CN105058373B - A kind of submissive docking facilities of mechanical arm based on double hook joint mechanism - Google Patents
A kind of submissive docking facilities of mechanical arm based on double hook joint mechanism Download PDFInfo
- Publication number
- CN105058373B CN105058373B CN201510563632.3A CN201510563632A CN105058373B CN 105058373 B CN105058373 B CN 105058373B CN 201510563632 A CN201510563632 A CN 201510563632A CN 105058373 B CN105058373 B CN 105058373B
- Authority
- CN
- China
- Prior art keywords
- joint mechanism
- tool
- hook joint
- docking facilities
- end effector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
A kind of submissive docking facilities of mechanical arm based on double hook joint mechanism, it relates to a kind of Hooke's hinge docking facilities.The present invention is to solve that existing docking facilities exists control complexity and mechanism contacts power is relatively big, the problem being difficult to protect docking facilities.The robot arm end effector of the present invention is arranged on the upper end of end effector storing unit, the upper end of connector (1) is connected with external mechanical arm by connecting hole (1 1), first cross axle (2) is arranged on the top of tool-joint (5), internal ring (3) is arranged on the medial wall, upper end of tool-joint (5), outer shroud (4) is arranged on the lateral wall, upper end of tool-joint (5), and the lower end of connector (1) is connected with tool-joint (5) by outer shroud (4)；End effector storing unit includes hook joint mechanism and buffering resetting-mechanism, and hook joint mechanism is arranged on buffering resetting-mechanism.The present invention is the docking of frame for movement be applicable to space.
Description
Technical field
The present invention relates to a kind of double Hooke's hinge docking facilities, be specifically related to a kind of submissive docking facilities of mechanical arm.
Background technology
Mechanical arm in the course of the work, inevitably relates to the docking problem of different institutions.Docking mechanism is not only on ground
Have a wide range of applications on face, also play an important role under space flight weightlessness.The rigidity docking technique precision to mechanical arm
Require the highest, and due to reasons such as contact forces, easily cause the damage of docking mechanism.Existing docking facilities requires mechanical arm
Precision is high, to connection function by control realization of taking the initiative mechanical arm, controls complicated and mechanism contacts power is relatively big, be difficult to protect
Protect docking facilities.
Summary of the invention
The invention aims to solve existing docking facilities existence control complexity and mechanism contacts power is relatively big, be difficult to protection
The problem of docking facilities, and then a kind of submissive docking facilities of mechanical arm based on double hook joint mechanism is provided.
The technical scheme is that a kind of submissive docking facilities of mechanical arm based on double hook joint mechanism includes mechanical arm tail end
Executor and end effector storing unit, robot arm end effector is arranged on the upper end of end effector storing unit,
Robot arm end effector includes the first connector, the first cross axle, internal ring, outer shroud and tool-joint, and first connects
The upper end of part is connected with external mechanical arm by connecting hole, and the first cross axle is arranged on the top of tool-joint, and internal ring is arranged on
The medial wall, upper end of tool-joint, outer shroud is arranged on the lateral wall, upper end of tool-joint, and outer shroud is passed through in the lower end of the first connector
It is connected with tool-joint；
End effector storing unit includes hook joint mechanism and buffering resetting-mechanism, and hook joint mechanism is arranged on buffering reset machine
On structure,
Hook joint mechanism includes connecting seat, the second cross axle, two the first pins and cross axial bases, connects seat and tool-joint
Lower end connect, cross axial base be arranged on connect seat lower end, the second cross axle is arranged on cross axle by two the first pins
The upper end of seat,
Buffering resetting-mechanism includes buffer spring, back-moving spring and connection base, connects and offers multiple shifting on the lateral wall of base
Dynamic groove, is connected base and is connected with the bottom of cross axial base by the second connector being arranged in multiple shifting chute, buffer spring
Being arranged in connection base, and the lower end of the upper end of buffer spring and cross axial base offsets, back-moving spring is sleeved on cross axial base
Lateral wall and connect base lateral wall on.
The present invention compared with prior art has the effect that 1. main bodys of the present invention use buffering resetting-mechanism and Hooke's hinge machine
Structure, it is achieved end effector storing unit has tolerance to dock with end effector and deposits safely.It is equal that the present invention docks two ends
Few for hook joint mechanism, number of parts, simple compared with device structure compared, device can realize tolerance docking, docking
Contact force is little, deposits process safety, reliable, does not control element, low cost of manufacture in device.It is particularly suitable for mechanical arm end
End executor need to frequently change and the occasion of inconvenience directly monitoring, and its docking principle is equally applicable to the right of frame for movement in space
Connect.
