CN109048967A - A kind of manipulator joint - Google Patents

Abstract

The invention belongs to manipulator technical fields, more particularly to a kind of manipulator joint, several manipulator joints are articulated and connected to form articulated chain, it is provided with the vehicle that tracks on articulated chain, lock shaft and lock sheet are provided on manipulator joint, lock sheet actuator is provided on lock sheet, lock sheet actuator is by magnet pulley rotate driving, the vehicle that tracks is internally provided with the second magnet pulley, and the second magnet pulley is correspondingly arranged with magnet pulley, and the two sides of car body are provided with a fitting fan；Vehicle track from top to bottom along terrine side walls, articulated chain is set to form the curve being bonded with terrine lateral wall, it is automatic to adapt to terrine surface curve, after forming the crawl structure that lower end collects, avoid generating terrine additional pressure, by the form-lock of articulated chain, to which terrine be grabbed, there is the adaptability of flexible manipulator, and the intensity with Rigid Manipulators simultaneously, realize the crawl of terrine.

Description

A kind of manipulator joint

Technical field

The invention belongs to manipulator technical field more particularly to a kind of manipulator joints.

Background technique

Existing flexible manipulator, which is typically employed in inside deformable material, is arranged air cavity, and multiple drivings are arranged in the side of air cavity Chamber drives chamber expansion, stretches the side wall of the side of flexible manipulator after being passed through gas source, and manipulator is to another lateral bending Song can be realized the crawl to soft, fragile object, but the type is mechanical due to being grabbed using flexible material Hand has two: 1, buckling curve is fixed, such as a kind of " flexible manipulator with bow shape continuous bend inner cavity CN108381534 ", after being passed through gas source, crawl is realized in manipulator bending, but curved curve can not be according to terrine surface curve It is adapted to, formation point contact causes to grab unstable between terrine；2, intensity itself is inadequate, mechanical in order to complete to be bent Hand getting flexible material is easily deformed when bearing external force, causes to grab unstable；

Since hand-made terrine itself is frangible, the outer curve of each tank body is all different, machine in the prior art Tool hand is unable to complete in terrine production, the crawl to terrine.

Summary of the invention

The present invention overcomes above-mentioned the deficiencies in the prior art, provide a kind of manipulator joint, for in terrine production Terrine grabbed, while the technical issues of solving, includes:

1, the auto Deformation of the outer wall difference curve of different terrines is adapted in the process of grasping；

2, the shape fixation problem of manipulator after deformation；

3, to the control problem of fragile terrine clamping force；

4, the problem of deformed manipulator itself intensity deficiency；

5, articulated chain coupling mechanism force control problem；

Technical solution of the present invention:

A kind of manipulator joint, comprising: joint body, lock shaft, lock sheet, magnet pulley and pressure piece, the joint body packet The bottom surface contacted with workpiece to be clamped is included, the top surface opposite with bottom surface, the side between top surface and bottom surface, side includes two phases Pair connecting pin, the opposite connecting pin articulated connection of two neighboring joint body sets respectively on two connecting pins of the joint body It is equipped with lock shaft and lock sheet, the lock shaft is fixedly connected with joint body, and lock shaft is coaxially socketed in adjacent machine swivel of hand Articulated shaft on, the lock sheet is slidably arranged in inside the joint body, and the sliding path of lock sheet and the lock shaft Vertically, lock sheet actuator is provided on lock sheet, lock sheet actuator is by magnet pulley rotate driving；

The lock sheet actuator includes that driving screw rod, drive disk and driving sliding block, the driving sliding block are socketed in driving On screw rod, and sliding block is driven to connect with lock sheet, the drive disk is coaxially fixed on the driving screw rod, the side of drive disk On be provided with the first block, the magnet pulley side opposite with drive disk is provided with the second block, and the setting of the second block is the On the rotation path of one block, and drive disk is actively socketed on the driving screw rod；

The pressure piece includes: snap ring, position limiting slide block, limit slideway and compression spring, is provided on the driving screw rod Retaining ring seat, the snap ring are actively socketed on retaining ring seat, and the snap ring is connect with position limiting slide block, and position limiting slide block setting is slided in limit In road, limit slideway limits the distance that the position limiting slide block is slided towards lock sheet direction, is provided with pressure on the position limiting slide block Power spring, compression spring apply the pressure towards lock sheet side to position limiting slide block.

Further, the surface of the lock shaft is provided with several lock shaft teeth, and lock shaft tooth is the ring on lock shaft surface Shape protrusion, several described lock shaft teeth are arranged along the lock shaft axially spaced-apart, filled with anti-skidding between adjacent lock shaft tooth Item, tread plate upper end are provided with wedge-like opening, the section of the lock sheet be it is arc-shaped, circular arc shaped inside is provided with to be opened with wedge shape The corresponding wedge-shaped bar of mouth.

