CN107363857A - A kind of manipulator and robot - Google Patents
A kind of manipulator and robot Download PDFInfo
- Publication number
- CN107363857A CN107363857A CN201710699876.3A CN201710699876A CN107363857A CN 107363857 A CN107363857 A CN 107363857A CN 201710699876 A CN201710699876 A CN 201710699876A CN 107363857 A CN107363857 A CN 107363857A
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- CN
- China
- Prior art keywords
- finger
- side link
- transmission device
- manipulator
- linkage
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Classifications
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robotic technology field; provide a kind of manipulator and robot; including transmission device and grabbing device; grabbing device includes at least two fingers; finger is connected with transmission device; transmission device drives finger to collapse or open; so as to be captured or release movement; elastic deformation can occur for the finger; body surface can be adaptively pressed against according to the profile of object so that finger possesses the ability of adaptive crawl, the object of deviation suitable for shape, size, position be present; the envelope ability for treating crawl object is strong so that grasp stability is high.Robot with above-mentioned manipulator also includes mechanical arm, mechanical arm can driving mechanical hands movement position needed for, and self-adapting grasping and carrying are carried out to object.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of manipulator and robot.
Background technology
With the high speed development of science and technology, many occasions can utilize automatic machinery substitution it is artificial carry out related activity with
Operation, such as manipulator, it is widely used in the fields such as industrial production, logistics, metallurgical medical treatment and 3C industries, to substitute people
Hand such as is captured and carried at repeatability, the mechanical sex work, can largely improve production；Can also human hand be substituted to enter simultaneously
Some complicated, dangerous high work of row, are largely ensured personal safety.But in the prior art, manipulator is using rigidity
Structure, and drive mechanism is complicated, function is single, and it be rigid object to be only applicable to surface, and requires multiple objects shape, greatly
Small and position immobilizes, and could be captured.Shape can not be captured, size, position have the object of deviation, and existing
Manipulator treats the envelope ability of crawl object, and grasp stability is poor.For with yielding or destructible feature object,
It can not smoothly be captured using existing robot, easily cause the damage of object.
Therefore, it is necessary to be directed to above-mentioned problems of the prior art, there is provided a kind of technical scheme is to solve the above problems.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of manipulator and robot for possessing self-adapting grasping function.
Technical scheme is used by the present invention solves above-mentioned technical problem：
A kind of manipulator is provided, it includes transmission device and grabbing device, and the grabbing device includes at least two hands
Refer to, the transmission device drives the finger to collapse or open, so as to be captured or bullet can occur for release movement, the finger
Property deformation, the transmission device includes linkage, the quantity correspondent equal of the quantity of the linkage and the finger, institute
Finger is stated respectively with the linkage to be connected.
As the improvement of above-mentioned technical proposal, the transmission device also includes one and fixes chuck, the linkage difference
Quadric chain is formed with the fixed chuck, the linkage includes the first side link, the connecting rod and second being sequentially connected
Side link, first side link and second side link are hinged with the fixed chuck respectively, the both ends point of the connecting rod
It is not hinged with first side link and second side link.
As the further improvement of above-mentioned technical proposal, the transmission device also includes a worm screw, the linkage edge
The worm screw is circumferentially uniformly distributed, and first side link includes a toothed disc, and the toothed disc is mutually nibbled with the worm screw respectively
Close.
As the further improvement of above-mentioned technical proposal, the fixed chuck includes mounting disc and fixed support, the snail
Bar is described solid perpendicular to mounting disc center, the support bracket fastened quantity and the quantity correspondent equal of the linkage
Fixed rack is uniformly distributed centered on the worm screw along ring-type, and first side link is hinged with the fixed support, and described
Two side links are hinged with the mounting disc.
As the further improvement of above-mentioned technical proposal, erecting bed, the erecting bed are tiltedly installed with the mounting disc
It is corresponding with the support bracket fastened position, the first installation portion for being connected with the finger is provided with the erecting bed.
As the further improvement of above-mentioned technical proposal, the finger includes drive division, fixed part and crawl section, the drive
Dynamic portion is used to drive the crawl section and the fixed part to be deformed, and the crawl section is used to capture object.
As the further improvement of above-mentioned technical proposal, the drive division, the fixed part and the crawl section are intersected in
Same intersection and Formation cross-section are the structure of y types, and the bottom of corresponding y types is the crawl section, and the top of corresponding y types is respectively
The drive division and the fixed part.
As the further improvement of above-mentioned technical proposal, the second installation portion, the drive are provided with second side link
Dynamic portion and second installation portion are detachably connected, and the fixed part and the fixed chuck are detachably connected.
