CN105500341B - Four-degree-of-freedom 3SPRR+SP type series-parallel robot flexible hands - Google Patents
Four-degree-of-freedom 3SPRR+SP type series-parallel robot flexible hands Download PDFInfo
- Publication number
- CN105500341B CN105500341B CN201610019037.8A CN201610019037A CN105500341B CN 105500341 B CN105500341 B CN 105500341B CN 201610019037 A CN201610019037 A CN 201610019037A CN 105500341 B CN105500341 B CN 105500341B
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- finger
- support
- moving platform
- swing rod
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- 238000009827 uniform distribution Methods 0.000 claims description 6
- 238000005242 forging Methods 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 16
- 230000000295 complement effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 206010016256 fatigue Diseases 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
- B25J9/0042—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-universal-universal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
Abstract
A kind of four-degree-of-freedom 3SPRR+SP types series-parallel robot flexible hand, it includes that support, moving platform, connecting rod, SP types middle straight line drive branch and 3 structure identical SPRR types to drive branch containing flexible finger, SP types branch is located at moving platform and support center, first through hole of the lower end and moving platform of the swing rod in SPRR types branch with arm support lower frame in the inner part couples, and Linear-electric-cylinder and arm support lower frame the second through hole in the outer part and support ball duplicate invoice connect；Above-mentioned swing rod upper end couples with finger lower end, the upper end of the finger is free end, and one end of guide pillar is vertical with swing rod middle part to be connected, and it is free end that the other end of the guide pillar passes through the frame of arm support, on guide pillar, the two ends of the spring are against on the inwall of swing rod middle part and arm support frame spring housing respectively.Simple structure of the present invention, finger pose working space is big, and flexibility is good, flexible operation crawl, can be used for space and deep-sea detecting, forging operation, rescue, medical operating and massage.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of series-parallel robot flexible hand.
Background technology
Parallel institution is relative to have mechanism's rigidity big, and bearing capacity is strong, and end mass is light, and inertia is small, and site error is not tired out
The features such as product, have complementary advantages with serial manipulator using upper.For many years, six-degree-of-freedom parallel connection mechanism has turned into the various parallel connections of construction
The principal organ of robot/lathe.Compared with six-degree-of-freedom parallel connection mechanism, four-freedom parallel mechanism have structure it is simpler,
The advantage for easily controlling, enjoys the highest attention of brainstrust in recent years.For purposes of illustration only, branch's number is represented with n, with (S, U,
P, R) (ball pair, universal pair, prismatic pair, rotate secondary) in sub-chain is represented respectively, combinations thereof represents that branch moves
Chain structure.In terms of four-freedom parallel mechanism, the patent of Publication No. CN101508110 proposes that three rotate a movement 3UPS+
1RPU four-freedom parallel mechanisms；The patent of Publication No. CN101966507A proposes that space 2UPS+2RPU four-degree-of-freedoms are in parallel
Mechanism and spray robot；The patent of Publication No. CN103231364A proposes three, four-freedom parallel mechanism, in Three Degree Of Freedom
On the basis of increased a rotary freedom.The patent of Publication No. CN 1958228 proposes a kind of 2UPR+2UPS tetra- freely
Degree parallel institution；The patent of Publication No. CN2484153 proposes to realize the four-freedom parallel of 2 D rotation and 2 D translation
Structure；.Huang Zhen etc. proposes that 4UPU type four-freedom parallel mechanisms, Zhao Tieshi etc. propose 4PUU type four-freedom parallel mechanisms, Lu Yi
Propose that there is passive bound branch four-degree-of-freedom 4SPS+SP types parallel robot mechanism (patent No. 200510052260.4),
2SPS+2SPR types, 3SPS+SP types, three leg 2SPS+RRPR type four-freedom parallel mechanisms.In terms of finger mechanism, Publication No.
The patent of CN102922532B discloses link-type coordinated drive robot finger apparatus.Publication No. CN103358315B's is special
Profit discloses full cradle head link-type under-driving robot finger mechanism.The patent of Publication No. CN102935642B is disclosed
Connecting rod key slot type couples drive lacking doublejointed robot finger apparatus.The patent of Publication No. CN102717394B discloses cone tooth
Wheel coupling type dexterous robot finger device.The patent of Publication No. CN102717393B discloses connecting rod manifold type dexterity machine
Finger device.What 5 finger motion characteristics that above-mentioned finger apparatus are mainly simulation people were configured to, structure is relative complex.It is real
On border, three coordinated movements of various economic factors of finger can meet the crawl object of which movement requirement in many engineerings, particularly counterweight object carrier
Capture the requirement of motion.Obvious three finger coordinations crawl motion is simpler, easily realizes.Before parallel robot advantage is ensured
Put, how to construct four-degree-of-freedom 3SPRR+SP type series-parallel robot flexible hands, realize that finger flexible operation captures object, and protect
Larger position working space and automaticity are demonstrate,proved, there is not been reported.Therefore series-parallel robot is constructed with 4DOF parallel institution flexible
Hand turns into the target of robot research field brainstrust unremitting effort.