Robot arm end effector and its storing unit, by hook joint mechanism transmitting movement, constitute double Hooke's hinge docking structure.
When both dock, due to the adaptivity of hook joint mechanism structure, docking end can smoothly complete with Small-angle Rotation
Docking mission, reduces docking contact force simultaneously, protects apparatus for work.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention；Fig. 2 is that the present invention completes generalized section after docking；Fig. 3 is end
Actuator structure schematic diagram；Fig. 4 is the structural representation that connector removed by end effector；Fig. 5 is that end effector is deposited
Apparatus structure schematic diagram；Fig. 6 is end effector storing unit sectional view；Fig. 7 is the structural scheme of mechanism of cross axle.
Detailed description of the invention
Detailed description of the invention one: combine 1 to Fig. 7 and present embodiment is described, the one of present embodiment is based on double Hooke's hinge machines
The submissive docking facilities of mechanical arm of structure includes robot arm end effector and end effector storing unit, and mechanical arm tail end performs
Device is arranged on the upper end of end effector storing unit,
Robot arm end effector includes first connector the 1, first cross axle 2, internal ring 3, outer shroud 4 and tool-joint 5,
The upper end of the first connector 1 is connected with external mechanical arm by connecting hole 1-1, and the first cross axle 2 is arranged on tool-joint 5
Top, internal ring 3 is arranged on the medial wall, upper end of tool-joint 5, and outer shroud 4 is arranged on the lateral wall, upper end of tool-joint 5,
The lower end of the first connector 1 is connected with tool-joint 5 by outer shroud 4；
End effector storing unit includes hook joint mechanism and buffering resetting-mechanism, and hook joint mechanism is arranged on buffering reset machine
On structure,
Hook joint mechanism includes connecting 10, two the first pins 11 of seat the 8, second cross axle and cross axial base 12, connects seat
8 are connected with the lower end of tool-joint 5, and cross axial base 12 is arranged on the lower end connecting seat 8, and the second cross axle 10 is by two
Individual first pin 11 is arranged on the upper end of cross axial base 12,
Buffering resetting-mechanism includes buffer spring 14, back-moving spring 15 and connects base 16, connects the lateral wall of base 16
On offer multiple shifting chute 16-2, connect base 16 by being arranged on the second connector in multiple shifting chute 16-2 and cross
The bottom of axle bed 12 connects, and buffer spring 14 is arranged in connection base 16, and the upper end of buffer spring 14 and cross axle
The lower end of seat 12 offsets, and back-moving spring 15 is sleeved on the lateral wall of cross axial base 12 and connects on the lateral wall of base 16.
First connector 1 one end of described robot arm end effector is connected with mechanical arm by connecting hole 1-1, other end profit
It is connected with cross axle outer shroud 4 by through hole 4-1 with screw.
Detailed description of the invention two: combine Fig. 1 to Fig. 4 and present embodiment is described, the tool-joint 5 of present embodiment includes standing
Post and three linking arms, can place different instruments, it is achieved difference in functionality in linking arm.Three linking arms are uniform to be connected to
The lower end of column, is provided with spherical groove 5-2, the both sides of each linking arm at the bottom dead center position of three linking arm intersections
A groove 5-1 it is equipped with on end face.Groove 5-2 can realize and the cooperation being connected seat 8 top hemisphere projection 8-1, real
The location of existing end effector；When mechanical arm departs from end effector, groove 5-1 can realize and the clamping of lock sleeve 6,
Mechanical arm is facilitated to depart from end effector.Other composition is identical with detailed description of the invention one with annexation.
Detailed description of the invention three: combine Fig. 5 and present embodiment is described, the hook joint mechanism of present embodiment also includes 3 locks
Tight set 7,3 the first screws 7 of 6 and 3 the first screws are arranged on connection seat 8, and each first screw 7 is set with
One lock sleeve 6.The lock sleeve 6 being attached thereto is fastened on connection seat 8 by the first screw 7.Mechanical arm performs with end
When device departs from, lock sleeve 6 can realize and the clamping of groove 5-1, facilitates mechanical arm to depart from end effector.Other group
Become identical with detailed description of the invention two with annexation.
