CN109048982B - Soft self-locking mechanical arm positioning method - Google Patents
Soft self-locking mechanical arm positioning method Download PDFInfo
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- CN109048982B CN109048982B CN201811255843.0A CN201811255843A CN109048982B CN 109048982 B CN109048982 B CN 109048982B CN 201811255843 A CN201811255843 A CN 201811255843A CN 109048982 B CN109048982 B CN 109048982B
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- joint
- base
- slide
- manipulator
- pottery jar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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Abstract
The invention belongs to the technical field of manipulators, and particularly relates to a soft self-locking manipulator positioning method, which comprises the following steps: the joint accommodating bin is provided with a plurality of slide ways, the slide block seat is embedded into the slide ways, the slide block seat is connected with the joint accommodating bin through a bearing, a plurality of slide rod through holes are formed in two sides of each slide way, slide rods are arranged in the slide rod through holes, the lower ends of the slide rods extend out of the lower ends of the slide rod through holes, and barrier strips are arranged on the joint accommodating bin; the sliding rod, which corresponds to the opening of the pottery jar, in the sliding rods exposed on the lower surface of the base is pushed into the base by the pottery jar, the upper end of the sliding rod is exposed from the upper surface of the base, and a stop block column corresponding to the opening of the pottery jar is formed on the upper surface of the base; the blend stop contacts with the check block post, and the blend stop deflects, and the inner circle of bearing rotates, drives the joint and holds the storehouse and rotate, adopts indirect positioning mode, avoids colliding the fragile pottery jar body in the positioning process, makes the manipulator joint in the joint holds the storehouse simultaneously and deflects laminating pottery jar side curve.
Description
Technical Field
The invention belongs to the technical field of manipulators, and particularly relates to a positioning method of a soft self-locking manipulator.
Background
Present flexible manipulator adopts usually to set up the air cavity in deformable material is inside, and one side of air cavity sets up a plurality of drive chambers, and after letting in the air supply, the drive chamber inflation makes the lateral wall of one side of flexible manipulator extend, and the manipulator is crooked to the opposite side, owing to adopt flexible bendable material to snatch, can realize snatching soft, fragile object, but this type of manipulator has two problems: 1. the curved curve is fixed, for example, the flexible manipulator CN108381534 with the bow-shaped continuous curved inner cavity is adopted, after an air source is introduced, the manipulator is bent to realize grabbing, but the curved curve cannot be adapted according to the surface curve of the pottery pot, and point contact is formed between the curved curve and the pottery pot, so that grabbing is unstable; 2. the strength of the manipulator is not enough, and in order to complete bending, the manipulator is made of flexible materials and is easy to deform when bearing external force, so that grabbing is unstable;
because the gallipot of manual preparation itself is breakable, and the outside curve of every jar body is all inequality, and in the unable gallipot production of accomplishing of manipulator among the prior art, to grabbing of gallipot, a manipulator that is arranged in the gallipot production process is snatched to the gallipot is provided, and the mode that current locate mode adopted manipulator and work piece to touch realizes the location more, causes the damage to fragile gallipot easily, and is poor to the different gallipot adaptability of size shape simultaneously.
