CN108527408A - A kind of manipulator for realizing adaptive body form using mechanical structure - Google Patents

A kind of manipulator for realizing adaptive body form using mechanical structure Download PDF

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Publication number
CN108527408A
CN108527408A CN201810196888.9A CN201810196888A CN108527408A CN 108527408 A CN108527408 A CN 108527408A CN 201810196888 A CN201810196888 A CN 201810196888A CN 108527408 A CN108527408 A CN 108527408A
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CN
China
Prior art keywords
resistance
synchronizing wheel
bearing
manipulator
torque
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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.)
Pending
Application number
CN201810196888.9A
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Chinese (zh)
Inventor
赵娟
全朋坤
张海辉
张佐经
李豪
陈山
赵强
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Northwest A&F University
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Northwest A&F University
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Filing date
Publication date
Application filed by Northwest A&F University filed Critical Northwest A&F University
Priority to CN201810196888.9A priority Critical patent/CN108527408A/en
Publication of CN108527408A publication Critical patent/CN108527408A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints

Abstract

The invention discloses a kind of manipulators for realizing adaptive body form using mechanical structure, including two groups of manipulator mechanisms, two groups of manipulator mechanisms are in the shape of the letter V symmetry arrangement, two groups of manipulator mechanisms are completely the same, including 16 bearings, six resistance mechanisms, three locating pieces, four synchronizing wheels, four synchronous belts and motor, torque is transmitted to synchronizing wheel by motor by supporting rod, torque is transmitted to next synchronizing wheel by synchronizing wheel by synchronous belt, torque is transmitted to resistance mechanism by synchronizing wheel by supporting rod again, resistance mechanism rotates under the effect of spring force, joint will skid preload after being obstructed, similarly, after waiting for all mechanical arm docile body surfaces.Electromagnetic switch is powered, and fixed mechanism will lock shape, to realize automatic identification object surface shape and complete the function of stepping up.Structure of the invention principle is ingenious simple, cost-effective, is suitble to promote and apply.

