CN108714910B - Tail end clamp holder adopting space link mechanism - Google Patents
Tail end clamp holder adopting space link mechanism Download PDFInfo
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- CN108714910B CN108714910B CN201810587993.5A CN201810587993A CN108714910B CN 108714910 B CN108714910 B CN 108714910B CN 201810587993 A CN201810587993 A CN 201810587993A CN 108714910 B CN108714910 B CN 108714910B
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- connecting rod
- steering engine
- rack
- crank
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The tail end clamp holder adopting the space link mechanism relates to a tail end mechanism of a three-branch robot, and comprises a steering engine, a steering engine rack, a space link mechanism for converting rotation into linear motion, a crank and a hinge mechanism, wherein the steering engine is arranged at the upper part of the steering engine rack; the hinge mechanism comprises a driving connecting rod, a driven connecting rod and a jaw; the rack rods are connected with the steering engine rack, two groups of hinge mechanisms are correspondingly arranged on each rack rod, one ends of the driving connecting rod and the driven connecting rod are respectively hinged with the rack rods, the other ends of the driving connecting rod and the driven connecting rod are respectively hinged with the clamping jaws, and the driving connecting rod, the rack rods, the driven connecting rod and the clamping jaws form a parallel four-bar mechanism; the rotating part of the rotation conversion linear motion mechanism is arranged at the output end of the steering engine, the driving connecting rod is hinged with the crank, and the crank is connected with the linear motion part of the rotation conversion linear motion mechanism. The invention has good reliability, and has the advantages of meeting the requirements of clamping force and clamping speed and having larger pose tolerance.
Description
Technical Field
The invention relates to a tail end mechanism of a three-branch robot, in particular to a tail end clamp holder adopting a space connecting rod mechanism, and belongs to the field of mechanical and electronic engineering.
Background
The gripper is a component which is arranged at the tail end of the robot and has a gripping function. With the continuous development of multiple industries such as sensing technology, information processing, electronic engineering, computer engineering, control technology and the like, the mobile robot technology is continuously perfected, the application range of the mobile robot technology is greatly expanded, and the mobile robot technology is well applied to industries such as industry, agriculture, medical treatment, service and the like. For example, the method has the advantages of improving production efficiency, improving product quality, improving labor conditions and the like in the industry, and can assist in completing on-track assembly, pollution cleaning, observation and inspection, track cleaning, track transfer, module replacement and the like in the aerospace field. At present, the robot technology has gained common attention at home and abroad. The gripper is an important part of a robot actuating mechanism, the structural form of the gripper directly determines the size and the shape of an object which can be gripped by the robot, and the gripper plays an extremely important role in the function of the robot.
The structural selection of the tail end clamp holder aims at the requirements of the three-branch robot on kinematics, dynamics, structural size and the like of the tail end clamp holder, and provides the structural design of the tail end clamp holder adopting a worm gear reducer, the tail end clamp holder adopting a straight gear reducer and the clamp holder with a structural self-adaptive function.
The end gripper structure adopting the worm gear and worm reducer is designed to meet the requirement of the larger clamping force of the end gripper of the three-branch robot, and the working principle is as follows: the motor of the clamper rotates, a turbine connected with a motor shaft through a coupler is used as a driving part, a worm is used as a driven part, and transmission of the staggered shaft is realized through a turbine and worm speed reducer. The gear transmission comprises two straight-tooth cylindrical gears with the same module and tooth number, wherein one gear is arranged on the turbine shaft, the other gear is arranged on the gear shaft parallel to the turbine shaft, and the module and the tooth number of the two gears are equal, so that the gear transmission can realize the transmission between parallel shafts with the same rotating speed and different steering directions. The gear shaft is used as a driving part of the parallel four-bar mechanism, is connected with a driving crank of the four-bar mechanism, and the tail end of a rod piece parallel to the driving crank is connected onto an elastic component, namely, an underactuated mode of matching a connecting rod and a spring is adopted, so that the parallel clamping of different clamping effects when clamping objects with different sizes is realized when clamping objects with larger diameters, and the enveloping clamping of the objects with smaller diameters is realized.