Disclosure of Invention
The invention overcomes the defects of the prior art, provides a soft self-locking mechanical arm positioning method, is used for positioning a pottery pot in pottery pot production during grabbing, and simultaneously solves the technical problems that:
1. the automatic deformation adaptation to different curves of the outer walls of different ceramic pots is carried out in the grabbing process;
2. the shape of the mechanical arm is fixed after deformation;
3. the control problem of the clamping force of the fragile pottery pot;
4. the deformed mechanical arm has insufficient strength;
5. providing a filler having a friction that varies with pressure;
6. positioning and adjusting the initial position and the angle of the manipulator;
7. the positioning problem of the fixed seat;
the technical scheme of the invention is as follows:
a positioning method of a soft self-locking mechanical arm comprises the following steps:
step a: the joint chain is stored in the joint containing bin, the driving mechanism pushes the sliding block seat to drive the joint containing bin to slide to one end of the slide way far away from the center of the base, and the base is moved to the position above the opening of the pottery jar;
step b: the base moves downwards, a slide rod corresponding to the opening of the pottery jar in the slide rods exposed on the lower surface of the base is pushed into the base by the pottery jar, the upper end of the slide rod is exposed from the upper surface of the base, and a stop block column corresponding to the position of the opening of the pottery jar is formed on the upper surface of the base;
step c: the driving mechanism pulls the sliding block seat to move towards the center of the base, the barrier strip is kept perpendicular to the moving path of the sliding block seat during moving, when two ends of the barrier strip are simultaneously contacted with the stop block column, the barrier strip does not rotate, when two ends of the barrier strip are not simultaneously contacted with the stop block column, the barrier strip deflects towards one end, which is contacted with the stop block column, and the inner ring of the bearing rotates to drive the joint accommodating bin to rotate, so that a manipulator joint in the joint accommodating bin deflects to be attached to a side curve of the pottery pot;
step d: the contact strip is pressed to the stop strip, the contact switch is triggered, and the driving mechanism stops.
Further, in the step c, when the driving mechanism pulls the slider seats to move towards the center of the base, each slider seat adopts a separate driving mechanism to independently move.
Further, in the step a, a winding drum is arranged at the upper end of the joint accommodating bin, and a winding drum motor drives the winding drum to rotate, so that the joint chain is pulled to be accommodated in the joint accommodating bin.
The invention has the beneficial effects that:
1. the manipulator is provided with the joint chain formed by the manipulator joints which are hinged, and each manipulator joint is provided with the laminating device, so that the structure can realize that when the joint chain slides along the side wall of the pottery pot from top to bottom, each manipulator joint is tightly pressed on the side surface of the pottery pot by the laminating devices, and the adjacent manipulator joints which are hinged rotate relatively, so that the joint chain forms a curve which is laminated with the outer side wall of the pottery pot, and the problem that the conventional flexible manipulator cannot automatically deform and adapt to different curves of the outer walls of different pottery pots in the grabbing process is solved;
2. according to the manipulator joint, the coating layers are arranged at the hinged positions of the two joint bodies, the side surfaces of the adjacent joint bodies, which are close to the hinged rod, form the extrusion surfaces, the hinged rod, the extrusion surfaces and the coating layers of the adjacent joint bodies form two cavities with the volume changing along with the rotation of the joint bodies, the fillers are arranged in the two cavities, and the coating layers are connected with the air pipe.
3. The invention takes an external air source as the locking force of the hinged part, so that the shape of the joint chain is fixed, the grabbing structure with the lower end constricted is formed by the joint chain for grabbing, the grabbing mode is different from the grabbing mode in the prior art that the air source increases the pressure between the manipulator and the earthenware pot so as to increase the static friction force, and when the pressure of the air source is changed, the pressure on the earthenware pot is not changed, so that the earthenware pot is prevented from being crushed.
4. The invention forms a joint chain through the articulated manipulator joint, the joint chain has the characteristic of flexible manipulator deformation, meanwhile, the articulated part of the manipulator joint is provided with a locking structure, the relative angle of the adjacent manipulator joint is locked through the locking structure when needed, so that the joint chain becomes a rigid manipulator, and compared with the existing flexible manipulator, the locked joint chain has the strength of a rigid manipulator.
5. The section of the filler is circular, a plurality of anti-skidding teeth are arranged on the outer edge of the circular section at equal intervals, an elastic filling strip is arranged between every two adjacent anti-skidding teeth, and a tooth structure matched with the anti-skidding teeth is arranged on the extrusion surface of the joint body; when the air pipe is not used for extracting vacuum, the pressure between the adjacent fillers and the extrusion surface is small, the fillers fill the gaps between the adjacent anti-skidding teeth by the filling strips, the surfaces of the fillers are smooth, the resistance of deformation of the cavity is reduced, the fillers deform along with the fillers, when the air pipe is used for extracting vacuum, the pressure between the adjacent fillers and the extrusion surface is large, the tooth structures on the anti-skidding teeth and the extrusion surface are embedded into the gaps of the adjacent anti-skidding teeth under the action of pressure, the filling strips are extruded and deformed, the friction force is increased, and the angle fixation of the adjacent joint bodies is stable.
