CN104842359A - Catapulting type fast grabbing robot - Google Patents
Catapulting type fast grabbing robot Download PDFInfo
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- CN104842359A CN104842359A CN201510284583.XA CN201510284583A CN104842359A CN 104842359 A CN104842359 A CN 104842359A CN 201510284583 A CN201510284583 A CN 201510284583A CN 104842359 A CN104842359 A CN 104842359A
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Abstract
The invention belongs to the field of robotics and machinery manufacturing and relates to a catapulting type fast grabbing robot comprising a base, a direction adjustment mechanism, a launching mechanism, a contracting mechanism, an adhering and grabbing mechanism and a controls system. The catapulting type fast grabbing robot can realize catapulting of the robot grabbing mechanism by generating elastic force through deformation of a compression spring and realizes withdrawing of the robot grabbing mechanism through the contracting mechanism, and multi-directional grabbing or obstacle-surmounting grabbing can be realized by adjusting the catapulting direction of the launching mechanism. The catapulting type fast grabbing robot has the advantages of simple structure, high grabbing speed, long grabbing distance and the like, the problem that the conventional industrial robot body is incapable of moving and limited to grabbing space can be solved, working efficiency of product sorting, conveying and the like is improved, and meanwhile the robot can be applied to the related fields such as agriculture.
Description
Technical field
The invention belongs to Robotics and mechanical manufacturing field, be specifically related to a kind of ejection type and capture robot fast.
Background technology
More natural animals have and fly all capturing abilities, and in the motion process of such as chameleon bullet tongue predation, its special tongue is with up to 400m/s
2acceleration and the dynamic ejection of 3.5m/s to the distance of its body length 2 times.By the inspiration of the behavior of this biologic-organ, intend a kind of ejection type of exploitation and capture robot, compared with capturing robot with traditional rigidity, ejection type captures robot and has speed soon, captures scope wide, mobility strong, the features such as environmental suitability is strong.
Structured environment can only be applied to solve traditional industry crawl robot, and it is irremovable to there is body, do not possess the problems such as limitation such as expansion service, environmental suitability be poor, at present both at home and abroad scientist all in exploration maneuverability, extensile, efficient Grasp Modes.Along with biomethanics, Machine Design, biomimetic material, the multi-disciplinary development such as optimal control and mixing together, scientific research personnel studies crawl robot miscellaneous, as American scientist Walker adopts the continuous type flexible structure of four sections of binary Sclerotome type elastic support series system simulation trunks, and adopt driven by motor rope to drive elastomer to bend, the remote weight realized under imitative trunk continuous type robot unstructured moving grids captures, the people such as Trivedi have developed a kind of imitative octopus feeler robot, Pneumatic artificial muscle (Pneumatic Artificial Muscle) is adopted to make the driver element possessing transverse curvature and ability extending longitudinally, simulation octopus rolls remote target object flexibly.In addition, capture the stretch performance of motion to improve robot, the rigid structure that Guerra adopts guide rail to connect many conduits devises scalable mechanical arm, effectively improves the crawl space of robot.
Above-mentioned crawl robot all has stronger expansion service, opereating specification is comparatively large, effectively can realize remote target captures, but maximum weak point is grasp speed slow (being all less than 0.1m/s), cannot meet the grasp speed requirement in practical application at all.
Summary of the invention
The object of the invention is to capture robot expansion service for existing industry weak, opereating specification is less, and the confinement problems that bionical crawl robot grasp speed is slower, design one can realize launching crawl robot fast, the quick crawl of distant object can be realized, meanwhile, also a solution is provided for obstacle detouring captures.
In order to realize above-mentioned target, with the motion mode of chameleon bullet tongue predation as a reference, adopt the method simplifying structural design and control mode, a kind of ejection type of the present invention captures robot fast, it is characterized in that: described ejection type captures robot fast and comprises direction adjusting mechanism, pedestal, trigger mechanism, contracting mechanism and adhesion grasping mechanism;
Described direction adjusting mechanism is by servomotor one, direction adjustment plate and hinge are formed, and described direction adjustment plate is arranged on impact faces by described hinge, fixed support one on pedestal, support one is installed servomotor one, described servomotor one output shaft closure adjustment plate; Described trigger mechanism is made up of Compress Spring and jockey one, and one end of Compress Spring is fixed on the side of direction adjustment plate by jockey one; Described contracting mechanism is by rotating shaft, non-resilient rope, servomotor two is formed, described rotating shaft is arranged on impact faces, servomotor two installed by support two fixing on pedestal, and the described output shaft of servomotor two is connected with the central shaft of rotating shaft, and the top of described non-resilient rope is fixed in rotating shaft, and around multi-turn in rotating shaft, the end of described non-resilient rope is connected with adhesion grasping mechanism through direction adjustment plate; Described adhesion grasping mechanism comprises the jockey two of adhesive face and adhesive face and non-resilient rope.