The invention has the benefit that

1, manipulator of the invention has the articulated chain of the manipulator joint formation of articulated connection, is provided with and seeks on articulated chain Mark vehicle is provided with laminating apparatus on the vehicle that tracks, and thus structure, may be implemented, and the vehicle that tracks is from top to bottom along terrine side walls When, the laminating apparatus vehicle that makes to track generates the pressure for being directed toward terrine, and then manipulator joint is pressed on terrine side, adjacent hinge The manipulator joint connect in succession relatively rotates, and so that articulated chain is formed the curve being bonded with terrine lateral wall, solves existing soft Property manipulator can not in the process of grasping the outer wall difference curve to different terrines auto Deformation adapt to the problem of；

2, manipulator joint of the invention includes: joint body, lock shaft, lock sheet, magnet pulley and pressure piece, two neighboring Joint body articulated connection, lock shaft are fixedly connected with joint body, and lock shaft is coaxially socketed in the articulated shaft of adjacent machine swivel of hand On, the lock sheet is slidably arranged in inside the joint body, and lock sheet actuator, lock sheet actuator are provided on lock sheet By magnet pulley rotate driving, thus structure, be may be implemented, and may be implemented when manipulator joint relatively rotates, lock sheet and lock Mandrel disengages, and can be freely rotated, and by spin magnetization wheel after curve on the outside of articulated chain fitting terrine, drives lock sheet It is pressed on lock shaft, so that the relative angle of fixed two adjacent manipulator joints, fixes the shape of articulated chain, and lock Tightly.

3, the vehicle that tracks of the invention includes car body, wheel, the second magnet pulley, fitting fan and fixed cover, is arranged on car body There is wheel, be provided with fixed cover being slidably connected for car body and articulated chain on the outside of car body, the vehicle body is provided with the Two magnet pulleies, the two sides of car body are provided with a fitting fan, and thus structure, may be implemented, and are existed by the wheel vehicle that makes to track Articulated chain surface is mobile, is attracted by the second magnet pulley and magnet pulley, and the magnetic wheel drive magnet pulley rotation of rotation second makes joint The locking of chain is completed as the vehicle that tracks is mobile, and the articulated chain after locking will not generate additional pressure using mechanical lock to terrine Power increases the pressure between manipulator and terrine with gas source is used in the prior art to increase the grasp mode of stiction not Together, crushing terrine is avoided.

4, the present invention forms articulated chain by hinged manipulator joint, and articulated chain has the deformable spy of flexible manipulator Point, meanwhile, locking mechanism is set in the hinged place of manipulator joint, when required by locking mechanism, by adjacent manipulator The relative angle in joint locks, and articulated chain is made to become rigid manipulator, relative to existing flexible manipulator, the pass that is locked Pitch chain has the intensity of Rigid Manipulators.

5, manipulator joint of the invention, the lock sheet in hinged place are driven by lock sheet actuator, lock sheet actuator It is arranged on pressure piece, thus structure, may be implemented, after lock sheet actuator is pressed on locking plate on lock shaft, pressure Part applies pressure to lock sheet, and the pressure size by controlling pressure piece changes the stiction between lock shaft and lock sheet, from And control the size of coupling mechanism force.

Detailed description of the invention

Fig. 1 is a kind of overall structure diagram of self-adapting intelligent catching robot；

Fig. 2 is the structural schematic diagram of the manipulator joint in Fig. 1；

Fig. 3 is the structural schematic diagram of the vehicle that tracks in Fig. 2；

Fig. 4 is the overlooking structure diagram of Fig. 3；

Fig. 5 is the structural schematic diagram of magnet pulley；

Fig. 6 is the side structure schematic diagram of vehicle of tracking；

Fig. 7 is structural schematic diagram of the vehicle in specific embodiment five that track；

Fig. 8 is the drive mechanism schematic diagram of vehicle of tracking；

Fig. 9 is the lock sheet actuator of manipulator joint and the structural schematic diagram of pressure piece；

Figure 10 is the lock sheet of manipulator joint and the structural schematic diagram of lock shaft；

Figure 11 is the structural schematic diagram of the specific embodiment of the invention nine；

Figure 12 is the structural schematic diagram of the specific embodiment of the invention ten；

Figure 13 is the structural schematic diagram of the specific embodiment of the invention 11；

Figure 14 is a kind of structural schematic diagram of software self-locking manipulator fixing seat；

Figure 15 is structural schematic diagram of the fixing seat under positioning states in Figure 14；

Figure 16 is the Section A-A schematic diagram in Figure 15；

Figure 17 is the structural schematic diagram of the take-up housing 4 in Figure 14；