6. The base of the fixing seat is provided with a slide way, a slide block seat is arranged in the slide way, the slide block seat is connected with the joint containing bin through a bearing, two groups of slide rods are arranged on two sides of the slide way in parallel, the lower ends of the slide rods extend out of the lower surface of the base, and the joint containing bin is provided with a barrier strip.
7. The fixing seat of the invention adopts a mode that the position and the angle of the plurality of joint chains can be independently adjusted, so that the fixing seat and the pottery jar do not need to be accurately positioned, the circle center of the fixing seat corresponds to the center of the opening of the pottery jar, the fault tolerance rate is very high, and the stable grabbing can be realized by the automatic adjustment of the joint chains under the condition of incomplete alignment.
Drawings
FIG. 1 is a schematic view of the overall structure of a soft self-locking manipulator;
FIG. 2 is a schematic structural view of a manipulator joint of FIG. 1;
FIG. 3 is a schematic structural view of a manipulator joint in a locked state;
FIG. 4 is a schematic view of the structure of the packing of FIG. 2;
FIG. 5 is a schematic structural view of the attaching device in FIG. 2;
FIG. 6 is a schematic structural diagram of a robot joint in a sixth embodiment;
FIG. 7 is a schematic structural diagram of a seventh embodiment of the present invention;
FIG. 8 is a schematic structural diagram of an eighth embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a ninth embodiment of the present invention;
FIG. 10 is a schematic structural view of a soft self-locking manipulator holder;
FIG. 11 is a schematic structural view of the fixing base shown in FIG. 10 in a positioning state;
FIG. 12 is a schematic sectional view taken along line A-A of FIG. 11;
FIG. 13 is a schematic structural view of the slider holder 4 in FIG. 10;
in the figure: 1, a mechanical arm joint; 2, a joint accommodating bin; 3, a base; 4, a sliding block seat; 1-1 joint body; 1-2 attaching devices; 1-3 of a filler; 1-4 coating layers; 1-6 trachea; 1-7 second cladding layers; 1-8 second trachea; 3-1 slide bar; 4-1 bearing; 4-2, blocking strips; 1-1-1 hinge bar; 1-1-2 of extrusion surface; 1-3-1 anti-slip teeth; 1-3-2 filling strips; 4-2-1 contact switches;
Detailed Description
The invention will be described in detail below with reference to the following drawings:
detailed description of the invention
Referring to fig. 1, the present embodiment discloses a soft self-locking manipulator, which includes: the manipulator comprises manipulator joints 1, joint accommodating bins 2 and a base 3, wherein a plurality of slideways are arranged on the base 3, the slideways are arranged along the radial direction and are equally divided into circles by taking the center of the base 3 as the circle center, each slideway is internally provided with one joint accommodating bin 2, a plurality of manipulator joints 1 are arranged in each joint accommodating bin 2, and the manipulator joints 1 are sequentially hinged end to form a joint chain; the base 3 is used as a support and a connecting part connected with the lifting structure, the position of a joint chain is adjusted through the joint accommodating bin 2 on the base 3, the crockery can is suitable for crockery cans of different shapes and sizes, and the crockery cans are grabbed through the joint chain;
as shown in fig. 2, the robot joint includes: the joint comprises joint bodies 1-1, a fitting device 1-2, fillers 1-3, coating layers 1-4 and air pipes 1-6, wherein each joint body 1-1 comprises a bottom surface which is in contact with a workpiece to be clamped, a top surface which is opposite to the bottom surface, and a side surface which is arranged between the top surface and the bottom surface and comprises two opposite connecting ends, the opposite connecting ends of two adjacent joint bodies 1-1 are hinged and connected, and the coating layers 1-4 are arranged at the hinged positions of the two joint bodies 1-1;