As the further improvement of above-mentioned technical proposal, including three fingers.
A kind of robot is additionally provided, it includes above-mentioned manipulator, and the mechanical arm drives the manipulator to be transported
It is dynamic.
The beneficial effects of the invention are as follows：
A kind of manipulator of the present invention and robot, including transmission device and grabbing device, the grabbing device include finger,
The finger is connected with the transmission device, and the transmission device drives the finger to collapse or open, so as to be captured
Or elastic deformation can occur for release movement, the finger, finger can adaptively be pressed against body surface according to the profile of object so that
Finger possesses the ability of adaptive crawl, the object of deviation suitable for shape, size, position be present, treats crawl object
Envelope ability is strong so that grasp stability is high.Robot with above-mentioned manipulator also includes mechanical arm, and mechanical arm can be with motivation
Tool hands movement position needed for, and self-adapting grasping and carrying are carried out to object.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing briefly describes：
Fig. 1 is the schematic perspective view of manipulator one embodiment releasing orientation of the present invention；
Fig. 2 is the schematic diagram of embodiment illustrated in fig. 1 part；
Fig. 3 is the schematic perspective view of embodiment illustrated in fig. 1 seized condition；
Fig. 4 is the view in mono- direction of Fig. 3；
Fig. 5 is the top view of manipulator one embodiment of the present invention；
Fig. 6 is the schematic perspective view that chuck is fixed in manipulator of the present invention；
Fig. 7 is the schematic perspective view of linkage one embodiment in manipulator of the present invention.
Embodiment
Carried out below with reference to the design of embodiment and accompanying drawing to the present invention, concrete structure and caused technique effect clear
Chu, it is fully described by, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair
Bright part of the embodiment, rather than whole embodiments, based on embodiments of the invention, those skilled in the art is not paying
The other embodiment obtained on the premise of creative work, belongs to the scope of protection of the invention.In addition, it is related in patent
All connection/annexations, not singly refer to component and directly connect, and refer to can according to specific implementation situation, by addition or
Couple auxiliary is reduced, to form more excellent draw bail.The orientation such as upper and lower, left and right involved by the present invention describe
For the mutual alignment relation of each part of the present invention in accompanying drawing.Each technical characteristic in the present invention, not
Can be with combination of interactions on the premise of conflicting conflict.
Fig. 1 is the schematic perspective view of manipulator one embodiment releasing orientation of the present invention, and Fig. 2 is embodiment illustrated in fig. 1 one
The view in individual direction, with reference to Fig. 1 and Fig. 2, the present embodiment manipulator includes transmission device 100 and grabbing device 200.Crawl
Device 200 includes three fingers 210, is connected respectively with transmission device 100, the quantity of corresponding finger 210, transmission device 100
Including three linkages 110, transmission device 100 drives three fingers 210 are synchronous to collapse by linkage 110, so as to enter
Row grasping movement；210 flexible deformability of finger, when capturing object, finger 210 can be adaptive according to the profile of object
It is pressed against body surface so that finger 210 possesses the ability of adaptive crawl.Transmission device 100 is driven by linkage 110
Finger 210 synchronously opens and eliminates the deformation of deformation finger, so as to carry out release movement.When it is implemented, the quantity of finger is extremely
It is 2 less, and along annular spread, in the present embodiment, grabbing device 200 includes 3 fingers, helps to carry out fully body surface
Envelope.
In the present embodiment, finger 210 is made up of flexible soft material, is a resiliently deformable, it include drive division 211,
Fixed part 212 and crawl section 213, the drive division 211, fixed part 212 and crawl section 213 are structure as a whole, and fixed part 212 and grab
Portion 213 is taken to form an envelope plane 214, and three is intersected in same intersection 215, its section is in y type structure (reference charts
2) bottom for, corresponding to y type structures is crawl section 213, top is respectively drive division 211 and fixed part 212, and the wherein left side is driving
Portion 211, the right are fixed part 212.
Drive division 211 includes the first connector 211a and drive section 211b, and the second connector 212a is provided with fixed part,
First connector 211a and the second connector 212a is used for detachably connected with transmission device 100.In the present embodiment, three hands
Refer to mutually to collapse and can capture object, three, which mutually opens, can discharge object, and three fingers, can be from three along annular uniformly arrangement
Crawl object is treated through being captured and envelope in individual direction, the object of deviation suitable for shape, size, position be present, treats and grab
Take the envelope ability of object strong so that grasp stability is high.
