CN102001092A - Mechanical arm for swarm-robot - Google Patents
Mechanical arm for swarm-robot Download PDFInfo
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- CN102001092A CN102001092A CN 201010525944 CN201010525944A CN102001092A CN 102001092 A CN102001092 A CN 102001092A CN 201010525944 CN201010525944 CN 201010525944 CN 201010525944 A CN201010525944 A CN 201010525944A CN 102001092 A CN102001092 A CN 102001092A
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Abstract
The invention provides mechanical arms for a swarm-robot, which are respectively arranged on each single robot in the swarm robot, wherein a dragging circle is arranged on the waist of the single robot. The mechanical arm for the swarm-robot comprises a bracket part, a main shaft, a motor, a transmission mechanism, a clamping jaw, a position approach sensing part and a tensile force detection part, wherein the clamping jaw comprises an upper clamping jaw and a lower clamping jaw, and are positioned in front of the mechanical arm of the swarm-robot; the motor drives the jaws to open and close through the transmission mechanism to grip the dragging circle of another single robot; the position approach sensing part is positioned in front part of the mechanical arm for the swarm-robot, and can sense the distance between the mechanical arm for the swarm-robot and a gripped object; and the tensile force detection part is positioned on the rear part of the mechanical arm for the swarm-robot, and can detect the tensile force of the mechanical arm for the swarm-robot. The mechanical arm for the swarm-robot has the advantages of more functions, small volume, compact structure and reliable gripping, can be used on the structure of the swarm-robot, and realize rigid combination of each single robot.
Description
Technical field:
The present invention relates to the robot field, particularly a kind of group robot manipulator.
Background technology:
Group robot is a kind of robot population system of being made up of the small-sized single robot of One's name is legion.The function of each single robot is simple relatively in this system, and therefore when single robot can't be finished certain complex task, group robot was just realized the application of macroscopical aspect by the cooperation of each single robot.In order to allow the group robot can be according to the requirement of different task, realize organic connection combination that each monomer is mutual, reach the transmission of rigidity combination and information, form different proportional space topological structures, just be necessary to improve the structure of single robot, promote the pattern of cooperating each other, reach and finish the more purpose of complex task.
Manipulator is the main execution unit in the robot, realizes specified action after accepting instruction, finishes intended function.Existing robots is to be operated object with manipulator general work target, function ratio is more single, and in the group robot system, each single robot will be realized mutual rigidity combination, therefore existing robots just is difficult to finish this task with manipulator, in order to adapt to the needs of group robot, manipulator just is necessary to expand its function, such as interconnected, conduct charging power taking interface use or the like automatically of realizing between the robot.
Summary of the invention:
Technical problem to be solved by this invention is to overcome the deficiency of existing robot with the manipulator function singleness, a kind of group robot manipulator is provided, its can detect voluntarily target near situation be connected drawing force, and can be as the interface that draws the electricity charging from the external world, thereby reliably realize the stiff assembly between the single robot, so that group robot is finished the application of more complicated task and the macroscopical aspect of realization.
It is as follows that the present invention solves the technical scheme that its technical problem takes:
A kind of group robot manipulator, be installed in the group robot on each single robot, this single robot waist is provided with dragging circle, described group robot comprises bracket component with manipulator, main shaft, motor, transmission mechanism, jaw, the position is near sensing part and pulling force detection part, described jaw comprises upper gripper jaw and following jaw, it is positioned at the front portion of this group robot with manipulator, described motor drives these jaw opening and closing to grasp the dragging circle of another single robot by transmission mechanism, described position is positioned at the front portion of this group robot with manipulator near sensing part, its can this group robot of sensing with manipulator and the distance of being grabbed object, described pulling force detection part is positioned at the rear portion of this group robot with manipulator, and it can detect the pulling force of this group robot with manipulator.
