are integrated. Of course, the gear mechanism may be selected to be of other types, and is not limited to the above embodiment.
In one embodiment, as shown in fig. 10, the swing base is hinged to the fixed base 1 through a sixth pivot F, and the rotation driver 7-2 drives the swing base 2 to swing through a worm gear mechanism. Specifically, the worm gear mechanism includes a worm gear and a worm that are meshed. The worm is fixed to the output shaft Q of the rotary driver 7-2, and the worm wheel is fixed to the swing base 2. In order to simplify the structure, the worm and the output shaft Q are integrally formed, and the worm wheel and the swing base 2 are integrally formed.
Of course, the above-mentioned rotary driver 7-2 may alternatively drive the swing base 2 to swing through other transmission mechanisms, and is not limited to the above-mentioned embodiment.
In the use process, the mechanical thumb is easy to be subjected to the swinging external force passively, and because of the limitation of the second driving device, the swinging base 21 cannot swing when being subjected to the swinging external force passively, and the swinging base and the second driving device are easy to damage. In order to solve the above-mentioned problem, the above-mentioned second driving device includes a buffer protector 12, and when the swing base 2 is passively subjected to a swing external force, the swing base 2 swings by deformation of the buffer protector 12.
The swinging external force means an external force capable of swinging the swinging base 2 about a hinge axis about which the swinging base is hinged to the fixed base 1. The passive application of the swinging external force means that the swinging external force is applied in addition to the mechanical thumb itself.
Thus, when the swing base 2 is passively subjected to the swing external force, the buffer protector 12 is deformed so that the swing base 2 can swing, thereby avoiding damage to the swing base 2 and the second driving device, i.e., avoiding damage to the thumb of the machine.
It will be appreciated that when the swing base 2 is passively subjected to a swing external force, the swing external force may directly act on the swing base 2, or may directly act on the first driving device, the thumb proximal knuckle 9 or the thumb distal knuckle 6.
The above-described second driving device has various structures when having the buffer protector 12. Preferably, the second driving means includes: a fourth linear actuator, the fourth linear actuator comprising: a fourth telescopic rod 8-3 and a fourth linear actuator body 7-3 for driving the fourth telescopic rod 8-3 to extend and retract.
When the fourth linear actuator body 7-3 is hinged to the swing base 2, as shown in fig. 11 and 12, the fixed base 1 and the fourth telescopic rod 8-3 are slidably connected, and two ends of the buffer protection member 12 are fixedly connected to the fourth telescopic rod 8-3 and the fixed base 1, respectively, the buffer protection member 12 deforms along the sliding direction of the fourth telescopic rod 8-3, and the second driving device further includes a second limiting portion for limiting the relative sliding displacement of the fixed base 1 and the fourth telescopic rod 8-3.
In order to facilitate sliding connection, a chute, a slide rail and other structures can be adopted. In order to simplify the structure, a chute structure is preferably employed. The fixed base 1 is provided with a first fixing member L and a second bar-shaped chute J, the fourth telescopic rod 8-3 is provided with a second positioning shaft H 'slidably engaged with the second chute J, two ends of the buffer protection member 12 are fixedly connected with the first fixing member L and the second positioning shaft H', and the buffer protection member 12 is deformed along the length direction of the second chute J. The side walls at two ends of the second chute J are the second limiting parts.
At this time, the buffer protector 12 is fixedly connected to the fixed base 1 through the first fixing member L, and the buffer protector 12 is fixedly connected to the fourth telescopic link 8-3 through the second positioning shaft H'.
The fourth linear actuator body 7-3 is hinged to the swing base 2 through a seventh pivot G, and the fourth telescopic rod 8-3 is slidable in the second sliding slot J through a second positioning shaft H'. Under the condition that the thumb is not passively stressed, the second positioning shaft H' has a tendency to move to the right side of the second sliding groove J and stays at the right end of the second sliding groove J under the driving of the buffer protection piece 12. When the relative positions of the fourth linear driver body 7-3 and the fourth telescopic rod 8-3 are kept unchanged, and the thumb is passively subjected to an external swinging force, namely, the thumb is laterally subjected to a clockwise external force, the seventh pivot G drives the fourth linear driver body 7-3 and the fourth telescopic rod 8-3 to move leftwards, and the second positioning shaft H' is separated from the right side of the second sliding groove J, so that the passive movement is realized.