Detailed description of the invention four: combine Fig. 5 and present embodiment is described, the hook joint mechanism of present embodiment also includes two
Two screws 9, two the second screws 9 are arranged on the second cross axle 10, play connection and connect seat 8 and the second cross axle 10
Effect.Other composition is identical with detailed description of the invention two or three with annexation.
Detailed description of the invention five: combine Fig. 5 and present embodiment is described, the shifting chute 16-2 of present embodiment is that rectangle is moved
Dynamic groove.Other composition is identical with detailed description of the invention four with annexation.
Detailed description of the invention six: combine Fig. 6 and present embodiment is described, the upper end connecting seat 8 of present embodiment is with hemisphere
Shape projection 8-1.Hemisphere projection 8-1 can realize mating spherical surfaces with groove 5-2, it is achieved the axial location of end effector.
Other composition is identical with detailed description of the invention five with annexation.
There are 3 circular holes connection seat 8 upper end of described hook joint mechanism, is respectively mounted 3 interior hexagonal cylindrical head the first screws 7,
3 interior hexagonal cylindrical head the first screw 7 outsides are cased with lock sleeve 6 respectively.Connect seat 8 top hemisphere projection 8-1 and instrument
The bottom spherical groove 5-2 of interface 5 constitutes spherical pair.Implementation tool interface 5 contacts instrument and connects seat 8 dextrorotation then
When turning, lock sleeve 6 and the lateral grooves 5-1 clamping of tool interface 5.
Connection base 16 side of described buffering resetting-mechanism is uniformly distributed 4 groove 16-2, passes through hexagon socket cap head screw
Connection base 16 is fixed with cross axial base 12.Instrument connects base 16 and is fixed on ground by screw, it is achieved Hooke's hinge
Mechanism can only float without circular-rotation.
Cross axle 2 two ends in described end effector are realized and cross axle outer shroud 4 by two hexagon socket cap head screws
Cooperation, additionally two ends insert pin match with cross axle internal ring 3, composition hook joint mechanism.
Hook joint mechanism within described end effector storing unit is that cross axle 10 two ends are by two interior hexagonal cylindrical heads
Screw 9 realizes its cooperation being connected seat with instrument.Additionally pin 11 is inserted at two ends, it is achieved it coordinates with cross axial base 12,
Constitute hook joint mechanism.
Buffer spring 14 upper end of described buffering resetting-mechanism contacts with cross axial base 12, and lower end is connected base 16 with instrument
Contact, it is achieved fluctuating of cross axial base, protection end effector is injury-free.Described back-moving spring 15 upper end and work
Tool connects seat 8 and contacts, and lower end connects base 16 with instrument and contacts, it is achieved when end effector leaves, connect instrument
The reset of seat, facilitates depositing of end effector next time.It is with 8 and circular hole 16-1 outside described instrument connection base bottom,
Make it conveniently install, be positioned on ground.
The present invention is that one utilizes double hook joint mechanism to be main, is aided with dual spring mechanism, can be real to robot arm end effector
The device that the biggest tolerance receives and steadily deposits, applicable robot arm end effector need to frequently be changed and the field of inconvenience directly monitoring
Closing, its docking principle is equally applicable to the docking of frame for movement in space.
Hook joint mechanism, reset buffer gear is had inside end effector storing unit.Hook joint mechanism therein and end are held
In row device, hook joint mechanism constitutes double Hooke's hinge docking facilities, and in reset buffer gear, buffer spring realizes the floating of storing unit
Dynamic, reduce docking contact force；Back-moving spring realizes end effector axis vertical, it is simple to mechanical arm captures this executor next time.
The principle of the present invention is described in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7.Deposit end effector
Time, when robot arm end effector deliver to instrument connect seat 8 top and be connected with instrument seat 8 come in contact time, due to two
The existence of individual hook joint mechanism, instrument connects seat 8 and adaptivity is adjusted pose, to facilitate work in robot arm end effector
Lateral grooves 5-1 of tool interface 5 is connected the hexagon socket cap head screw clamping on seat 8 with instrument.Instrument connects base 16
4 groove 16-2 cross axial base 12 can only be fluctuated, prevent the rotation of robot arm end effector horizontal direction from drawing
Play horizontally rotating of cross axial base 12.Back-moving spring 15 adjustable instrument connects the form of seat 8, buffer spring about 14
Float, it is achieved for the buffering of robot arm end effector, it is to avoid robot arm end effector is produced damage because impacting.
