CN108068106A - It is a kind of based on the robotic gripping device for having ordered-socs - Google Patents
It is a kind of based on the robotic gripping device for having ordered-socs Download PDFInfo
- Publication number
- CN108068106A CN108068106A CN201711422120.0A CN201711422120A CN108068106A CN 108068106 A CN108068106 A CN 108068106A CN 201711422120 A CN201711422120 A CN 201711422120A CN 108068106 A CN108068106 A CN 108068106A
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- CN
- China
- Prior art keywords
- single open
- open chain
- chain unit
- socs
- ordered
- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of based on the robotic gripping device for having ordered-socs, the device includes pedestal, revoliving arm, the first single open chain unit, the second single open chain unit, the 3rd single open chain unit and end effector, the pedestal is connected with revoliving arm, the revoliving arm is connected with the first single open chain unit, the second single open chain unit is connected with the 3rd single open chain unit, and the 3rd single open chain unit is connected with end effector.Compared with prior art, the present invention has many advantages, such as mechanical arm flexible structure and dismounting and change is convenient, easy care.
Description
Technical field
The present invention relates to robotic technology fields, and dress is captured based on the robot for having ordered-socs more particularly, to a kind of
It puts.
Background technology
Pith of the mechanical arm as actuator module determines the possibility of tasks carrying.Therefore, mechanical arm
Design will have higher flexibility, disclosure satisfy that the demand of working space under conditions of satisfaction is executable.Mechanical arm body
Come in every shape, but most be formed by connecting by several joints and connecting rod.With common 6 axis vertical series type industrial robot
Exemplified by, movement mainly includes whole revolution (waist joint), lower arm swing (shoulder joint), upper arm swing (elbow joint), wrist revolution
With bending (wrist joint), end effector crawl etc..
Since the structure of mechanical arm, purposes and requirement are different, the performance of robot is also different.The main skill of mechanical arm
Art parameter has the control number of axle (degree of freedom), bearing capacity, working range (working space), movement velocity, positional precision etc.；This
Outside, there are mounting means, degree of protection, environmental requirement, power supply requirement, robot appearance and size and weight etc., these ginsengs
Number is related with use, installation, traffic condition.How to optimize mechanical arm design, realize more flexible control and more easily repair
Operation, is current robot field problem needed to be considered.
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind is based on singly opening in order
The robotic gripping device of chain.
The purpose of the present invention can be achieved through the following technical solutions：
It is a kind of based on the robotic gripping device for having ordered-socs, the device includes pedestal, revoliving arm, first singly opens
Chain element, the second single open chain unit, the 3rd single open chain unit and end effector, the pedestal is connected with revoliving arm, described
Revoliving arm be connected with the first single open chain unit, the second single open chain unit is connected with the 3rd single open chain unit, described
3rd single open chain unit is connected with end effector.
Preferably, the second single open chain unit includes the upper and lower arms being hingedly connected to one another, and the described the 3rd is single
Open chain unit includes electric pushrod and wrist joint, and the upper arm, wrist joint and electric pushrod are articulated and connected successively, and described is upper
Arm is equipped with the strut being fixedly connected with upper arm, and the strut is hinged with electric pushrod, and wrist joint connection end is held
Row device.
Preferably, the first single open chain unit be two linkages, two link mechanisms respectively with upper arm, under
Arm is articulated and connected.
Preferably, the electric pushrod is connected and composed by two sections of telescopic rods.
Preferably, connected between two sections of telescopic rods by feed screw nut, feed screw nut connection is electronic
Machine.
Preferably, it is rotatably connected between the revoliving arm and pedestal for 360 °.
Preferably, the 3rd single open chain unit is rotatably connected with end effector for 360 °.
Compared with prior art, the present invention has the following advantages：
1st, using there is an ordered-socs link design, mechanical arm flexible structure improves the executive capability of robot；
2nd, modular structure design so that robot dismounting and change is convenient, easy care；
3rd, end effector is replaceable, to complete the different tasks such as crawl or carrying；
4th, appropriate degree of freedom design is designed as 5 degree of freedom in of the invention, meets job that requires special skills demand.
Description of the drawings
Fig. 1 is apparatus of the present invention structure diagram；
Fig. 2 is that kinematic pair forms schematic diagram in apparatus of the present invention；
Fig. 3 is the first single open chain cellular construction schematic diagram in apparatus of the present invention；
Fig. 4 is the second single open chain cellular construction schematic diagram in apparatus of the present invention；
Fig. 5 is the first single open chain unit and the second single open chain modular construction schematic diagram in apparatus of the present invention；
Fig. 6 is the 3rd single open chain cellular construction schematic diagram in apparatus of the present invention
Fig. 7 is the first single open chain unit in apparatus of the present invention, the second single open chain unit and the signal of third unit combining structure
Figure；
Wherein, 1, pedestal；2nd, revoliving arm；3rd, side arm；4th, connecting rod；5th, underarm；6th, upper arm；7th, electric pushrod；8th, wrist joint；
9th, end effector.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is the part of the embodiment rather than whole embodiments of the present invention.Based on this hair
Embodiment in bright, the every other reality that those of ordinary skill in the art are obtained on the premise of creative work is not made
Example is applied, should all belong to the scope of protection of the invention.
