CN104842359B - A kind of ejection type quickly captures robot - Google Patents
A kind of ejection type quickly captures robot Download PDFInfo
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- CN104842359B CN104842359B CN201510284583.XA CN201510284583A CN104842359B CN 104842359 B CN104842359 B CN 104842359B CN 201510284583 A CN201510284583 A CN 201510284583A CN 104842359 B CN104842359 B CN 104842359B
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- robot
- servomotor
- grasping mechanism
- ejection type
- rotating shaft
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Abstract
The invention belongs to robotics and mechanical manufacturing field, relate to one and launch crawl robot, it includes pedestal, direction adjusting mechanism, trigger mechanism, contracting mechanism, adheres to grasping mechanism and control system.The launching of the present invention captures robot and can realize launching of robot grasping mechanism by the deformation of compression spring generation elastic force, and the withdrawal of robot grasping mechanism is realized by contracting mechanism, realize multi-faceted crawl also by the direction of ejection adjusting trigger mechanism or obstacle detouring captures.The crawl robot that launches of the present invention has simple in construction, the advantages such as grasp speed is fast, and crawl distance is remote, it is possible to solve the problem that conventional industrial robot's body is immovable, capture limited space, improve the work efficiency such as product sorting, transmission, can be additionally used in the association areas such as agricultural simultaneously.
Description
Technical field
The invention belongs to robotics and mechanical manufacturing field, be specifically related to a kind of ejection type and quickly capture robot.
Background technology
Some animals of nature have and fly all capturing abilities, in the such as motor process of chameleon bullet tongue predation its
Special tongue is with up to 400m/s2Acceleration and the dynamic ejection of 3.5m/s to the distance of its body length 2 times.Raw by this
The inspiration of the way of act of sundries official, intends a kind of ejection type of exploitation and captures robot, capture robot with traditional rigidity compared with,
Ejection type captures robot and has speed soon, captures scope wide, mobility strong, the features such as environmental suitability is strong.
Capturing robot can be only applied to structured environment to solve traditional industry, and it is irremovable to there is body, no
Possess the problems such as limitation such as expansion service, environmental suitability be poor, the most both at home and abroad scientist all explore maneuverability, can
Stretch, efficient Grasp Modes.Along with multi-disciplinary development such as biomechanics, Machine Design, biomimetic material, optimal controls
With mixing together, scientific research personnel studies crawl robot miscellaneous, as American scientist Walker uses four sections of two degrees of freedom
Sclerotome type elastic support series system simulation trunk continuous flexible structure, and use driven by motor rope drive elastomer curved
Bent, it is achieved the remote weight under imitative trunk continuous robot unstructured moving grids captures, and Trivedi et al. have developed a kind of imitative
Octopus feeler robot, uses Pneumatic artificial muscle (Pneumatic Artificial Muscle) to make and possesses transverse curvature and longitudinally prolongs
Stretching the driver element of ability, simulation Octopus rolls remote target object flexibly.In addition, grab to improve robot
Taking the stretch performance of motion, the rigid structure that Guerra uses guide rail to connect many conduits devises scalable mechanical arm, effectively carries
The crawl space of Gao Liao robot.
The above-mentioned robot that captures all has stronger expansion service, and opereating specification is relatively big, it is remote effectively to realize
Target capture, but maximum is disadvantageous in that grasp speed slow (respectively less than 0.1m/s), cannot meet in actual application at all
Grasp speed requirement.
Summary of the invention
It is an object of the invention to capture robot expansion service for existing industry weak, opereating specification is less, Yi Jifang
The confinement problems that raw crawl robot grasp speed is slower, design one is capable of quickly launching crawl robot, it is possible to real
The quick crawl of existing distant object, meanwhile, also captures for obstacle detouring and provides a solution.