The end gripper structure design of the straight gear reducer is designed to meet the requirement of rapid gripping, the end gripper scheme of the straight gear reducer is composed of a steering engine, a steering engine rack, the straight gear reducer and a parallel four-bar mechanism, the steering engine is installed on one side of the gripper, and the number of the modulus and the number of teeth of the straight gears on different jaws are the same, so that the effect of changing the gear steering without changing the gear rotating speed can be realized through the transmission of the time. The two claws fixed together with the two spur gears can realize the clamping at the same clamping speed, and the action surfaces of the claws of the tail end clamp holder are always parallel due to the adoption of the parallel four-bar mechanism.
In summary, the structure of the tail end clamp adopts the tail end clamp of the worm gear speed reducing mechanism, and the clamp can realize different enveloping effects on objects with different sizes through underactuation due to the fact that the crank is connected with the elastic element. Can meet the requirement of clamping force. However, the clamping speed of the clamp in the clamping process is too low, and the gait of the three-branch robot cannot be smoothly realized. The tail end clamp holder of the straight gear reducer is adopted, and a gear directly connected to an output shaft of the steering engine drives a driving crank of a four-bar mechanism to rotate through gear transmission in the working process of the clamp holder, so that the clamping effect is realized. The clamp holder is simple in structure and high in clamping speed, is limited by the structure size and the arrangement position of the motor, is small in size and mass of the motor, and cannot meet the requirement of clamping force due to the torque of the motor. The structural form of the scheme of the self-adaptive tail end gripper adopts the position uncertainty point of the four-bar mechanism, can realize different gripping effects on objects with different shapes, and can meet the functions of gripping the truss rod piece when the robot moves and gripping objects with complex shapes when executing an on-orbit operation task. However, before the clamp is clamped, the steering engine needs to be controlled to rotate to a certain angle, and meanwhile, the precision is affected by errors such as gaps existing in a revolute pair of the four-bar mechanism. Stability during clamping is difficult to guarantee. Meanwhile, the clamping moving track of the clamping jaw is an arc, so that the size range of the object to be clamped is small, and the requirement of large tolerance is not met.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the tail end clamp which meets the requirements of clamping force and clamping speed and has larger pose tolerance and adopts a space link mechanism.
The technical scheme of the invention is as follows:
the tail end clamp holder adopting the space link mechanism comprises a steering engine, a steering engine rack, a rotation-to-linear motion space link mechanism, a crank and a hinge mechanism, wherein the steering engine is arranged at the upper part of the steering engine rack;
the hinge mechanism comprises a driving connecting rod, a driven connecting rod and a jaw;
two opposite sides of the steering engine frame are respectively connected with a frame rod, the frame rods are connected with the steering engine frame, two groups of hinge mechanisms are correspondingly arranged on each frame rod, one ends of a driving connecting rod and a driven connecting rod are respectively hinged with the frame rods, the other ends of the driving connecting rod and the driven connecting rod are respectively hinged with a clamping jaw, and the driving connecting rod, the frame rods, the driven connecting rod and the clamping jaw form a parallel four-bar mechanism;
the rotating part of the rotation conversion linear motion space link mechanism is arranged at the output end of the steering engine, the driving connecting rod is hinged with the crank, and the crank is connected with the linear motion part of the rotation conversion linear motion space link mechanism.
Further, the rotation-to-linear motion space link mechanism comprises a rudder disc, a slide block and two space links; the output end of the steering engine is connected with the tray, two space connecting rods hinged with the steering wheel and the slider are arranged between the steering wheel and the slider, the side face of the slider is hinged with one end of the crank, and the other end of the crank is hinged with the driving connecting rod.
Furthermore, the slide block is a [ shaped slide block with a downward opening, the two space connecting rods are hinged with the upper end of the slide block, and one end of the crank is hinged with the side surface of the slide block.
Further, the space bar is an arch bar.
Compared with the prior art, the invention has the beneficial effects that:
the end gripper adopting the space link mechanism can meet the requirements of the gripper on the gripping speed, the gripping force, the gripping range, the pose tolerance and the size range. Compared with a clamper adopting a worm gear reducer, the tail end clamper adopting the space link mechanism has the advantages that the clamping speed is greatly improved, the clamping force is greatly improved compared with a clamper adopting a straight gear reducer, and the position and posture tolerance is greatly provided compared with a clamper with a structure self-adaptive function.