Above-mentioned ejection type captures the Grasp Modes of robot fast, it is characterized in that this ejection type captures the traction Compress Spring of adhesion grasping mechanism in the stage of launching by non-resilient rope of robot fast, make spring produce deformation and produce the normal pressure contrary with wire saws direction, when cutting off tractive force, this spring release elastic force promotion adhesion grasping mechanism realizes adhering to grasping mechanism and launches forward.
Above-mentioned ejection type captures the Grasp Modes of robot fast, it is characterized in that the servomotor two-way over-rotation motion that this ejection type captures on the contracting mechanism of robot fast drives described spool fast rotational to regain non-resilient rope, the adhesion grasping mechanism be connected with non-resilient rope end is regained rapidly, realizes the retraction of grasping mechanism.
Above-mentioned ejection type captures the Grasp Modes of robot fast, it is characterized in that this ejection type captures robot changes direction adjusting mechanism tangent plane direction by the rotary motion controlling servomotor one fast, thus change the direction of the Compress Spring vertical with direction adjusting mechanism, complete sling movement to realize adhering to grasping mechanism by the parabolic path of planning, or realize obstacle detouring crawl.
Ejection type of the present invention captures robot fast, can realize the function of launching crawl and fast retractile fast of imitating lizard bullet tongue.The power resources that spring on trigger mechanism provides grasping mechanism to launch, by changing the compression degree of spring and the size of angle adjustment emissivity of direction adjusting mechanism and the angle of transmitting, in conjunction with the weight parameter adhering to grasping mechanism, the crawl movement locus of planning robot, the accurate crawl or the obstacle detouring that realize multi-faceted target capture.The traction of the non-resilient rope of contracting mechanism provides the power resources of the retraction of grasping mechanism, drives spool fast rotational to regain grasping mechanism by servomotor.Because this ejection type captures robot fast, to have structure simple, grasp speed is fast, captures the advantages such as distance, can solve the problem that conventional industrial robot captures limited space, improve the operating efficiency such as product sorting, transmission, also can be used for the association areas such as agricultural simultaneously.
Accompanying drawing explanation
Fig. 1 is the structural representation that ejection type of the present invention captures robot fast;
Fig. 2 is that ejection type of the present invention captures robot obstacle detouring crawl schematic diagram fast;
Fig. 3 is that ejection type of the present invention captures robot grasping mechanism withdrawal schematic diagram fast;
In figure, 1, direction adjusting mechanism; 2, pedestal; 3, support one; 4, servomotor one; 5, direction adjustment plate; 6, trigger mechanism; 7, Compress Spring; 8, jockey one; 9, contracting mechanism; 10, rotating shaft; 11, non-resilient rope; 12, servomotor two; 13, support two; 14, grasping mechanism is adhered to; 15, adhesive face; 16, jockey two; 17, hinge.
Detailed description of the invention
Carry out detailed explanation below in conjunction with accompanying drawing to the present invention to illustrate, as Fig. 1, a kind of ejection type captures robot fast, comprises direction adjusting mechanism 1, pedestal 2, trigger mechanism 6, contracting mechanism 9 and adhesion grasping mechanism 14, described direction adjusting mechanism (1) is by servomotor one (4), direction adjustment plate (5) and hinge (17) are formed, described direction adjustment plate (5) is arranged on above pedestal (2) by described hinge (17), the upper fixed support one (3) of described pedestal (2), described support one (3) is upper installs servomotor one (4), described servomotor one (4) output shaft closure adjustment plate (5), described trigger mechanism (6) is made up of Compress Spring (7) and jockey one (8), and one end of described Compress Spring (7) is fixed on the side in described direction adjustment plate (5) by described jockey one (8), described contracting mechanism (9) is by rotating shaft (10), non-resilient rope (11), servomotor two (12) is formed, described rotating shaft (10) is arranged on above described pedestal (2), support two (13) the upper installation servomotor two (12) that described pedestal (2) is fixing, the output shaft of described servomotor two (12) is connected with the central shaft of rotating shaft (10), the top of described non-resilient rope (11) is fixed in rotating shaft, and around multi-turn in rotating shaft (10), the end of described non-resilient rope (11) is connected with adhesion grasping mechanism (14) through described direction adjustment plate (5), described adhesion grasping mechanism (14) comprises the jockey two (16) of adhesive face (15) and adhesive face and non-resilient rope.
