TWI701117B - Under-actuated mechanical arm gripper - Google Patents

Abstract

The under-actuated mechanical arm gripper provided by the present invention mainly includes a base, a first transmission part, a second transmission part and a claw part; the first transmission part has a first rotating shaft, Pivoted on the seat, a first helical gear train shaft is provided on an axial end of the first shaft; the second transmission part has at least two second shafts, which are pivoted on the seat separately and received Positioning, two ring-shaped coupling members are respectively sleeved and clamped on one end of each of the second rotating shafts adjacent to each other, and the two second helical gear trains are respectively ringed on each of the couplings coaxially with each of the second rotating shafts. On the shaft, and each is meshed with the first helical gear, a first normal thread and a first reverse thread are respectively looped on each of the second rotating shafts; the claw portion has two ring-shaped moving sleeves, Are respectively threaded and sleeved on each of the second rotating shafts, a second normal thread and a second reverse thread are respectively looped on the inner ring surface of each of the movable sleeves, and are respectively connected with the first normal thread and the first The reverse thread corresponds to the screw connection, and the two clamping arms are respectively fixed on each of the movable sleeves, and respectively extend to the outside of the seat along the radial direction of each movable sleeve.

Description

Under-actuated mechanical arm gripper

The present invention is related to automated mechanical technology, especially to an under-actuated mechanical arm gripper.

Although the under-actuated manipulator is not as flexible as the full-actuated manipulator, it still occupies a place in industrial applications due to its advantages in saving volume and reducing weight. However, as far as the conventional gripper is concerned, Its structure is not yet streamlined and still needs improvement.

Therefore, the main purpose of the present invention is to provide an under-actuated mechanical arm gripper, which has a simplified structure, is easy to disassemble and assemble, and can be flexibly applied to an under-actuated mechanical arm.

The reason is that, in order to achieve the above-mentioned purpose, the under-actuated mechanical arm gripper provided by the present invention mainly includes a seat, a first transmission part, a second transmission part and a claw part; the first transmission part , Has a first rotating shaft, which is pivoted on the seat, a first helical gear shaft is installed on an axial end of the first rotating shaft; the second transmission part has at least two second rotating shafts, which are separated from each other Pivoted on the seat and positioned, two ring-shaped coupling members are respectively sleeved and clamped on one end of each of the second rotating shafts adjacent to each other, and the two second helical gear trains are respectively coaxial with each of the second rotating shafts The ground is respectively ringed on each of the coupling members, and each is meshed with the first helical gear. A first normal thread and a first reverse thread are respectively ringed on each of the first helical gears. Two rotating shafts; the claw portion has two ring-shaped moving sleeves, which are respectively threaded and sleeved on each of the second rotating shafts, and a second normal thread and a second reverse thread are respectively looped on the inner side of each of the moving sleeves On the ring surface, and respectively screwed with the first normal thread and the first reverse thread, the two clamping arms are respectively fixed on each of the movable sleeves and respectively extend to the seat along the radial direction of each movable sleeve The outside.

In order to stabilize the relative spatial position between the components, the seat is used as a basis for the arrangement of the first transmission part, the second transmission part and the claw part, and at the same time, the first transmission part is convenient for the under-driven mechanical arm. Through the combination, the power of the under-actuated mechanical arm can be transmitted through the first transmission part and the second transmission part to drive the relative movement of the clamping arms toward or away from each other.

In order to facilitate maintenance, the seat is a hollow shell-shaped article formed by butting two half shells.

Wherein, the seat has a shell, a first pivot hole is formed through a side shell wall of the shell, and is sleeved coaxially with the first shaft, and the axial direction is perpendicular to the second pair of the first pivot hole. The two pivot holes are separately arranged on the shell wall of the shell, and are pivotally connected with the axial ends of the second rotating shafts respectively.

The clamping jaws of the under-actuated mechanical arm can be clamped through the clamping arms of the jaws. In order to make the movement meet the actual needs, the number of clamping arms that can be moved or the direction of movement can be based on In fact, it is necessary to change the transmission path, direction, and the number of driven gripping arms of the second transmission part, so that the gripping arms can respectively move in two or more different directions to achieve an effect similar to that of a human hand.

(10): Under-actuated mechanical arm gripper

(20): Block

(21): Shell

(211): first side shell wall

(212): second side shell wall

(213): Third side shell wall

(214): Fourth side shell wall

(215): Partition Wall

(216): Ring Wall

(22): The first pivot hole

(23): Second pivot hole

(24): Opening

(30): The first transmission part

(31): The first shaft

(311): tube body

(312): Hood

(313): Card key

(314): Bushing

(315): Ring groove

(32): First helical gear

(40): The second transmission part

(41): Second shaft

(42): Coupling

(43): Second helical gear

(44): The first positive thread

(45): The first reverse thread

(50): Claw

(51): mobile set

(52): Second male thread

(53): Second reverse thread

(54): Clamp arm

(55): Chute

Figure 1 is a perspective view of a preferred embodiment of the present invention.