In figure: 1 manipulator joint；2 joints accommodate storehouse；3 pedestals；4 take-up housings；5 track vehicle；6 rubber layers；1-1 joint body； 1-2 lock shaft；1-3 lock sheet；1-4 magnet pulley；1-5 pressure piece；3-1 slide bar；4-1 bearing；4-2 blend stop；5-1 car body；5-2 vehicle Wheel；The second magnet pulley of 5-3；5-4 is bonded fan；The fixed cover of 5-5；6-1 fixed block；6-2 fixes axis body；6-3 axis body sliding slot；1-2- 1 lock shaft tooth；1-3-1 drives screw rod；1-3-2 drive disk；1-3-3 drives sliding block；1-3-4 wedge-shaped bar；1-5-1 snap ring；1-5-2 Position limiting slide block；1-5-3 limits slideway；1-5-4 compression spring；4-2-1 contact-making switch；4-2-2 bow strip；The driving of 5-1-1 car body Motor；5-1-2 transmission shaft；

Specific embodiment

Below with reference to attached drawing, the present invention is described in detail:

Specific embodiment one

A kind of self-adapting intelligent catching robot disclosed in the present embodiment, as shown in connection with fig. 1, specifically, comprising: manipulator Joint 1, joint accommodate storehouse 2, pedestal 3 and the vehicle 5 that tracks, if being provided with dry slide on the pedestal 3, several described slideways are with base The center of seat 3 is that radially circumference in equal parts is arranged in the center of circle, and a joint is provided in each slideway and accommodates storehouse 2, joint It accommodating in storehouse 2 and is provided with several manipulator joints 1, successively articulated connection forms articulated chain to several 1 head and the tail of manipulator joint, One end of articulated chain is accommodated in joint and accommodates in storehouse 2, and the other end of articulated chain is fixed on the opening that joint accommodates storehouse 2, joint The vehicle 5 that tracks is provided on chain；By the support construction of pedestal 3 as a whole, pedestal 3 is connect with the moving structure of manipulator, by base Seat 3 is moved at terrine tank mouth, is accommodated storehouse 2 by arthrodia and is adjusted position, so that joint is accommodated 2 lower ending opening of storehouse and is opened with terrine Corresponding on the outside of mouthful, the vehicle 5 that tracks slides into bottom from terrine mouth along terrine side on articulated chain, makes articulated chain formation and terrine The identical curve of sidewall profiles；

As shown in connection with fig. 2, the manipulator joint 1 includes: joint body 1-1, lock shaft 1-2, lock sheet 1-3, magnet pulley 1-4 and pressure piece 1-5, the joint body 1-1 include the bottom surface contacted with workpiece to be clamped, the top surface opposite with bottom surface, top surface Side between bottom surface, side include two opposite connecting pins, and two neighboring joint body 1-1 opposite connecting pin hingedly connects Connect, be respectively arranged on two connecting pins of the joint body 1-1 lock shaft 1-2 and lock sheet 1-3, the lock shaft 1-2 with Joint body 1-1 is fixedly connected, and lock shaft 1-2 is coaxially socketed on the articulated shaft of adjacent machine swivel of hand 1, the lock sheet 1-3 It is slidably arranged in inside the joint body 1-1, and the sliding path of lock sheet 1-3 is vertical with the lock shaft 1-2, lock sheet 1- Lock sheet actuator is provided on 3, lock sheet actuator is by magnet pulley 1-4 rotate driving；Make to lock by rotating magnet pulley 1-4 Piece actuator pushes lock sheet 1-3 to be pressed on the surface lock shaft 1-2, guarantees lock sheet 1-3 to lock shaft 1- by pressure piece 1-5 2 pressure locks the relative angle of adjacent manipulator joint by the frictional force between lock sheet 1-3 and lock shaft 1-2 It is fixed；

In conjunction with shown in Fig. 3 and Fig. 4, the vehicle 5 that tracks includes: car body 5-1, wheel 5-2, the second magnet pulley 5-3, fitting wind 5-4 and fixed cover 5-5 are fanned, the both ends of the car body 5-1 are provided with a wheel 5-2, are provided with fixation on the outside of car body 5-1 Cover 5-5 is slidably connected for car body 5-1 and articulated chain, and the articulated chain is clamped between fixed cover 5-5 and car body 5-1, institute It states car body 5-1 and is internally provided with the second magnet pulley 5-3, the second magnet pulley 5-3 and magnet pulley 1-4 is correspondingly arranged, the car body 5-1 Two sides be provided with a fitting fan 5-4, fitting fan 5-4 is for generating the work that the vehicle 5 that tracks is pressed on articulated chain Firmly；Fitting fan 5-4 makes to track between vehicle 5 and terrine and generates negative pressure, presses to articulated chain by the atmospheric pressure vehicle 5 that will track, seeks Mark vehicle 5 is moved on articulated chain by wheel 5-2 rotation, and the front end of car body 5-1 is for being bonded articulated chain with terrine, car body 5- Articulated chain after 1 rear end is used to be bonded is locked, and the second magnet pulley 5-3 rotation for passing through body rear end is inhaled with magnet pulley 1-4 Draw, rotates magnet pulley 1-4；

