CN109571539A - The quick crawl bar cluster adaptive robot arm device of controllable force - Google Patents
The quick crawl bar cluster adaptive robot arm device of controllable force Download PDFInfo
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- CN109571539A CN109571539A CN201811526879.8A CN201811526879A CN109571539A CN 109571539 A CN109571539 A CN 109571539A CN 201811526879 A CN201811526879 A CN 201811526879A CN 109571539 A CN109571539 A CN 109571539A
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- 230000003044 adaptive effect Effects 0.000 title claims abstract description 35
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- 210000002435 tendon Anatomy 0.000 claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims description 32
- 230000007246 mechanism Effects 0.000 claims description 31
- 239000000696 magnetic material Substances 0.000 claims description 12
- 230000035699 permeability Effects 0.000 claims description 10
- 229920001971 elastomer Polymers 0.000 claims description 8
- 239000005060 rubber Substances 0.000 claims description 8
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 6
- 239000004816 latex Substances 0.000 claims description 6
- 229920000126 latex Polymers 0.000 claims description 6
- 239000000741 silica gel Substances 0.000 claims description 6
- 229910002027 silica gel Inorganic materials 0.000 claims description 6
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- 230000005611 electricity Effects 0.000 claims 1
- 239000004744 fabric Substances 0.000 claims 1
- 239000010409 thin film Substances 0.000 claims 1
- 230000000712 assembly Effects 0.000 abstract description 15
- 238000000429 assembly Methods 0.000 abstract description 15
- 230000000694 effects Effects 0.000 abstract description 7
- 238000005265 energy consumption Methods 0.000 abstract description 6
- 230000007480 spreading Effects 0.000 abstract description 3
- 230000006978 adaptation Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 244000062793 Sorghum vulgare Species 0.000 description 1
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- 230000009467 reduction Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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Abstract
The quick crawl bar cluster adaptive robot arm device of controllable force, belongs to robot technical field, including pedestal, first motor, the second motor, cam, tendon rope, the second spring part and multiple push-rod assemblies etc..Apparatus of the present invention realize spatial spreading self-adapting grasping function, realize the adaptation function to article size and shape using multiple push-rod assemblies, realize quickly crawl using the combination of cam and the second spring part and grasp force controls for grabbing object；The device has reached the multidirectional grasping effect to object, can provide grasping force to object in multiple directions, various shape (including strip) object placed to different directions can be grasped effectively；The device is not driven the limitation of source power, can have the grasp speed being exceedingly fast and great grasp force simultaneously；The apparatus structure is simple, low energy consumption, suitable for being especially suitable for use in the occasion quickly grabbed for needing controllable force in the various robots for needing general crawl.
Description
Technical field
The invention belongs to robot technical field, in particular to the quick adaptive machine of crawl bar cluster of a kind of controllable force
The structure of hand apparatus designs.
Background technique
Robot has been widely used in robot field, for by robot and object interim connection and fixation
Get up, and can be discharged in due course, the former realizes crawl object, and the latter realizes relieving object.It is general
Robot is made into the part having there are two relative motion to reduce cost, in order to which simplest realization grabs and releases
Playing function.Also there are many structure for imitating manpower, being designed as having has several joints on more fingers and finger, but that
Sample can bring the complexity and high cost of mechanical system, sensor-based system, control system and control algolithm.Partial robotic's hand
It is adaptable, i.e., do not know that the object to be grabbed is which kind of shape and size before crawl, also not to crawl in crawl
Object carry out sensing detection, but can adaptively grab, this automatic conformability for body form, size
So that robot does not increase sensing and demand for control while realizing more extensive crawl different objects.
Peter B.Scott is in document (Peter B.Scott, " Omnigripper ': a form of robot of The '
Universal gripper ", Robotica, vol.3:pp 153-158,1985) in describe a kind of mechanical passive type and adapt to
The universal gripper Omnigripper of body form.There are the clamper two groups of bar gatherings to close, and every group of bar gathering conjunction has multiple phases
Mutually parallel stock, these stocks for being pushed by object to be grabbed and freely being slided up and down have achieved the purpose that adaptation body form,
It drives two groups of bar clusters to draw close or leave in conjunction with driver, realizes the grasping to object.For example, when the end of robot is leaned on
When to the object being placed on some seating surface (such as desktop), object, which squeezes stock, slides it into pedestal, due to stock number
Measure more, and stock is relatively thin (diameter is smaller), and different stocks touches different object table millet cake, and each stock is into palm
Sliding distance is different, and this distance is related with the local shape of object；Later, folder is closed up in two groups of bar gatherings conjunction on the first from left right side again
Object is handled, object is clamped from side using stock, reaches crawl purpose.