Group robot manipulator of the present invention, its bracket component comprises fixed support, upper mounted plate, bottom plate, two side fixed head and sensor mounts, this fixed support is positioned at the rear portion of described group robot with manipulator, it is provided with two horizontal chute and dead eyes, this two sides fixed head is individually fixed in described support bracket fastened two sides, described main shaft is set up between the two side fixed heads by two supporting screws vertically, this main shaft is provided with a transverse holes, described upper mounted plate is fixed in the upper side of fixed support and main shaft simultaneously, described bottom plate is fixed in the downside of fixed support and main shaft simultaneously, described motor is arranged in the transverse holes of this main shaft, and described sensor mount is fixed in a side of a side fixed head; Described transmission mechanism is a slider-rocker mechanism, it includes screw rod, thread slider, connecting rod on the L type, L type lower link, two folding shells and two retainer rings, this screw rod one end connects the axle of described motor, the other end is set up in the described support bracket fastened dead eye by screw-bearing, be matched in clearance between this support bracket fastened dead eye and the screw-bearing, this thread slider is threaded onto on the described screw rod, its two ends respectively are extended with a slider waveguide rod, this slider waveguide rod inserts in the support bracket fastened chute, the guiding thread slider moves laterally along chute, this two foldings shell is located at the two ends of described main shaft by bearing bracket stand, it respectively is provided with a U type groove, connecting rod one end is articulated on the slider waveguide rod of thread slider on the described L type, the other end is articulated on the folding shell, described L type lower link one end is articulated on another slider waveguide rod of thread slider, and the other end is articulated on another folding shell; The rear end of described upper gripper jaw embeds in the U type groove of a folding shell, and the described rear end of jaw down embeds in the U type groove of another folding shell, and two retainer rings cover the outside that places two folding shells respectively by the jaw lock screw, and upper gripper jaw and following jaw are fixed; Described position is a proximity transducer near sensing part, and it is fixed in the leading flank of described sensor mount, and described pulling force detection part is a LOAD CELLS, and it is fixed in described support bracket fastened trailing flank; Retainer ring, the folding shell of described jaw down and following jaw one side all adopt the aluminium alloy manufacturing, the row metal anodized of going forward side by side, remove the oxide skin of this time jaw front portion simultaneously, the lock screw of this time jaw one side is with isolating shrinkable tube outward, and the front end of described upper gripper jaw and following jaw is provided with unciform process portion.
Group robot of the present invention has multiple advantages with manipulator and conventional machines people machinery palmistry ratio.At first, its front portion laid the position near sensing part can this group robot of sensing with manipulator and the distance of being grabbed object, its rear portion is provided with the pulling force that the pulling force detection part can detect this group robot usefulness manipulator, thereby has increased multinomial measuring ability; Secondly, this group robot has carried out the anodic metal oxide processing with manipulator to retainer ring, the folding shell that descends jaw and following jaw one side, lock screw also is with isolating shrinkable tube, jaw and upper gripper jaw are insulated fully, thereby make this two jaw become two electrodes, use as the power taking interface, thereby realize the function of described group robot automatic power taking, even realize that the electric power between the group robot is interconnected; Moreover, the thread slider of its transmission mechanism and screw rod have adopted the mechanical whorl transmission, make that described group robot can self-locking when the stall of motor dead electricity with manipulator, live the dragging circle of another robot by the unciform process part interlock of jaw front end, thereby guarantee the reliability that manipulator connects, simultaneously owing to realizing pulling by self-locking and needn't continuing to power up to motor, therefore make described manipulator energy consumption greatly reduce, this is than adopting the current of electric SERVO CONTROL to keep the scheme of clamping force more superior.In a word, the group robot of the present invention existing multi-functional characteristics of manipulator, have also that volume is little, compact conformation, grasp reliable advantage, can be used on the structure of group robot, make each single robot can realize organic stiff assembly, constitute rational space topological structure, reach modality for co-operation more closely, make described group robot finish more complicated macroscopical task.
Description of drawings:
Fig. 1 is a stereogram of the present invention.
Fig. 2 is a structure front view of the present invention.
Fig. 3 is the A-A profile of Fig. 2.
Fig. 4 is a STRUCTURE DECOMPOSITION schematic diagram of the present invention.
The specific embodiment:
Now the present invention is described in further detail with accompanying drawing in conjunction with specific embodiments.
At first please in conjunction with consulting Fig. 1 stereogram of the present invention, described group robot is installed in the group robot on each single robot with manipulator, and the waist of each single robot is equipped with the dragging circle that can be grasped.This group robot comprises that with manipulator bracket component, main shaft, motor, transmission mechanism, jaw, position are near sensing part and pulling force detection part.Described jaw comprises upper gripper jaw 16 and following jaw 16 ', it is positioned at the front portion of this group robot with manipulator, described motor drives these jaw opening and closing to grasp the dragging circle of another single robot by transmission mechanism, described position is positioned at the front portion of this group robot with manipulator near sensing part, its can this group robot of sensing with manipulator and the distance of being grabbed object, described pulling force detection part is positioned at the rear portion of this group robot with manipulator, and it can detect the pulling force of this group robot with manipulator.