Cross axle 10 two ends are connected seat 8 and match with instrument, and additionally pin is inserted at two ends, constitute hook joint mechanism, it is achieved deposit
Device low-angle self adaptation deflects.When robot arm end effector leaves, back-moving spring 15 can connect seat with centralizing tool
8, make end effector axis vertical, facilitate mechanical arm again to capture this executor.
Claims (6)
1. the submissive docking facilities of mechanical arms based on double hook joint mechanism, it is characterised in that: it includes that mechanical arm tail end is held
Row device and end effector storing unit, robot arm end effector is arranged on the upper end of end effector storing unit,
Robot arm end effector includes the first connector (1), the first cross axle (2), internal ring (3), outer shroud (4)
With tool-joint (5), the upper end of the first connector (1) is connected with external mechanical arm by connecting hole (1-1), and the 10th
Word axle (2) is arranged on the top of tool-joint (5), and internal ring (3) is arranged on the medial wall, upper end of tool-joint (5),
Outer shroud (4) is arranged on the lateral wall, upper end of tool-joint (5), the lower end of the first connector (1) by outer shroud (4) with
Tool-joint (5) connects；
End effector storing unit includes hook joint mechanism and buffering resetting-mechanism, and hook joint mechanism is arranged on buffering reset machine
On structure,
Hook joint mechanism includes connecting seat (8), the second cross axle (10), two the first pins (11) and cross axial base (12),
Connecting seat (8) to be connected with the lower end of tool-joint (5), cross axial base (12) is arranged on the lower end connecting seat (8), the
Two cross axles (10) are arranged on the upper end of cross axial base (12) by two the first pins (11),
Buffering resetting-mechanism includes buffer spring (14), back-moving spring (15) and connects base (16), connects base (16)
Lateral wall on offer multiple shifting chute (16-2), connect base (16) by being arranged in multiple shifting chute (16-2)
Second connector is connected with the bottom of cross axial base (12), and buffer spring (14) is arranged in connection base (16), and
The upper end of buffer spring (14) offsets with the lower end of cross axial base (12), and back-moving spring (15) is sleeved on cross axial base (12)
Lateral wall and connect base (16) lateral wall on.
A kind of submissive docking facilities of mechanical arms based on double hook joint mechanism the most according to claim 1, it is characterised in that:
Tool-joint (5) includes column and three linking arms, three uniform lower ends being connected to column of linking arm, and three linking arms are handed over
It is provided with spherical groove (5-2) at bottom dead center position at remittance, the both sides end face of each linking arm is equipped with a groove
(5-1)。
A kind of submissive docking facilities of mechanical arms based on double hook joint mechanism the most according to claim 2, it is characterised in that:
Hook joint mechanism also includes that multiple lock sleeve (6) and multiple first screw (7), multiple first screws (7) are arranged on connection
On seat (8), each first screw (7) is set with a lock sleeve (6).
A kind of submissive docking facilities of mechanical arms based on double hook joint mechanism the most according to claim 3, it is characterised in that:
Hook joint mechanism also includes that two the second screws (9), two the second screws (9) are arranged on the second cross axle (10).
A kind of submissive docking facilities of mechanical arms based on double hook joint mechanism the most according to claim 4, it is characterised in that:
Shifting chute (16-2) is rectangle shifting chute.