Fixed part 212 is in straight panel shape, including the second connector 212a and canned paragraph 212b, and envelope plane 214 is by canned paragraph
212b is collectively forming with crawl section 213, for directly being acted on object to be captured, utilizes rubbing between object and enveloping surface 214
Power is wiped, object is fixed between the fingers.The thickness of intersection 215 of three is larger, can increase intensity and toughness at this,
Crawl section 213 gradually increases from its end to the material thickness of intersection 215.
Transmission device 100 includes three linkages 110, one and fixes chuck 120 and a worm screw 130, linkage 110
Uniformly arranged along annular and be hinged with fixed chuck 120, worm screw 130 can drive three positioned at the centre of three linkages 110
Linkage 110 moves simultaneously, and three fingers 210 are removably secured with three linkages 110 are connected respectively.
Fixed chuck 120 includes a mounting disc 121 and three fixed supports 122, and worm screw 130 is perpendicular to mounting disc 121
Center, fixed support 122 are uniformly distributed and are fixed in the mounting disc 121 along ring-type centered on worm screw, three linkages
110 is be hinged with three fixed supports 122 respectively.
Be provided with mounting disc 121 three be used for step down side 1211, the position of the side 1211 and fixed support 122
Corresponding, the motion for three linkages provides resigning, avoids movement interference.Three peaces are tiltedly installed with mounting disc 121
Platform 123 is filled, the erecting bed 123 is corresponding with support bracket fastened position, is provided with the first peace for being connected with finger 110
Dress portion 1231 and three pairs are used to carry out be hinged hinged seat 1232 with linkage 110.First installation portion 1231 is specially to run through
The T-slot of the erecting bed, be advantageous to uniformly exert a force to the adaptive finger in it, prevent adaptive finger from turning round
Song, the second joint 212a on the fixed part 212 of finger 210 is specially T connector, and second joint 212a can be caught in the first peace
So as to be fixedly connected in dress portion 1231, and can be dismantled as needed, meanwhile, to prevent from being fixed on oneself in the T-slot
Adapt to finger to slip, locking baffle plate can be set in connecting portion both ends of the surface, prevent adaptive finger from being slipped along T-slot length direction.
Three linkages 110 are formed three quadric chains to fix chuck 120 for frame respectively, specifically, connecting rod
Mechanism 110 includes the first side link 111, the second side link 112 and connecting rod 113, and the first side link 111 is with fixing on chuck 120
Fixed support 122 it is be hinged, the second side link 112 is hinged with the hinged seat 1231 set on erecting bed 123, formation hinge four
Linkage, the first side link 111 and the second side link 112 can be relatively fixed chuck 120 and be swung respectively.First side link
111 include a toothed disc 111a, toothed disc 111a using the pin joint on the first side link 111 with fixed support 122 as the center of circle,
Toothed disc 111a on three the first side links 111 is intermeshed with worm screw 130 respectively, and driving the worm screw 130 to rotate can drive
Three synchronous axial systems of the first side link 111, so as to which the side link 112 of drivening rod 113 and second moves.
It is provided with the second installation portion 112a on second side link 112, in the present embodiment, second installation portion 112a is specially
T-slot, be advantageous to uniformly exert a force to the adaptive finger in it, prevent adaptive finger to be distorted, finger 210
The first joint 211a on drive division 211 is specially T connector, first joint 211a can be caught in the second installation portion 112a from
And be fixedly connected, and can be dismantled as needed, meanwhile, slipped to prevent from being fixed on the adaptive finger in the T-slot,
Locking baffle plate can be set in connecting portion both ends of the surface, prevent adaptive finger from being slipped along T-slot length direction.To ensure that clamping can
Lean on, the first connector 211a and the second connector 212a are preferably that rigid material is made, or are made up of flexible soft material
And rigid material is internally provided with it, prevent the first connector and the second connector from deforming excessive and departing from the first installation portion
The 1231 and second installation portion 112a.Drive section 211b is in bending, is advantageous to be oriented to its bending direction, prevents its stress
Drive section material crimps to fixed part 212 during deformation so that drive section material crimps to the direction away from fixed part 212, ensures
Enough deformation spaces.