As shown in connection with fig. 5, on the magnet pulley 1-4 and the second magnet pulley 5-3 circumferentially circumference in equal parts be provided with it is several A magnetic stripe, magnetic stripe are radially arranged, and the pole orientation opposed of adjacent magnetic stripe；Using non-contacting locking mode, It realizes mechanical locking, makes by latch-release, rotate backward magnet pulley 1-4 by rotating backward the second magnet pulley 5-3, Make latch-release.

Specific embodiment two

The present embodiment is on the basis of specific embodiment one, specifically, as shown in connection with fig. 6, outside the articulated chain Portion is coated with rubber layer 6.

Specific embodiment three

The present embodiment be on the basis of specific embodiment two, specifically, as shown in connection with fig. 6, the one of the rubber layer 6 Side is arranged in parallel with two groups of fixed block groups, and every group of fixed block group includes several spaced fixed block 6-1, fixed block it is upper End is provided with fixed axis body 6-2, and the side of the car body 5-1 is provided with axis body sliding slot 6-3, and the axis body sliding slot 6-3 is from car body The upside of the one end 5-1 forms U-shaped sliding slot, the fixed axis body 6-2 around the downside for returning to starting point after two wheel 5-2 axis It is embedded in the axis body sliding slot 6-3；Articulated chain and vehicle are used in fixation axis body 6-2 insertion axis body sliding slot 6-3 on fixed block 6-1 The positioning of body, while the sliding stability for the vehicle 5 that makes to track.

Specific embodiment four

The present embodiment is on the basis of specific embodiment three, and specifically, the articulated chain is along the axis body sliding slot 6-2 The not ipsilateral of car body 5-1 is arranged in arrangement, the fixed cover 5-5 and the second magnet pulley 5-3, and articulated chain is coated on the vehicle that tracks 5 two sides.

Specific embodiment five

The present embodiment be on the basis of specific embodiment two, specifically, as shown in connection with fig. 7, the fixed cover 5-5 and The ipsilateral both ends car body 5-1 are arranged in the second magnet pulley 5-3, and one end of fixed cover 5-5 is provided with recessed on the car body 5-1 Area is fallen into, one end of the upper second magnet pulley 5-3 of car body 5-1 is provided with protrusion area, the lateral surface and the protrusion of the fixed cover 5-5 The lateral surface in area is coplanar with；It is identical in the not ipsilateral realization of car body 5-1 relative to fixed cover 5-5 and the second magnet pulley 5-3 setting Functional structure is simpler.

Specific embodiment six

The present embodiment is on the basis of specific embodiment one, specifically, as shown in connection with fig. 8, inside the car body 5-1 It is provided with car body driving motor 5-1-1, car body driving motor 5-1-1 is connect by synchronous belt with a wheel 5-2, and two It is driven between wheel 5-2 by transmission shaft 5-1-2.

Specific embodiment seven

A kind of manipulator joint disclosed in the present embodiment, the manipulator joint apply specific embodiment one, two, Three, described in four, five or six on a kind of self-adapting intelligent catching robot；

Specifically, as shown in connection with fig. 2, comprising: joint body 1-1, lock shaft 1-2, lock sheet 1-3, magnet pulley 1-4 and pressure Part 1-5, the joint body 1-1 include the bottom surface contacted with workpiece to be clamped, the top surface opposite with bottom surface, between top surface and bottom surface Side, side includes two opposite connecting pins, two neighboring joint body 1-1 opposite connecting pin articulated connection, the pass It saves and is respectively arranged with lock shaft 1-2 and lock sheet 1-3, the lock shaft 1-2 and joint body 1-1 on two connecting pins of body 1-1 It is fixedly connected, lock shaft 1-2 is coaxially socketed on the articulated shaft of adjacent machine swivel of hand 1, and the lock sheet 1-3 is slidably arranged in Inside the joint body 1-1, and the sliding path of lock sheet 1-3 is vertical with the lock shaft 1-2, is provided on lock sheet 1-3 Lock sheet actuator, lock sheet actuator is by magnet pulley 1-4 rotate driving；It is more using articulated connection between adjacent segment body 1-1 A joint body 1-1 can be articulated and connected into articulated chain, and articulated chain has multiple inflection points, the patch to Irregular Boundary Surface may be implemented It closes, when lock shaft 1-2 and lock sheet 1-3 are not contacted, adjacent joint body 1-1 can be freely rotated, and need to lock angle When, so that lock sheet 1-3 is bonded lock shaft 1-2 by rotating magnet pulley 1-4, lock shaft 1-2 and lock sheet are kept by pressure piece Frictional force between 1-3 fixes the relative angle between adjacent segment body 1-1；