referring to fig. 3, the side surface of the adjacent joint body 1-1 adjacent to the hinge rod 1-1-1 forms an extrusion surface 1-1-2, the hinge rod 1-1-1, the extrusion surface 1-1-2 and the coating layer 1-4 of the adjacent joint body 1-1 form two cavities with the volume changing along with the rotation of the joint body 1-1, the two cavities are both provided with fillers 1-3, and the coating layer 1-4 is connected with the air pipe 1-6; when the air pipe 1-6 is not vacuumized, the two joint bodies 1-1 rotate relatively, the extrusion surfaces 1-1-2 extrude the fillers 1-3 to deform, when the air pipe 1-6 is vacuumized, the coating layers 1-4 extrude the fillers 1-3 inwards, the fillers 1-3 transmit pressure to the extrusion surfaces 1-1-2, and the extrusion surfaces 1-1-2 on the two sides of the hinge rod 1-1-1 are simultaneously stressed due to the simultaneous extrusion of the fillers 1-3 in the two cavities, so that the relative angle of the adjacent joint bodies 1-1 is fixed;
referring to fig. 4, the cross section of the filler 1-3 is circular, a plurality of anti-slip teeth 1-3-1 are arranged at equal intervals on the outer edge of the circular cross section, a groove is arranged between adjacent anti-slip teeth 1-3-1, an elastic filling strip 1-3-2 is arranged in the groove, the filling strip 1-3-2 fills the gap between adjacent anti-slip teeth 1-3-1, so that the surface of the filler 1-3 is smooth, and a tooth structure matched with the anti-slip teeth 1-3-1 is arranged on the extrusion surface 1-1-2 of the joint body 1-1; when the air pipe 1-6 is not vacuumized, the pressure between the adjacent fillers 1-3 and the extrusion surface 1-1-2 is small, the filler strips 1-3-2 fill the gaps between the adjacent anti-skid teeth 1-3-1 to smooth the surfaces of the fillers 1-3 and reduce the resistance of the fillers 1-3 to deform along with the deformation of the cavity, when the air pipe 1-6 is vacuumized, the pressure between the adjacent fillers 1-3 and the extrusion surface 1-1-2 is large, the tooth structures on the anti-skid teeth 1-3-1 and the extrusion surface 1-1-2 are embedded into the gaps between the adjacent anti-skid teeth 1-3-1 under the pressure action to extrude the fillers 1-3-2 and increase the friction force, the relative angle of the adjacent joint bodies 1-1 is fixed more stably;
referring to fig. 5, a joint body 1-1 is further provided with a joint device 1-2, the joint device 1-2 is configured to generate an acting force pointing to the joint body 1-1, the acting force has a component force perpendicular to the bottom surface and a component force pulling the manipulator joint 1 outwards from the joint accommodating chamber 2, the joint device 1-2 is a fan, a fan through hole is provided between the top surface and the bottom surface of the joint body 1-1, a fan is provided in the fan through hole, and the fan is powered by an external wire; negative pressure is formed between the joint body 1-1 and the pottery pot by rotating the fan, the joint body 1-1 is pressed to the pottery pot by atmospheric pressure, and the joint chain forms a curve which is the same as the surface curve of the pottery pot;
the articulated manipulator joint 1 forms a joint chain to form a plurality of inflection points, the joint chain is attached to the surface of the pottery pot from top to bottom and slides, the manipulator joint 1 is attached to the surface of the pottery pot through pressure generated by the attaching device 1-2 in the sliding process, the joint chain forms a curve attached to the surface of the pottery pot, when the lower end of the joint chain slides to the bottom of the pottery pot, the joint chain forms a claw-shaped structure with the lower end bundled, vacuum is extracted through an air pipe 1-6, a filler 1-3 is tightly pressed at the hinge joint of the adjacent manipulator joint 1 by a coating layer 1-4, the filler is fully filled and extruded at two sides of the hinge joint, the relative angle of the adjacent manipulator joint 1 is fixed, and further the shape of the joint chain is fixed, and the pottery pot can is grabbed.
Detailed description of the invention
In this embodiment, on the basis of the first embodiment, specifically, the inner side of the covering layer 1-4 is provided with a protruding end extending to the hinge joint of the joint body 1-1, and when the filling material 1-3 is squeezed by the covering layer 1-4, the protruding end pushes the filling material 1-3 to the pressing surfaces 1-1-2 on both sides.
