CN106826854A - A kind of robot frequency conversion hit agency - Google Patents
A kind of robot frequency conversion hit agency Download PDFInfo
- Publication number
- CN106826854A CN106826854A CN201710130730.7A CN201710130730A CN106826854A CN 106826854 A CN106826854 A CN 106826854A CN 201710130730 A CN201710130730 A CN 201710130730A CN 106826854 A CN106826854 A CN 106826854A
- Authority
- CN
- China
- Prior art keywords
- impact
- drive device
- frequency conversion
- crank
- beating members
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
- B25J11/004—Playing a music instrument
-
- 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
- B25J15/0019—End effectors other than grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of robot frequency conversion hit agency, frequency conversion hit agency is mounted in each mechanical arm tail end of robot body, frame is arranged on the mechanical arm tail end of robot body, and drive device is arranged in frame, and beating members reciprocally swinging is driven by executing agency；Executing agency is crank and rocker mechanism, including crank, connecting rod, rocking bar, one end of crank is connected with drive device, the other end of crank is hinged with one end of connecting rod, one end of rocking bar is connected with gantry rotation, the other end is connected with contiguous block, and contiguous block is passed through by the other end of connecting rod, and beating members are arranged on contiguous block；Crank is driven by drive device and rotated, and drives rocking bar and beating members to swing, and drive device is electrically connected with the controller, and changes the speed of service of drive device, realizes the frequency conversion impact of beating members.The present invention only needs drive device unidirectionally continuously to rotate and is capable of achieving beating members swing effect, it is to avoid rapidly infringement of the rotational transform to drive device repeatedly.
Description
Technical field
The present invention relates to the mechanism of the strike that personalized using robot realization, specifically a kind of robot frequency conversion impact
Mechanism.
Background technology
Utilization of the robot in production and living is more and more, but because the limitation of each side makes its application still be limited.
There is the action of some impact blows in life, such as impact various ball, impact drum-type instrument, hammer is tapped, and knife chops object etc..
But for the action of this class, also it is difficult to be realized by robot now.Because if completing stroke using only mechanical arm, not only
It is difficult to high frequency impact, it is also difficult to reach desired impact dynamics, even more will be directly born to impact reaction force by mechanical arm,
Influence mechanical arm service life.If completing impact using mechanical arm tail end motor direct-drive, motor needs continuous high frequency
Positive and negative running, it is high to motor performance requirement；But impact reaction force is big, vibrate acutely, it is big to motor injury, also easily influence machine
People, easily causes that joint of robot abrasion, kinematic accuracy decline, service life shortens.
The content of the invention
In order to solve the problems, such as that existing robot cannot realize that impact blow is acted, it is an object of the invention to provide one kind
Robot frequency conversion hit agency.The frequency conversion hit agency allows robot to carry out impact operation, is realizing the same of frequency conversion impact
When, weaken influence of the impact reaction force to driver and robot body.
The purpose of the present invention is achieved through the following technical solutions：
The present invention is mounted on frequency conversion hit agency in each mechanical arm tail end of robot body, and the frequency conversion impacts machine
Structure includes drive device, executing agency, beating members and controller, and wherein frame is arranged on the mechanical arm of the robot body
End, the drive device is arranged in frame, and beating members reciprocally swinging is driven by the executing agency；The execution machine
Structure is crank and rocker mechanism, including crank, connecting rod, rocking bar, and one end of the crank is connected with the drive device, the crank
The other end is hinged with one end of connecting rod, and one end of the rocking bar is connected with gantry rotation, and the other end is connected with contiguous block, the connection
Block is passed through by the other end of the connecting rod, and the beating members are arranged on contiguous block；The crank is driven by drive device and revolved
Turn, drive the rocking bar and beating members reciprocally swinging, the drive device is electrically connected with the controller, is changed by the controller
The speed of service of drive device, realizes the frequency conversion impact of the beating members.