A kind of submissive docking facilities of mechanical arms based on double hook joint mechanism the most according to claim 5, it is characterised in that:
Connect the upper end of seat (8) with hemispherical projections.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510563632.3A CN105058373B (en) | 2015-09-07 | 2015-09-07 | A kind of submissive docking facilities of mechanical arm based on double hook joint mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510563632.3A CN105058373B (en) | 2015-09-07 | 2015-09-07 | A kind of submissive docking facilities of mechanical arm based on double hook joint mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105058373A CN105058373A (en) | 2015-11-18 |
| CN105058373B true CN105058373B (en) | 2016-10-19 |
Family
ID=54487997
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510563632.3A Active CN105058373B (en) | 2015-09-07 | 2015-09-07 | A kind of submissive docking facilities of mechanical arm based on double hook joint mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105058373B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10286556B2 (en) * | 2016-10-16 | 2019-05-14 | The Boeing Company | Method and apparatus for compliant robotic end-effector |
| CN106378774B (en) * | 2016-12-13 | 2019-04-05 | 东莞市创丰科技发展有限公司 | A kind of manipulator quick change assembly |
| CN109050993B (en) * | 2018-09-19 | 2019-08-16 | 哈尔滨工业大学 | Flexible drive axle is used in a kind of docking of spacecraft |
| CN112377517B (en) * | 2020-12-03 | 2021-07-02 | 重庆工程职业技术学院 | Hooke joint for parallel manipulator |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2814216B1 (en) * | 2000-09-18 | 2002-12-20 | Snecma Moteurs | ORIENTATION DEVICE AND ON-BOARD ORIENTATION SYSTEM |
| CN101323377B (en) * | 2008-08-06 | 2010-11-10 | 哈尔滨工业大学 | Three-arm type noncooperative target docking mechanism |
| US8702340B2 (en) * | 2010-01-27 | 2014-04-22 | GM Global Technology Operations LLC | Integrated linear and rotary locking device |
| US20110282357A1 (en) * | 2010-05-14 | 2011-11-17 | Intuitive Surgical Operations, Inc. | Surgical system architecture |
| CN102029614B (en) * | 2011-01-24 | 2012-05-30 | 哈尔滨工业大学 | Three-degree-of-freedom spherical space robot wrist |
| CN103341865B (en) * | 2013-07-05 | 2015-06-24 | 大连理工大学 | Three-freedom-degree constant speed decoupling space robot active spherical wrist and universal compliant control method |
| CN103737575A (en) * | 2013-12-31 | 2014-04-23 | 北京机械设备研究所 | Spatial orientation pointing device |
| CN104589368B (en) * | 2014-12-16 | 2016-09-21 | 北京邮电大学 | Soft contact joint based on cross axle structure |
-
2015
- 2015-09-07 CN CN201510563632.3A patent/CN105058373B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105058373A (en) | 2015-11-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105058373B (en) | A kind of submissive docking facilities of mechanical arm based on double hook joint mechanism | |
| CN104889976B (en) | A kind of three rotate decoupling sphere parallel robot mechanism | |
| CN107107334B (en) | Mechanical arm mechanism | |
| CN102218734B (en) | Double parallel four-bar two-dimensional rotating parallel mechanism with virtual moving center | |
| CN104029195B (en) | A kind of two rotate one is moved through constraint parallel institution | |
| US9849585B2 (en) | Robotic arm device with three dimentional movement | |
| CN101380241B (en) | Remote motion center mechanism based on graph imitation device | |
| CN106541397A (en) | Strengthen humanoid robot teaching instrument | |
| CN103921271A (en) | Under-actuated ingenious multifunctional space robot hand claw | |
| CN104648636A (en) | Mechanical type flexible butt-joint locking mechanism | |
| CN102303318A (en) | Robot wrist structure capable of realizing universal adjustment and accurate positioning | |
| CN203818137U (en) | Underactuation flexible multifunctional space robot hand claw | |
| CN105835981A (en) | Bionic body mechanism capable of realizing multi-directional bending | |
| CN108673493A (en) | A kind of cloth gripping device and soft robot | |
| CN103170965A (en) | Three translational degree of freedom robot mechanism comprising near plane parallelogram-far plane parallel rod | |
| CN105364940A (en) | Joint drive device of flexible mechanical arm of robot and flexible mechanical arm with joint drive device | |
| CN105710867A (en) | Parallel mechanism with multiple rotation centers, two rotational degrees of freedom and one moving degree of freedom | |
| CN204437609U (en) | Joint arm measuring engine base | |
| CN204403694U (en) | Miniature instrument height, position adjusting mechanism | |
| CN110370318A (en) | A kind of industrial robot with faults itself detection function | |
| CN102476288A (en) | Special six-freedom-degree parallel mechanism | |
| CN105904436A (en) | Associated movement-free two-rotation and one-movement parallel mechanism | |
| CN205219146U (en) | Four degree of freedom triangles humanoid robot that connects in parallel | |
| US20220088797A1 (en) | Gripper Mechanism | |
| CN109895109B (en) | Robot waist skeleton and robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |