CN108673473A - A kind of flexible mechanical arm configuration - Google Patents
A kind of flexible mechanical arm configuration Download PDFInfo
- Publication number
- CN108673473A CN108673473A CN201810601609.2A CN201810601609A CN108673473A CN 108673473 A CN108673473 A CN 108673473A CN 201810601609 A CN201810601609 A CN 201810601609A CN 108673473 A CN108673473 A CN 108673473A
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- China
- Prior art keywords
- mechanical arm
- force snesor
- clamp
- force
- plate
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of flexible mechanical arm configurations, belong to precision assembly technology field.The flexible mechanical arm configuration includes flexible unit, nipper units and force sensor units；Flexible unit plays the role of buffer protection in operation by two groups of parallel spring piece force transferring structures, and ensures to generate parallel micro-displacement up and down when force snesor stress；The micro parts that nipper units are mainly used for pickup, carry and assemble different shape, size；Feedback information of the force sensor units for providing contact force in robotic arm manipulation.Mechanical arm according to the present invention has flexible unit, can buffer mechanism arm operation when the reaction force that is subject to, while all there is higher rigidity under job state and non-job state, improve the precision of end effector.
Description
Technical field
The invention belongs to precision assembly technology fields, and in particular to a kind of flexible mechanical arm configuration.
Background technology
With the continuous development of high-accuracy processing technology, micro devices also constantly tend to miniaturization and diversification.In precision
Requirement in assembling process to micro parts assembly precision and quality is higher and higher, and wherein the precision of end effector is by machinery
Arm configuration is affected.
Application No. is the patents of CN106671134A to disclose a kind of mechanical arm knot that can be adjusted contact force and reduce deformation
Structure, the structure include ontology, tool unit and plunger unit composition.Ontology is used for
The guide rail or platform of system are connected；Tool unit realizes that the fixation of end effector, plunger unit control the action of end effector
Range, a part of reaction force can be offset by applying downward power to spring leaf, Reducing distortion, by adjusting the rotation amount of plug screw,
The size of contact force can be controlled.Deflection of the invention after mechanical arm carries out that when operation mechanical arm stress can be reduced, subtracts
Few end effector is changed by deformation axis angle, but rigidity is relatively low under mechanical arm not job state.
Application No. is the patents of CN201520832943.0 to disclose a kind of flexible clamp, including feed mechanism, position restrainer
Structure and executing agency.It drives annular rack to move left and right by roller gear, and then realizes the left and right feed motion of clamp, limit
Mechanism limitation clamp can only move along a straight line, and executing agency then realizes that the gripping and release of the workpiece of clamp, executing agency use
Unitary design applies power using piezoelectric ceramic actuator, and movement is transmitted using the deformation of flexible hinge.Although the invention
With higher flexibility, but the rigidity of clamp itself is relatively low.
Invention content
In view of the problems of the existing technology, a kind of flexible mechanical arm configuration is invented in design to the present invention, has flexible unit
Mechanical arm under job state and non-job state all have higher rigidity, improve the precision of end effector.
Technical scheme of the present invention：
A kind of flexible mechanical arm configuration, the flexible mechanical arm configuration include flexible unit, nipper units and force snesor list
Member；
The nipper units include mechanical clamp forceps and absorption type clamp；Mechanical clamp forceps include mechanical clamp forceps gas
Cylinder, mechanical clamp forceps pneumatic clamper and L-type gripping finger；Mechanical clamp forceps cylinder side surface is fixedly linked with clamp connecting plate, lower end connection two
A mechanical clamp forceps pneumatic clamper, L-type gripping finger are connected in mechanical clamp forceps pneumatic clamper, the connection and disconnection of mechanical clamp forceps cylinder gas circuit
The opening and closing of control machinery formula clamp pneumatic clamper, to realize gripping and release to part；Absorption type clamp includes syringe needle