Wherein：The tie point of the rocking bar and beating members, i.e., described contiguous block is impact with the tie point of beating members
The impact center of element；The beating members are homogeneous cylinder, and its impact centre distance impact head is the 2/3 of overall length；
The rocking bar from impact position move to impact preparation position time than from impact preparation position move to impact position when
Between it is short；The impact position and impact preparation position are two extreme positions of rocking bar, and the crank and connecting rod in impact position are common
Line but misaligned, the crank and connecting rod in impact preparation position are conllinear and overlap；
The beating members are parallel with rocking bar；
One end of the crank is connected by yielding coupling with drive device, and one end of the rocking bar is provided with bearing pin, should
Bearing pin is connected by bearing with the gantry rotation, between the bearing and frame and between the drive device and frame
It is all provided with being reduced the flexible member on robot influence；
The through hole passed through for beating members is provided with the contiguous block, the side of the through hole is provided with screw hole, by screw
Realize that the beating members are affixed with contiguous block, the opposite side of the through hole is provided with connecting pole, the connecting pole is by the connecting rod
The unthreaded hole that the other end is opened up is passed through and the other end of the rocking bar is affixed.
Advantages of the present invention is with good effect：
1. the present invention only needs drive device unidirectionally continuously to rotate and is capable of achieving beating members swing effect, it is to avoid repeatedly rapidly
Infringement of the rotational transform to drive device.
2. the present invention realizes the impact operation of robot, and produces protection to robot and motor.
3. the present invention can realize that frequency conversion is impacted by controlling the velocity of rotation of drive device.
4. the present invention makes mechanical arm be interlocked with beating members, realizes the impact operation that personalizes.
5. the present invention reduces influence of the vibration to robot by flexible member, it is ensured that the service life of robot.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the invention；
Fig. 2 is working state figure of the present invention when side drum is impacted；
Fig. 3 is one of structural representation of executing agency of the present invention；
Fig. 4 is the two of the structural representation of executing agency of the present invention；
Fig. 5 is the structural representation of contiguous block in the present invention；
Wherein：1 is robot body, and 2 is drive device, and 3 is executing agency, and 4 is beating members, and 5 is side drum, and 6 is machine
Frame, 7 is crank, and 8 is connecting rod, and 9 is rocking bar, and 10 is contiguous block, and 11 is bearing pin, and 12 is screw, and 13 is connecting pole, and 14 is through hole,
15 is screw hole.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, the present invention is mounted on frequency conversion hit agency in each mechanical arm tail end of robot body 1, should
Frequency conversion hit agency includes drive device 2, executing agency 3, beating members 4 and controller, and wherein frame 6 is arranged on the machine
The mechanical arm tail end of human body 1, drive device 2 is arranged in frame 6, and beating members 4 toward physical pendulum are driven by executing agency 3
It is dynamic.Inventive drive means 2 are motor, can be robot itself end motor or the another motor matched somebody with somebody.
As seen in figures 3-5, executing agency 3 is crank and rocker mechanism, including crank 7, connecting rod 8, rocking bar 9, the crank 7
One end is connected by yielding coupling with drive device 2, and the other end is hinged with one end of connecting rod 8, and the other end of connecting rod 8 is provided with light
Hole.One end of rocking bar 9 is provided with bearing pin 11, and the bearing pin 11 is connected by the rotation of bearing and frame 6, between bearing and frame 6 with
And be all provided with having elastic component between drive device 2 and frame 6, the flexible member can be reduced to the influence of robot, thus
Realize the protection to robot and drive device 2.The other end of rocking bar 9 is connected with contiguous block 10, and the contiguous block 10 is by connecting rod 8
The other end is passed through, and beating members 4 are arranged on contiguous block 10, and beating members 4 are parallel with rocking bar 9.The contiguous block of the present embodiment
10 is square block, and the through hole 14 passed through for beating members 4 is provided with thereon, and the side of the through hole 14 is provided with screw hole 15, by spiral shell
Nail 12 realizes that beating members 4 are affixed with contiguous block 10；The opposite side of through hole 14 is provided with connecting pole 13, and the connecting pole 13 is by connecting rod
The unthreaded hole that 8 other ends are opened up is passed through and the other end of rocking bar 9 is affixed.The tie point of rocking bar 9 and beating members 4, i.e. contiguous block 10
It is the impact center of beating members 4 with the tie point of beating members 4.The beating members 4 of the present embodiment are homogeneous cylinder, and it hits
It is the 2/3 of overall length to beat centre distance impact head.