Detailed description of the invention
In this embodiment, on the basis of the first or second embodiment, specifically, the fillers 1 to 3 are a plurality of sphere fillers, through holes for ventilation are formed in the sphere fillers, a separation layer is arranged on the inner side of the coating layer 1 to 4, the separation layer is of a mesh structure, the sphere fillers are arranged in the separation layer, the separation layer coats the fillers 1 to 3 without affecting air flow, and when a vacuum is not drawn, the fillers 1 to 3 move along with the coating layer 1 to 4 and are removed from the cavity.
Detailed description of the invention
In this embodiment, on the basis of the first or second embodiment, specifically, the fillers 1-3 are a plurality of cylindrical fillers, the axes of the cylindrical fillers are arranged in parallel with the hinge axis of the joint body 1-1, and the cylindrical fillers are provided with through holes along the axial direction.
Detailed description of the invention
In this embodiment, on the basis of the first specific embodiment, specifically, the filler is a single cylindrical filler, one side of the cylindrical filler is fixedly connected to the coating layer 1-4, the extrusion surface 1-1-2 is in the shape of an arc, a second coating layer 1-7 is arranged outside the coating layer 1-4, and the second coating layer 1-7 is connected to the second gas pipe 1-8.
Detailed description of the invention
In the locking structure of the soft self-locking manipulator disclosed in this embodiment, the locking structure is applied to a soft self-locking manipulator disclosed in the fifth embodiment;
as shown in fig. 6, the method includes: the device comprises extrusion surfaces 1-1-2, cylindrical fillers, coating layers 1-4, second coating layers 1-7, air pipes 1-6 and second air pipes 1-8, wherein the extrusion surfaces 1-1-2 are arranged on the side surfaces, close to a hinge shaft, of the manipulator joints 1, the two extrusion surfaces 1-1-2 on the same side of the adjacent manipulator joints 1 form a wedge-shaped groove structure, the cylindrical fillers are arranged in the wedge-shaped groove structure, the coating layers 1-4 cover the hinge joints of the adjacent manipulator joints 1 to form a closed structure, the coating layers 1-4 are connected with the air pipes 1-6, one side of each cylindrical filler is fixed on the inner sides of the coating layers 1-4, the second coating layers 1-7 are arranged on the outer sides of the coating layers 1-4, and the coating layers 1-4 are covered by the second coating layers 1-7 to form a closed structure, the second coating layer 1-7 is connected with the second air pipe 1-8, a supporting structure is arranged at the outer edge of the second coating layer 1-7, which is contacted with the second coating layer 1-7, the supporting structure supports the second coating layer 1-7, and a gap is formed between the coating layer 1-4 on the side surface of the articulated shaft and the second coating layer 1-7;
and vacuum is extracted through the second air pipe 1-8, so that the coating layer 1-4 drives the cylindrical filler to move outwards, the cylindrical filler is separated from the extrusion surface 1-1-2, and the rotating resistance of the adjacent manipulator joint 1 is reduced.
Detailed description of the invention
In this embodiment, on the basis of the first specific embodiment, specifically, as shown in fig. 7, a sliding roller 1-1-3 is further disposed on the joint body 1-1, a plurality of the sliding rollers 1-1-3 are disposed in parallel on the bottom surface, the axis of the sliding roller 1-1-3 is disposed in parallel with the axis of the hinge rod, the surface of the sliding roller 1-1-3 is covered with a rubber layer, the thickness of the rubber layer along the axis of the sliding roller 1-1-1 is different, and the rubber layer of the group of sliding tubes 1-1-1 along the axis of the hinge rod forms an arc contact surface.
Detailed description of the invention
In this embodiment, on the basis of the first specific embodiment, specifically, as shown in fig. 8, a cavity is disposed inside the joint body 1-1, an elastic air bag 1-1-4 is disposed inside the cavity, the elastic air bag 1-1-4 is connected to a high pressure air pipe, a plurality of through holes are disposed on the bottom surface of the joint body 1-1, the through holes are communicated with the cavity inside the joint body 1-1, when the elastic air bag 1-1-4 is filled with high pressure air, the elastic air bag 1-1-4 is inflated to fill the cavity, and a protruding structure is formed at the through holes by the elastic air bag 1-1-4, and the protruding structure is used for preventing the bottom surface of the joint body 1-1 from slipping.