In order to realize above-mentioned target, using the motion mode of chameleon bullet tongue predation as reference, employing simplifies structure and sets
Meter and the method for control mode, a kind of ejection type of the present invention quickly captures robot, it is characterised in that: described ejection type is fast
Speed captures robot and includes direction adjusting mechanism, pedestal, trigger mechanism, contracting mechanism and adhesion grasping mechanism；
Described direction adjusting mechanism is made up of servomotor one, direction adjustment plate and hinge, and described direction adjustment plate is pacified by described hinge
It is contained in impact faces, fixed support one on pedestal, support one is installed servomotor one, described servomotor one output shaft connects
Direction adjustment plate；Described trigger mechanism is made up of compression spring and attachment means one, and attachment means one is passed through in one end of compression spring
It is fixed on the side of direction adjustment plate；Described contracting mechanism is made up of rotating shaft, inelastic cord, servomotor two, and described rotating shaft is pacified
It is contained in impact faces, support two fixing on pedestal is installed servomotor two, the output shaft of described servomotor two and rotating shaft
Central shaft connects, and the top of described inelastic cord is fixed in rotating shaft, and around multi-turn, the end of described inelastic cord in rotating shaft
It is connected through direction adjustment plate with adhering to grasping mechanism；Described adhesion grasping mechanism includes adhesive face and adhesive face and inelastic cord
Attachment means two.
Above-mentioned ejection type quickly captures the Grasp Modes of robot, it is characterised in that this ejection type quickly captures robot
Adhere to grasping mechanism in the stage of launching by the traction compression spring of inelastic cord, make spring produce deformation and produce and wire saws side
To contrary normal pressure, when cutting off pull strength, this spring release elastic force promotes adhesion grasping mechanism to realize adhering to grasping mechanism
Launch forward.
Above-mentioned ejection type quickly captures the Grasp Modes of robot, it is characterised in that this ejection type quickly captures robot
Contracting mechanism on servomotor two-way cross spool described in rotational movement and quickly rotate withdrawal inelastic cord, will be with non-resilient
The adhesion grasping mechanism that rope end is connected is regained rapidly, it is achieved the retraction of grasping mechanism.
Above-mentioned ejection type quickly captures the Grasp Modes of robot, it is characterised in that this ejection type quickly captures robot
Change the tangent plane direction of direction adjusting mechanism by controlling the rotary motion of servomotor one, thus change and hang down with direction adjusting mechanism
The direction of straight compression spring, adheres to grasping mechanism with realization and completes sling movement by the parabolic path of planning, or realize obstacle detouring
Capture.
The ejection type of the present invention quickly captures robot, it is possible to achieve that imitates Eremiatis argi bullet tongue quickly launches crawl with quick
The function retracted.Spring on trigger mechanism provides the power resources that grasping mechanism launches, by change the compression degree of spring with
And the size of the angle adjustment emissivity of direction adjusting mechanism and the angle of transmitting, in conjunction with adhering to the weight parameter of grasping mechanism,
The crawl movement locus of planning robot, it is achieved accurately capturing or obstacle detouring crawl of multi-faceted target.The inelastic cord of contracting mechanism
Traction the power resources of retraction of grasping mechanism are provided, drive spool quickly to rotate withdrawal grasping mechanism by servomotor.By
The advantages such as quickly capturing robot in this ejection type and have simple in construction, grasp speed is fast, and crawl distance is remote, it is possible to solve tradition
Industrial robot captures the problem of limited space, improves the work efficiency such as product sorting, transmission, can be additionally used in the phases such as agricultural simultaneously
Field, pass.
Accompanying drawing explanation
Fig. 1 is the structural representation that ejection type of the present invention quickly captures robot；
Fig. 2 is that ejection type of the present invention quickly captures robot obstacle detouring crawl schematic diagram；
Fig. 3 is that ejection type of the present invention quickly captures robot grasping mechanism withdrawal schematic diagram；
In figure, 1, direction adjusting mechanism；2, pedestal；3, support one；4, servomotor one；5, direction adjustment plate；
6, trigger mechanism；7, compression spring；8, attachment means one；9, contracting mechanism；10, rotating shaft；11, inelastic cord；12、
Servomotor two；13, support two；14, grasping mechanism is adhered to；15, adhesive face；16, attachment means two；17, hinge.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention being carried out detailed explanation, such as Fig. 1, a kind of ejection type quickly captures robot,
Including direction adjusting mechanism 1, pedestal 2, trigger mechanism 6, contracting mechanism 9 and adhesion grasping mechanism 14；Described direction adjusts machine
Structure (1) is made up of servomotor one (4), direction adjustment plate (5) and hinge (17), and described direction adjustment plate (5) leads to
Cross described hinge (17) and be arranged on pedestal (2) above, the upper fixed support one (3) of described pedestal (2), described support one (3)
Upper installation servomotor one (4), described servomotor one (4) output shaft closure adjustment plate (5)；Described trigger mechanism (6)
Being made up of compression spring (7) and attachment means one (8), one end of described compression spring (7) is by described attachment means one (8)
It is fixed on the side in described direction adjustment plate (5)；Described contracting mechanism (9), by rotating shaft (10), inelastic cord (11), is watched
Taking motor two (12) to constitute, described rotating shaft (10) is arranged on described pedestal (2) above, fixing the propping up of described pedestal (2)
The upper servomotor two (12) of installing of frame two (13), the output shaft of described servomotor two (12) and the central shaft of rotating shaft (10)
Connecting, the top of described inelastic cord (11) is fixed in rotating shaft, and around multi-turn in rotating shaft (10), described inelastic cord
(11) end is connected through described direction adjustment plate (5) with adhering to grasping mechanism (14)；Described adhesion grasping mechanism (14)
Attachment means two (16) including adhesive face (15) and adhesive face with inelastic cord.