As shown in connection with fig. 9, the lock sheet actuator includes driving screw rod 1-3-1, drive disk 1-3-2 and driving sliding block 1- 3-3, the driving sliding block 1-3-3 are socketed on driving screw rod 1-3-1, and sliding block 1-3-3 is driven to connect with lock sheet 1-3, institute It states drive disk 1-3-2 to be coaxially fixed on the driving screw rod 1-3-1, the first block is provided on the side of drive disk 1-3-2, The side magnet pulley 1-4 opposite with drive disk 1-3-2 is provided with the second block, and turning for the first block is arranged in the second block On dynamic path, and drive disk 1-3-2 is actively socketed on the driving screw rod 1-3-1；When magnet pulley 1-4 is rotated, magnet pulley 1-4 On the second block hit the first block, due to drive disk 1-3-2 with drive screw rod 1-3-1 be fixedly connected, hit in the second block It hits down, drive disk 1-3-2 drives driving screw rod 1-3-1 rotation, and driving screw rod 1-3-1 pushes driving sliding block 1-3-3 to make lock sheet 1-3 is mobile, when driving drive disk 1-3-2 rotation due to magnet pulley 1-4, is risen by the shock of the second block and the first block Step, the rotation inertia force of magnet pulley 1-4 is acted on drive disk 1-3-2, avoids resistance is excessive from being unable to drive rotation；

The pressure piece 1-5 includes: snap ring 1-5-1, position limiting slide block 1-5-2, limit slideway 1-5-3 and compression spring 1-5- It is provided with retaining ring seat on 4, the driving screw rod 1-3-1, the snap ring 1-5-1 is actively socketed on retaining ring seat, the snap ring 1- 5-1 is connect with position limiting slide block 1-5-2, and in limit slideway 1-5-3, limit slideway 1-5-3 limits institute for position limiting slide block 1-5-2 setting The distance that position limiting slide block 1-5-2 is slided towards the direction lock sheet 1-3 is stated, is provided with compression spring on the position limiting slide block 1-5-2 1-5-4, compression spring 1-5-4 apply the pressure towards the side lock sheet 1-3 to position limiting slide block 1-5-2；By snap ring 1-5-1 and Retaining ring seat realizes pressure piece 1-5 and drives the rotation connection of screw rod 1-3-1, rotates in magnet pulley 1-4, lock sheet 1-3 compresses lock After mandrel 1-2, compression spring 1-5-4 compression keeps pressure of the lock sheet 1-3 to lock shaft 1-2, magnetic by compression spring 1-5-4 Property wheel 1-4 rotate backward, compression spring 1-5-4 stretching, extension, position limiting slide block 1-5-2 slides into the limit end slideway 1-5-3, magnet pulley 1-4 is continued to rotate, and lock sheet 1-3 is separated with lock shaft 1-2；After lock sheet 1-3 is contacted with lock shaft 1-2, magnet pulley 1-4 after Continuous rotation, compression spring 1-5-4 is compressed, additional pressing force is provided for lock sheet 1-3, makes to lock more stable.

Specific embodiment eight

The present embodiment be on the basis of specific embodiment seven, specifically, as shown in connection with fig. 10, the lock shaft 1-2 Surface be provided with several lock shaft tooth 1-2-1, lock shaft tooth 1-2-1 is the annular protrusion on the surface lock shaft 1-2, several institutes It states lock shaft tooth 1-2-1 to be arranged along the lock shaft 1-2 axially spaced-apart, tread plate is filled between adjacent lock shaft tooth 1-2-1, Tread plate upper end is provided with wedge-like opening, the section of the lock sheet 1-3 be it is arc-shaped, circular arc shaped inside is provided with to be opened with wedge shape The corresponding wedge-shaped bar 1-3-4 of mouth；After lock sheet 1-3 is pressed on the surface lock shaft 1-2, wedge-shaped bar 1-3-4 is embedded in wedge-like opening It is interior, tread plate is pushed to two sides, extruding force clamps tread plate by wedge-shaped bar 1-3-4, increases contact area, in lock sheet 1- 3 by rotatory force when, wedge-shaped bar 1-3-4 occur micro-displacement, by tread plate to moving direction push, so that wedge-shaped bar 1-3-4 is existed The side of moving direction is increased by the extruding force of tread plate, to increase antiskid effect.