Description

A kind of manipulator for realizing adaptive body form using mechanical structure
Technical field
The invention belongs to manipulator technical fields, are related to a kind of machine for realizing adaptive body form merely with mechanical structure Tool hand.
Background technology
Current manipulator is usually fixed crawl object formula, i.e., when capturing different objects, mistake of the grasp type in crawl Journey is mechanical, fixed, will not change grasp type according to the shape of object, cannot preferably be bonded the surface of object, and People is needed during crawl after the completion of observing crawl, to stop grasping manipulation, often make motor in the case of energization There is a moment to stall, so that electric current is increased dramatically, influence the service life of motor.Also one is sensor real-time transmission data is utilized, in fact Now capture work.Such manipulator is needed by expensive sensor, and sensor is not only not easy to be laid out on a robotic arm, and Circuit is particularly easy to aging in manipulator bending back and forth and fractures.If above-mentioned manipulator is used in apple, and (apple form is not solid Fixed, size is also variant) on production line, realize that obviously the former mode is infeasible for crawl, and some water are being clamped in the latter When fruit (apple), controller response speed is too slow, since sensor can may make in clamping process by the percussion of external force Sensor is damaged failure etc., can easily cause fruit and be damaged in clamping process, not only result in the damage of economic benefit It loses, and can cause the loss of orchard worker's prestige, the present invention that absolutely induction in real time may be implemented using mechanical mechanism.Avoid with Damage of the fruit in clamping process, the present invention are also achieved using mechanical structure to the adaptive of fruit surface shape, can be with Multiple contact points, the process of simulation human hand crawl object (apple), when complete folder are generated with the apple surface of different size shape When holding object (apple), manipulator internal mechanism will skid rotation, and motor is not in stalling phenomenon, so as to protect Protect motor, at this time position-limit mechanism will locking mechanism shape, to realize self-adapting grasping of the manipulator to object (apple).
Invention content
It is an object of the invention to overcome defect existing in the prior art, provide a kind of adaptive using mechanical structure realization Answer the manipulator of body form.
Its technical solution is as follows:
A kind of manipulator for realizing adaptive body form using mechanical structure, including two groups of manipulator mechanisms 1, two groups of machines Tool mobile phone structure 1 is symmetrical arranged, and two groups of manipulator mechanisms 1 are completely the same, including 16 bearings, six resistance mechanisms, three it is fixed Position part, four synchronizing wheels, four synchronous belts and motor 2, specially first bearing 3, second bearing 4,3rd bearing the 5, the 4th Bearing 6,5th bearing 7,6th bearing 8,7th bearing 9,8th bearing 10, the 9th bearing 11, the tenth bearing 12, the 11st axis Hold the 13, the 12nd bearing 14, the 13rd bearing 15, the 14th bearing 16, the 15th bearing 17, the resistance of the 16th bearing 18, first Force mechanisms 19, the second resistance mechanism 20, third resistance mechanism 21, the 4th resistance mechanism 22, the 5th resistance mechanism 23, the 6th resistance Mechanism 24, first positions original paper 25, second and positions original paper 26, third positioning original paper 27, the first synchronizing wheel 28, the second synchronizing wheel 29, third synchronizing wheel 30, the 4th synchronizing wheel 31, the first synchronous belt 32, the second synchronous belt 33, third synchronous belt the 34, the 4th synchronize Band 35, the motor 2 are connected by supporting rod torque being transmitted to synchronizing wheel 31, and there is positioning baffle 27 in the outside of synchronizing wheel 31, Torque is transmitted to next synchronizing wheel 30 by synchronizing wheel 31 by synchronous belt 34, and synchronizing wheel 30 is transmitted torque by supporting rod To resistance mechanism 21 and resistance mechanism 22, there are spring, resistance ring, electromagnetic switch, synchronizing wheel 30 to pass through synchronization inside resistance mechanism Torque is transmitted to next synchronizing wheel 29 by band 33 and synchronous belt 35, and torque is transmitted to resistance machine by synchronizing wheel 29 by supporting rod Structure 20 and resistance mechanism 23, and so on.
Further, the resistance mechanism includes two springs, a magnetic force mechanism 36 and a resistance ring 37, described two Spring is the first spring 38, second spring 39 respectively.
Further, the material of the resistance ring 37 uses Cr12 materials.
Further, two groups of manipulator mechanisms 1 are arranged in nearly V-shaped.
Further, the motor 2 is accurately controlled using stepper motor.
Further, the synchronous belt is all made of synchronous belt.
The operating method of the manipulator of the present invention that adaptive body form is realized using mechanical structure, including following step Suddenly:Motor rotates, and drives synchronizing wheel rotation, synchronizing wheel that synchronous belt rotation, synchronous belt is driven to transmit torque to by connecting rod In next synchronizing wheel, torque is transmitted in resistance mechanism by synchronizing wheel by connecting rod, when object is clamped, middle part joint initial stage Understand rotation of being obstructed under certain elastic force caused by spring, when by certain resistance, resistance ring will rotate skidding, this joint is just Can be with constant force effect in body surface, next joint can also skid when by resistance, with constant force effect in object Body surface face, and so on, last manipulator meeting docile body surface, after the completion of preload effect, electromagnetic switch is powered, fixed mechanism 36 will Cat-in resisting force circle 37 shape is locked, last manipulator can complete as needed accordingly shift or rotation behaviour Make.
Beneficial effects of the present invention:
Structure of the invention principle is ingenious simple, need not be by high sensor, and the joint of manipulator can also basis Demand is added, and the surface shape features of full utilization mechanical structure perception fruit realize the self-adapting type crawl of fruit surface, from And it can achieve the effect that simulate human hand crawl object.
Description of the drawings
Fig. 1 is robot manipulator structure schematic diagram of the present invention.
Fig. 2 is the spring resistance structural schematic diagram of the present invention.
Fig. 3 is two groups of manipulator mechanism arrangement schematic diagrams of the present invention.
Fig. 4 is the clamping flow chart of the present invention.
Specific implementation mode
Technical scheme of the present invention is described in more detail with reference to the accompanying drawings and detailed description.
Referring to Fig.1, a kind of manipulator for realizing adaptive body form using mechanical structure, including two groups of manipulator mechanisms 1, two groups of manipulator mechanisms 1 are symmetrical arranged, and two groups of manipulator mechanisms 1 are completely the same, including 16 bearings, six resistance machines Structure, three locating pieces, four synchronizing wheels, four synchronous belts and motor 2, specially first bearing 3, second bearing 4, third axis Hold 5, fourth bearing 6,5th bearing 7,6th bearing 8,7th bearing 9,8th bearing 10, the 9th bearing 11, the tenth bearing 12, 11st bearing 13, the 12nd bearing 14, the 13rd bearing 15, the 14th bearing 16, the 15th bearing 17, the 16th bearing 18, the first resistance mechanism 19, the second resistance mechanism 20, third resistance mechanism 21, the 4th resistance mechanism 22, the 5th resistance mechanism 23, the 6th resistance mechanism 24, first positioning original paper 25, second position original paper 26, third positioning original paper 27, the first synchronizing wheel 28, Second synchronizing wheel 29, third synchronizing wheel 30, the 4th synchronizing wheel 31, the first synchronous belt 32, the second synchronous belt 33, third synchronous belt 34, the 4th synchronous belt 35, the motor 2 are connected by supporting rod torque being transmitted to synchronizing wheel 31, and the outside of synchronizing wheel 31 has Torque is transmitted to next synchronizing wheel 30 by positioning baffle 27, synchronizing wheel 31 by synchronous belt 34, and synchronizing wheel 30 passes through supporting rod Torque is transmitted to resistance mechanism 21 and resistance mechanism 22, there is spring, resistance ring, electromagnetic switch, synchronizing wheel inside resistance mechanism Torque is transmitted to next synchronizing wheel 29 by 30 by synchronous belt 33 and synchronous belt 35, and synchronizing wheel 29 is passed torque by supporting rod It is sent to resistance mechanism 20 and resistance mechanism 23, and so on.The synchronizing wheel is fixed by synchronous band connection and with holder, synchronous Wheel and resistance mechanism are coaxial;Described 4th synchronizing wheel, 31 one end connects motor 2;Synchronizing wheel and holder are all made of the light aluminium of comparison and close Golden material.
Torque is transmitted to synchronizing wheel by motor 2 by supporting rod, and torque is transmitted to next by synchronizing wheel by synchronous belt Torque is transmitted to resistance mechanism by synchronizing wheel, synchronizing wheel by supporting rod, and resistance mechanism rotates under the effect of spring force, is closed Section will skid after being obstructed, and similarly, third joint principle is also such.In the process for completing to clamp in advance, electromagnetic switch The shape of manipulator is locked.
The resistance mechanism includes two springs, a magnetic force mechanism 36 and a resistance ring 37, described two springs point It is not the first spring 38, second spring 39, it is the core of resistance mechanism.The pretightning force of manipulator can pass through the elastic force of spring It is adjusted.Resistance ring is using the good Cr12 materials of intensity and wearability.Spring is bigger using stiffness factor, is subtracted with this The volume of gadget hand.
Two groups of manipulator mechanisms 1 are arranged in nearly V-shaped.
The motor 2 is accurately controlled using stepper motor.
The synchronous belt is all made of synchronous belt.
Torque-transferring manner is transmitted using synchronous belt, it is possible thereby to keep the torque of transmission in the same direction, and can be passed torque It is sent to each joint;Synchronous belt uses toothed synchronous belt, can prevent from skidding, and improves transmission efficiency.
The manipulator can add joint and the fingers number of manipulator according to demand.Joint on the same finger Quantity can be added according to specific requirements, increase the flexibility of manipulator.
Operation principle:Motor rotates, and drives synchronizing wheel rotation by connecting rod, synchronizing wheel drives synchronous belt rotation, synchronous Band transmits torque in next synchronizing wheel, and torque is transmitted in resistance mechanism by synchronizing wheel by connecting rod, and object is clamped When, it can be rotated under the effect of spring force when the middle part joint initial stage of Fig. 1, when by certain resistance, resistance ring will turn Dynamic to skid, this joint will be with constant force effect in body surface, and similarly, next joint can also be beaten when by resistance Sliding, with constant force effect after the completion of body surface, preload effect, electromagnetic switch is powered, and fixed mechanism 36 will be by shape Locked, last manipulator can be completed the operations such as to shift or rotate accordingly as needed.Spring in above constant power and Fig. 2 Elastic force positive correlation;The elastic force of adjustment spring can adjust the size of aid power.Hereby it is achieved that being realized certainly using mechanical structure Adapt to the manipulator of body form.
The foregoing is only a preferred embodiment of the present invention, protection scope of the present invention is without being limited thereto, it is any ripe Those skilled in the art are known in the technical scope of present disclosure, the letter for the technical solution that can be become apparent to Altered or equivalence replacement are each fallen in protection scope of the present invention.

Claims (7)

1. a kind of manipulator for realizing adaptive body form using mechanical structure, it is characterised in that:Including two groups of machinery mobile phones Structure (1), two groups of manipulator mechanisms (1) are symmetrical arranged, and two groups of manipulator mechanisms (1) are completely the same, including 16 bearings, six Resistance mechanism, three locating pieces, four synchronizing wheels, four synchronous belts and motor (2), specially first bearing (3), the second axis Hold (4), 3rd bearing (5), fourth bearing (6), 5th bearing (7), 6th bearing (8), 7th bearing (9), 8th bearing (10), the 9th bearing (11), the tenth bearing (12), the 11st bearing (13), the 12nd bearing (14), the 13rd bearing (15), 14th bearing (16), the 15th bearing (17), the 16th bearing (18), the first resistance mechanism (19), the second resistance mechanism (20), third resistance mechanism (21), the 4th resistance mechanism (22), the 5th resistance mechanism (23), the 6th resistance mechanism (24), first Position original paper (25), second positioning original paper (26), third positioning original paper (27), the first synchronizing wheel (28), the second synchronizing wheel (29), Third synchronizing wheel (30), the 4th synchronizing wheel (31), the first synchronous belt (32), the second synchronous belt (33), third synchronous belt (34), Four synchronous belts (35), the motor (2) are connected by supporting rod torque being transmitted to synchronizing wheel (31), the outside of synchronizing wheel (31) There are positioning baffle (27), synchronizing wheel (31) that torque is transmitted to next synchronizing wheel (30), synchronizing wheel by synchronous belt (34) (30) torque is transmitted to by resistance mechanism (21) and resistance mechanism (22) by supporting rod, has spring, resistance inside resistance mechanism Circle, electromagnetic switch, this section of mechanical arm rotates under the drive of resistance mechanism (22), until this section of mechanical arm touches object Surface, resistance ring will rotate skidding, this joint will be with constant force effect in body surface, and synchronizing wheel (30) passes through synchronization Torque is transmitted to next synchronizing wheel (29) by band (33) and synchronous belt (35), and synchronizing wheel (29) is transmitted torque by supporting rod To resistance mechanism (20) and resistance mechanism (23), this mechanical arm can also skid when by resistance, with constant force effect in object Body surface face, and so on, last manipulator meeting docile body surface, after the completion of preload effect, electromagnetic switch is powered, fixed mechanism (36) will Cat-in resisting force circle (37) shape is locked, last manipulator completes corresponding shift or the behaviour of rotation as needed Make.
2. the manipulator according to claim 1 for realizing adaptive body form using mechanical structure, it is characterised in that:Institute It includes two springs, a magnetic force mechanism (36) and a resistance ring (37) to state resistance mechanism, and described two springs are the respectively One spring (38), second spring (39).
3. the manipulator according to claim 2 for realizing adaptive body form using mechanical structure, it is characterised in that:Institute The material for stating resistance ring (37) uses Cr12 materials.
4. the manipulator according to claim 1 for realizing adaptive body form using mechanical structure, it is characterised in that:Institute Two groups of manipulator mechanisms (1) are stated to arrange in nearly V-shaped.
5. the manipulator according to claim 1 for realizing adaptive body form using mechanical structure, it is characterised in that:Institute Motor (2) is stated to accurately control using stepper motor.
6. the manipulator according to claim 1 for realizing adaptive body form using mechanical structure, it is characterised in that:Institute It states synchronous belt and is all made of synchronous belt.
7. a kind of operating method of manipulator that realizing adaptive body form using mechanical structure, it is characterised in that:Including with Lower step:Motor rotates, and drives synchronizing wheel rotation, synchronizing wheel that synchronous belt rotation, synchronous belt is driven to pass torque by connecting rod It being delivered in next synchronizing wheel, torque is transmitted in resistance mechanism by synchronizing wheel by connecting rod, when object is clamped, middle part joint Initial stage can rotate under the effect of spring force, and when by certain resistance, resistance ring will skid rotation, this joint will be with Constant force effect is in body surface, the identical rotation that can also skid when by resistance with principles above of next joint, then With constant force effect after the completion of body surface, preload effect, electromagnetic switch is powered, and fixed mechanism (36) will lock shape Extremely, last manipulator completes corresponding displacement or rotation process as needed.
CN201810196888.9A 2018-03-10 2018-03-10 A kind of manipulator for realizing adaptive body form using mechanical structure Pending CN108527408A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810196888.9A CN108527408A (en) 2018-03-10 2018-03-10 A kind of manipulator for realizing adaptive body form using mechanical structure