Fixed plate, syringe needle, syringe needle installation axle, gas circuit and pendulum pick up Attraction block；Syringe needle fixed plate one end is fixed with clamp connecting plate to be connected
It connects, other end hollow out wall in a ring, gas circuit and pendulum pickup Attraction block is evenly arranged in annular wall, jackscrew is fixed in each gas circuit
Syringe needle installation axle, syringe needle installation axle are internally provided with syringe needle, and syringe needle is bent at 90 degree, for pickup miniature parts of ventilating；Pendulum picks up
Attraction block structure in the shape of a " convex " is taken, and is furnished with gas circuit, for absorption large-scale part of ventilating；
The flexible unit includes upper spring leaf, lower spring leaf and spring leaf fixed block；Upper spring leaf or lower spring leaf
One end be fixed on spring leaf fixed block, the other end correspondence is fixed on force snesor upper mounted plate or force snesor bottom plate
On, two groups of parallel spring piece force transferring structures up and down are formed, parallel spring piece force transferring structure generates up and down in force snesor stress
Parallel micro-displacement, in operation from buffer protection function；Spring leaf fixed block is fixed on mechanical arm clamp mounting base；
Described force sensor units one end is connected by clamp connecting plate with nipper units, and the other end passes through force snesor
Upper and lower fixing plate is connected with flexible unit；Force sensor units include force snesor, force snesor upper mounted plate, force snesor
Beam under bottom plate, force snesor, side shield on mechanical arm, baffle, mechanical arm right-hand apron and elastic on the left of mechanical arm
Plug；Force sensor upper mounted plate is fixed in force snesor upper end, and lower end is fixed force sensor bottom plate, consolidated under force snesor
Force snesor lower gear beam is connected below fixed board；Beam left and right sides is right with plate washer on the left of mechanical arm and mechanical arm respectively under force snesor
Side plate washer connection, mechanical arm left side plate washer and mechanical arm right side plate washer upper end are connect with side shield on mechanical arm, on the upside of mechanical arm
Plate washer and mechanical arm right side plate washer are fixedly linked with mechanical arm clamp mounting base on the left of baffle, mechanical arm；Resilient plunger is inserted
Enter on mechanical arm in the plunger hole of side shield, there are gaps between resilient plunger and force snesor；Resilient plunger and force snesor
Lower beam shields to force snesor, and resilient plunger is bent upwards change for limiting force snesor after by reaction force
Shape, beam is bent downwardly deformation for limiting force snesor under its own gravity under force snesor.
Beneficial effects of the present invention：In its natural state, force snesor lower block beam is to limiting mechanical arm certainly for mechanical arm
Deformation is bent downwardly under body gravity.Mechanical arm resilient plunger when by load plays a protective role.In addition to improving machinery
Outside rigidity, while mechanical arm has flexible unit, plays the role of buffer protection in mechanical arm stress.
Description of the drawings
Fig. 1 is flexible mechanical arm structural schematic diagram.
Fig. 2 is nipper units structural schematic diagram.
Fig. 3 is flexible unit structural schematic diagram.
In figure：Side shield on 1 mechanical arm；Baffle on the left of 2 mechanical arms；3 resilient plungers；4 mechanical clamp forceps；5 absorption types press from both sides
Pincers；6 gas circuits one；7 syringe needles one；8 syringe needles two；9 syringe needles three；10 syringe needles four；11 syringe needle installation axles；12 pendulums pick up Attraction block；13
Syringe needle fixed plate；14 clamp connecting plates；15 force snesors；16 mechanical arm right-hand aprons；17 mechanical arm clamp mounting bases；18 machines
Tool formula clamp cylinder；19 mechanical clamp forceps pneumatic clampers one；20L types gripping finger one；21 gas circuits two；22 gas circuits three；23 gas circuits four；24 gas circuits
Five；25L types gripping finger two；26 mechanical clamp forceps pneumatic clampers two；27 4 square washers one；28 spring leaf fixed blocks；Spring leaf on 29；30 power
Sensor upper mounted plate；31 sides nuts one；32 force snesor bottom plates；33 sides nuts two；Beam under 34 force snesors；
35 times spring leafs；36 4 square washers two.
Specific implementation mode
Below for operating part, combination technology scheme and attached drawing describe specific embodiments of the present invention in detail.