Please in conjunction with consulting Fig. 2,3 and 4, details are as follows for concrete structure of the present invention again:
Group robot of the present invention comprises fixed support 2, upper mounted plate 15, bottom plate 15 ', two side fixed heads 17 and sensor mount 12 with the bracket component of manipulator.Described fixed support 2 is positioned at the rear portion of described group robot with manipulator, respectively is provided with the square bar of a pair of level about its front portion, and each is to forming a horizontal chute 21 between the square bar, and the central authorities in fixed support 2 fronts are provided with a dead eye.Described two side fixed heads 17 are individually fixed in the two sides of described fixed support 2.Described main shaft 9 axially is set up between the two side fixed heads 17 by two supporting screws 10 at two ends along it, these main shaft 9 upper and lower sides respectively are provided with a plane, center line along the upper and lower side plane of this center line is provided with row's fixing hole, along main shaft 9 radially be provided with a transverse holes, this transverse holes is the square hole of hollow.Described upper mounted plate 15 is fixed on the fixed support 2, is fixed in the upper side plane of main shaft 9 simultaneously by the said fixing hole, and described bottom plate 15 ' is fixed on the fixed support 2, is fixed in the following side plane of main shaft 9 simultaneously by the said fixing hole.Thereby fixed support 2, upper mounted plate 15, bottom plate 15 ', two side fixed heads 17 and main shaft 9 just form a framing component, become the foundation structure of described group robot with manipulator.Described sensor mount 12 is fixed in a side of a side fixed head 17, described position is a proximity transducer 14 near sensing part, it is fixed in the leading flank of described sensor mount 12, be between upper gripper jaw 16 and the following jaw 16 ', the E3T-11 that adopts OMRON to produce in the present embodiment, when manipulator was opened, this proximity transducer 14 can detect target near situation.
Described motor 7 is arranged among the transverse holes on the described main shaft 9, and the control of H bridge chip is adopted in the driving of this motor 7, and MCU opens and clamp operation motor 7 by signals such as PWM and directions.This driving chip also has the testing current pin, by inserting the AD of MCU, just can learn the drive current of motor 7, when drive current increases sharply, just can be judged described manipulator by the stall of motor 7 and be in the state that clamps or loosen fully fully, at this moment MCU closes driving.
Described transmission mechanism is a slider-rocker mechanism, and it includes connecting rod 6 on screw rod 4, thread slider 5, the L type, L type lower link 6 ', two folding shells 11 and two retainer rings 13.This screw rod 4 adopts M4 screw rods, and the one end connects the axle of described motor 7, and the other end is set up in the dead eye of described fixed support 2 central authorities by screw-bearing 3.Because part of the present invention is too small, machining accuracy is very high, fit on has certain difficulty, cause rotary resistance to become big for fear of error owing to assembling, cause the damage of motor 7, adopt bigger matched in clearance between the dead eye of this fixed support 2 and the screw-bearing 3, make the loosening placement of screw-bearing 3 and this dead eye, allow motor 7 rotate like this and reduce resistance, make the folding of described manipulator more flexible.Described thread slider 5 is threaded onto on this screw rod 4, the two ends of this thread slider 5 respectively are extended with a slider waveguide rod 51, this two slider waveguide rod 51 inserts in the horizontal concrete chute 21 of fixed support 2 front portions, when motor 7 drove screw rod 4 rotations, slider waveguide rod 51 just can guide thread slider 5 laterally to move back and forth along chute 21.Screw thread transmission between this thread slider 5 and the screw rod 4 has self-locking action, makes that described motor 7 can self-locking when the dead electricity stall, thereby guarantees the reliability that manipulator connects.Described two folding shells 11 are set up in the two ends of described main shaft 9 by bearing 8, make two folding shells 11 freely to rotate with respect to motionless main shaft 9.Connecting rod 6 one ends are articulated on the slider waveguide rod 51 of thread slider 5 on the described L type, and the other end is articulated on the folding shell 11 of main shaft 9 one sides; Described L type lower link 6 ' one end is articulated on another slider waveguide rod 51 of thread slider 5, and the other end is articulated on the folding shell 11 of main shaft 9 opposite sides.Thereby connecting rod 6 or L type lower link 6 ' form slider-rocker mechanism jointly with folding shell 11 on the screw rod 4, thread slider 5, L type, the rotation of motor 7 are transformed into the reciprocally swinging of folding shell 11.