The invention discloses a tail end clamp holder structure of a three-branch robot, which comprises a first part, a second part and a third part, wherein the first part is a space link mechanism for converting the rotation of a steering engine into axial linear motion, and the space link mechanism comprises a driven platform moving axially, four Hooke joints which can rotate on a sliding block (the driven platform) or a steering wheel, the steering wheel and two space links, and simultaneously comprises 1 revolute pair (5-level pair), 1 mobile pair (5-level pair) and 2 Hooke joints (4-level pair); the operating principle is that the axial projection length change of a space connecting rod in the rotation direction of a steering wheel is adopted to realize transmission when the steering wheel of the steering engine rotates; the second part is a crank-slider mechanism, wherein an axial driven platform in the space connecting rod mechanism is used as a driving part in the crank-slider mechanism to realize the rotation of a driving connecting rod fixed on a rack rod; the third part is a parallel four-bar mechanism, the original bar is a driving connecting bar fixed on the steering engine frame and the frame bar in the crank sliding block mechanism, and the clamping jaw is arranged on the driving connecting bar.
Drawings
FIG. 1 is an overall perspective view of the end clamp employing a spatial linkage mechanism of the present invention;
FIG. 2 is a front view of the end clamp employing a spatial linkage mechanism of the present invention;
FIG. 3 is a side view of the end clamp employing a space linkage of the present invention;
FIG. 4 is a schematic structural diagram of a spatial linkage mechanism for converting rotational motion to linear motion according to the present invention;
FIG. 5 is a schematic view of a crank-slider mechanism comprising a crank and a slider according to the present invention;
FIG. 6 is a schematic view of a parallel four-bar linkage mechanism according to the present invention.
The reference numbers shown in the figures: 1. the device comprises a steering engine, 2 parts of a steering engine rack, 3 parts of a rotation conversion linear motion space connecting rod mechanism, 4 parts of a crank, 3-1 parts of a steering wheel disc, 3-2 parts of a space connecting rod, 3-3 parts of a sliding block, 4 parts of a crank, 5-1 parts of a driving connecting rod, 5-2 parts of a rack rod, 5-3 parts of a driven connecting rod, 5-4 parts of a clamping jaw.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Referring to fig. 1-3, a tail end clamp holder adopting a space link mechanism comprises a steering engine 1, a steering engine frame 2, a rotation-to-linear motion space link mechanism 3, a crank 4 and a hinge mechanism; the steering engine 1 is arranged on the upper part of the steering engine frame 2;
the hinge mechanism comprises a driving connecting rod 5-1, a driven connecting rod 5-3 and a claw 5-4;
the two opposite sides of the steering engine frame 2 are respectively connected with a frame rod 5-2, the frame rods 5-2 are connected with the steering engine frame 2, each frame rod 3-2 is correspondingly provided with two groups of hinge mechanisms, one end of a driving connecting rod 5-1 and one end of a driven connecting rod 5-3 are respectively hinged with the frame rod 5-2, the other end of the driving connecting rod 5-1 and the other end of the driven connecting rod 5-3 are respectively hinged with a clamping jaw 5-4, and four of the driving connecting rod 5-1, the frame rod 5-2, the driven connecting rod 3-3 and the clamping jaw 3-4 form a parallel four-bar mechanism;
the rotating part of the rotation conversion linear motion space link mechanism is arranged at the output end of the steering engine 1, the driving connecting rod 5-1 is hinged with the crank 4, and the crank 4 is connected with the linear motion part of the rotation conversion linear motion space link mechanism.
Referring to fig. 3, in order to ensure stable and reliable operation, the rotation-to-linear motion spatial link mechanism 3 comprises a rudder disc 3-1, a slider 3-3 and two spatial links 3-2;
the output end of the steering engine 1 is connected with the tray 3-1, two space connecting rods 3-2 hinged with the tray 3-1 and the slider 3-3 are arranged between the tray 3-1 and the slider 3-3, the side surface of the slider 3-3 is hinged with one end of a crank 4, and the other end of the crank 4 is hinged with the driving connecting rod 3-3.
Each rack rod 5-2 and the hinge mechanism form two groups of parallel four-bar mechanisms, and the number of the cranks 4 is 4. Two groups of claws which are formed by four groups of parallel four-bar mechanisms and are opposite to each other clamp a target object.