Detailed description of the invention
In this embodiment, on the basis of the first embodiment, specifically, as shown in fig. 9, the joint body 1-1 is provided with an anti-skid roller 1-1-5 and an anti-skid airbag 1-1-6, the anti-skid rollers 1-1-5 are arranged in parallel on the bottom surface, the axis of the anti-skid rollers 1-1-5 is arranged in parallel with the axis of the hinge rod, the joint body 1-1 is provided with an airbag accommodating groove therein, one end of the anti-skid airbag 1-1-6 is fixed at the bottom of the airbag accommodating groove, the anti-skid airbag 1-1-6 is connected to the air supply pipe, and contacts with the anti-skid pipe 1-1-5 after the anti-skid airbag 1-1-6 is inflated.
Detailed description of the preferred embodiment
In the soft self-locking manipulator fixing seat disclosed in this embodiment, the fixing seat is applied to a soft self-locking manipulator described in the second or fifth embodiment;
specifically, as shown in fig. 10, the method includes: the manipulator comprises a joint accommodating bin 2, a base 3 and a sliding block seat 4, wherein the base 3 is used for fixing and supporting the manipulator, the sliding block seat 4 is arranged on the base 3, and the sliding block seat 4 is connected with the joint accommodating bin 2;
the base 3 is of a disc structure, a connecting end used for being connected with a lifting structure is arranged in the center of the disc, a plurality of slideways are arranged on the base 3, the plurality of slideways are arranged on the circumference of the base 3 in a radially equally-divided mode by taking the center of the base 3 as a circle center, and the slideways are through grooves which are axially communicated along the base;
the sliding block seat 4 is embedded into the slideway, two sides of the sliding block seat 4 are connected with the inner side of the slideway through an embedded sliding connection structure, each sliding block seat 4 independently slides through an independent driving mechanism, a bearing through hole perpendicular to the base 3 is formed in the center of the sliding block seat 4, a bearing 4-1 is arranged in the bearing through hole, the outer ring of the bearing 4-1 is fixedly connected with the bearing through hole, and the joint accommodating bin 2 penetrates through the bearing and is fixedly connected with the inner ring of the bearing 4-1;
the opening of the pottery jar is round (dotted line part in fig. 10), on the top view of the base, the slide way is provided with the slide block seat 4 which slides along the radial direction of the pottery jar opening, after the base 3 is moved to the upper end of the pottery jar opening, the slide block seat 4 is driven to slide to the opening of the pottery jar opening through the independent driving mechanism of each slide block seat 4, and the slide block seat 4 drives the joint containing bin 2 to move to the outer side of the pottery jar opening;
referring to fig. 11 and 12, a plurality of slide rod through holes are formed in two sides of the slide way, the slide rod through holes are arranged at intervals along the slide way, a slide rod 3-1 is arranged in each slide rod through hole, an annular baffle ring is arranged in the middle of the slide rod 3-1, a baffle ring sliding groove is arranged in each slide rod through hole, when the annular baffle ring slides to the lower end of the baffle ring sliding groove, the lower end of the slide rod 3-1 extends out of the lower end of the slide rod through hole, a downward convex detection column is formed on the lower surface of the base 3, the upper end of the slide rod 3-1 slides into the slide rod through hole, when the annular baffle ring slides to the upper end of the baffle ring sliding groove, the upper end of the slide rod 3-1 extends out of the upper end of the slide rod through hole, and an upward convex baffle column is formed on the upper surface of the base 3;
after the base 3 moves to the position of the opening of the pottery jar, the base 3 moves downwards, the lower surface of the base 3 is in contact with the opening of the pottery jar, the slide rod 3-1 corresponding to the opening of the pottery jar is in contact with the opening of the pottery jar, the base 3 continues to move downwards until the opening pushes the detection column, exposed from the lower surface of the base 3, of the slide rod 3-1 into the base 3, at the moment, the upper end of the slide rod 3-1 is exposed from the upper surface of the base 3, the slider seat 4 slides from outside to inside until the upper end of the slider seat 4 is in contact with the slide rod 3-1 protruding from the upper surface of the base 3, the slider seat 4 is prevented from being in direct contact with the pottery jar, direct impact on the fragile pottery jar is reduced, and the safety in the grabbing and positioning process is improved;
