CN102001092B - Mechanical arm for swarm-robot - Google Patents
Mechanical arm for swarm-robot Download PDFInfo
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- CN102001092B CN102001092B CN2010105259442A CN201010525944A CN102001092B CN 102001092 B CN102001092 B CN 102001092B CN 2010105259442 A CN2010105259442 A CN 2010105259442A CN 201010525944 A CN201010525944 A CN 201010525944A CN 102001092 B CN102001092 B CN 102001092B
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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 is used 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 accomplished certain complex task, group robot was just realized the application of macroscopical aspect through the cooperation of each single robot.In order to let the group robot can be according to the requirement of different task; Realize organic connection combination that each monomer is mutual; Reach rigidity combination and information transmission, 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 accomplish the more purpose of complex task.
Manipulator is the main execution unit in the robot, after accepting instruction, realizes specified action, accomplishes intended function.Existing robots with manipulator general work target by operand; Function ratio is more single, and in the group robot system, each single robot will realize that mutual rigidity combines; Therefore existing robots just is difficult to accomplish 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; Provide a kind of group robot to use manipulator; It can detect voluntarily target near situation be connected drawing force; And can conduct draw the interface of electric charging from the external world, thus reliably realize the stiff assembly between the single robot, so that group robot is accomplished the application of more complicated task and the macroscopical aspect of realization.
It is following that the present invention solves the technical scheme that its technical problem takes:
A kind of group robot is used manipulator; Be installed in the group robot on each single robot; This single robot waist is provided with dragging circle, and said group robot comprises bracket component, main shaft, motor, transmission mechanism, jaw, position near sensing part and pulling force detection part with manipulator, and said jaw comprises upper gripper jaw and following jaw; It is positioned at the front portion of this group robot with manipulator; Said motor drives these jaw opening and closing to grasp the dragging circle of another single robot through transmission mechanism, and said 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 grabbed the distance of object; Said 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 of the present invention is used manipulator; 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 said group robot with manipulator, and it is provided with two horizontal chute and dead eyes, and this two sides fixed head is individually fixed in said support bracket fastened two sides; Said main shaft is set up between the two side fixed heads through two supporting screws vertically; This main shaft is provided with a transverse holes, and said upper mounted plate is fixed in the upper side of fixed support and main shaft simultaneously, and said bottom plate is fixed in the downside of fixed support and main shaft simultaneously; Said motor is arranged in the transverse holes of this main shaft, and said sensor mount is fixed in a side of a side fixed head; Said transmission mechanism is a slider-rocker mechanism, and it includes connecting rod on screw rod, thread slider, the L type, L type lower link, two folding shells and two retainer rings, and this screw rod one end connects the axle of said motor; The other end is set up in the said support bracket fastened dead eye through 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 said screw rod, and 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, and this two foldings shell is located at the two ends of said main shaft through bearing bracket stand, and 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 said L type; The other end is articulated on the folding shell, and said 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 said upper gripper jaw embeds in the U type groove of a folding shell, and the rear end of said 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 through the jaw lock screw, and upper gripper jaw and following jaw are fixed; Said position is a proximity transducer near sensing part, and it is fixed in the leading flank of said sensor mount, and said pulling force detection part is a LOAD CELLS, and it is fixed in said support bracket fastened trailing flank; Retainer ring, the folding shell of said 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 anterior oxide skin of this time jaw simultaneously; The lock screw of this time jaw one side is with isolating shrinkable tube outward, and the front end of said 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 detection part can detect the pulling force of this group robot with manipulator, thereby 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, and lock screw also is with isolating shrinkable tube, and 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 said 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 through the unciform process part interlock of jaw front end, thereby guarantee the reliability that manipulator connects, simultaneously owing to realizing pulling through self-locking and needn't continuing to power up to motor; Therefore make said 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; Group robot of the present invention is with the existing multi-functional characteristics of manipulator, has also that volume is little, compact conformation, grasps reliable advantage, can be used on the structure of group robot; Make each single robot can realize organic stiff assembly; Constitute the reasonable space topological structure, reach modality for co-operation more closely, make said group robot accomplish 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 sketch map of the present invention.
The specific embodiment:
Combine specific embodiment and accompanying drawing that the present invention is done further detailed description at present.
At first please combine to consult Fig. 1 stereogram of the present invention, said 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.Said jaw comprises upper gripper jaw 16 and following jaw 16 '; It is positioned at the front portion of this group robot with manipulator; Said motor drives these jaw opening and closing to grasp the dragging circle of another single robot through transmission mechanism; Said position is positioned at the front portion of this group robot with manipulator near sensing part; It can this group robot of sensing with manipulator and the distance of being grabbed object, said pulling force detection part is positioned at the rear portion of this group robot with manipulator, it can detect the pulling force of this group robot with manipulator.
Please combine to consult 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.Said fixed support 2 is positioned at the rear portion of said group robot with manipulator, respectively is provided with the square bar of a pair of level about it is anterior, 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.Said two side fixed heads 17 are individually fixed in the two sides of said fixed support 2.Said main shaft 9 axially is set up between the two side fixed heads 17 through 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.Said upper mounted plate 15 is fixed on the fixed support 2, is fixed in the upper side plane of main shaft 9 simultaneously through the said fixing hole, and said bottom plate 15 ' is fixed on the fixed support 2, is fixed in the following side plane of main shaft 9 simultaneously through 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 said group robot with manipulator.Said sensor mount 12 is fixed in a side of a side fixed head 17; Said position is a proximity transducer 14 near sensing part; The leading flank that it is fixed in said sensor mount 12 is 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.
Said motor 7 is arranged among the transverse holes on the said 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 through signals such as PWM and directions.This chip for driving also has the testing current pin; Through inserting the AD of MCU, just can learn the drive current of motor 7, when drive current increases sharply; Just can be judged said manipulator by the stall of motor 7 and be in the state that clamps or loosen fully fully, at this moment MCU closes driving.
Said 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 of which end connects the axle of said motor 7, and the other end is set up in the central dead eye of said fixed support 2 through screw-bearing 3.Because part of the present invention is too small, machining accuracy is very high, and 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; Let motor 7 rotate like this and reduce resistance, make the folding of said manipulator more flexible.Said 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 said motor 7 can self-locking when the dead electricity stall, thereby guarantees the reliability that manipulator connects.Said two folding shells 11 are set up in the two ends of said main shaft 9 through 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 said L type, and the other end is articulated on the folding shell 11 of main shaft 9 one sides; Said 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 said two folding shells 11, the rear end of said upper gripper jaw 16 embeds in the U type groove 111 of a folding shell 11, and the rear end of said 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 through 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 said 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.
Said pulling force detection part is a LOAD CELLS 1, and it is fixed in the trailing flank of said fixed support 2, in order to measure the drawing force of said single robot.
So the said group robot of this patent has that function is many, volume is little, compact conformation, grasps reliable advantage with manipulator.
Claims (6)
1. a group robot is used manipulator, is installed in the group robot on each single robot, and this single robot waist is provided with dragging circle; Said group robot comprises that with manipulator bracket component, main shaft, motor, transmission mechanism, jaw, position are near sensing part and pulling force detection part; Said jaw comprises upper gripper jaw and following jaw, and it is positioned at the front portion of this group robot with manipulator, and said motor drives these jaw opening and closing to grasp the dragging circle of another single robot through transmission mechanism; Said position is positioned at the front portion of this group robot with manipulator near sensing part; It can this group robot of sensing with manipulator and the distance of being grabbed object, said pulling force detection part is positioned at the rear portion of this group robot with manipulator, it can detect the pulling force of this group robot with manipulator; It is characterized in that: said 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 said group robot with manipulator, and it is provided with two horizontal chute and dead eyes, and this two sides fixed head is individually fixed in said support bracket fastened two sides; Said main shaft is set up between the two side fixed heads through two supporting screws vertically; This main shaft is provided with a transverse holes, and said upper mounted plate is fixed in the upper side of fixed support and main shaft simultaneously, and said bottom plate is fixed in the downside of fixed support and main shaft simultaneously; Said motor is arranged in the transverse holes of this main shaft, and said sensor mount is fixed in a side of a side fixed head; Said transmission mechanism is a slider-rocker mechanism, and it includes connecting rod on screw rod, thread slider, the L type, L type lower link, two folding shells and two retainer rings, and this screw rod one end connects the axle of said motor; The other end is set up in the said support bracket fastened dead eye through screw-bearing, and this thread slider is threaded onto on the said screw rod, and 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, and this two foldings shell is located at the two ends of said main shaft through bearing bracket stand, and 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 said L type; The other end is articulated on the folding shell, and said 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 said upper gripper jaw embeds in the U type groove of a folding shell, and the rear end of said 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 through the jaw lock screw, and upper gripper jaw and following jaw are fixed.
2. group robot according to claim 1 is used manipulator, it is characterized in that: said position is a proximity transducer near sensing part, and it is fixed in the leading flank of said sensor mount.
3. group robot according to claim 1 is used manipulator, it is characterized in that: said pulling force detection part is a LOAD CELLS, and it is fixed in said support bracket fastened trailing flank.
4. use manipulator according to each described group robot in the claim 1 to 3; It is characterized in that: retainer ring, the folding shell of said 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 anterior oxide skin of this time jaw simultaneously, the lock screw of this time jaw one side is with isolating shrinkable tube outward.
5. use manipulator according to each described group robot in the claim 1 to 3, it is characterized in that: be matched in clearance between said support bracket fastened dead eye and the screw-bearing.
6. use manipulator according to each described group robot in the claim 1 to 3, it is characterized in that: the front end of said 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 |
Applications Claiming Priority (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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| Publication Number | Publication Date |
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| CN102001092A CN102001092A (en) | 2011-04-06 |
| CN102001092B true CN102001092B (en) | 2012-03-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010105259442A Expired - Fee Related CN102001092B (en) | 2010-10-29 | 2010-10-29 | Mechanical arm for swarm-robot |
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Families Citing this family (6)
| 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 |
| CN106671122B (en) * | 2016-11-02 | 2020-01-31 | 清华大学 | object clamper with distance, pressure detection and locked-rotor protection functions |
| 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 |
| 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 |
| CN111890406B (en) * | 2020-08-07 | 2021-09-24 | 江苏昱博自动化设备有限公司 | Clamping type clamp for power-assisted manipulator |
| 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 |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1548530A1 (en) * | 2003-12-22 | 2005-06-29 | Alcatel | Method of controlling swarm of robots |
| CN101549494B (en) * | 2009-05-11 | 2012-05-02 | 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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| CN102001092A (en) | 2011-04-06 |
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