Crank 7 drives rotation by drive device 2, drives rocking bar 9 and the reciprocally swinging of beating members 4, drive device 2 and control
Device is electrically connected, and changes impact signal by the controller according to demand to change the speed of service of drive device 2, realizes impact unit
The frequency conversion impact of part 4.The center of rotation of crank 7 is not moved with the center of rotation relative mechanical arm end of rocking bar 9.
Operation principle of the invention is：
Mechanical arm is worked in coordination with hit agency, and manipulator motion simulation staff is brandished；Drive device 2 causes rocking bar 9
Shake is returned, wrist whipping is simulated, the gearing of mechanical arm and beating members 4 is achieved in.According to impact demand, change mechanical arm with
The speed of service of drive device 2, you can realize that frequency conversion is impacted.As shown in Fig. 2 so that side drum 5 is played in tow-armed robot impact as an example,
Describe the action process of robot frequency conversion hit agency in detail.
In the shots of side drum 5, generally need left and right both arms according to pleasure it is general work in coordination, left and right drum rod (impact
Element 4) drum surface is tapped successively to play.Stroke is mainly completed by the executing agency 3 on respective mechanical arm.For performing machine
The rocking bar 9 of structure 3, there is two extreme positions, and one is impact position, and now the connecting rod 8 in executing agency 3 is not with crank 7 collinearly but
Overlap；Another is impact preparation position, and now the connecting rod 8 in executing agency 3 is conllinear with crank 7 and overlaps.When drive device 2 is even
When speed is rotated, crank and rocker mechanism has quickreturn characteristics, and the time ratio that rocking bar 9 is returned to impact preparation position from impact position is pre- from impact
The time that standby position moves to impact position is short.
Use crank and rocker mechanism so that only need continuously unidirectional rotation of motor just can to realize the reciprocally swinging of rocking bar 9.
Between the crank 7 of motor and executing agency 3, yielding coupling can be used to reduce shadow of the impact vibration to motor
Ring.
Rocking bar 9 is connected with drum rod, and tie point is the impact center for rousing rod.When drum rod occurs impact collision, center is impacted
Place's reaction force is minimum, and vibration sense is most light, can theoretically reduce impact reaction force to motor and tow-armed robot
Influence.
When side drum 5 is played, it is necessary to impact rhythm quickly.If only driving drum rod to impact with mechanical arm, mechanical arm electricity
Machine needs high frequency to rotate repeatedly；It is not only big to motor injury, due also to mechanical arm sole mass is big, inertia is big, it will so that machine
Device people's high vibration, has a negative impact to robot architecture.Use the present invention, you can mitigate mechanical arm actuating quantity, meeting
While performance, the sight played is lifted.
During beginning, robotic arm is lifted away from drum surface, the action of waving one's hand when simulation people impacts.Meanwhile, executing agency 3 is driving
In the presence of dynamic motor controller so that crank 7 is conllinear with connecting rod 8 and overlaps, and is lifted on rocking bar 9, and simulation proposes wrist action.
Then mechanical arm is moved to drum surface, while motor operation drives crank 7 to rotate, crank 7 causes that rocking bar 9 starts
Act, thus simulation arm brandishes the process with wrist whipping.Near manipulator motion to drum surface, now crank 7 is just
Conllinear with connecting rod 8 but misaligned, rocking bar 9 moves to another extreme position, and drum rod occurs impact collision with drum surface.