referring to fig. 13, a barrier 4-2 is further disposed on the slider seat 4, the length of the barrier 4-2 is greater than the distance between two rows of slide bars 3-1 outside the slide way, the middle part of the barrier 4-2 is fixedly connected with the inner ring of the bearing 4-1, the barrier 4-2 is disposed on one side of the slider seat 4 close to the center of the base 3, and a contact switch 4-2-1 is disposed on the barrier 4-2;
when the sliding block seat 4 moves, the barrier strip 4-2 is in the direction perpendicular to the path of the slide way, when the barrier strip 4-2 is in contact with the slide rod 3-1, when two sides of the barrier strip 4-2 are in contact with the slide rods 3-1 at two sides at the same time, the barrier strip 4-2 does not rotate, when two sides of the barrier strip 4-2 are not in contact with the slide rods 3-1 at two sides at the same time, the barrier strip 4-2 deflects towards one side which is in contact with the slide rod 3-1 backwards, and the manipulator joint 1 rotates along with the barrier strip, so that the bottom surface of the manipulator joint 1 is tangent to a surface curve (a dotted line part in the figure) of the pottery pot, the sliding block seat 4 continues to move, the contact switch 4-2-1 is triggered, and the sliding block seat 4 stops moving; the adjustment that manipulator joint 1 and gallipot surface curve are tangent is accomplished automatically in the positioning process of joint chain, makes the manipulator snatch the gallipot more stable.
Detailed description of the invention
On the basis of the tenth embodiment, specifically, as shown in fig. 11, the driving mechanism includes a screw rod, a screw rod motor and a fixed seat slider, the fixed seat slider is fixedly connected to the slider seat 4, the fixed seat slider is sleeved on the screw rod, the screw rod is parallel to the slide way, and one end of the screw rod is connected to a rotating shaft of the screw rod motor.
Detailed description of the invention
In this embodiment, on the basis of the tenth specific implementation manner, specifically, a reset structure is arranged on the barrier strip 4-2, the reset structure includes a barrier strip reset spring, one end of the barrier strip reset spring is connected to the barrier strip 4-2, and the other end of the barrier strip reset spring is connected to the slider seat 4.
Detailed description of the invention
In this embodiment, on the basis of the tenth, eleventh or twelfth specific implementation manner, specifically, as shown in fig. 13, a contact bar is disposed at the front end of the barrier bar 4-2, two contact bar sliding rods are disposed on the contact bar, the two contact bar sliding rods are embedded in sliding holes of the barrier bar 4-2 to form a sliding structure, the contact switch 4-2-1 is disposed between the contact bar and the barrier bar 4-2, and the contact switch 4-2-1 is used as a stop signal of the driving mechanism.
Detailed description of the invention fourteen
The method for positioning the soft self-locking manipulator disclosed by the embodiment is realized on a soft self-locking manipulator fixing seat disclosed in the tenth, eleventh or twelfth embodiment;
the method comprises the following steps:
step a: the joint chain is stored in the joint containing bin 2, the driving mechanism pushes the sliding block seat 4 to drive the joint containing bin 2 to slide to one end of the slide way far away from the center of the base 3, and the base 3 is moved to the position above the opening of the pottery jar;
step b: the base 3 moves downwards, a sliding rod 3-1 corresponding to a pottery jar opening in sliding rods 3-1 exposed out of the lower surface of the base 3 is pushed into the base 3 by a pottery jar, the upper end of the sliding rod 3-1 is exposed out of the upper surface of the base 3, and a stop block column corresponding to the position of the pottery jar opening is formed on the upper surface of the base 3;
step c: the driving mechanism pulls the sliding block seat 4 to move towards the center of the base 3, the barrier strip 4-2 is kept perpendicular to the moving path of the sliding block seat 4 during moving, when two ends of the barrier strip 4-2 are simultaneously contacted with the stop block columns, the barrier strip 4-2 does not rotate, when two ends of the barrier strip 4-2 are not simultaneously contacted with the stop block columns, the barrier strip 4-2 deflects towards one end which is contacted with the stop block columns backwards, the inner ring of the bearing 4-1 rotates to drive the joint accommodating bin 2 to rotate, and the manipulator joint 1 in the joint accommodating bin 2 deflects to be attached to the side curve of the pottery pot;
step d: the contact bar is pressed to the stop bar 4-2, the contact switch 4-2-1 is triggered, and the driving mechanism stops.