The content of the invention
It is an object of the invention to provide a kind of simple structure, finger pose working space is big, flexibility is good, flexible operation
Four-degree-of-freedom 3SPRR+SP type series-parallel robot flexible hands.
The present invention includes that support, moving platform, connecting rod, SP types middle straight line drive branch and 3 structure identical SPRR types
Branch is driven containing flexible finger, wherein, SP types middle straight line drives branch to be located at the center of moving platform and support, 3
SPRR types drive branch's circumference uniform distribution between moving platform and support containing flexible finger；Support is provided with 3 balls of circumference uniform distribution
Secondary bearing and 1 astrosphere pair bearing；Moving platform is provided with 1 center vertical through hole；
SP types middle straight line driving branch includes first straight line electric cylinder, upper end and the moving platform of first straight line electric cylinder
Center vertical through hole is connected, and lower end and the support astrosphere pair support ball duplicate invoice of first straight line electric cylinder connect；SPRR types are containing flexibility
Finger actuation branch includes arm support, second straight line electric cylinder, swing rod, spring, guide pillar and finger, and the arm support is rectangular box,
The lower frame of the arm support is respectively provided on two sides with a parallel first through hole and the second through hole, the lower end of swing rod and moving platform with it is inner
The first through hole of side rotates connection, and the first through hole center line is tangent with circle on moving platform, second straight line electric cylinder upper end and
The second through hole in the outer part rotates connection, and the second straight line electric cylinder lower end connects with support ball duplicate invoice；Above-mentioned swing rod upper end and hand
The lower end of finger is fixedly connected, and the upper end of the finger is free end, and one end of guide pillar is vertical with swing rod middle part connected, the guide pillar it is another
One end is free end through the frame of arm support, and on guide pillar, one end of the spring is against swing rod middle part to spring housing, the spring it is another
One end is against on the inwall of arm support frame, and swing rod end flexible contact crawl object is realized using spring.
The present invention has the following advantages that compared with prior art：
1st, simple structure, the free degree is few, and control is easy.
2nd, using the spring between arm support and swing rod finger, finger tips flexible contact object is realized.
3rd, four-freedom parallel mechanism and the coordinated movement of various economic factors of three flexible finger mechanisms, are capable of achieving Four-degree-of-freedhybrid hybrid robot
Flexible coordinated manipulation of the flexible hand in big pose working space, flexible crawl object can be used for space with deep-sea detecting, forging
Operation, rescue, medical operating and massage etc..
Brief description of the drawings
Fig. 1 is schematic front view of the invention.
Fig. 2 is the top view of Fig. 1.
In figure：1- supports, 2- moving platforms, 3-SP types drive branch, 4- Linear-electric-cylinders, 5- arm supports, 6 guide pillars, 7- springs,
8- swing rods, 9- fingers.
Specific embodiment
It is straight in the middle of SP types in the four-degree-of-freedom 3SPRR+SP type series-parallel robot flexible hand schematic diagrames shown in Fig. 1 and Fig. 2
Line drives branch 3 to be located at the center of moving platform 2 and support 1,3 SPRR types drive branch in moving platform containing flexible finger and
Circumference uniform distribution between support；Support is provided with 3 the ball pair bearings and 1 astrosphere pair bearing of circumference uniform distribution；Set on moving platform
There is 1 center vertical through hole；
SP types middle straight line driving branch includes first straight line electric cylinder 4, the upper end of first straight line electric cylinder and moving platform
Center vertical through hole be connected, the lower end of first straight line electric cylinder connects with the secondary support ball duplicate invoice of support astrosphere；SPRR types are containing soft
Property finger actuation branch in arm support 5 be rectangular box, the lower frame of the arm support is respectively provided on two sides with a parallel first through hole
With the second through hole, the lower end of swing rod 8 and moving platform are rotated with first through hole in the inner part and couples, the first through hole center line with move
Circle on platform is tangent, and second straight line electric cylinder upper end rotates with the second through hole in the outer part and couples, the second straight line electric cylinder
Lower end connects with support ball duplicate invoice；Above-mentioned swing rod upper end is fixedly connected with the lower end of finger 9, and the upper end of the finger is free end, is led
One end of post 6 is vertical with swing rod middle part to be connected, and it is free end that the other end of the guide pillar passes through the frame of arm support, and spring 7 is enclosed within leads
On post, one end of the spring is against swing rod middle part, and the other end of the spring is against on the inwall of arm support frame, is realized using spring
Swing rod end flexible contact crawl object.