Ejection type captures the Grasp Modes of robot fast, it is characterized in that this ejection type captures the traction Compress Spring of adhesion grasping mechanism in the stage of launching by non-resilient rope of robot fast, make spring produce deformation and produce the normal pressure contrary with non-resilient wire saws direction, when cutting off tractive force, this spring release elastic force promotion adhesion grasping mechanism realizes adhering to grasping mechanism and launches forward.
Ejection type captures the retraction mode of robot fast, as Fig. 2, it is characterized in that the servomotor two-way over-rotation motion that this ejection type captures on the contracting mechanism of robot fast drives described spool fast rotational to regain non-resilient rope, the adhesion grasping mechanism be connected with non-resilient rope end is regained rapidly, realizes the retraction adhering to grasping mechanism.
Ejection type captures the direction adjustment mode of robot fast, as Fig. 3, when it is characterized in that the spring on non-resilient wire saws grasping mechanism compression pedestal, the draw direction of non-resilient rope all keeps vertical with pedestal tangent plane direction with the elastic force direction of spring, this ejection type captures robot changes direction adjusting mechanism tangent plane direction by the rotary motion controlling servomotor one fast, thus change the direction of the Compress Spring vertical with direction adjusting mechanism, complete sling movement to realize adhering to grasping mechanism by the parabolic path of planning, or realize obstacle detouring crawl.
Ejection type captures the movement control mode of robot fast, first detect and capture the position of target and the spacing coordinate of barrier, according to launching initial velocity, gravity, mathematical relationship between air drag and paw movement locus, calculate the size and Orientation of initial velocity, be scaled the size and Orientation of required ejection force again, again according to the Mathematical Modeling of ejection force and spring deformation, calculate the spool anglec of rotation needed for ejection force correspondence and the pedestal anglec of rotation, and be sent to the controller of robot by wireless module.Controller detects information according to feedback channel, after calculating the anglec of rotation needed for motor, passes to the driver module of contracting mechanism and servomotor corresponding to direction adjusting mechanism respectively.Then, the servo module of contracting mechanism controls the contracted length of draught line, the upper spring of compression direction guiding mechanism; The servo module of direction adjusting mechanism controls the anglec of rotation of direction adjusting mechanism, thus realizes the adjustment of emission angle.
The announcement of book and instruction according to the above description, those skilled in the art in the invention can also carry out suitable change and amendment to above-mentioned embodiment.Therefore, the present invention is not limited to detailed description of the invention disclosed and described above, all should be included within protection scope of the present invention some amendments of inventing, change and improvement.In addition, above are only the specific embodiment of the present invention, but design concept of the present invention is not limited thereto, allly utilizes this design to carry out the change of unsubstantiality to the present invention, the behavior of invading scope all should be belonged to.
Claims (4)
1. an ejection type captures robot fast, it is characterized in that: described ejection type captures robot fast and comprises direction adjusting mechanism (1), pedestal (2), trigger mechanism (6), contracting mechanism (9) and adhesion grasping mechanism (14), described direction adjusting mechanism (1) is by servomotor one (4), direction adjustment plate (5) and hinge (17) are formed, described direction adjustment plate (5) is arranged on above pedestal (2) by described hinge (17), the upper fixed support one (3) of described pedestal (2), described support one (3) is upper installs servomotor one (4), described servomotor one (4) output shaft closure adjustment plate (5), described trigger mechanism (6) is made up of Compress Spring (7) and jockey one (8), and one end of described Compress Spring (7) is fixed on the side in described direction adjustment plate (5) by described jockey one (8), described contracting mechanism (9) is by rotating shaft (10), non-resilient rope (11), servomotor two (12) is formed, described rotating shaft (10) is arranged on above described pedestal (2), support two (13) the upper installation servomotor two (12) that described pedestal (2) is fixing, the output shaft of described servomotor two (12) is connected with the central shaft of rotating shaft (10), the top of described non-resilient rope (11) is fixed in rotating shaft, and around multi-turn in rotating shaft (10), the end of described non-resilient rope (11) is connected with adhesion grasping mechanism (14) through described direction adjustment plate (5), described adhesion grasping mechanism (14) comprises the jockey two (16) of adhesive face (15) and adhesive face and non-resilient rope.