Complete impact after, robot initially moves off drum surface, toward initial position motion, it is to avoid beating members 4 with by impact thing
Product coupling has a negative impact.Motor is persistently rotated in the presence of controller, and is shaken with the band of connecting rod 8 by crank 7
Bar 9 is withdrawn with beating members 4.Meanwhile, using the quickreturn characteristics of crank and rocker mechanism, it is to avoid drum rod and drum surface continuous contact, shadow
Drumhead vibration is rung, tone color changes.Until manipulator motion to impact preparation position, now crank 7 is conllinear with connecting rod 8 and heavy
Close, wrist lifts again.
Mechanical arm coordinates with hit agency, changes the speed of service of mechanical arm and motor, you can realize the change that personalizes
Frequently (under 4~8/second) impact.Meanwhile, mechanical arm adjusts the movement angle in each joint, then coordinate drum also dependent on performance demand
The motion of rod realizes that fancy is performed.For example, make left and right small drum rod while moving to impact position, right latter two manipulator motion,
Two bulging rods is collided side drum sidebar or gusset drum body simultaneously, thus increase the sight of performance.
Claims (8)
1. a kind of robot frequency conversion hit agency, it is characterised in that：It is respectively mounted in each mechanical arm tail end of robot body (1)
There is frequency conversion hit agency, the frequency conversion hit agency includes drive device (2), executing agency (3), beating members (4) and control
, installed in the mechanical arm tail end of the robot body (1), the drive device (2) is installed in frame for device, wherein frame (6)
(6) on, beating members (4) reciprocally swinging is driven by the executing agency (3)；The executing agency (3) is crank rocker machine
Structure, including crank (7), connecting rod (8), rocking bar (9), one end of the crank (7) are connected with the drive device (2), the crank
(7) the other end is hinged with the one end of connecting rod (8), and one end of the rocking bar (9) rotates with frame (6) and is connected, other end connection
There is contiguous block (10), the contiguous block (10) is passed through by the other end of the connecting rod (8), the beating members (4) are installed in connection
On block (10)；The crank (7) is driven by drive device (2) and rotated, and drives the rocking bar (9) and beating members (4) toward physical pendulum
Dynamic, the drive device (2) is electrically connected with the controller, and the speed of service of drive device (2) is changed by the controller, realizes institute
State the frequency conversion impact of beating members (4).
2. robot frequency conversion hit agency according to claim 1, it is characterised in that：The rocking bar (9) and beating members
(4) tie point, i.e., described contiguous block (10) is the impact center of beating members (4) with the tie point of beating members (4).
3. robot frequency conversion hit agency according to claim 2, it is characterised in that：The beating members (4) are homogeneous
Cylinder, its impact centre distance impact head is the 2/3 of overall length.
4. robot frequency conversion hit agency according to claim 1, it is characterised in that：The rocking bar (9) is transported from impact position
The time for moving impact preparation position is shorter than moving to the time of impact position from impact preparation position.
5. robot frequency conversion hit agency according to claim 4, it is characterised in that：The impact position and impact preparation position
It is two extreme positions of rocking bar (9), the crank (7) and connecting rod (8) in impact position are conllinear but misaligned, in impact
The crank (7) and connecting rod (8) of preparation position are conllinear and overlap.
6. robot frequency conversion hit agency according to claim 1, it is characterised in that：The beating members (4) and rocking bar
(9) it is parallel.
7. robot frequency conversion hit agency according to claim 1, it is characterised in that：One end of the crank (7) passes through
Yielding coupling is connected with drive device (2), and one end of the rocking bar (9) is provided with bearing pin (11), and the bearing pin (11) is by bearing
Rotated with the frame (6) and be connected, between the bearing and frame (6) and between the drive device (2) and frame (6)
It is all provided with being reduced the flexible member on robot influence.