The space link mechanism for converting rotation into linear motion in the gripper consists of a rudder disc, a space link and a slider (a driven platform), and is a novel transmission mode following a common transmission mode of converting rotation into linear motion along a rotating shaft, such as thread transmission, ball screw transmission, cylindrical cam transmission and the like. Simultaneously including 1 revolute pair (5 grades of pairs), 1 vice (5 grades of pairs) and 2 hooke's hinges (4 grades of pairs) for traditional motion, this motion middle steering wheel only need rotate less stroke just can realize the great linear motion stroke of driven platform, cooperation slider-crank mechanism and parallel four-bar linkage can be fine accomplish snatching of target. The space connecting rod 3-2 is an arch rod. By the arrangement, the sliding block 3-3 can move up and down only when the projection length in a certain direction is changed due to the change of the angle during rotation.
Referring to fig. 2, in order to ensure the connection is convenient and reliable, the use is stable. The sliding block 3-3 is a [ shaped sliding block with a downward opening, the two space connecting rods 3-2 are hinged with the upper end of the sliding block 3-3, and one end of the crank 4 is hinged with the side surface of the sliding block 3-3. So set up, compact structure. The clamping force of the clamp adopting the space link mechanism can reach 400N, the clamping time is 1 second, and the pose tolerance is 35 mm.
Principle of operation
The invention of the three-branch robot end gripper structure, the first part is a space link mechanism which converts the rotation of the steering engine into axial linear motion, comprising a slide block (driven platform) 3-3 which moves axially, four hook hinges which can rotate on the slide block (driven platform) 3-3 or a rudder disk 3-1, a rudder disk and two space links 3-2, and simultaneously comprising 1 revolute pair (5-level pair), 1 mobile pair (5-level pair) and 2 hook hinges (4-level pair); the operating principle is that the axial projection length change of the space connecting rod in the rotation direction of the steering wheel is adopted to realize transmission when the steering wheel of the steering engine rotates, as shown in figure 4; the second part is a slider-crank mechanism, wherein an axial slider (driven platform) 3-3 in the spatial link mechanism is used as a driving part in the slider-crank mechanism to realize the rotation of a driving link fixed on a rack rod, as shown in fig. 5; the third part is a parallel four-bar mechanism, the original bar is a driving connecting bar 5-1 fixed on a steering engine frame and a frame bar 5-2 in a crank sliding block mechanism, and a claw 5-3 is arranged on the driving connecting bar 5-1, as shown in figure 6.
The slide block 3-3 (driven platform) of the space link mechanism is a driving part of the plane crank slide block and the parallel four-bar mechanism, and the degrees of freedom of the two parts of mechanisms are both 1, so the total degree of freedom of the tail end clamp holder is 1.
For example: in order to realize the gait planning of the three-branch robot, the maximum distance between two claws of the gripper is larger than 48.7mm and the minimum distance is smaller than 40mm according to the requirements of the tail end gripper. Meanwhile, in order to ensure enough allowance in the clamping process, the minimum distance between the two clamping jaws is 35mm, the maximum distance is 70mm, and the minimum distance is 35mm when the tail end clamping device is used for clamping. According to the gait realization requirement of the three-branch robot, the clamping jaw needs to be fed by 20mm in the clamping process, enough allowance is ensured, and the design is carried out according to 25 mm.
The present invention is not limited to the above embodiments, and any simple modification, equivalent change and modification made by the technical essence of the present invention by those skilled in the art can be made without departing from the scope of the present invention.
Claims (3)
1. Adopt space link mechanism's terminal holder, its characterized in that: the device comprises a steering engine (1), a steering engine rack (2), a rotation-to-linear motion space connecting rod mechanism (3), a crank (4) and a hinge mechanism; the steering engine (1) is arranged on the upper part of the steering engine rack (2);
the hinge mechanism comprises a driving connecting rod (5-1), a driven connecting rod (5-3) and a claw (5-4);
the two opposite sides of the steering engine rack (2) are respectively connected with a rack rod (5-2), the rack rods (5-2) are connected with the steering engine rack (2), two groups of hinge mechanisms are correspondingly arranged on each rack rod (5-2), one ends of a driving connecting rod (5-1) and a driven connecting rod (5-3) are respectively hinged with the rack rods (5-2), the other ends of the driving connecting rod (5-1) and the driven connecting rod (5-3) are respectively hinged with a clamping jaw (5-4), and the driving connecting rod (5-1), the rack rods (5-2), the driven connecting rod (5-3) and the clamping jaw (5-4) form a parallel four-bar mechanism;
the rotating part of the rotation conversion linear motion space connecting rod mechanism (3) is arranged at the output end of the steering engine (1), the driving connecting rod (5-1) is hinged with the crank (4), and the crank (4) is connected with the linear motion part of the rotation conversion linear motion space connecting rod mechanism (3);
the rotation-conversion linear motion space connecting rod mechanism (3) comprises a rudder disc (3-1), a slide block (3-3) and two space connecting rods (3-2);
the output end of the steering engine (1) is connected with a rudder disc (3-1), two space connecting rods (3-2) which are hinged with the rudder disc (3-1) and the sliding block (3-3) are arranged between the rudder disc (3-1) and the sliding block (3-3), the space connecting rods (3-2) are arch-shaped rods, the side face of the sliding block (3-3) is hinged with one end of a crank (4), and the other end of the crank (4) is hinged with a driving connecting rod (5-1).