Figure 2 is an exploded view of a preferred embodiment of the present invention.

Fig. 3 is a cross-sectional view of a preferred embodiment of the present invention taken along the line 3-3 in Fig. 1.

Fig. 4 is a cross-sectional view of a preferred embodiment of the present invention taken along the line 4-4 in Fig. 1.

Fig. 5 is a schematic diagram of the operation of a preferred embodiment of the present invention.

First of all, please refer to Figures 1 to 4, in a preferred embodiment of the present invention, the under-actuated mechanical arm gripper (10), which mainly includes a base (20), a first transmission Part (30), a second transmission part (40) and a claw part (50).

The seat (20) is basically a shell-like article formed by butting two opposite half-shells. In terms of structure, the seat (20) has a shell (21), and a first pivot hole (22) is arranged through On the shell wall of the shell (21) on the top side, two pairs of coaxial second pivot holes (23) are respectively provided on the appropriate positions of the shell (21), and a rectangular opening (24) is penetrated On the shell wall of the shell (21) on the bottom side, the long axis of the rectangular shape is parallel to the hole axis of each of the second pivot holes (23); furthermore, in order to appropriately set other components, The shell (21) is provided with a first side shell wall (211), a second side shell wall (212) is spaced apart from the first side shell wall (211) and opposes each other up and down, the two left and right opposites The third side shell wall (213) is respectively bridged between the first side shell wall (211) and the second side shell wall (212), and the front and rear opposite fourth side shell walls (214) are respectively bridged Between each of the third side shell wall (213), the first side shell wall (211) and the second side shell wall (212), a partition wall (215) is bridged on each of the fourth side shells Between the walls (214), a ring wall (216) is protrudingly provided on the first side shell wall (211) and extends upward in a direction away from the second side shell wall (212); wherein, the first pivot The connecting hole (22) is formed on the first side shell wall (211) coaxially with the ring wall (216), and the pair of second pivot holes (23) are coaxially arranged on each of the On the third side shell wall (213) and the partition wall (215), the opening (24) penetrates the second side shell wall (212).

The first transmission part (30) has a first rotating shaft (31), which is pivoted on the seat (20) through the first pivot hole (22), so that the axial bottom end is located at the first The bottom side and the axial top end of the side shell wall (211) are located on the top side of the first side shell wall (211) and in the ring wall (216). A first helical gear ( 32) is fixed on the bottom end of the first rotating shaft (31); so that the first helical gear (32) can be supported by the first rotating shaft (31) in the inner space of the shell (21) The first rotating shaft (31) further includes a tube body (311), which is a tubular structure integrally formed with the first helical gear (32), and the first helical gear (32) is located on the tube body On the bottom end of (311), a bottom protruding cover (312) is inserted into the tube hole of the tube body (311) with the protruding bottom end, and closes the top nozzle of the tube body (311) , A key (313) is clamped between the tube body (311) and the bottom end of the cover body (312) to make the cover body (312) and the tube body (311) synchronized with each other During rotation, a shaft sleeve (314) passes through the tube (311) and is located between the first helical gear (32) and the cover (312), and is located at the first pivot hole (22). ), a ring groove (315) is arranged on the circumferential side of the sleeve (314), and is embedded with the first side shell wall (211) at the edge of the first pivot hole (22) Then, the first transmission part (30) can be firmly and fixedly combined with the first side shell wall (211), and the rotation of the first shaft (31) can be unimpeded.

The second transmission part (40) has two second rotating shafts (41). The two ends are pivoted in each of the second pivot holes (23) so as to be coaxial with each other and perpendicular to the first rotating shaft (31). ) To make the adjacent one end close to the first helical gear (32), and the two ring-shaped coupling members (42) are respectively coaxially sleeved and clamped on the adjacent one end of each of the second shafts (41) , Two second helical gears (43) are respectively coaxially ringed on each coupling member (42), and each is vertically meshed with the first helical gear (32), a first normal thread (44) and A first reverse thread (45) is respectively looped on each of the second rotating shafts (41).

The claw portion (50) is provided with two annular moving sleeves (51), which are coaxially threaded on each of the second rotating shafts (41), a second normal thread (52) and a second reverse The threads (53) are respectively ringed on the inner ring surface of each of the movable sleeves (51), and respectively correspond to the first normal thread (44) and the first reverse thread (45) Screw connection, two clamp arms (54) are respectively protruding on each of the movable sleeves (51), and extend downwards through the opening (24), so that the end is located at a proper position under the seat (20) On the upper side, two pairs of sliding grooves (55) are respectively recessed on the front and rear ends of the clamping arm (54), and each and the second side shell wall (212) are located on both sides of the long axis of the opening (24) The sliding connection allows each of the clamping arms (54) to move back and forth in a straight line in the opening (24) to obtain the guiding, supporting and stabilizing effects through the sliding connection structure.

