CN100421884C - Butt joint device for intelligent mechanical hand and its butting method - Google Patents

Butt joint device for intelligent mechanical hand and its butting method Download PDF

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Publication number
CN100421884C
CN100421884C CNB2006100981351A CN200610098135A CN100421884C CN 100421884 C CN100421884 C CN 100421884C CN B2006100981351 A CNB2006100981351 A CN B2006100981351A CN 200610098135 A CN200610098135 A CN 200610098135A CN 100421884 C CN100421884 C CN 100421884C
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China
Prior art keywords
arm
paw
joint unit
pawl
motor
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Expired - Fee Related
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CNB2006100981351A
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CN1962208A (en
Inventor
梅涛
骆敏舟
查世红
路巍
张卫忠
汪小华
卢朝洪
张涛
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Hefei Institutes of Physical Science of CAS
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Hefei Institutes of Physical Science of CAS
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Priority to CNB2006100981351A priority Critical patent/CN100421884C/en
Publication of CN1962208A publication Critical patent/CN1962208A/en
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Publication of CN100421884C publication Critical patent/CN100421884C/en
Expired - Fee Related legal-status Critical Current
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Abstract

The invention relates to a connector of intelligent mechanical hand and relative method, wherein it comprises a connecting part, a flexible positioning part and a base; the connecting part has rectangular pyramid guider, locking and unlocking elements; the connecting part is connected to connecting arm above and connecting claw under; the connecting part via the clamp groove on the claw sheath is fixed on the flexible positioning part; the connecting part is surrounded with a base with semi-open square with mechanical connection. When user takes and releases claws, the positioning element and the rectangular-pyramid guider can realize successful guiding and positioning. The invention is driven by motor, of three-freedom intelligent mechanical hand, with compact structure.