Fig. 3 is the schematic perspective view of embodiment illustrated in fig. 1 seized condition, and Fig. 4 is the view in mono- direction of Fig. 3, is joined simultaneously
Fig. 3 and Fig. 4 are examined, in crawl, the worm screw 130 in drive device driving transmission device 100 rotates the present embodiment three claw robot,
The rotation direction is defined as forward direction, worm screw 130 drives three synchronous axial systems of the first side link 111 engaged, the first frame linking
Bar 111 drives the second side link 112 to move by connecting rod 113 so that the second side link 112 drives finger 210 mutually to collapse simultaneously
Compressing drive division 211 makes its deformation, because finger 210 is made up of flexible soft material, therefore is deformed into bullet caused by drive division 211
Property deformation, its elastic force promotes crawl section 213 and fixed part 212 to bend in opposite directions, and three fingers are collapsed, so as to realize that crawl is dynamic
Make.Above-mentioned flexible soft material can be the environmental-protecting materials such as natural rubber, silica gel, have that hardness is relatively low, degree of deformability is high
Feature.
During release, drive device drives worm screw 130 to rotate backward and (rotated forward in the opposite direction with defined above), drives
Three synchronous axial systems of the first side link 111 engaged, the first side link 111 drive the second side link 112 by connecting rod 113
Motion so that the second side link 112 drives finger 210 to open, and eliminates the deformation of drive division 211 and crawl section 213, three
Mutually open, so as to realize release movement.
When it is implemented, can be directly fixed on power set on fixed chuck 220, now power set can be electricity
The modes such as dynamic, pneumatic or hydraulic-driven provide rotary power, and preferably motor, motor output end are connected with worm screw 130 herein
Connect and worm screw 130 can be driven to rotate.
Fig. 5 is the top view of three claw robot one embodiment of the present invention, and with reference to figure 5, fixed chuck 120 includes a peace
Sabot 121 and three fixed supports 122, worm screw 130 is central perpendicular to mounting disc 121, during fixed support 122 is with worm screw 130
The heart is uniformly distributed along ring-type, and the first side link 111 and fixed support 122 are be hinged, the toothed disc on three the first side links 111
111a engages with worm screw 130.It is provided with three first sides 1211 and three second sides 1212 in mounting disc 121, first
Side 1211 is corresponding with the position of fixed support 122, and second side 1212 is arranged at intervals with first side 1211.
Fig. 6 is the schematic perspective view that chuck is fixed in three claw robot of the present invention, and with reference to figure 6, fixed chuck 120 includes peace
Sabot 121 and fixed support 122, are tiltedly installed with three erecting beds 123 in mounting disc 121, its position respectively with fixed support
It is corresponding, it is provided be hinged for being carried out with linkage for the first installation portion 1231 being connected with finger and three pairs
Hinged seat 1232.Erecting bed 123 is obliquely installed, when three claw robot in the raw when, be advantageous to hand mounted thereto
Finger is in the free state without deformation, is favorably improved the service life of finger.First installation portion 1231 is specially to run through the peace
The T-slot of platform is filled, is advantageous to uniformly exert a force to the adaptive finger in it, prevents adaptive finger to be distorted, together
When, slipped to prevent from being fixed on the adaptive finger in the T-slot, locking baffle plate can be set in connecting portion both ends of the surface, prevent certainly
Finger is adapted to slip along T-slot length direction.
Fig. 7 is the schematic perspective view of linkage one embodiment in three claw robot of the present invention, with reference to figure 7, connecting rod machine
Structure 110 includes the first side link 111, the second side link 112 and connecting rod 113.
First side link 111 includes a toothed disc 111a, and toothed disc 111a is with the first side link 111 and above-mentioned fixation
The pin joint of support is the center of circle, and toothed disc 111a and worm engaging on three the first side links, worm screw, which rotates, can drive three
The synchronous axial system of first side link 111, so as to which the side link 112 of drivening rod 113 and second is moved accordingly.
Second side link 112 includes two hinged seats 1121 being separated from each other and two pendulum for being symmetrical arranged and being separated from each other
Bar 1122, two swing rods are connected by connecting portion 1123, hinged seat 1121 be arranged on connecting portion 1123 and with two swing rods
Setting at an angle, the first installation portion 112a is arranged on connecting portion 1123, and it is a T-slot for running through connecting portion 1123,
Be advantageous to uniformly exert a force to the adaptive finger in it, prevent adaptive finger to be distorted, meanwhile, to prevent from fixing
Adaptive finger in the T-slot slips, and can set locking baffle plate in connecting portion both ends of the surface, prevents adaptive finger along T-shaped
Slot length direction slips.
The both ends of connecting rod 113 are be hinged with the first side link 111 and the second side link 112 respectively, and connecting rod 113 includes the first curved bar
1131 and second curved bar 1132, the first curved bar 1131 and the second curved bar 1132 respectively have a bending section so that the two be hinged
Axle pulls open corresponding distance, so that the first curved bar 1131 and jointed shaft and the second side link 112 on the second curved bar 1132
On hinged seat 1121 be engaged it is be hinged so that stable transmission is reliable.