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810196888.9A CN108527408A (en) 2018-03-10 2018-03-10 A kind of manipulator for realizing adaptive body form using mechanical structure

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Publication Number Publication Date
CN108527408A true CN108527408A (en) 2018-09-14

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Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003089087A (en) * 2001-09-17 2003-03-25 Mitsubishi Heavy Ind Ltd Wire driving articulated manipulator
KR20100076507A (en) * 2008-12-26 2010-07-06 한양대학교 산학협력단 Joint structure of gripper for robot hand
CN102205542A (en) * 2011-05-27 2011-10-05 清华大学 Multipath flexible piece two-joint compound robot finger device
CN102267137A (en) * 2011-07-12 2011-12-07 清华大学 Double-joint and three-shaft-wheeled hybrid under-actuated robotic finger device
CN103934829A (en) * 2014-04-21 2014-07-23 哈尔滨工业大学 Underactuation self-adaptive capturing device capable of being folded and unfolded
CN104339361A (en) * 2013-07-29 2015-02-11 上海德致伦电子科技有限公司 Mechanical finger and manipulator
CN105479454A (en) * 2015-12-22 2016-04-13 唐晓琦 Multi-degree-of-freedom mechanical hand based on synchronous belt drive
CN106041918A (en) * 2016-07-01 2016-10-26 苏州塞默机械有限公司 Both-way grabbing mechanical arm with friction type belt drive joints and work method of both-way grabbing mechanical arm
CN107745391A (en) * 2017-11-07 2018-03-02 西北农林科技大学 A kind of multiple degrees of freedom palm and its operating method based on rod-type ultrasonicmotor
US10343291B2 (en) * 2016-05-31 2019-07-09 Olympus Corporation Gripping mechanism and gripper

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003089087A (en) * 2001-09-17 2003-03-25 Mitsubishi Heavy Ind Ltd Wire driving articulated manipulator
KR20100076507A (en) * 2008-12-26 2010-07-06 한양대학교 산학협력단 Joint structure of gripper for robot hand
CN102205542A (en) * 2011-05-27 2011-10-05 清华大学 Multipath flexible piece two-joint compound robot finger device
CN102267137A (en) * 2011-07-12 2011-12-07 清华大学 Double-joint and three-shaft-wheeled hybrid under-actuated robotic finger device
CN104339361A (en) * 2013-07-29 2015-02-11 上海德致伦电子科技有限公司 Mechanical finger and manipulator
CN103934829A (en) * 2014-04-21 2014-07-23 哈尔滨工业大学 Underactuation self-adaptive capturing device capable of being folded and unfolded
CN105479454A (en) * 2015-12-22 2016-04-13 唐晓琦 Multi-degree-of-freedom mechanical hand based on synchronous belt drive
US10343291B2 (en) * 2016-05-31 2019-07-09 Olympus Corporation Gripping mechanism and gripper
CN106041918A (en) * 2016-07-01 2016-10-26 苏州塞默机械有限公司 Both-way grabbing mechanical arm with friction type belt drive joints and work method of both-way grabbing mechanical arm
CN107745391A (en) * 2017-11-07 2018-03-02 西北农林科技大学 A kind of multiple degrees of freedom palm and its operating method based on rod-type ultrasonicmotor

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