2. Grasp Modes of launching the robot of crawl fast according to claim 1, it is characterized in that this launches the adhesion grasping mechanism (14) capturing robot fast and draws Compress Spring (7) in the stage of launching by non-resilient rope (11), make spring produce deformation and produce the normal pressure contrary with wire saws direction, when cutting off tractive force, this spring release elastic force promotes to adhere to grasping mechanism (14) and realizes launching.
3. Grasp Modes of launching the robot of crawl fast according to claim 1, it is characterized in that this adhesion grasping mechanism (14) launching the robot of crawl is fast in the contraction phase, rotational movement spool (10) fast rotational of servomotor two (12) regains non-resilient rope (11), and the adhesion grasping mechanism (14) realizing being connected with non-resilient rope (11) end is regained rapidly.
4. Grasp Modes of launching the robot of crawl fast according to claim 2, it is characterized in that this launches and capture robot changes direction adjustment plate (5) tangent plane direction by the rotary motion controlling servomotor one (4) fast, thus change the direction adjusting the vertical Compress Spring (7) of plate (5) with direction, complete sling movement to realize adhering to grasping mechanism (14) by the parabolic path of planning, realize obstacle detouring and capture.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510284583.XA CN104842359B (en) | 2015-05-28 | 2015-05-28 | A kind of ejection type quickly captures robot |
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| CN201510284583.XA CN104842359B (en) | 2015-05-28 | 2015-05-28 | A kind of ejection type quickly captures robot |
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| CN104842359A true CN104842359A (en) | 2015-08-19 |
| CN104842359B CN104842359B (en) | 2016-10-05 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000752A (en) * | 2019-01-24 | 2019-07-12 | 华中科技大学 | A kind of wearable software manipulator and preparation method thereof with quick ejecting function |
| CN110815286A (en) * | 2019-12-05 | 2020-02-21 | 浙江清华柔性电子技术研究院 | Flexible telescopic device and mechanical arm |
| CN112678209A (en) * | 2020-12-31 | 2021-04-20 | 广州大学 | Flexible rapid grabbing device and method for lizard-eye-imitating animals |
| CN116277074A (en) * | 2023-05-17 | 2023-06-23 | 五八智能科技(杭州)有限公司 | Single-drive bidirectional casting device and casting method based on robot |
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| SU1315293A1 (en) * | 1985-11-25 | 1987-06-07 | Предприятие П/Я В-8754 | Vacuum manipulator |
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| JP2014124742A (en) * | 2012-12-27 | 2014-07-07 | Canon Electronics Inc | Arm-driving device |
| CN104075953A (en) * | 2014-07-07 | 2014-10-01 | 上海交通大学 | Multidirectional ejection type impact testing machine |
| CN104613816A (en) * | 2015-01-30 | 2015-05-13 | 杭州硕数信息技术有限公司 | Digital optical sight and method for achieving target tracking, locking and precise shooting through same |
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| SU1315293A1 (en) * | 1985-11-25 | 1987-06-07 | Предприятие П/Я В-8754 | Vacuum manipulator |
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| JP2014124742A (en) * | 2012-12-27 | 2014-07-07 | Canon Electronics Inc | Arm-driving device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000752A (en) * | 2019-01-24 | 2019-07-12 | 华中科技大学 | A kind of wearable software manipulator and preparation method thereof with quick ejecting function |
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| CN110815286A (en) * | 2019-12-05 | 2020-02-21 | 浙江清华柔性电子技术研究院 | Flexible telescopic device and mechanical arm |
| CN112678209A (en) * | 2020-12-31 | 2021-04-20 | 广州大学 | Flexible rapid grabbing device and method for lizard-eye-imitating animals |
| CN116277074A (en) * | 2023-05-17 | 2023-06-23 | 五八智能科技(杭州)有限公司 | Single-drive bidirectional casting device and casting method based on robot |
| CN116277074B (en) * | 2023-05-17 | 2023-10-10 | 五八智能科技(杭州)有限公司 | Single-drive bidirectional casting device and casting method based on robot |
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| CN104842359B (en) | 2016-10-05 |
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