Description

A kind of docking facilities of puma manipulator and docking calculation thereof
Technical field
The invention belongs to the robot application field, particularly a kind of docking facilities of mechanical paw and docking calculation thereof.
Background technology
The application of robot is very extensive at present, from ground to the space, the application of robot is arranged all.In the robot application, replaceable paw is a new developing direction at present.But replaceable paw must have a corresponding docking facilities (electromechanical interface), and mechanical arm and replaceable paw are linked together reliably.
In the application of docking facilities, the position error problem of assembly system is the major obstacle of robot application in assembling work, head it off comparison practical methods is the ability that allows robot have compensation in assembling process and proofread and correct position error, promptly submissive mounting technology.RCC (RemoteCenter Compliance) is a kind of effectively also submissive device of extensive use, the industrial robot that has RCC, do not need higher pose accuracy and repeatability, just can finish the very little assembling work in gap, make the ratio of performance to price of robot improve greatly.In actual applications, the supply of the RCC product of external existing series is as ATI, the AGI of the U.S., RAD company etc.
The paw butt joint of ATI company, based on the submissive wrist RCC of passive type (Remote centercompliance), adopted pneumatic pinch to add the ball retaining mechanism, it puts the pawl process: by RCC, the arm flexibility is navigated on the paw, then, open air supply valve, sealed gas chamber air pressure on the paw is increased, and ball that six edges on the driving paw sidewall are circumferentially uniform and the circular groove on the arm closely cooperate, to reach the purpose of locking arm and paw.The control of RCC is very complicated, and simultaneously, also there is very high requirement in ball pneuma-lock mechanism to processing.
RCC is a kind of passive device of following according to the specific tasks design, and it is designing at the slotting axle hand-hole assembling work that chamfering is arranged specially by American Whitney leader's Draper laboratory development.RCC is one and is contained in the elastic device that has a plurality of frees degree between mechanical wrist and the end effector, selects elastomeric rigidity can obtain different compliances.The RCC device has an outstanding kinematics behavior, be that structure itself has determined that spatially certain a bit, at this movable member externally applied forces is only produced translation along force direction, the externally applied forces square is only produced along the rotation of moment direction, this point is called submissive center.
The RCC device is installed in the robot manipulation on hand, can helps robot to finish smoothly, good practical value is arranged such as typical assembling works such as slotting axle hand-holes.But because the RCC device is too complicated, the auxiliary equipment of requirement is too much, and the complicated feeder of a cover must be arranged, and positioning accuracy request is very high, or the like.Therefore, manufacturing cost height not only, and, also limited its application to a great extent, as the application of robot for space at some special occasions.
Summary of the invention
The objective of the invention is: in order to overcome the weak point of pneumatic docking facilities in the prior art, and the docking facilities and the docking calculation thereof of a kind of motor-driven, the Three Degree Of Freedom puma manipulator with certain flexibility of design.This invention has compact conformation, characteristics that cost is lower, applied widely, low to the positioning accuracy request of manipulator.
Technical scheme of the present invention is: a kind of docking facilities of puma manipulator, device comprise arm and joint unit, flexible positioning element, paw, the base of mechanical attachment with it, particularly:
Mechanical attachment arm above the joint unit in the described device, following mechanical attachment paw, joint unit is fixed on the flexible positioning element by the draw-in groove that the paw that is positioned in the middle of it puts outward, and the periphery of joint unit is square base of half opening and mechanical attachment with it.
Described joint unit is that flexible location connects with mechanical attachment between the flexible positioning element.Joint unit comprises arm overcoat, arm flange, motor, motor nut, slide block, pressure sensor, alignment pin, rectangular pyramid shape guiding parts, contact roller, paw overcoat, pressing groove, circuit board.Wherein, described motor below the columniform arm flange of ladder, adopts motor nut and slide block to be connected on the axle of motor with four bolting, and the motion that is used to transmit motor realizes the fixing of contact roller and along groove freely-movable two states; Be equipped with contact roller below the described slide block, contact roller places in the groove of rectangular pyramid shape guiding parts, is used for locking and the release docking facilities; The hollow hole of described rectangular pyramid shape guiding parts is built-in with pressure