Specific embodiment nine

The present embodiment be on the basis of specific embodiment one, specifically, in conjunction with shown in Figure 11, the joint body 1-1 On be additionally provided with slide roller 1-1-3, the slide roller 1-1-3 described in several is arranged in parallel on the bottom surface, and the sliding The axis of roller 1-1-3 and the axis of hinge bar are arranged in parallel, and the surface of the slide roller 1-1-3 is covered with rubber layer, rubber layer Different along slide roller 1-1-3 axis direction thickness, the rubber layer along one group of sliding tube 1-1-1 of hinge bar axis direction forms arc The contact surface of shape.

Specific embodiment ten

The present embodiment be on the basis of specific embodiment one, specifically, in conjunction with shown in Figure 12, the joint body 1-1 It is internally provided with cavity, cavity inside is provided with elastic balloon 1-1-4, and the elastic balloon 1-1-4 is connect with high-pressure air pipe, institute It states and is provided with several through-holes on the bottom surface of joint body 1-1, the through-hole is connected in the cavity in joint body 1-1, in elasticity When air bag 1-1-4 is passed through high pressure gas, elastic balloon 1-1-4 expansion is full of the cavity, and elastic balloon 1-1-4 is described logical Bulge-structure is formed at hole, bottom surface of the bulge-structure for joint body 1-1 is anti-skidding.

Specific embodiment 11

The present embodiment be on the basis of specific embodiment one, specifically, in conjunction with shown in Figure 13, the joint body 1-1 On be provided with anti-slip roller 1-1-5 and anti-skidding air bag 1-1-6, several anti-slip roller 1-1-5 are arranged in parallel on the bottom surface, and institute The axis of the axis and hinge bar of stating anti-slip roller 1-1-5 is arranged in parallel, and the joint body 1-1 is internally provided with air bag holding tank, One end of the anti-skidding air bag 1-1-6 is fixed on the bottom of the air bag holding tank, and anti-skidding air bag 1-1-6 and the air supply pipe connect It connects, is contacted after the anti-skidding air bag 1-1-6 expansion with the Anti-skidding pipe 1-1-5.

Specific embodiment 12

A kind of manipulator self-adapting grasping method disclosed in the present embodiment, the method apply specific embodiment one, Two, described in three, four, five or six on a kind of self-adapting intelligent catching robot；

Specifically, in conjunction with shown in Fig. 1-Fig. 5, comprising the following steps:

Step a: being moved to terrine overthe openings for pedestal 3, adjusts multiple joints and accommodates position of the storehouse 2 in pedestal 3 radially It sets, so that joint is accommodated 2 lower ending opening of storehouse and be moved to terrine open outer side；

Step b: the vehicle 5 that tracks is located at articulated chain and accommodates one end of 2 opening of storehouse connection in joint, and fitting fan 5-4 is rotated, It tracks and forms negative pressure between vehicle 5 and terrine side wall, manipulator joint 1 is pressed on terrine surface by the vehicle 5 that tracks；

Step c: the wheel 5-2 rotation for the vehicle 5 that tracks, the vehicle 5 that makes to track move on articulated chain, the front end Jiang Guan for the vehicle 5 that tracks Pitch chain presses to terrine surface, and articulated chain is bonded terrine surface curve, and adjacent manipulator joint 1 is relatively rotated, relatively rotated Manipulator joint 1 after slides into the rear end for the vehicle 5 that tracks；

Step d: the second magnet pulley 5-3 positioned at 5 rear end of vehicle that tracks is rotated, and the second magnet pulley 5-3 and magnet pulley 1-4 are mutual Attract, magnet pulley 1-4 rotation, lock sheet 1-3 is mobile to lock shaft 1-2, and locking plate 1-3 is pressed on the surface of lock shaft 1-2, will The relative angle of adjacent manipulator joint 1 is fixed；

Step e: the vehicle 5 that tracks slides into terrine bottom, and a plurality of articulated chain is grabbed what terrine surface was collectively formed that lower end collects Take structure.

Specific embodiment 13

The present embodiment is on the basis of specific embodiment 12, and specifically, in the step a, multiple joints are accommodated Storehouse 2 is individually adjusted using individual driving mechanism.

Specific embodiment 14

The present embodiment is on the basis of specific embodiment 12, and specifically, in the step c, fitting fan 5-4 exists While the vehicle 5 that will track presses to articulated chain, there is the component for 5 forward slip of vehicle that makes to track.

Specific embodiment 15

The present embodiment specifically, in the step c, is being tracked on the basis of specific embodiment 12 or 14 When 5 slide downward of vehicle, the reel that joint accommodates in storehouse 2 is rotated with it, and articulated chain is accommodated in storehouse 2 from joint and skidded off.

Specific embodiment 16

A kind of software self-locking manipulator fixing seat, the fixing seat disclosed in the present embodiment are applied in specific embodiment One, described in two, three, four, five or six on a kind of self-adapting intelligent catching robot

Specifically, in conjunction with shown in Figure 14, comprising: joint accommodates storehouse 2, pedestal 3, take-up housing 4, and the pedestal 3 is for machinery Hand fixes and supports, and take-up housing 4 is provided on pedestal 3, and take-up housing 4 accommodates storehouse 2 with joint and connect；

The pedestal 3 is disc structure, and the center of disk is provided with the connecting pin for connecting lift structure, on pedestal 3 If being provided with dry slide, using the center of pedestal 3 as the center of circle, radially circumference in equal parts is arranged several described slideways, and the slideway is Along pedestal axially through through slot；

The take-up housing 4 is embedded in the slideway, and the two sides of take-up housing 4 and the inside of the slideway pass through the cunning inlayed Dynamic connection structure connection, each take-up housing 4 realize independent slide, the center of take-up housing 4 by individual driving mechanism It is provided perpendicular to the bearing cross hole of the pedestal 3, bearing 4-1, the outer ring of the bearing 4-1 and axis are provided in bearing cross hole It holds through-hole to be fixedly connected, the joint accommodates storehouse 2 and passes through the bearing and be fixedly connected with the inner ring of bearing 4-1；

The tank mouth of terrine is round (dotted portion in Figure 14), and on the top view of pedestal, slideway is provided with 4 edge of take-up housing Terrine tank mouth radially slides, and after pedestal 3 is moved to terrine tank mouth upper end, is individually driven by each take-up housing 4 respectively Motivation structure, driving take-up housing 4 slide at tank mouth, and take-up housing 4 accommodates storehouse 2 with joint and is moved on the outside of terrine tank mouth；

In conjunction with shown in Figure 15 and Figure 16, the two sides of the slideway are provided with several slide bar through-holes, several slide bar through-holes It is arranged along the slideway interval, the intermediate setting of slide bar a 3-1, the slide bar 3-1 is provided in each slide bar through-hole There is annular baffle ring, is provided with baffle ring sliding slot in the slide bar through-hole, when the annular baffle ring slides into baffle ring sliding slot lower end, institute The lower end for stating slide bar 3-1 is stretched out from slide bar through-hole lower end, and downwardly projecting detection column, institute are formed in the lower surface of the pedestal 3 The upper end for stating slide bar 3-1 slides into the slide bar through-hole, when the annular baffle ring slides into baffle ring sliding slot upper end, the slide bar The upper end of 3-1 is stretched out from slide bar through-hole upper end, and block column protruding upward is formed in the upper surface of the pedestal 3；

After being moved at terrine tank mouth, pedestal 3 moves down pedestal 3, and the lower surface of pedestal 3 is contacted with terrine tank mouth, Slide bar 3-1 corresponding with terrine tank mouth touches tank mouth, and pedestal 3 continues to move down, until tank mouth is by slide bar 3-1 from pedestal 3 The detection column that lower surface is exposed is pushed into inside pedestal 3, at this point, the upper end of slide bar 3-1 is exposed from 3 upper surface of pedestal, take-up housing 4 It slides from outside to inside, until 4 upper end of take-up housing is touched with from 3 upper surface of pedestal slide bar 3-1 outstanding, avoids take-up housing 4 and pottery The direct contact of tank reduces the direct impact to fragile terrine, improves the safety in crawl position fixing process；

In conjunction with shown in Figure 17, blend stop 4-2 is additionally provided on the take-up housing 4, the length of the blend stop 4-2 is greater than the cunning The spacing of two column slide bar 3-1, the middle part of the blend stop 4-2 are fixedly connected with the inner ring of the bearing 4-1 outside road, and blend stop 4-2 is set The side in the take-up housing 4 close to 3 center of pedestal is set, and is provided with contact-making switch 4-2-1 on the blend stop 4-2；

When take-up housing 4 is mobile, blend stop 4-2 is in the direction perpendicular to slideway path, connects in blend stop 4-2 and slide bar 3-1 When touching, when the two sides of blend stop 4-2 contact simultaneously with two sides slide bar 3-1, blend stop 4-2 does not rotate, when the two sides of blend stop 4-2 When not contacting simultaneously with two sides slide bar 3-1, blend stop 4-2 is deflected towards the rear side contacted with slide bar 3-1, while manipulator joint 1 rotates with it, and keeps the bottom surface of manipulator joint 1 and terrine surface curve (dotted portion in figure) tangent, take-up housing 4 continues to move Dynamic, contact-making switch 4-2-1 is triggered, and take-up housing 4 stops movement；Manipulator joint is automatically performed in the position fixing process of articulated chain 1 with the tangent adjustment of terrine surface curve, make manipulator crawl terrine it is more stable.