A kind of flexible mechanical arm configuration, the flexible mechanical arm configuration include flexible unit, nipper units and force snesor list
Member；
Nipper units include absorption type clamp 5 and mechanical clamp forceps 4；Mechanical clamp forceps 4 include mechanical clamp forceps cylinder 18,
Mechanical clamp forceps pneumatic clamper 1, mechanical clamp forceps pneumatic clamper 2 26, L-type gripping finger 1, L-type gripping finger 2 25.Absorption type clamp includes
Absorption type clamp 5, gas circuit 1, syringe needle 1, syringe needle 28, syringe needle 39, syringe needle 4 10, syringe needle installation axle 11, pendulum pickup are inhaled
Attached piece 12, syringe needle fixed plate 13, gas circuit 2 21, gas circuit 3 22, gas circuit 4 23 and gas circuit 5 24.Mechanical clamp forceps 4 pass through bolt
It is connected with clamp connecting plate 14.Mechanical pneumatic clamper 1 and mechanical clamp forceps pneumatic clamper 2 26 are connected to mechanical clamp forceps cylinder
18 both sides.L-type gripping finger 1 is bolted in mechanical clamp forceps pneumatic clamper 1, and L-type gripping finger 2 25 is bolted
In mechanical clamp forceps pneumatic clamper 2 26.Connection by 18 gas circuit of mechanical clamp forceps cylinder and disconnection control machinery formula clamp pneumatic clamper
1 and mechanical clamp forceps pneumatic clamper 2 26 opening and closing, to realize gripping and release to part.Syringe needle fixed plate 13
It is connected and fixed by bolt and clamp connecting plate 14.Pendulum picks up Attraction block 12 into "convex" shaped structure, is arrived by Stud connection
The rear end of syringe needle fixed plate 13, pendulum pickup Attraction block on be furnished with gas circuit 1 for ventilate adsorbent parts suitable for size it is bigger
Part.Syringe needle 1, syringe needle 28, syringe needle 39 and syringe needle 4 10 are threadedly attached to the hollow syringe needle for being furnished with internal thread
In installation axle 11, syringe needle installation axle 11 fixes the gas circuit 2 21, the gas circuit three that are individually fixed in syringe needle fixed plate 13 by jackscrew
22, in gas circuit 4 23, gas circuit 5 24, four syringe needles are into circle distribution, and syringe needle is bent at 90 degree, for picking up small-sized circle
Shape or arc-shaped part.
Flexible unit includes upper spring leaf 29, lower spring leaf 35, sides nut 1, sides nut 2 33, four square washers
One 27, four square washers 2 36, spring leaf fixed block 28.Spring leaf fixed block 28 passes through bolt and mechanical arm clamp mounting base 17
It is connected and fixed.29 front end of upper spring leaf is connected and fixed by bolt and four square washers 1 and spring leaf fixed block 28.Upper spring
29 rear end of piece is connected and fixed by bolt and sides nut 1 and force snesor upper mounted plate 30.Lower 35 front end of spring leaf passes through
Bolt is connected and fixed with four square washers 2 36 and spring leaf fixed block 28.Lower 35 rear end of spring leaf passes through bolt and sides nut two
33 and force snesor bottom plate 32 be connected and fixed.Force snesor bottom plate 32 is connected by beam 34 under bolt and force snesor
Connect fixation.Two groups of parallel spring piece force transferring structures of composition are bolted in the part of entire unit, and buffering is played in operation
Protective effect, parallel spring chip architecture can generate parallel micro-displacement up and down in force snesor stress.
Force sensor units include force snesor 15, mechanical arm clamp mounting base 17, force snesor upper mounted plate 30, power
Beam 34, mechanical arm upside plate washer 1, mechanical arm left side plate washer 2, mechanical arm right side under sensor bottom plate 32, force snesor
Plate washer 16, resilient plunger 3.Beam 34 passes through plate washer 16 on the right side of plate washer 2 on the left of bolt and mechanical arm and mechanical arm under force snesor
Connection, mechanical arm left side plate washer 2 and mechanical arm right side plate washer 16 are connect by bolt with mechanical arm upper side guard board 1.On mechanical arm
Side guard plate 1 is connected and fixed by bolt and mechanical arm clamp mounting base 17.Force snesor 15 passes through on bolt and force snesor
Fixed plate 32 and force snesor bottom plate 35 connect.Resilient plunger is inserted on mechanical arm in the plunger hole of side shield, elastic
There is portion gap between plug and force snesor.After force snesor 15 is bent upwards deformation by reaction force, resilient plunger 3
Force snesor 15 can be limited and be bent upwards deformation, play protective effect；Beam 34 limits force snesor 15 and exists under force snesor
Deformation is bent downwardly under its own gravity.