Embodiment
This mechanical arm is mainly used for auxiliary robot running gear and the jobs that requires special skills such as is captured, carried, and can lead to
It crosses and replaces end effector species to perform different tasks.
As depicted in figs. 1 and 2, a kind of based on the robotic gripping device for having ordered-socs, which includes pedestal 1, returns
Pivoted arm 2, the first single open chain unit, the second single open chain unit, the 3rd single open chain unit and end effector 9, pedestal and revoliving arm
Connection, revoliving arm are connected with the first single open chain unit, and the second single open chain unit is connected with the 3rd single open chain unit, the 3rd single open chain
Unit is connected with end effector.Second single open chain unit includes the upper and lower arms of articulated connection, the 3rd single open chain unit bag
Electric pushrod 7 and wrist joint 8 are included, upper arm, wrist joint and electric pushrod are articulated and connected successively, and upper arm, which is equipped with to fix with upper arm, to be connected
The strut connect, strut are hinged with electric pushrod, wrist joint connection end effector.First single open chain unit is two linkages,
Two link mechanisms include side arm 3 and connecting rod 4, and side arm 3 is hinged with 5 lower end of underarm, and connecting rod 4 is hinged with upper arm 6.Revoliving arm and pedestal
Between be rotatably connected for 360 °.3rd single open chain unit is rotatably connected with end effector for 360 °.
Electric pushrod is mainly a kind of novel linear executing agency being made of mechanisms such as motor, push rod and control devices.
The working mechanism of electric pushrod is as follows：
Motor drives a pair of of feed screw nut after The gear deceleration.The rotation motion of motor is in line movement, is utilized
Motor forward/backward rotation completes putter action.It the complexity such as such as can complete to rotate, shake by various levers, rocking bar or connecting rod mechanism
Action.By changing lever arm of force length, stroke can be increased or reduced.
Degree of freedom is one of important technological parameters of mechanical arm, is the number that separate axes possessed by robot move
Mesh.Describing the pose of an object in three dimensions needs 6 degree of freedom, and still, the degree of freedom of industrial robot is basis
Its purposes and design, be likely less than 6 degree of freedom, it is also possible to more than 6 degree of freedom.Degree of freedom can excessively cause robot sheet
Body is complicated, control is cumbersome, and therefore, this mechanical arm is using the link joint humanoid robot of 5 degree of freedom, meets extraordinary make
Industry demand.
Independent loop number is the arbitrary basic kinematic chains (BKC) of v, can be considered and is sequentially connected by v single open chain (SOC) unit
It forms.As shown in Fig. 3, Fig. 4 and Fig. 5, first SOC1Both ends component and SOC2Both ends component be connected as same component, structure
Into first independent loop；The SOC of Fig. 5 and Fig. 63Both ends component be connected as same component, form second independent loop, such as
Fig. 7, and so on, it is known that, v single open chain (SOC) unit may be constructed v independent loop by orderly connection.
Mechanism theory of constitution based on SOC units, this machinery arm configuration schematic diagram as shown in Fig. 2, three-dimensional modeling schematic diagram such as
Shown in Fig. 1.
Mechanical arm structure chart transmission principle is as follows：
1)J1Spindle motor drives the revolution of 360 ° of revoliving arm；
2)J2Spindle motor drives underarm pitching；
3)J3Spindle motor drives upper arm to realize elevating movement by side arm and connecting rod；
4)J4Axis drives wrist joint to realize elevating movement by the back and forth movement in electric pushrod P a certain range strokes；；
5)J5Spindle motor drives the revolution of 360 ° of end effector；
6) end effector can install different hands according to job requirements and grab come band dynamic load.
This mechanical arm on running gear to be mounted on due to realizing mobile operational process, and DC servo-motor is in rotation process
In there is good mechanical performance and control characteristic, and the startup voltage of motor, than relatively low, the startup time used is shorter,
Therefore, the driving device selection DC servo-motor of this mechanical arm.
When selecting servomotor and retarder, it to be made to meet the requirement of torque, rotating speed, Inertia Matching etc..
In addition, determining for servomotor torque parameter, also related with the reduction ratio of retarder, therefore, the same stepping of retarder is combined
Row selection.With reference to the structure size and its motion planning of robot, preliminary force analysis is carried out to it, it is electronic to calculate joint
(power) torque suffered by machine and retarder is the premise of servomotor and retarder type selecting.
The torque in servomotor output terminal is loaded with loading the relational model such as formula in the torque of retarder output terminal
1：
In formula, TM：The torque of servomotor output terminal, Nm；TR：The torque of retarder output terminal, Nm；i：Slow down
Device reduction ratio；η：The efficiency of retarder.