2. The end gripper with spatial linkage according to claim 1, wherein: the sliding block (3-3) is a [ shaped sliding block with a downward opening, the two spatial connecting rods (3-2) are hinged with the upper end of the sliding block (3-3), and one end of the crank (4) is hinged with the side surface of the sliding block (3-3).
3. The end gripper using the space link mechanism according to claim 1 or 2, wherein: the steering engine frame (2) and the frame rod (5-2) are integrally made.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810587993.5A CN108714910B (en) | 2018-06-08 | 2018-06-08 | Tail end clamp holder adopting space link mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810587993.5A CN108714910B (en) | 2018-06-08 | 2018-06-08 | Tail end clamp holder adopting space link mechanism |
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| CN108714910A CN108714910A (en) | 2018-10-30 |
| CN108714910B true CN108714910B (en) | 2021-07-02 |
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| CN201810587993.5A Active CN108714910B (en) | 2018-06-08 | 2018-06-08 | Tail end clamp holder adopting space link mechanism |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110553579B (en) * | 2019-10-10 | 2021-02-26 | 北京机械设备研究所 | Electric steering engine based on four spatial connecting rods and method for measuring angle of rudder output shaft |
| CN112158741A (en) * | 2020-10-30 | 2021-01-01 | 武汉德创天成科技发展有限公司 | Device for fixing upper pivoting body of construction engineering machinery |
| CN114274990A (en) * | 2022-01-06 | 2022-04-05 | 中铁十一局集团有限公司 | Split trolley for adjusting center of steel rail through four parallel connecting rods |
| CN114667928B (en) * | 2022-05-10 | 2022-12-20 | 清华大学深圳国际研究生院 | End effector and device for pollinating strawberry flowers |
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| FR1446414A (en) * | 1965-06-09 | 1966-07-22 | Calhene | Handling gripper acting in push |
| KR100561237B1 (en) * | 2003-12-31 | 2006-03-15 | 대우조선해양 주식회사 | A vessel absence clamping the rotation control mean is possessed |
| CN106892119A (en) * | 2016-10-21 | 2017-06-27 | 北京京东尚科信息技术有限公司 | Automatic unloading carrier and unmanned plane |
| CN107309890A (en) * | 2017-07-27 | 2017-11-03 | 安徽工程大学 | A kind of manipulator clamping mechanism of robot |
| CN207058605U (en) * | 2017-06-19 | 2018-03-02 | 昆明理工大学 | A kind of open-close type manipulator by visual spatial attention |
| CN207403836U (en) * | 2017-10-25 | 2018-05-25 | 成都乐伯特机器人有限公司 | A kind of adjustable backpack AGV trolleies of pallet height |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| FR1446414A (en) * | 1965-06-09 | 1966-07-22 | Calhene | Handling gripper acting in push |
| KR100561237B1 (en) * | 2003-12-31 | 2006-03-15 | 대우조선해양 주식회사 | A vessel absence clamping the rotation control mean is possessed |
| CN106892119A (en) * | 2016-10-21 | 2017-06-27 | 北京京东尚科信息技术有限公司 | Automatic unloading carrier and unmanned plane |
| CN207058605U (en) * | 2017-06-19 | 2018-03-02 | 昆明理工大学 | A kind of open-close type manipulator by visual spatial attention |
| CN107309890A (en) * | 2017-07-27 | 2017-11-03 | 安徽工程大学 | A kind of manipulator clamping mechanism of robot |
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| CN108714910A (en) | 2018-10-30 |
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