Detailed description of the invention
In this embodiment, on the basis of the fourteenth specific embodiment, specifically, in step c, when the driving mechanism pulls the slider seat 4 to move toward the center of the base 3, each slider seat 4 uses a separate driving mechanism to perform independent movement.
Detailed description of the invention
In this embodiment, on the basis of the fourteenth specific embodiment, specifically, in step a, by providing a winding drum at the upper end of the joint accommodating chamber 2, the winding drum is driven by a winding drum motor to rotate, and the joint chain is pulled to be accommodated in the joint accommodating chamber 2.
The above embodiments are merely illustrative of the present patent and do not limit the scope of the patent, and those skilled in the art can make modifications to the parts thereof without departing from the spirit and scope of the patent.
Claims (5)
1. A positioning method of a soft self-locking mechanical arm is characterized by comprising the following steps:
step a: the joint chain is stored in the joint containing bin (2), the driving mechanism pushes the sliding block seat (4) to drive the joint containing bin (2) to slide to one end of the slide way far away from the center of the base (3), and the base (3) is moved to the position above the opening of the pottery jar;
step b: the base (3) moves downwards, a sliding rod (3-1) corresponding to a pottery jar opening in the sliding rods (3-1) exposed on the lower surface of the base (3) is pushed into the base (3) by the pottery jar, the upper end of the sliding rod (3-1) is exposed from the upper surface of the base (3), and a stop block column corresponding to the pottery jar opening is formed on the upper surface of the base (3);
step c: the driving mechanism pulls the sliding block seat (4) to move towards the center of the base (3), the barrier strip (4-2) is kept perpendicular to the moving path of the sliding block seat (4) during moving, when the two ends of the barrier strip (4-2) are simultaneously contacted with the stop block columns, the barrier strip (4-2) does not rotate, when the two ends of the barrier strip (4-2) are not simultaneously contacted with the stop block columns, the barrier strip (4-2) deflects towards one end which is contacted with the stop block columns backwards, the inner ring of the bearing (4-1) rotates to drive the joint accommodating bin (2) to rotate, and the manipulator joint (1) in the joint accommodating bin (2) deflects to be attached to the side curve of the pottery pot;
step d: the contact strip is pressed to the stop strip (4-2), the contact switch (4-2-1) is triggered, and the driving mechanism stops.
2. The soft self-locking mechanical arm positioning method of claim 1, wherein in the step c, when the driving mechanism pulls the slider seat (4) to move towards the center of the base (3), each slider seat (4) adopts a separate driving mechanism to perform independent motion.
3. The soft self-locking mechanical arm positioning method of claim 1, wherein in the step a, a winding drum is arranged at the upper end of the joint accommodating bin (2), and a winding drum motor drives the winding drum to rotate so as to pull the joint chain to be accommodated in the joint accommodating bin (2).
4. The soft self-locking manipulator positioning method according to claim 1, 2 or 3, wherein the method is applied to a soft self-locking manipulator fixing seat.
5. The soft self-locking manipulator positioning method according to claim 4, wherein the soft self-locking manipulator fixing seat comprises: the joint accommodating bin (2), the base (3) and the sliding block seat (4).
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| CN111941384A (en) * | 2020-08-19 | 2020-11-17 | 六安科亚信息科技有限公司 | Anti-collision high-stability transfer robot |
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