The present invention, as executing agency, is improved the flexible executive capability of robot, complete machine is driven using robot arm device
Dynamic power has carried out detailed calculating.Modular structure design so that robot dismounting and change is convenient, easy care.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection domain subject to.
Claims (7)
- It is 1. a kind of based on the robotic gripping device for having ordered-socs, which is characterized in that the device includes pedestal (1), returns Pivoted arm (2), the first single open chain unit, the second single open chain unit, the 3rd single open chain unit and end effector, the pedestal (1) it is connected with revoliving arm (2), the revoliving arm is connected with the first single open chain unit, the second single open chain unit and Three single open chain units connect, and the 3rd single open chain unit is connected with end effector.
- It is 2. according to claim 1 a kind of based on the robotic gripping device for having ordered-socs, which is characterized in that described Second single open chain unit includes the upper arm (5) being hingedly connected to one another and underarm (6), and the 3rd single open chain unit includes electronic Push rod (7) and wrist joint (8), the upper arm (5), wrist joint (8) and electric pushrod (7) are articulated and connected successively, and described is upper Arm is equipped with the strut being fixedly connected with upper arm, and the strut is hinged with electric pushrod (7), the wrist joint (8) connection End effector (9).
- It is 3. according to claim 2 a kind of based on the robotic gripping device for having ordered-socs, which is characterized in that described First single open chain unit is two linkages, and two link mechanisms are articulated and connected respectively with upper arm, underarm.
- It is 4. according to claim 2 a kind of based on the robotic gripping device for having ordered-socs, which is characterized in that described Electric pushrod (7) is connected and composed by two sections of telescopic rods.
- It is 5. according to claim 4 a kind of based on the robotic gripping device for having ordered-socs, which is characterized in that described It is connected between two sections of telescopic rods by feed screw nut, the feed screw nut connects motor.
- It is 6. according to claim 1 a kind of based on the robotic gripping device for having ordered-socs, which is characterized in that described It is rotatably connected between revoliving arm and pedestal for 360 °.
- It is 7. according to claim 1 a kind of based on the robotic gripping device for having ordered-socs, which is characterized in that described 3rd single open chain unit is rotatably connected with end effector for 360 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711422120.0A CN108068106A (en) | 2017-12-25 | 2017-12-25 | It is a kind of based on the robotic gripping device for having ordered-socs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711422120.0A CN108068106A (en) | 2017-12-25 | 2017-12-25 | It is a kind of based on the robotic gripping device for having ordered-socs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108068106A true CN108068106A (en) | 2018-05-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711422120.0A Pending CN108068106A (en) | 2017-12-25 | 2017-12-25 | It is a kind of based on the robotic gripping device for having ordered-socs |
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| CN (1) | CN108068106A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112247989A (en) * | 2020-10-13 | 2021-01-22 | 珠海格力智能装备有限公司 | Simulation processing method and device for robot |
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| CN103433918A (en) * | 2013-09-09 | 2013-12-11 | 清华大学 | Series-parallel industrial robot with five degrees of freedom |
| CN103921269A (en) * | 2014-04-23 | 2014-07-16 | 重庆社平科技有限公司 | Self-adaption mechanical arm |
| DE102013206791A1 (en) * | 2013-04-16 | 2014-10-16 | Kuka Roboter Gmbh | Industrial robot with a arranged on a arm arm drive assembly |
| CN105965502A (en) * | 2016-06-13 | 2016-09-28 | 新乡学院 | Multifunctional manipulator |
| CN205614702U (en) * | 2016-05-05 | 2016-10-05 | 重庆社平科技有限公司 | High -precision locate mode manipulator |
| CN107214684A (en) * | 2017-07-18 | 2017-09-29 | 罗厚镇 | A kind of industrial production mechanical arm of intelligent control |
-
2017
- 2017-12-25 CN CN201711422120.0A patent/CN108068106A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102013206791A1 (en) * | 2013-04-16 | 2014-10-16 | Kuka Roboter Gmbh | Industrial robot with a arranged on a arm arm drive assembly |
| CN103433918A (en) * | 2013-09-09 | 2013-12-11 | 清华大学 | Series-parallel industrial robot with five degrees of freedom |
| CN103921269A (en) * | 2014-04-23 | 2014-07-16 | 重庆社平科技有限公司 | Self-adaption mechanical arm |
| CN205614702U (en) * | 2016-05-05 | 2016-10-05 | 重庆社平科技有限公司 | High -precision locate mode manipulator |
| CN105965502A (en) * | 2016-06-13 | 2016-09-28 | 新乡学院 | Multifunctional manipulator |
| CN107214684A (en) * | 2017-07-18 | 2017-09-29 | 罗厚镇 | A kind of industrial production mechanical arm of intelligent control |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112247989A (en) * | 2020-10-13 | 2021-01-22 | 珠海格力智能装备有限公司 | Simulation processing method and device for robot |
| CN112247989B (en) * | 2020-10-13 | 2022-02-25 | 珠海格力智能装备有限公司 | Simulation processing method and device for robot |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20180525 |