sensor and four alignment pins, and pressure sensor is used for detecting the pressure between the paw section of the arm segment of butted part and butted part; Described four alignment pins are along circumferentially being evenly distributed on the rectangular pyramid shape guiding parts, are used for circumferentially the fixedly arm segment of butted part and the paw section of butted part; Described rectangular pyramid shape guiding parts is by connector bolt and top arm overcoat mechanical attachment, and rectangular pyramid shape guiding parts and the cooperation of paw overcoat are with the guide function of the device that achieves a butt joint; Described arm overcoat is by connector bolt and the arm flange mechanical attachment of pushing up; Be equipped with cylindrical paw overcoat below the described rectangular pyramid shape guiding parts, described paw overcoat inside is the taper hollow hole and is screwed connection circuit board and pressing groove that the taper hollow hole of paw overcoat inside is used for and the guide function of rectangular pyramid shape guiding parts cooperation with the device that achieves a butt joint.
Described flexible positioning element comprises ball, fixed mount, spring, plane bearing; Described plane bearing is the arched door shape, three sides are arranged on it, described three sides respectively are equipped with three springs, the below of plane bearing is equipped with the ball of rotation, described ball has 14 and evenly be embedded in the groove of fixed mount, and plane bearing connects by spring and fixed mount, is used for having under the situation of certain error when docking when arm, by plane bearing x, y direction move and z to rotation, make plane bearing when getting pawl and putting pawl, can both adapt to the position of arm flexibly.
Described rectangular pyramid shape guiding parts, at arm interface is that active port and paw interface are to be equipped with rectangular pyramid shape guiding mechanism on the passive port respectively, when accessing pawl, when even there is certain error the position of arm, docking facilities still can be realized leading flexibly and locating, and it is flexible by flexible positioning element assurance.Described docking facilities is used for the general environment of arm, robot, or is used for vacuum, space, special environment under water.
A kind of docking facilities method of work of puma manipulator, the docking facilities that comprises puma manipulator is getting pawl and putting the pawl course of work of arm, the course of work that described arm is got pawl is: set arm and tentatively aim at joint unit, adopt flexible positioning element to prepare the location; Do you determine whether accurately location of arm by the detected signal of pressure sensor? if not, then arm continues accurately location, if, does then the motor in the joint unit begin just to change and drives the motor nut and slide block moves axially to the docking facilities locked position? if joint unit is locking not, then motor continues just to change, if joint unit locking, promptly the slide block in the joint unit is in lower end position, then motor stops operating, and the taking-up paw is finished one and got the pawl process.
The course of work that described arm is put pawl is: set joint unit and tentatively aim at flexible positioning element, adopt flexible positioning element accurately to locate; Does motor in the joint unit begin counter-rotating and drive motor nut and slide block and moves to the docking facilities unlocked position? if joint unit does not have release, then motor continues counter-rotating, if joint unit locking, be that slide block in the joint unit is in upper end position, then motor stops operating, and puts back to paw and finishes one and put the pawl process.
Described flexible positioning element is put pawl at arm and is had under the situation of certain error, by plane bearing x, y direction move and z to rotation, make plane bearing when putting pawl, can adapt to the position of arm flexibly.
The invention has the beneficial effects as follows: the paw docking facilities of ATI of the prior art company, it is RCC device complexity, the auxiliary equipment that requires is many, complicated feeder, positioning accuracy request height, the manufacturing cost height of one cover must be arranged, and limited its application to a great extent at some special occasions, as the application of robot for space.Technical scheme of the present invention discloses a kind of docking facilities and docking calculation thereof of puma manipulator, and device comprises that mainly joint unit, flexible positioning element and base, joint unit comprise rectangular pyramid shape guiding parts, locking reconciliation lock assembly.Connect arm above the joint unit in the device, connect paw below, joint unit is fixed on the flexible positioning element by the draw-in groove that the paw that is positioned in the middle of it puts outward, and the periphery of joint unit is square base of half opening and mechanical attachment with it; Method of work is to get pawl and put in the process of pawl at arm, and flexible positioning element and rectangular pyramid shape guiding parts can guarantee that arm has in butt joint under the situation of certain error, realizes flexibly guiding and location smoothly.Joint unit is that flexible location connects with mechanical attachment between the flexible positioning element, wherein: flexible positioning element is used for having under the situation of certain error in butt joint when arm, by plane bearing x, y direction move and z to rotation, make plane bearing when getting pawl and putting pawl, can both adapt to the position of arm flexibly.