The first step：The pickup to coil component is completed first, and mechanical arm is in non-job state due to beam under force snesor
34 limitation reduces mechanical arm and is bent downwardly deformation under the influence of its own gravity, the Work machine arm under the assistance of industrial camera
The top for moving to material loading platform coil placement location, so that absorption type clamp 5 and coil contact, connect under the feedback of force snesor
Force snesor 15 can be by a upward reaction force in touching, and upper spring leaf 29 and lower spring leaf 35 can be under reaction force
Upper flexural deformation plays cushioning effect to mechanical arm, and resilient plunger 3 applies downward power to force snesor upper mounted plate 30 to support
A part of reaction force that disappears reduces deformation.The solenoid valve for controlling gas circuit 2 21, gas circuit 3 22, gas circuit 4 23 and gas circuit 5 24 is beaten
It opens, syringe needle 1, syringe needle 27, syringe needle 38 and the syringe needle 49 of absorption type clamp are completed under the action of vacuum adsorption force to coil
Pickup, Work machine arm is moved to assembling jig platform workpiece place to be assembled, closes gas circuit 2 21, gas circuit 3 22, gas circuit
4 23 and the solenoid valve powered of gas circuit 5 24, it completes to the fittage of coil.
Second step：The pickup to two cushion blocks is completed, mechanical arm is in non-job state due to beam 34 under force snesor
Limitation reduces mechanical arm and is bent downwardly deformation under the influence of its own gravity, and Work machine arm moves under the assistance of industrial camera
The top of 1 placement location of material loading platform gasket contacts so that absorption type clamp 5 is contacted with gasket 1 under the action of force snesor
Middle force snesor 15 can be by a upward reaction force, and upper spring leaf 29 and lower spring leaf 35 can be upward under reaction force
Flexural deformation plays cushioning effect to mechanical arm, and resilient plunger 3 applies downward power to force snesor upper mounted plate 30 to be offset
A part of reaction force reduces deformation, and the solenoid valve for controlling gas circuit 3 22 and gas circuit 4 23 is opened, 28 He of absorption type clamp syringe needle
The pickup to gasket 1 is completed under the action of vacuum adsorption force with syringe needle 39.Work machine arm is moved to assembling jig platform
Workpiece place to be assembled closes the solenoid valve that gas circuit 3 22 and gas circuit 4 23 are powered, and completes the fittage to gasket.Operation later
Mechanical arm moves at material loading platform the operation realized to gasket, and Work machine arm moves to material loading platform under the assistance of industrial camera
The top of gasket placement location, so that absorption type clamp 5 is contacted with gasket under the action of force snesor, force snesor in contact
15 can be by a upward reaction force, and upper spring leaf 29 and lower spring leaf 35 can be bent upwards deformation under reaction force,
Cushioning effect is played to mechanical arm, resilient plunger 3 applies downward power to force snesor upper mounted plate 30 can offset a part instead
Active force reduces deformation, and the solenoid valve for controlling gas circuit 2 21 and gas circuit 5 24 is opened, and absorption type clamp syringe needle 1 and and syringe needle are made
4 10 complete the pickup to gasket 2 under the action of vacuum adsorption force.Work machine arm is moved to assembling jig platform workpiece
Place to be assembled closes the solenoid valve that gas circuit 2 21 and gas circuit 5 24 are powered, and completes the fittage to gasket 2.
Third walks：The pickup to pendulum is completed, mechanical arm is in non-job state due to the limitation of beam 34 under force snesor
Reduce mechanical arm and be bent downwardly deformation under the influence of its own gravity, Work machine arm moves to feeding under the assistance of industrial camera
The top of platform pendulum placement location contacts so that pendulum pickup Attraction block 12 is contacted with pendulum under the action of force snesor
Middle force snesor 15 can be by a upward reaction force, and upper spring leaf 29 and lower spring leaf 35 can be upward under reaction force
Flexural deformation plays cushioning effect to mechanical arm, and resilient plunger 3 applies downward power to force snesor upper mounted plate 30 to be offset
A part of reaction force reduces deformation, and the solenoid valve for controlling gas circuit is opened, and the adsorption hole of pendulum pickup Attraction block is made to be inhaled in vacuum
The pickup to pendulum is completed under the action of attached power.Work machine arm is moved to assembling jig platform workpiece place to be assembled, is closed
The solenoid valve of gas circuit power supply, completes the fittage to pendulum.
4th step：The pickup to pressure rack is completed, mechanical arm is in non-job state due to the limitation of beam 34 under force snesor
Reduce mechanical arm and be bent downwardly deformation under the influence of its own gravity, Work machine arm moves at material loading platform, in industrial camera
Assistance under make mechanical clamp forceps move to pickup member position at, then by control cylinder movement make L-type gripping finger 1
It is closed the gripping completed to casting die with L-type gripping finger 2 25.Work machine arm is moved to assembling jig platform workpiece place to be assembled,
Closing cylinder makes L-type gripping finger 1 and L-type gripping finger 2 25 are opened to realize release to be detached from casting die, completes the dress to casting die
With task.