Ejection type quickly captures the Grasp Modes of robot, it is characterised in that this ejection type quickly captures the adhesion of robot
Grasping mechanism by the traction compression spring of inelastic cord, makes spring produce deformation and produce and inelastic cord traction side in the stage of launching
To contrary normal pressure, when cutting off pull strength, this spring release elastic force promotes adhesion grasping mechanism to realize adhering to grasping mechanism
Launch forward.
Ejection type quickly captures the retraction mode of robot, such as Fig. 2, it is characterised in that this ejection type quickly captures robot
Contracting mechanism on servomotor two-way cross spool described in rotational movement and quickly rotate withdrawal inelastic cord, will be with non-resilient
The adhesion grasping mechanism that rope end is connected is regained rapidly, it is achieved adhere to the retraction of grasping mechanism.
Ejection type quickly captures the direction of robot and adjusts mode, such as Fig. 3, it is characterised in that inelastic cord traction gripper
When structure compresses the spring on pedestal, the draw direction of inelastic cord and the elastic force direction of spring all keep vertical with pedestal tangent plane direction,
This ejection type quickly captures robot and changes the tangent plane direction of direction adjusting mechanism by controlling the rotary motion of servomotor one, from
And change the direction of the compression spring vertical with direction adjusting mechanism, complete by the parabolic path of planning to realize adhesion grasping mechanism
Become sling movement, or realize obstacle detouring crawl.
Ejection type quickly captures the movement control mode of robot, and first detection captures the position of target and barrier
Spacing coordinate, according to the mathematical relationship launched between initial velocity, gravity, air drag and paw movement locus, calculates initial
The size and Orientation of speed, then it is scaled the size and Orientation of required ejection force, further according to the number of ejection force Yu spring deformation
Learn model, calculate the spool anglec of rotation needed for ejection force correspondence and the pedestal anglec of rotation, and sent to machine by wireless module
The controller of device people.Controller detects information according to feedback channel, calculates needed for motor after the anglec of rotation, passes to receipts respectively
The driving module of the servomotor that contracting mechanism is corresponding with direction adjusting mechanism.Then, the servo module of contracting mechanism controls draught line
Contracted length, the upper spring of compression direction guiding mechanism；The servo module control direction guiding mechanism of direction adjusting mechanism
The anglec of rotation, thus realize launching the adjustment of angle.
The announcement of book and teaching according to the above description, those skilled in the art in the invention can also be to above-mentioned embodiment party
Formula carries out suitable change and amendment.Therefore, the invention is not limited in detailed description of the invention disclosed and described above, to sending out
Some amendments bright, change and improvement should be included within the scope of the present invention.Additionally, above are only the tool of the present invention
Body embodiment, but the design concept of the present invention is not limited thereto, all utilizes this design that the present invention is carried out unsubstantiality to change
Dynamic, the behavior invading scope all should be belonged to.
Claims (2)
1. an ejection type quickly captures robot, it is characterised in that: described ejection type quickly captures robot and includes that direction adjusts
Mechanism (1), pedestal (2), trigger mechanism (6), contracting mechanism (9) and adhesion grasping mechanism (14)；Described direction adjusts machine
Structure (1) is made up of servomotor one (4), direction adjustment plate (5) and hinge (17), and described hinge (17) is passed through in described direction adjustment plate (5)
It is arranged on pedestal (2) above, 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 by compression spring (7) and connects
Connection device one (8) is constituted, and one end of described compression spring (7) is fixed on described direction by described attachment means one (8) and adjusts
The side of imposite (5)；Described contracting mechanism (9) is by rotating shaft (10), inelastic cord (11), and servomotor two (12) is constituted, described
Rotating shaft (10) is arranged on described pedestal (2) above, support two (13) the upper installation servomotor two that described pedestal (2) is fixing
(12), the output shaft of described servomotor two (12) is connected with the central shaft of rotating shaft (10), the beginning of described inelastic cord (11)
End is fixed in rotating shaft, and around multi-turn in rotating shaft (10), the end of described inelastic cord (11) adjusts through described direction
Plate (5) is connected with adhering to grasping mechanism (14)；Described adhesion grasping mechanism (14) includes that adhesive face (15) and adhesive face are with non-
The attachment means two (16) of elastic threads；This ejection type quickly captures the adhesion grasping mechanism (14) of robot in the stage of launching by non-ballistic
Property rope (11) traction compression spring (7), make spring produce deformation the generation normal pressure in opposite direction with wire saws, when cut-out is led
During gravitation, this spring release elastic force promotes and adheres to grasping mechanism (14) and realize launching；This ejection type quickly captures robot
Adhesion grasping mechanism (14) is in the contraction phase, and the rotational movement rotating shaft (10) of servomotor two (12) quickly rotates withdrawal
Inelastic cord (11), it is achieved the adhesion grasping mechanism (14) being connected with inelastic cord (11) end is regained rapidly.
2. a kind of ejection type described in claim 1 quickly captures robot, it is characterised in that: this ejection type quickly captures robot
Change the tangent plane direction in direction adjustment plate (5) by controlling the rotary motion of servomotor one (4), thus change and adjust with direction
The direction of the compression spring (7) that imposite (5) is vertical, adheres to grasping mechanism (14) with realization and completes by the parabolic path of planning
Sling movement, it is achieved obstacle detouring captures.
Priority Applications (1)
| 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 |
Applications Claiming Priority (1)
| 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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| Publication Number | Publication Date |
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| CN104842359A CN104842359A (en) | 2015-08-19 |
| CN104842359B true CN104842359B (en) | 2016-10-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510284583.XA Expired - Fee Related CN104842359B (en) | 2015-05-28 | 2015-05-28 | A kind of ejection type quickly captures robot |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000752B (en) * | 2019-01-24 | 2021-01-05 | 华中科技大学 | Wearable soft manipulator with rapid ejection function and preparation method thereof |
| CN110815286B (en) * | 2019-12-05 | 2023-06-27 | 浙江清华柔性电子技术研究院 | Flexible telescopic device and mechanical arm |
| CN112678209B (en) * | 2020-12-31 | 2022-04-29 | 广州大学 | Flexible rapid grabbing device and method for lizard-eye-imitating animals |
| 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 |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1315293A1 (en) * | 1985-11-25 | 1987-06-07 | Предприятие П/Я В-8754 | Vacuum manipulator |
| CN1945197A (en) * | 2006-10-27 | 2007-04-11 | 哈尔滨工程大学 | Three elastic band rail gun barrel type launching mechanism |
| CN101234703A (en) * | 2008-03-03 | 2008-08-06 | 哈尔滨工程大学 | Double rubberbands four sliding rails arrow type ejection mechanism |
| CN202922859U (en) * | 2012-09-29 | 2013-05-08 | 鸿利达模具(深圳)有限公司 | Screw grabbing and ejection 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2014124742A (en) * | 2012-12-27 | 2014-07-07 | Canon Electronics Inc | Arm-driving device |
-
2015
- 2015-05-28 CN CN201510284583.XA patent/CN104842359B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1315293A1 (en) * | 1985-11-25 | 1987-06-07 | Предприятие П/Я В-8754 | Vacuum manipulator |
| CN1945197A (en) * | 2006-10-27 | 2007-04-11 | 哈尔滨工程大学 | Three elastic band rail gun barrel type launching mechanism |
| CN101234703A (en) * | 2008-03-03 | 2008-08-06 | 哈尔滨工程大学 | Double rubberbands four sliding rails arrow type ejection mechanism |
| CN202922859U (en) * | 2012-09-29 | 2013-05-08 | 鸿利达模具(深圳)有限公司 | Screw grabbing and ejection 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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| Publication number | Publication date |
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| CN104842359A (en) | 2015-08-19 |
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