8. robot frequency conversion hit agency according to claim 1, it is characterised in that：Confession is provided with the contiguous block (10)
The through hole (14) that beating members (4) are passed through, the side of the through hole (14) is provided with screw hole (15), is realized by screw (12) described
Beating members (4) are affixed with contiguous block (10), and the opposite side of the through hole (14) is provided with connecting pole (13), the connecting pole (13)
The unthreaded hole opened up by the connecting rod (8) other end is passed through and the other end of the rocking bar (9) is affixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710130730.7A CN106826854A (en) | 2017-03-07 | 2017-03-07 | A kind of robot frequency conversion hit agency |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710130730.7A CN106826854A (en) | 2017-03-07 | 2017-03-07 | A kind of robot frequency conversion hit agency |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106826854A true CN106826854A (en) | 2017-06-13 |
Family
ID=59137431
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710130730.7A Pending CN106826854A (en) | 2017-03-07 | 2017-03-07 | A kind of robot frequency conversion hit agency |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106826854A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108970087A (en) * | 2018-08-06 | 2018-12-11 | 济宁群艺广告传媒有限公司 | A kind of dragon-boat racing device of beating a drum |
| CN110125948A (en) * | 2019-05-09 | 2019-08-16 | 中国地质大学（武汉） | A kind of five degree of freedom modularization dulcimer performance mechanical arm |
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| CN2233738Y (en) * | 1995-11-23 | 1996-08-28 | 李黎明 | Beat type massage apparatus |
| CN2317851Y (en) * | 1997-09-18 | 1999-05-12 | 杨强 | Machine for pounding and massaging human back |
| CN103537087A (en) * | 2013-09-23 | 2014-01-29 | 北京工业大学 | Interesting boxing fighting instrument for entertainment and fitness |
| CN104027232A (en) * | 2014-06-16 | 2014-09-10 | 苏州经贸职业技术学院 | Simple back patter |
| RU2532751C2 (en) * | 2013-03-05 | 2014-11-10 | Леонид Трофимович Дворников | Two-level handler with closed kinematic chain |
| CN204036459U (en) * | 2014-07-21 | 2014-12-24 | 沈阳工学院 | A kind of link transmission manipulator |
| CN104969720A (en) * | 2015-07-13 | 2015-10-14 | 昆明理工大学 | Beating-type walnut harvest machine |
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2017
- 2017-03-07 CN CN201710130730.7A patent/CN106826854A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2233738Y (en) * | 1995-11-23 | 1996-08-28 | 李黎明 | Beat type massage apparatus |
| CN2317851Y (en) * | 1997-09-18 | 1999-05-12 | 杨强 | Machine for pounding and massaging human back |
| RU2532751C2 (en) * | 2013-03-05 | 2014-11-10 | Леонид Трофимович Дворников | Two-level handler with closed kinematic chain |
| CN103537087A (en) * | 2013-09-23 | 2014-01-29 | 北京工业大学 | Interesting boxing fighting instrument for entertainment and fitness |
| CN104027232A (en) * | 2014-06-16 | 2014-09-10 | 苏州经贸职业技术学院 | Simple back patter |
| CN204036459U (en) * | 2014-07-21 | 2014-12-24 | 沈阳工学院 | A kind of link transmission manipulator |
| CN104969720A (en) * | 2015-07-13 | 2015-10-14 | 昆明理工大学 | Beating-type walnut harvest machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108970087A (en) * | 2018-08-06 | 2018-12-11 | 济宁群艺广告传媒有限公司 | A kind of dragon-boat racing device of beating a drum |
| CN110125948A (en) * | 2019-05-09 | 2019-08-16 | 中国地质大学（武汉） | A kind of five degree of freedom modularization dulcimer performance mechanical arm |
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Application publication date: 20170613 |