A kind of robot, including mechanical arm and above-mentioned three claw robot, mechanical arm drive the manipulator to move, from
And object is captured and carried, the institute that the crawl to object possesses three claw robot is functional, to substitute human hand to carry out
Repeatability, the mechanical sex work such as crawl and carrying, can largely improve production；Also human hand can be substituted to carry out simultaneously
Complicated, dangerous high work, is largely ensured personal safety.
Presently preferred embodiments of the present invention is above are only, but the present invention is not restricted to the embodiment, is familiar with this area
Technical staff can also make a variety of equivalent variations or replacement on the premise of without prejudice to spirit of the invention, these equivalent deformations
Or replace and be all contained in the application claim limited range.
Claims (10)
- A kind of 1. manipulator, it is characterised in that：Including transmission device and grabbing device, the grabbing device includes at least two hands Refer to, the transmission device drives the finger to collapse or open, so as to be captured or bullet can occur for release movement, the finger Property deformation, the transmission device includes linkage, the quantity correspondent equal of the quantity of the linkage and the finger, institute Finger is stated respectively with the linkage to be connected.
- 2. manipulator according to claim 1, it is characterised in that：The transmission device also includes one and fixes chuck, described Linkage forms quadric chain with the fixed chuck respectively, and the linkage includes the first frame linking being sequentially connected Bar, connecting rod and the second side link, first side link and second side link are hinged with the fixed chuck respectively, described The both ends of connecting rod are hinged with first side link and second side link respectively.
- 3. manipulator according to claim 2, it is characterised in that：The transmission device also includes a worm screw, the connecting rod Mechanism is circumferentially uniformly distributed along the worm screw, and first side link includes a toothed disc, the toothed disc respectively with the snail Bar is meshed.
- 4. manipulator according to claim 3, it is characterised in that：The fixed chuck includes mounting disc and fixed support, The worm screw is central perpendicular to the mounting disc, the support bracket fastened quantity and the quantity correspondent equal of the linkage, The fixed support is uniformly distributed centered on the worm screw along ring-type, and first side link is hinged with the fixed support, Second side link is hinged with the mounting disc.
- 5. manipulator according to claim 4, it is characterised in that：Erecting bed is tiltedly installed with the mounting disc, it is described Erecting bed is corresponding with the support bracket fastened position, and the first peace for being connected with the finger is provided with the erecting bed Dress portion.
- 6. the manipulator according to any one of claim 2~5, it is characterised in that：The finger includes drive division, consolidated Determine portion and crawl section, the drive division is used to drive the crawl section and the fixed part to be deformed, and the crawl section is used for Capture object.
- 7. manipulator according to claim 6, it is characterised in that：The drive division, the fixed part and the crawl section It is intersected in same intersection and Formation cross-section is the structure of y types, the bottom of corresponding y types is the crawl section, the top of corresponding y types Respectively described drive division and the fixed part.
- 8. manipulator according to claim 7, it is characterised in that：The second installation portion is provided with second side link, The drive division and second installation portion are detachably connected, and the fixed part and the fixed chuck are detachably connected.
- 9. manipulator according to claim 8, it is characterised in that：Including three fingers.
- A kind of 10. robot, it is characterised in that：Including mechanical arm and manipulator according to any one of claims 1 to 9, institute Stating mechanical arm drives the manipulator to be moved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710699876.3A CN107363857B (en) | 2017-08-16 | 2017-08-16 | Manipulator and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710699876.3A CN107363857B (en) | 2017-08-16 | 2017-08-16 | Manipulator and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107363857A true CN107363857A (en) | 2017-11-21 |
| CN107363857B CN107363857B (en) | 2023-05-30 |
Family
ID=60310238
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710699876.3A Active CN107363857B (en) | 2017-08-16 | 2017-08-16 | Manipulator and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107363857B (en) |
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| CN108161914A (en) * | 2018-01-24 | 2018-06-15 | 深圳果力智能科技有限公司 | A kind of crawl robot |
| CN108994640A (en) * | 2018-08-08 | 2018-12-14 | 庄丽红 | A kind of positioning grabbing device for clamping workpiece from three directions |
| CN112621799A (en) * | 2020-12-28 | 2021-04-09 | 南京农业大学 | Robot gripper |
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| CN112621799A (en) * | 2020-12-28 | 2021-04-09 | 南京农业大学 | Robot gripper |
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| Publication number | Publication date |
|---|---|
| CN107363857B (en) | 2023-05-30 |
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