Respectively be provided with a U type groove 111 (see figure 4)s on the described two folding shells 11, the rear end of described upper gripper jaw 16 embeds in the U type groove 111 of a folding shell 11, and the described rear end of jaw 16 ' down embeds in the U type groove 111 of another folding shell 11.Two retainer rings 13 cover the outside that places two folding shells 11 respectively, and are fixed on the two folding shells 11 by jaw lock screw 131, thereby upper gripper jaw 16 and following jaw 16 ' are fixed.By said structure, the reciprocally swinging of folding shell 11 conducts to upper gripper jaw 16 and following jaw 16 ', thereby the opening and closing that realize this two jaw are to grasp the dragging circle of another single robot.The front end of described upper gripper jaw 16 and following jaw 16 ' is provided with unciform process portion 161 and 161 ', so that grasping of two jaws is more reliable.
Described pulling force detection part is a LOAD CELLS 1, and it is fixed in the trailing flank of described fixed support 2, in order to measure the drawing force of described single robot.
Function is many, volume is little so the described mechanical arm for swarm-robot of this patent has, compact conformation, grasp reliable advantage.
Claims (7)
1. group robot manipulator, be installed in the group robot on each single robot, this single robot waist is provided with dragging circle, it is characterized in that: described group robot comprises bracket component with manipulator, main shaft, motor, transmission mechanism, jaw, the position is near sensing part and pulling force detection part, described jaw comprises upper gripper jaw and following jaw, it is positioned at the front portion of this group robot with manipulator, described motor drives these jaw opening and closing to grasp the dragging circle of another single robot by transmission mechanism, described position is positioned at the front portion of this group robot with manipulator near sensing part, its can this group robot of sensing with manipulator and the distance of being grabbed object, described pulling force detection part is positioned at the rear portion of this group robot with manipulator, and it can detect the pulling force of this group robot with manipulator.
2. group robot manipulator according to claim 1, it is characterized in that: described bracket component comprises fixed support, upper mounted plate, bottom plate, two side fixed head and sensor mounts, this fixed support is positioned at the rear portion of described group robot with manipulator, it is provided with two horizontal chute and dead eyes, this two sides fixed head is individually fixed in described support bracket fastened two sides, described main shaft is set up between the two side fixed heads by two supporting screws vertically, this main shaft is provided with a transverse holes, described upper mounted plate is fixed in the upper side of fixed support and main shaft simultaneously, described bottom plate is fixed in the downside of fixed support and main shaft simultaneously, described motor is arranged in the transverse holes of this main shaft, and described sensor mount is fixed in a side of a side fixed head; Described transmission mechanism is a slider-rocker mechanism, it includes screw rod, thread slider, connecting rod on the L type, L type lower link, two folding shells and two retainer rings, this screw rod one end connects the axle of described motor, the other end is set up in the described support bracket fastened dead eye by screw-bearing, this thread slider is threaded onto on the described screw rod, its two ends respectively are extended with a slider waveguide rod, this slider waveguide rod inserts in the support bracket fastened chute, the guiding thread slider moves laterally along chute, this two foldings shell is located at the two ends of described main shaft by bearing bracket stand, it respectively is provided with a U type groove, connecting rod one end is articulated on the slider waveguide rod of thread slider on the described L type, the other end is articulated on the folding shell, and described L type lower link one end is articulated on another slider waveguide rod of thread slider, and the other end is articulated on another folding shell; The rear end of described upper gripper jaw embeds in the U type groove of a folding shell, and the described rear end of jaw down embeds in the U type groove of another folding shell, and two retainer rings cover the outside that places two folding shells respectively by the jaw lock screw, and upper gripper jaw and following jaw are fixed.
3. group robot manipulator according to claim 2 is characterized in that: described position is a proximity transducer near sensing part, and it is fixed in the leading flank of described sensor mount.
4. group robot manipulator according to claim 2 is characterized in that: described pulling force detection part is a LOAD CELLS, and it is fixed in described support bracket fastened trailing flank.