In terms of existing technologies, the docking facilities of puma manipulator is a kind of by motor-driven, as to have certain flexibility Three Degree Of Freedom puma manipulator docking facilities, has the characteristics of compact conformation, arm positioning requirements that cost is lower, applied widely, lower.This device has reduced the positioning requirements to arm, reduced the complexity of equipment, has expanded the range of application of mechanical arm, robot, or is used for vacuum, space, waits special environment under water.
Description of drawings
Fig. 1 is the plane of docking facilities overall model displaying in use.
Fig. 2 is the stereogram of docking facilities overall model displaying in use.
Schematic diagram when Fig. 3 is in released state for joint unit.
Schematic diagram when Fig. 4 is in locking state for joint unit.
Fig. 5 is the stereogram of joint unit.
Fig. 6 is flexible positioning element schematic diagram.
Fig. 7 is for getting the pawl schematic diagram in the docking operation.
Fig. 8 is for putting the pawl schematic diagram in the docking operation.
Fig. 9 is for getting the pawl flow chart in the docking operation.
Figure 10 is for putting the pawl flow chart in the docking operation.
The specific embodiment
Below in conjunction with accompanying drawing enforcement of the present invention is further explained:
Fig. 1 is the plane of docking facilities overall model displaying in use, and Fig. 2 is the stereogram of docking facilities overall model displaying in use.In Fig. 1 and Fig. 2: 1 is arm, and 2 is joint unit, and 3 is compliant member, and 4 is paw, and 5 is base.
Mechanical attachment arm 1 above the joint unit 2 in the device, following mechanical attachment paw 4, joint unit 2 is fixed on the flexible positioning element 3 by the draw-in groove that is positioned on the paw overcoat 15 in the middle of it, and the periphery of joint unit 2 is square base of half opening 5 and mechanical attachment with it.
Schematic diagram when the schematic diagram when Fig. 3 is in released state for joint unit, Fig. 4 are in locking state for joint unit.In Fig. 3 and Fig. 4: 6 is the arm overcoat, and 7 is the arm flange, and 8 is motor, and 9 is the motor nut, 10 is slide block, and 11 is pressure sensor, and 12 is alignment pin, and 13 is rectangular pyramid shape guiding parts, 14 is contact roller, and 15 is the paw overcoat, and 16 is pressing groove, and 17 is circuit board.
Four bolting of motor 8 usefulness are below the columniform arm flange 7 of ladder, adopt motor nut 9 and slide block 10 to be connected on the axle of motor 8, the motion that motor nut 9 and slide block 10 are used to transmit motor realizes the fixing of contact roller 14 and along groove freely-movable two states; Be equipped with contact roller 14 below the described slide block 10, contact roller 14 places in the groove of rectangular pyramid shape guiding parts 13, is used for locking and the release docking facilities; The hollow hole of described rectangular pyramid shape guiding parts 13 is built-in with pressure sensor 11 and four alignment pins 12, pressure sensor 11 is used for detecting the pressure between the paw section 19 of the arm segment 18 of butted part and butted part, described four alignment pins 12 are along circumferentially being evenly distributed on the rectangular pyramid shape guiding parts 13, are used for circumferential fixing arm interface 18 and paw interface 19; Described rectangular pyramid shape guiding parts 13 is by connector bolt and top arm overcoat 6 mechanical attachment, and rectangular pyramid shape guiding parts 13 and 15 cooperations of paw overcoat are with the guide function of the parts 2 that achieve a butt joint; Described arm overcoat 6 is by connector bolt and arm flange 7 mechanical attachment of pushing up; Be equipped with cylindrical paw overcoat 15 below the described rectangular pyramid shape guiding parts 13, described paw overcoat 15 inside are taper hollow holes and are screwed connection circuit board 17 and pressing groove 16, the guide function that the taper hollow hole of paw overcoat 15 inside is used for and rectangular pyramid shape guiding parts 13 cooperates with the parts 2 that achieve a butt joint.
Schematic diagram when Fig. 3 is in released state for joint unit.In Fig. 3: when motor nut 9 and slide block 10 were in position, the top, contact roller 14 freedom laterally moved along the groove of rectangular pyramid guiding parts 13, and arm interface 18 and paw interface 19 freely break away from, and this moment, device was in released state.
Schematic diagram when Fig. 4 is in locking state for joint unit.In Fig. 4: when motor 8 work, drive motor nut 9 and slide block 10 and move and make it to be in lowest positions, contact roller 14 is pressed in by slide block 10 embeddings in the pressing groove 16 that connects with paw overcoat 15, and arm interface 18 and paw interface 19 are fixedly connected, and this moment, device was in locking state.