Of course, the positions of the sliding groove and the positioning shaft can also be replaced, specifically, the fourth telescopic rod 8-3 is provided with a third sliding groove in a strip shape, the fixed base 1 is provided with a third positioning shaft in sliding fit with the third sliding groove, two ends of the buffer protection piece 12 are fixedly connected with the third positioning shaft and the third sliding groove respectively, and the buffer protection piece 12 deforms along the length direction of the third sliding groove.
When the fourth linear actuator body 7-3 is hinged to the fixed base 1, as shown in fig. 13 and 14, the swing base 2 and the fourth telescopic rod 8-3 are slidably connected, and two ends of the buffer protection member 12 are fixedly connected to the fourth telescopic rod 8-3 and the swing base 2, respectively, the buffer protection member 12 deforms along the sliding direction of the fourth telescopic rod 8-3, and the second driving device further includes a third limiting portion for limiting the relative sliding displacement of the swing base 2 and the fourth telescopic rod 8-3.
In order to facilitate sliding connection, a chute, a slide rail and other structures can be adopted. In order to simplify the structure, a chute structure is preferably employed. The swinging base 2 is hinged to the fixed base 1 through a sixth pivot F, the swinging base 2 is provided with a second fixing piece N and a strip-shaped fourth sliding groove M, a fourth telescopic rod 8-3 is provided with a fourth positioning shaft G 'which is in sliding fit with the fourth sliding groove M, two ends of the buffer protection piece 12 are fixedly connected with the second fixing piece N and the fourth positioning shaft G' respectively, and the buffer protection piece 12 deforms along the length direction of the fourth sliding groove M. The side walls at two ends of the fourth chute M are the third limiting parts. The fourth chute M is arc-shaped, and the center of the fourth chute M can coincide with the center of the sixth pivot F.
At this time, the buffer protector 12 is fixedly connected to the swing base 2 through the second fixing member N, and the buffer protector 12 is fixedly connected to the fourth telescopic link 8-3 through the fourth positioning shaft g″.
The fourth linear actuator body 7-3 is hinged to the fixed base 1 through an eighth pivot H, and one end of the fourth telescopic rod 8-3 is matched with the fourth chute M through a fourth positioning shaft g″ and can slide in the fourth chute M. When the thumb is laterally free from an external force, that is, the thumb is not passively free from a swinging external force, the fourth positioning shaft g″ is driven by the buffer protector 12 to move to the left side of the fourth chute M and move to the leftmost side of the fourth chute M. When the relative positions of the fourth linear actuator body 7-3 and the fourth telescopic rod 8-3 are unchanged, the thumb is laterally subjected to a clockwise external force, namely, the thumb is passively subjected to a swinging external force, the fourth positioning shaft G″ is separated from the left side of the fourth chute M, and the swinging base 2 can rotate clockwise.
Of course, the fourth telescopic rod 8-3 may be provided with a fifth chute in a strip shape, the swing base 2 is provided with a fifth positioning shaft slidably matched with the fifth chute, two ends of the buffer protection member 12 are fixedly connected with the fifth positioning shaft and the fifth chute respectively, and the buffer protection member 12 is deformed along the length direction of the fifth chute.
As shown in fig. 15 and 16, the second driving device includes: a fifth linear actuator and a second link 13, the fifth linear actuator comprising: the fifth telescopic rod 8-4 and the fifth linear driver body 7-4 for driving the fifth telescopic rod 8-4 to stretch and retract are hinged with the fixed base 1, and the fifth telescopic rod 8-4 is hinged with the second connecting rod 13.
The second connecting rod 13, the swinging base 2 and the fixed base 1 are hinged by the same hinge axis, and two ends of the buffer protecting piece 12 are fixedly connected with the second connecting rod 13 and the swinging base 2 respectively; the swing base 2 is provided with a fourth limiting portion O limiting the swing of the second link 13 by a preset angle. It will be appreciated that the second link 13, the swing base 2 and the fixed base 1 are hinged in pairs.