Claims (1)
1. a kind of flexible mechanical arm configuration, which is characterized in that the flexible mechanical arm configuration includes flexible unit, nipper units and power
Sensor unit；
The nipper units include mechanical clamp forceps and absorption type clamp；Mechanical clamp forceps include mechanical clamp forceps cylinder, machine
Tool formula clamp pneumatic clamper and L-type gripping finger；Mechanical clamp forceps cylinder side surface is fixedly linked with clamp connecting plate, and lower end connects two machineries
Formula clamp pneumatic clamper, L-type gripping finger are connected in mechanical clamp forceps pneumatic clamper, connection and the disconnection control machine of mechanical clamp forceps cylinder gas circuit
The opening and closing of tool formula clamp pneumatic clamper, to realize gripping and release to part；Absorption type clamp include syringe needle fixed plate,
Syringe needle, syringe needle installation axle, gas circuit and pendulum pick up Attraction block；Syringe needle fixed plate one end is fixedly connected with clamp connecting plate, another
Hollow out wall in a ring is held, gas circuit and pendulum pickup Attraction block are evenly arranged in annular wall, jackscrew fixed needle is pacified in each gas circuit
Axis is filled, syringe needle installation axle is internally provided with syringe needle, and syringe needle is bent at 90 degree, for pickup miniature parts of ventilating；Pendulum pickup absorption
Block structure in the shape of a " convex ", and it is furnished with gas circuit, for absorption large-scale part of ventilating；
The flexible unit includes upper spring leaf, lower spring leaf and spring leaf fixed block；The one of upper spring leaf or lower spring leaf
End is fixed on spring leaf fixed block, and other end correspondence is fixed on force snesor upper mounted plate or force snesor bottom plate,
Two groups of parallel spring piece force transferring structures up and down are formed, parallel spring piece force transferring structure generates parallel up and down in force snesor stress
Micro-displacement, in operation from buffer protection function；Spring leaf fixed block is fixed on mechanical arm clamp mounting base；
Described force sensor units one end is connected by clamp connecting plate with nipper units, the other end by force snesor,
Bottom plate is connected with flexible unit；Force sensor units include solid under force snesor, force snesor upper mounted plate, force snesor
Beam under fixed board, force snesor, side shield on mechanical arm, baffle, mechanical arm right-hand apron and resilient plunger on the left of mechanical arm；Power
Force sensor upper mounted plate is fixed in sensor upper end, and force sensor bottom plate, force snesor bottom plate are fixed in lower end
Lower section connects force snesor lower gear beam；Under force snesor beam left and right sides respectively with shelves on the right side of plate washer and mechanical arm on the left of mechanical arm
Plate connects, and plate washer upper end is connect with side shield on mechanical arm on the right side of plate washer and mechanical arm on the left of mechanical arm, side shield on mechanical arm,
Plate washer and mechanical arm right side plate washer are fixedly linked with mechanical arm clamp mounting base on the left of mechanical arm；Resilient plunger is inserted into machinery
On arm in the plunger hole of side shield, there are gaps between resilient plunger and force snesor；Resilient plunger and beam under force snesor
It shields to force snesor, resilient plunger is used to limit force snesor and is bent upwards deformation after by reaction force, and power passes
Beam is bent downwardly deformation for limiting force snesor under its own gravity under sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810601609.2A CN108673473B (en) | 2018-06-06 | 2018-06-06 | Flexible mechanical arm structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810601609.2A CN108673473B (en) | 2018-06-06 | 2018-06-06 | Flexible mechanical arm structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108673473A true CN108673473A (en) | 2018-10-19 |
| CN108673473B CN108673473B (en) | 2021-03-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810601609.2A Expired - Fee Related CN108673473B (en) | 2018-06-06 | 2018-06-06 | Flexible mechanical arm structure |
Country Status (1)
| Country | Link |
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| CN (1) | CN108673473B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113084864A (en) * | 2021-05-07 | 2021-07-09 | 重庆理工大学 | Robot joint structure with variable rigidity |
| CN113146516A (en) * | 2021-02-01 | 2021-07-23 | 北京理工大学 | Modular flexible clamp |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113146516A (en) * | 2021-02-01 | 2021-07-23 | 北京理工大学 | Modular flexible clamp |
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| CN113084864A (en) * | 2021-05-07 | 2021-07-09 | 重庆理工大学 | Robot joint structure with variable rigidity |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108673473B (en) | 2021-03-26 |
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