Fig. 5 is the stereogram of joint unit.In Fig. 5: joint unit 2 is divided into two parts: 18 are arm interface, and 19 is the paw interface.Arm interface 18 is fixedly connected with arm 1, and paw interface 19 is fixedly connected with paw 4.When arm interface 18 and paw interface 19 were in released state, arm 1 of Lian Jieing and paw 4 also were in released state with it; When arm interface 18 and paw interface 19 were in bonding state, arm 1 of Lian Jieing and paw 4 also were in bonding state with it.
Fig. 6 is flexible positioning element schematic diagram.In Fig. 6: 20 is that ball, 21 is that fixed mount, 22 is that spring, 23 is plane bearing.
Plane bearing is the arched door shape, three sides are arranged on it, described three sides respectively are equipped with three springs 22, the below of plane bearing 23 is equipped with the ball 20 of rotation, described ball 20 has 14 and evenly be embedded in the groove of fixed mount 21, plane bearing 23 is connected and fixed by spring 22 and fixed mount 21, be used for when docking, having under the situation of certain error when arm 1, by plane bearing 23 x, y direction move and z to rotation, make plane bearing 23 when getting pawl and putting pawl, can both adapt to the position of arm 1 flexibly.
Fig. 7 is for getting the pawl schematic diagram in the docking operation.It is as follows that it gets the pawl process:
A) preparatory stage: arm 1 enters the preparatory stage and tentatively aims at joint unit 2;
B) location and locking stage: in this stage, rely on the flexible middle arm 1 of aiming at automatically of flexible positioning element 3 to prepare the location, when the pressure that detects arm interface 18 and paw interface 19 when pressure sensor 11 surpasses certain limitation, show that arm 1 located, pressure sensor 11 is passed to 1 one analog signals of arm makes it stop axially-movable; Then, motor 8 beginnings in the joint unit 2 are just changeed, drive motor nut 9 and slide block 10 and move and make it to be in lower end position, contact roller 14 is pressed in the pressing groove 16 that connects with paw overcoat 15 by slide block 10 embeddings, arm interface 18 and paw interface 19 are fixedly connected, and this moment, device was in locking state;
C) separation phase: arm 1 and joint unit 2 combine as a whole, and enter separation phase, and arm 1 takes out paw 4 and leaves base 5, promptly finishes one and gets the pawl process.
Fig. 8 is for putting the pawl schematic diagram in the docking operation.It is as follows that it puts the pawl process:
A) preparatory stage: arm 1 enters the preparatory stage, and joint unit 2 and flexible positioning element 3 are tentatively aimed at;
B) location and release stage: arm 1 relies on the flexible intermediate function of aiming at automatically of flexible positioning element 3, the draw-in groove of guiding joint unit 2 and flexible positioning element 3 embed and engage, motor 8 in the joint unit 2 begins counter-rotating, drive motor nut 9 and slide block 10 and move and make it to be in upper end position, contact roller 14 freedom laterally move along the groove of rectangular pyramid shape guiding parts 13, arm interface 18 and paw interface 19 freely break away from, and this moment, device was in released state;
C) separation phase: arm 1 that connects with arm interface 18 and the paw that connects with paw interface 19 4 break away from, and paw 4 was promptly finished one and put the pawl process this moment.
Fig. 9 is for getting the pawl flow chart in the docking operation.It gets the pawl flow process: set arm and tentatively aim at (step 100) with joint unit, adopt flexible positioning element to prepare location (step 110); Do you determine whether accurately location (step 120) of arm by the detected signal of pressure sensor? if not, then arm continues location (step 110), if, then the motor in the joint unit begins just to change (step 130) and drives the motor nut and slide block moves axially (step 140), locked position (step 150) up to joint unit? if joint unit is locking not, then motor continues just changeing (step 130), if joint unit locking, be that slide block in the joint unit is in lower end position, then motor stops operating (step 160), and taking-up paw (step 170) is finished one and got the pawl process.
Figure 10 is for putting the pawl flow chart in the docking operation.It puts the pawl flow process: set joint unit and flexible positioning element and tentatively aim at (step 200), adopt flexible positioning element accurately to locate (step 210), motor in the joint unit begins counter-rotating (step 220) and drives the motor nut and slide block moves axially (step 230), unlocked position (step 240) up to joint unit? if joint unit does not have release, then motor continues counter-rotating (step 220), if joint unit locking, be that slide block in the joint unit is in upper end position, motor stop operating (step 250) then, arm separates with paw, puts back to paw (step 260) and finishes one and put the pawl process.
Obviously, those skilled in the art can be to of the present invention: a kind of docking facilities of mechanical paw and docking calculation thereof, carry out various changes and modification and do not break away from the spirit and scope of the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and modification interior.