Specifically, the fifth linear actuator body 7-4 is hinged to the fixed base 1 through a tenth pivot h″. The second link 13, the swing base 2 and the fixed base 1 are all hinged to a sixth pivot F, and the three can freely rotate. The second link 13 is hinged to the fifth telescopic link 8-4 at a ninth pivot G' ". A buffer protecting piece 12 is arranged between the third fixing piece K at the end part of the second connecting rod 13 and the second fixing piece N of the swinging base 2, namely the buffer protecting piece 12 is fixedly connected with the second connecting rod 13 through the third fixing piece K, and the buffer protecting piece 12 is fixedly connected with the swinging base 2 through the second fixing piece N. When the thumb is laterally not subjected to an external force, that is, the swing base 2 is not passively subjected to a swing external force, as shown in fig. 15, under the driving of the buffer protection member 12, the second connecting rod 13 and the fourth limiting portion O have a tendency to approach each other, and finally reach to contact each other, so as to limit the swing of the second connecting rod 13 by a preset angle. As shown in fig. 16, when the relative positions of the fifth linear actuator body 7-4 and the fifth telescopic link 8-4 are unchanged, the thumb is laterally subjected to a clockwise external force, that is, the swing base 2 is passively subjected to a swing external force, the fourth limiting part O is separated from the second connecting rod 13, and the swing base 2 can rotate clockwise.
The hinge positions of the fifth linear actuator body 7-4 and the fifth telescopic rod 8-4 may be exchanged, and specifically, the fifth linear actuator body 7-4 is hinged to the second link 13, and the fifth telescopic rod 8-4 is hinged to the fixed base 1. For specific structures, reference may be made to the above structures, which are not described here again.
Preferably, the second fixing member N, the third fixing member K, and the fourth limiting portion O are shaft members. The sixth pivot F, the ninth pivot G' "and the third fixing member K are sequentially distributed along the length direction of the second link 13. The fourth limiting part O and the second fixing part N are both positioned on one side of the second connecting rod 13 away from the fifth telescopic rod 8-4.
The number of the buffer protection members 12 may be one or at least two, and the number of the buffer protection members is not limited in the embodiment of the present invention.
Preferably, the buffer protector 12 is a spring, specifically, a tension spring. Of course, the cushioning protector 12 may be another deformable member, and is not limited thereto.
In the mechanical thumb provided by the embodiment, the first driving device adopts the linear driver, and the second driving device can adopt the linear driver or the rotary driver, so that compared with the prior art adopting a stay wire driving structure, the reliability is effectively improved, the failure rate is reduced, the structure is simplified, and the maintenance is convenient.
Based on the mechanical thumb provided by the embodiment, the embodiment of the invention also provides a mechanical hand, which comprises the mechanical thumb, wherein the mechanical thumb is the mechanical thumb disclosed by the embodiment.
Because the above-mentioned mechanical thumb has the above-mentioned technical effect, the above-mentioned manipulator has the above-mentioned mechanical thumb, then the above-mentioned manipulator also has corresponding technical effect, and this is not repeated here.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A mechanical thumb, comprising:
a fixed base;
a swing base hinged to the fixed base;
a thumb proximal knuckle hinged to the swing base;
a thumb distal knuckle hinged to the thumb proximal knuckle;
a first driving device hinged to the swing base and driving the thumb proximal knuckle and the thumb distal knuckle to extend and bend;
the second driving device is arranged on the fixed base and can drive the swinging base to swing;
wherein an included angle is formed between the swing axis of the swing base and the hinge axis of the first driving device;
the first driving device includes: a first linear drive and a first link, the first linear drive comprising: the first telescopic rod and the first linear driver body for driving the first telescopic rod to stretch;
one end of the first linear driver body is hinged to the swing base, the other end of the first linear driver body is hinged to one end of the first connecting rod, the other end of the first connecting rod is hinged to the thumb distal knuckle, and the first telescopic rod, the thumb proximal knuckle and the thumb distal knuckle are hinged to each other through the same hinge axis;
when the first linear driver body drives the first telescopic rod to extend, the thumb proximal knuckle and the thumb distal knuckle extend; when the first linear driver body drives the first telescopic rod to retract, the thumb proximal knuckle and the thumb distal knuckle are bent.
2. The mechanical thumb according to claim 1, wherein the second drive comprises a second linear drive comprising: the second telescopic rod and the second linear driver body drive the second telescopic rod to stretch and retract;
one of the second linear driver body and the second telescopic rod is hinged to the swing base, and the other is hinged to the fixed base.
3. The mechanical thumb according to claim 1, wherein the second drive comprises a third linear drive comprising: the telescopic device comprises a third telescopic rod and a third linear driver body for driving the third telescopic rod to stretch and retract;
one of the third linear driver body and the third telescopic rod is fixed on the fixed base, and the other is in sliding connection with the swing base;
the second driving device further comprises a first limiting part, and when the third linear driver body is in sliding connection with the swing base, the first limiting part limits the relative sliding displacement of the third linear driver body and the swing base; when the third telescopic rod is in sliding connection with the swing base, the first limiting part limits the relative sliding displacement of the third telescopic rod and the swing base.
4. The mechanical thumb according to claim 1, wherein the second driving means comprises a rotary driver that drives the swing base to swing.
5. The mechanical thumb according to claim 4, wherein the swing base is hinged to the fixed base by a swing shaft, and the output shaft of the rotary driver is in driving connection with the swing shaft.
6. The mechanical thumb according to claim 1, wherein the second driving means includes a buffer protector, and the swing base swings by deformation of the buffer protector when the swing base is passively subjected to a swing external force.
7. The mechanical thumb according to claim 6, wherein the second driving means comprises:
a fourth linear drive, the fourth linear drive comprising: a fourth telescopic rod and a fourth linear driver body for driving the fourth telescopic rod to stretch;
the second driving device further comprises a second limiting part for limiting the relative sliding displacement of the fixed base and the fourth telescopic rod;
or, the fourth linear driver body is hinged to the fixed base, the swing base is in sliding connection with the fourth telescopic rod, two ends of the buffer protection piece are fixedly connected with the fourth telescopic rod and the swing base respectively, the buffer protection piece deforms along the sliding direction of the fourth telescopic rod, and the second driving device further comprises a third limiting part for limiting the relative sliding displacement of the swing base and the fourth telescopic rod.
8. The mechanical thumb according to claim 6, wherein the second driving means comprises: a fifth linear actuator and a second link;
wherein the fifth linear driver includes: a fifth telescopic rod and a fifth linear driver body driving the fifth telescopic rod to be telescopic, wherein one of the fifth linear driver body and the fifth telescopic rod is hinged with the fixed base, and the other of the fifth linear driver body and the fifth telescopic rod is hinged with the second connecting rod;
the second connecting rod, the swing base and the fixed base are hinged by the same hinge axis;
two ends of the buffer protection piece are fixedly connected with the second connecting rod and the swing base respectively;
the swing base is provided with a fourth limiting part for limiting the second connecting rod to swing outwards by a preset angle.
9. A manipulator comprising a mechanical thumb, wherein the mechanical thumb is a mechanical thumb according to any of claims 1-8.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810865496.7A CN108673539B (en) | 2018-08-01 | 2018-08-01 | Mechanical thumb and mechanical arm |
| PCT/CN2019/092248 WO2020024727A1 (en) | 2018-08-01 | 2019-06-21 | Mechanical thumb and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810865496.7A CN108673539B (en) | 2018-08-01 | 2018-08-01 | Mechanical thumb and mechanical arm |
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| Publication Number | Publication Date |
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| CN108673539A CN108673539A (en) | 2018-10-19 |
| CN108673539B true CN108673539B (en) | 2024-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810865496.7A Active CN108673539B (en) | 2018-08-01 | 2018-08-01 | Mechanical thumb and mechanical arm |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108673539B (en) |
| WO (1) | WO2020024727A1 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108673539B (en) * | 2018-08-01 | 2024-01-05 | 北京因时机器人科技有限公司 | Mechanical thumb and mechanical arm |
| CN111571622A (en) * | 2020-05-27 | 2020-08-25 | 珠海格力智能装备有限公司 | Clamp apparatus |
| CN112518780A (en) * | 2020-11-17 | 2021-03-19 | 深圳市优必选科技股份有限公司 | Dexterous hand |
| CN113119153B (en) * | 2021-03-26 | 2022-11-29 | 深圳市优必选科技股份有限公司 | Finger structure and robot |
| CN113084849A (en) * | 2021-04-09 | 2021-07-09 | 深圳爱感科技有限公司 | Robot finger driving method and robot finger |
| CN114311002B (en) * | 2022-01-25 | 2024-07-23 | 深圳市万至达电机制造有限公司 | High-precision electric mechanical claw with firm clamping and method for judging clamped article of electric mechanical claw |
| CN115847453A (en) * | 2022-11-02 | 2023-03-28 | 北京因时机器人科技有限公司 | Mechanical finger and mechanical dexterous hand |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108673539A (en) | 2018-10-19 |
| WO2020024727A1 (en) | 2020-02-06 |
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