5. according to each described group robot manipulator in the claim 2 to 4, it is characterized in that: retainer ring, the folding shell of described jaw down and following jaw one side all adopt the aluminium alloy manufacturing, the row metal anodized of going forward side by side, remove the oxide skin of this time jaw front portion simultaneously, the lock screw of this time jaw one side is with isolating shrinkable tube outward.
6. according to each described group robot manipulator in the claim 2 to 4, it is characterized in that: be matched in clearance between described support bracket fastened dead eye and the screw-bearing.
7. according to each described group robot manipulator in the claim 1 to 4, it is characterized in that: the front end of described upper gripper jaw and following jaw is provided with unciform process portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105259442A CN102001092B (en) | 2010-10-29 | 2010-10-29 | Mechanical arm for swarm-robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105259442A CN102001092B (en) | 2010-10-29 | 2010-10-29 | Mechanical arm for swarm-robot |
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| CN102001092A true CN102001092A (en) | 2011-04-06 |
| CN102001092B CN102001092B (en) | 2012-03-21 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105855419A (en) * | 2016-04-12 | 2016-08-17 | 天津信泰汽车零部件有限公司 | Rapid and automatic clamping finger switchover mechanism for clamping punched products |
| CN106671122A (en) * | 2016-11-02 | 2017-05-17 | 清华大学 | Object gripper with distance and pressure detection function and rotation-clogging protection function |
| CN107825450A (en) * | 2017-12-11 | 2018-03-23 | 苏州元谋智能机器人系统有限公司 | Switch gate manipulator, switch gate robot and switch gate method |
| CN108161964A (en) * | 2018-02-12 | 2018-06-15 | 湖南祥瑞智能机器有限公司 | A kind of automatic grasper device and the Intelligent Truss Structures robot with the device |
| CN111890406A (en) * | 2020-08-07 | 2020-11-06 | 江苏昱博自动化设备有限公司 | Clamping type clamp for power-assisted manipulator |
| CN113894954A (en) * | 2021-11-01 | 2022-01-07 | 青岛高测科技股份有限公司 | Silicon rod cutting and grinding system |
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| EP1548530A1 (en) * | 2003-12-22 | 2005-06-29 | Alcatel | Method of controlling swarm of robots |
| CN101549494A (en) * | 2009-05-11 | 2009-10-07 | 北京航空航天大学 | Monomer automatic transformable robot with self-assembly characteristic |
| CN201824357U (en) * | 2010-10-29 | 2011-05-11 | 上海理工大学 | Manipulator for swarm robots |
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2010
- 2010-10-29 CN CN2010105259442A patent/CN102001092B/en not_active Expired - Fee Related
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| CN101549494A (en) * | 2009-05-11 | 2009-10-07 | 北京航空航天大学 | Monomer automatic transformable robot with self-assembly characteristic |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105855419A (en) * | 2016-04-12 | 2016-08-17 | 天津信泰汽车零部件有限公司 | Rapid and automatic clamping finger switchover mechanism for clamping punched products |
| CN106671122A (en) * | 2016-11-02 | 2017-05-17 | 清华大学 | Object gripper with distance and pressure detection function and rotation-clogging protection function |
| CN107825450A (en) * | 2017-12-11 | 2018-03-23 | 苏州元谋智能机器人系统有限公司 | Switch gate manipulator, switch gate robot and switch gate method |
| CN107825450B (en) * | 2017-12-11 | 2024-04-05 | 苏州新优化投资咨询有限公司 | Door opening and closing mechanical arm, door opening and closing robot and door opening and closing method |
| CN108161964A (en) * | 2018-02-12 | 2018-06-15 | 湖南祥瑞智能机器有限公司 | A kind of automatic grasper device and the Intelligent Truss Structures robot with the device |
| CN108161964B (en) * | 2018-02-12 | 2024-05-10 | 中电工业互联网有限公司 | Automatic gripping apparatus device and intelligent truss robot with same |
| CN111890406A (en) * | 2020-08-07 | 2020-11-06 | 江苏昱博自动化设备有限公司 | Clamping type clamp for power-assisted manipulator |
| CN113894954A (en) * | 2021-11-01 | 2022-01-07 | 青岛高测科技股份有限公司 | Silicon rod cutting and grinding system |
| CN113894954B (en) * | 2021-11-01 | 2024-02-02 | 青岛高测科技股份有限公司 | Silicon rod cutting and grinding system |
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| CN102001092B (en) | 2012-03-21 |
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