Specific embodiment 17

The present embodiment be on the basis of specific embodiment ten, specifically, in conjunction with shown in Figure 15, the driving mechanism packet Screw rod, lead screw motor and fixing seat sliding block are included, the fixing seat sliding block is fixedly connected on the take-up housing 4, fixing seat sliding block It is socketed on the screw rod, the screw rod is arranged in parallel with the slideway, and one end of the screw rod and the lead screw motor Shaft connection.

Specific embodiment 18

The present embodiment is specifically, reset knot to be provided on the blend stop 4-2 on the basis of specific embodiment ten Structure, the resetting structure include blend stop reset spring, and one end of blend stop reset spring is connect with the blend stop 4-2, and blend stop resets The other end of spring is connect with the take-up housing 4.

Specific embodiment 19

The present embodiment be on the basis of specific embodiment ten, 11 or 12, specifically, in conjunction with shown in Figure 17, institute It states the front end blend stop 4-2 and is provided with bow strip, setting is there are two bow strip slide bar on bow strip, described in the insertion of two piece-root grafting touch article slide bars Slide construction is formed in slide opening on blend stop 4-2, the contact-making switch 4-2-1 is arranged in the bow strip and the blend stop 4-2 Between, stop signal of the contact-making switch 4-2-1 as the driving mechanism.

Above embodiments are exemplary description of this patent, do not limit its protection scope, those skilled in the art Member can also be changed its part, as long as it does not exceed the essence of this patent, within the protection scope of the present patent.

Claims (4)

1. a kind of manipulator joint characterized by comprising joint body (1-1), lock shaft (1-2), lock sheet (1-3), magnetism It takes turns (1-4) and pressure piece (1-5), the joint body (1-1) includes the bottom surface contacted with workpiece to be clamped, the top opposite with bottom surface Face, the side between top surface and bottom surface, side include two opposite connecting pins, the opposite company of two neighboring joint body (1-1) End articulated connection is connect, is respectively arranged with lock shaft (1-2) and lock sheet (1-3) on two connecting pins of the joint body (1-1), The lock shaft (1-2) is fixedly connected with joint body (1-1), and lock shaft (1-2) is coaxially socketed in adjacent machine swivel of hand (1) On articulated shaft, the lock sheet (1-3) is slidably arranged in the joint body (1-1) inside, and the sliding path of lock sheet (1-3) It is vertical with the lock shaft (1-2), lock sheet actuator is provided on lock sheet (1-3), lock sheet actuator is by magnet pulley (1- 4) rotate driving；

The lock sheet actuator includes driving screw rod (1-3-1), drive disk (1-3-2) and driving sliding block (1-3-3), the drive Movable slider (1-3-3) is socketed in driving screw rod (1-3-1), and sliding block (1-3-3) is driven to connect with lock sheet (1-3), described Drive disk (1-3-2) is coaxially fixed on the driving screw rod (1-3-1), is provided with first on the side of drive disk (1-3-2) Block, the magnet pulley (1-4) and drive disk (1-3-2) opposite side are provided with the second block, and the setting of the second block is the On the rotation path of one block, and drive disk (1-3-2) is actively socketed on the driving screw rod (1-3-1)；

The pressure piece (1-5) includes: snap ring (1-5-1), position limiting slide block (1-5-2), limit slideway (1-5-3) and compression spring (1-5-4) is provided with retaining ring seat on the driving screw rod (1-3-1), and the snap ring (1-5-1) is actively socketed on retaining ring seat, The snap ring (1-5-1) connect with position limiting slide block (1-5-2), and position limiting slide block (1-5-2) setting is interior in limit slideway (1-5-3), Limit slideway (1-5-3) limits the distance that the position limiting slide block (1-5-2) is slided towards the lock sheet direction (1-3), the limit It is provided on sliding block (1-5-2) compression spring (1-5-4), compression spring (1-5-4) applies towards lock position limiting slide block (1-5-2) The pressure of tight side piece (1-3).

2. a kind of manipulator joint according to claim 2, which is characterized in that the surface of the lock shaft (1-2) is arranged There are several lock shaft teeth (1-2-1), lock shaft tooth (1-2-1) is the annular protrusion on the surface lock shaft (1-2), several described locks Mandrel tooth (1-2-1) is arranged along the lock shaft (1-2) axially spaced-apart, filled with anti-skidding between adjacent lock shaft tooth (1-2-1) Item, tread plate upper end are provided with wedge-like opening, the section of the lock sheet (1-3) be it is arc-shaped, circular arc shaped inside be provided with The corresponding wedge-shaped bar of wedge-like opening (1-3-4).

3. a kind of manipulator joint according to claim 1 or 2, which is characterized in that a kind of manipulator joint is answered With on a kind of self-adapting intelligent catching robot.

4. a kind of manipulator joint according to claim 3, which is characterized in that a kind of self-adapting intelligent gripper Tool hand includes: manipulator joint (1), joint receiving storehouse (2), pedestal (3) and the vehicle that tracks (5).