Claims (5)

1. the docking facilities of a puma manipulator, device comprise arm (1) and the joint unit of mechanical attachment (2), flexible positioning element (3), paw (4), base (5) with it, it is characterized in that:
Mechanical attachment arm (1) above the joint unit in the described device (2), following mechanical attachment paw (4), joint unit (2) is fixed on the flexible positioning element (3) by the draw-in groove that is positioned on the paw overcoat (15) in the middle of it, and the periphery of joint unit (2) is square base of half opening (5) and mechanical attachment with it;
Described joint unit (2), also comprise arm overcoat (6), arm flange (7), motor (8), motor nut (9), slide block (10), pressure sensor (11), alignment pin (12), rectangular pyramid shape guiding parts (13), contact roller (14), paw overcoat (15), pressing groove (16), circuit board (17), wherein, described motor (8) with four bolting below the columniform arm flange of ladder (7), adopt motor nut (9) and slide block (10) to be connected on the axle of motor (8), the motion that is used to transmit motor (8) realizes fixing of contact roller (14) and along groove freely-movable two states; Be equipped with contact roller (14) below the described slide block (10), contact roller (14) places in the groove of rectangular pyramid shape guiding parts (13), is used for locking and the release docking facilities; The hollow hole of described rectangular pyramid shape guiding parts (13) is built-in with pressure sensor (11) and four alignment pins (12), and pressure sensor (11) is used for detecting the pressure between arm interface (18) and the paw interface (19); Described four alignment pins (12) are along circumferentially being evenly distributed on the rectangular pyramid shape guiding parts (13), are used for circumferential fixing arm interface (18) and paw interface (19); Described rectangular pyramid shape guiding parts (13) is by connector bolt and top arm overcoat (6) mechanical attachment, and rectangular pyramid shape guiding parts (13) and paw overcoat (15) cooperation are with the guide function of the device that achieves a butt joint (2); Described arm overcoat (6) is by connector bolt and arm flange (7) mechanical attachment of pushing up; Be equipped with cylindrical paw overcoat (15) below the described rectangular pyramid shape guiding parts (13), described paw overcoat (15) inside is the taper hollow hole and is screwed connection circuit board (17) and pressing groove (16) that the inner taper hollow hole of paw overcoat (15) is used for and the guide function of rectangular pyramid shape guiding parts (13) cooperation with the device that achieves a butt joint (2);
Described flexible positioning element (3), comprise ball (20), fixed mount (21), spring (22), plane bearing (23), described plane bearing (23) is the arched door shape, three sides are arranged on it, described three sides respectively are equipped with three springs (22), the below of plane bearing (23) is equipped with the ball (20) of rotation, described ball (20) has 14 and evenly be embedded in the groove of fixed mount (21), plane bearing (23) is connected and fixed by spring (22) and fixed mount (21), be used for when docking, having under the situation of certain error when arm (1), by plane bearing (23) at x, the y direction move and z to rotation, make plane bearing (23) when getting pawl and putting pawl, can both adapt to the position of arm (1) flexibly.
Described rectangular pyramid shape guiding parts (13), at arm interface (18) is that active port and paw interface (19) are to be equipped with rectangular pyramid shape guiding mechanism on the passive port respectively, when accessing pawl, even there is certain error the position of arm (1), docking facilities still can be realized leading flexibly and locating, and it is flexible by flexible positioning element (3) assurance.
2. the docking facilities of a kind of puma manipulator according to claim 1 is characterized in that: described joint unit (2) is that flexible location connects with mechanical attachment between the flexible positioning element (3).
3. the docking facilities of a kind of puma manipulator according to claim 1, it is characterized in that: described docking facilities is used for the general environment of mechanical arm, robot, or is used for vacuum, space, special environment under water.
4. the docking facilities method of work of a kind of puma manipulator according to claim 1 comprises that the docking facilities of puma manipulator is got the pawl and the course of work of putting pawl, and its feature is as follows:
The course of work that described arm (1) is got pawl is: set arm (1) and tentatively aim at joint unit (2), adopt flexible positioning element (3) to prepare the location; Determine whether accurately location of arm (1) by the detected signal of pressure sensor (11); If not, then arm (1) continues accurately location, if then the motor of (2) (8) beginning is just changeed in the joint unit, and drives motor nut (9) and slide block (10) moves axially to the docking facilities locked position; If joint unit (2) is locking not, then motor (8) continues just to change, if joint unit (2) locking, promptly the slide block (10) in the joint unit (2) is in lower end position, and then motor (8) stops operating, and taking-up paw (4) is finished one and got the pawl process;
The course of work that described arm (1) is put pawl is: set joint unit (2) and tentatively aim at flexible positioning element (3), adopt accurately location of flexible positioning element (3); The motor of (3) (8) begins counter-rotating in the joint unit, and drives motor nut (9) and slide block (10) moves to the docking facilities unlocked position; If joint unit (2) does not have release, then motor (8) continues counter-rotating, if joint unit (2) locking, promptly the slide block (10) in the joint unit (2) is in upper end position, and then motor (8) stops operating, and puts back to paw (4) and finishes one and put the pawl process.
5. the method for work of the docking facilities of a kind of puma manipulator according to claim 4, it is characterized in that: described flexible positioning element (3) is got pawl and put pawl at arm (1) to have under the situation of certain error, by plane bearing (23) x, y direction move and z to rotation, make plane bearing (23) when getting pawl and putting pawl, can adapt to the position of arm (1) flexibly.
CNB2006100981351A 2006-11-28 2006-11-28 Butt joint device for intelligent mechanical hand and its butting method Expired - Fee Related CN100421884C (en)

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CN104742115B (en) * 2015-01-19 2016-05-11 北京航空航天大学 A kind of flexible parallel alignment device of two degrees of freedom with long-range center of rotation

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Assignee: Jiangsu Jiuxiang Automobile Appliance Group Co., Ltd.

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Denomination of invention: Butt joint device for intelligent mechanical hand and its butting method

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