Claims (1)
1. a kind of four-degree-of-freedom 3SPRR+SP types series-parallel robot flexible hand, it is included in the middle of support, moving platform, connecting rod, SP types
Linear drives branch and 3 structure identical SPRR types drive branch containing flexible finger, it is characterised in that：It is straight in the middle of the SP types
Line drives branch to be located at the center of moving platform and support, and 3 SPRR types drive branch in moving platform and machine containing flexible finger
Circumference uniform distribution between seat；Support is provided with 3 the ball pair bearings and 1 astrosphere pair bearing of circumference uniform distribution；Moving platform is provided with 1
Individual center vertical through hole；
The SP types middle straight line driving branch includes first straight line electric cylinder, upper end and the moving platform of first straight line electric cylinder
Center vertical through hole is connected, and lower end and the support astrosphere pair support ball duplicate invoice of first straight line electric cylinder connect；SPRR types are containing flexibility
Finger actuation branch includes arm support, second straight line electric cylinder, swing rod, spring, guide pillar and finger, and the arm support is rectangular box,
The lower frame of the arm support is respectively provided on two sides with a parallel first through hole and the second through hole, the lower end of swing rod and moving platform with it is inner
The first through hole of side rotates connection, and the first through hole center line is tangent with circle on moving platform, second straight line electric cylinder upper end and
The second through hole in the outer part rotates connection, and the second straight line electric cylinder lower end connects with support ball duplicate invoice；Above-mentioned swing rod upper end and hand
The lower end of finger is fixedly connected, and the upper end of the finger is free end, and one end of guide pillar is vertical with swing rod middle part connected, the guide pillar it is another
One end is free end through the frame of arm support, and on guide pillar, one end of the spring is against swing rod middle part to spring housing, the spring it is another
One end is against on the inwall of arm support frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610019037.8A CN105500341B (en) | 2016-01-13 | 2016-01-13 | Four-degree-of-freedom 3SPRR+SP type series-parallel robot flexible hands |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610019037.8A CN105500341B (en) | 2016-01-13 | 2016-01-13 | Four-degree-of-freedom 3SPRR+SP type series-parallel robot flexible hands |
Publications (2)
| Publication Number | Publication Date |
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| CN105500341A CN105500341A (en) | 2016-04-20 |
| CN105500341B true CN105500341B (en) | 2017-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610019037.8A Expired - Fee Related CN105500341B (en) | 2016-01-13 | 2016-01-13 | Four-degree-of-freedom 3SPRR+SP type series-parallel robot flexible hands |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106424503B (en) * | 2016-10-17 | 2018-01-23 | 燕山大学 | A kind of four-degree-of-freedom parallel connection forging press |
| CN108555957A (en) * | 2018-02-02 | 2018-09-21 | 浙江工业大学 | A kind of four-jaw type grabs clamping manipulator |
| CN109176492B (en) * | 2018-11-08 | 2020-07-31 | 山东大学 | Manipulator based on reconfigurable parallel mechanism |
| CN109834701B (en) * | 2019-03-08 | 2020-10-02 | 燕山大学 | Hybrid operation manipulator device containing seven-rod flexible force sensing finger mechanism |
| CN110625580B (en) * | 2019-09-30 | 2022-08-02 | 上海工程技术大学 | Fulcrum dynamic combination parallel mechanism for realizing high-precision positioning of circular ring track platform |
| CN113510685B (en) * | 2021-06-18 | 2022-07-15 | 东南大学 | Heavy-load 4UPS-PU parallel clamping robot |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1673606A (en) * | 2005-04-13 | 2005-09-28 | 浙江大学 | Space four freedom mechanism for realizing three rotating and one moving |
| CN1954975A (en) * | 2006-10-11 | 2007-05-02 | 哈尔滨工业大学深圳研究生院 | A kind RUPU running chain and parellel robot mechanism composed or derived |
| CN101829994B (en) * | 2010-04-30 | 2011-12-28 | 清华大学 | Flexible part crank block type parallel coupling underactuated robot finger device |
| EP2730367A4 (en) * | 2011-07-07 | 2015-06-03 | Yaskawa Denki Seisakusho Kk | End effector and robot |
| CN102729256B (en) * | 2012-06-28 | 2014-07-23 | 浙江理工大学 | End effector device of under-actuated picking manipulator |
| CN103004374A (en) * | 2012-12-11 | 2013-04-03 | 江苏大学 | End effector of clamp-shear integrated pick robot |
| CN103538062B (en) * | 2013-09-26 | 2016-01-06 | 燕山大学 | Four-degree-of-freedom three finger manipulation parallel institution |
| CN204697397U (en) * | 2015-05-15 | 2015-10-07 | 深圳市广晟德科技发展有限公司 | A kind of plug-in component machine people jaw intermediate plate unit |
| CN105269588B (en) * | 2015-11-11 | 2017-03-08 | 无锡市福克斯煤矿机械制造有限公司 | The jaw of establishment combination chain mechanical hand |
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