Please refer to Figure 5 again. With the composition of the above components, the under-actuated mechanical arm gripper (10) is combined with the under-actuated mechanical arm by the first shaft (31) when in use, such as an under-actuated mechanical arm. The sixth shaft of the arm is used as a power source, so that the sixth shaft is connected to the cover (312) to transmit power to the first rotating shaft (31), so as to drive the first helical gear through the first rotating shaft (31) (32) Rotate and synchronously drive each of the second helical gears (43), and while each of the second rotating shafts (41) rotate synchronously, the first normal thread (44) is screwed to each other With the second normal thread (52), the first reverse thread (45), and the second reverse thread (53), the angular displacement can be changed to a linear displacement that makes each clamp arm (54) perform linear reciprocation, thereby Achieve the finger action for opening and closing each clamp arm (54) for supply.

In addition, it needs to be explained in particular. The detachable shell-like structure of the seat (20) can make the under-actuated manipulator jaws (10) easy to maintain. At the same time, because the under-actuated manipulator The components of the gripper (10) are simple, and the volume and weight of the robot arm will not cause a burden, making it particularly suitable for light-load processing technology. In addition, the above embodiments only disclose the The second transmission part performs a reciprocating linear displacement in one dimension, but the present invention is not limited to it. In specific industrial applications, the second transmission part can also perform multiple gripping actions in different axial directions. , In order to increase the complexity of the gripper action, so that it can meet the needs of different industries.

(10): Under-actuated mechanical arm gripper

(20): Block

(21): Shell

(211): first side shell wall

(213): Third side shell wall

(214): Fourth side shell wall

(216): Ring Wall

(30): The first transmission part

(50): Claw

(54): Clamp arm

Claims (8)

An under-actuated mechanical arm clamping jaw, comprising: a seat; a first transmission part with a first rotating shaft pivotally arranged on the seat, and a first helical gear system shaft arranged on an axial end of the first rotating shaft; A second transmission part has at least two second rotating shafts, which are pivoted on the seat and positioned separately from each other, and two ring-shaped coupling members are respectively inserted through sleeves and clamped to each of the second rotating shafts to be adjacent to each other On one end, two second helical gear trains are respectively arranged on each coupling member coaxially with each of the second rotating shafts, and are respectively meshed with the first helical gear, a first normal thread and a first The reverse thread system is respectively ringed on each of the second rotating shafts; a claw portion with two ring-shaped moving sleeves is respectively passed through each of the second rotating shafts, a second normal thread and a second reverse thread system They are respectively ringed on the inner ring surface of each movable sleeve, and are respectively screwed with the first normal thread and the first reverse thread. Two clamp arms are respectively fixed on each movable sleeve and run along each of the movable sleeves. The radial direction of the moving sleeve respectively extends to the outside of the seat; wherein, the seat has a shell, a first pivot hole is penetrated through a side wall of the shell and passes through the sleeve coaxially with the first rotating shaft. Two pairs of second pivot holes perpendicular to the first pivot hole are separately provided on the shell wall of the shell, and are pivotally connected to the axial ends of each second shaft; wherein, the first shaft It has a tube body that passes through the first pivot hole and is connected with the first helical gear at one end. A cover system is partially embedded in the tube hole of the tube body and protrudes from the other of the tube body. At the end, a key is clamped between the tube body and the cover body. The under-actuated mechanical arm gripper of claim 1, wherein the shell system has a first side shell wall, a second side shell wall spaced apart from the first side shell wall, and two spaced apart from each other The bridge is located there The third side shell wall between the first side shell wall and the second side shell wall, two are spaced apart from each other and bridge the fourth side shell wall between the two sides of each third side shell wall, one The partition wall bridge is arranged between each of the fourth side shell walls. According to claim 2, the under-actuated mechanical arm gripper, wherein the first pivot hole is formed through the first side shell wall, and each pair of second pivot holes is separately provided on each third side On both sides of the shell wall and the partition wall. According to claim 2, the under-actuated mechanical arm gripper, wherein the second rotating shafts are coaxial with each other, and the shell further includes an opening opened on the second side shell wall, and the opening is formed along The axial extension of each second rotating shaft is rectangular. According to claim 4, the under-actuated mechanical arm gripper, wherein each gripper arm passes through the opening to protrude out of the seat, and is slidably connected to the second side shell wall, and can be moved along the opening The long axis direction moves toward the reset. According to claim 5, the under-actuated mechanical arm clamping jaws, wherein the jaws further include two pairs of sliding grooves, which are respectively recessed on each of the clamping arms and are located at two sides of the opening long axis with the second side shell wall. Sliding on the side part. According to the under-actuated mechanical arm clamping jaw of claim 1, wherein the first rotating shaft system further includes a shaft sleeve, which is inserted into the first pivot hole and sleeved outside the tube body. According to claim 7, the under-actuated mechanical arm gripper, wherein the first rotating shaft has a ring groove, which is coaxially arranged on the peripheral side of the sleeve, and is located at the edge of the first pivot hole with the shell Inlaid parts.

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