The device is disadvantageous in that:
(1) it can not accomplish multidirectional grasping.When the device applies grasp force to target object, which can only be along two group
The direction that bar gathering is closed up is equivalent to two finger clampers, and generation is only one-dimensional clamping mode, and clamping effect is poor.
(2) failure is grasped for the strip object that specific direction is placed.When target object with the direction parallel and target
Object is longer than the device in this direction, then target object will not be due to two groups of telescopic rods close up by grasping force, such as crawl one
The object of a strip.
(3) structure is complicated, energy consumption is high.The device has 2 groups of bar gatherings to close, and needs 2 movable supporting members mutually moved
(or moving base), a set of linear guide, 2 sliding blocks, driver, transmission mechanisms etc., structure is complex, and to allow a tool
There are many heavy bar gathering resultant motions of stock to compare energy consumption.
(4) grasping stability is to be improved.The device grasping force of target object is only closed up by two groups of bar gatherings and
It generates, is only capable of the force-closure grasp object using grasping force, and lack preferable envelop-type Shape closed crawl effect, because, power
Closing crawl object can not necessarily generate Shape closed crawl, but Shape closed crawl includes centainly force-closure grasp, therefore
It is best that grasp stability, which has reached Shape closed,.
Pay macro et al. (Fu H, Yang H, Song W, et al.A novel cluster-tube self- in the literature
Adaptive robot hand:[J] .Robotics&Biomimetics, 2017,4 (1): described in 25.) a kind of bar cluster from
Adapt to robot.This bar cluster adaptive robot hand has multiple push-rod assemblies, and each push-rod assembly includes shaft, leads
Bar, spring part and slip pipe, the freedom degree that there is each push-rod assembly vertical direction to slide and swing laterally.It is first when grabbing object
The first shape of the longitudinal adaptive object of all push-rod assemblies, then all push-rod assemblies gather realization crawl to center.Driving institute
It is made of the transmission device that push-rod assembly train and elastic string form train and flexible strand, flexible strand is wrapped in all push rod groups
The periphery of part, when grabbing object, train rotation drives the tightening of flexible strand.But the device still has some shortcomings, such as grabs
Not rapidly, train is needed to rotate and tighten flexible strand when because grabbing, this tightening process needs the time longer, and is driven
The limitation of dynamic source power, if accelerating the reduction that tightening process also results in tightening force.
Summary of the invention
The purpose of the invention is to overcome the shortcoming of prior art, a kind of quick crawl bar cluster of controllable force is provided
Adaptive robot arm device.The device has adaptivity for grabbing object, to article size and shape；Reach to object
Multidirectional grasping effect: grasping force can be provided to object in multiple directions, various shape (including the length placed to different directions
Strip) object can grasp effectively；With simple structure, low energy consumption；It is not driven the limitation of source power limit, with what is be exceedingly fast
Grasp speed.
Technical scheme is as follows:
A kind of quick crawl bar cluster adaptive robot arm device for controllable force that the present invention designs, including pedestal, K are pushed away
Bar assembly, first motor and the first transmission mechanism；Each push-rod assembly includes slip pipe, guide rod, shaft and the first spring part；K
A slip pipe is circularly and evenly distributed, and each slip pipe sliding is embedded in pedestal；In push-rod assembly, the slip pipe is sliding
Dynamic to be socketed on corresponding guide rod, the both ends of the first spring part are separately connected corresponding guide rod and corresponding slip pipe, described to lead
Bar is socketed in corresponding shaft；The K shafts are respectively sleeved in pedestal, and the K shafts are circularly and evenly distributed；It is sliding
The glide direction of pipe and the centerline parallel of guide rod；The center line of the slip pipe and the center line of shaft are mutually perpendicular to；Described
One motor is fixed in pedestal, and the output shaft of the first motor is connected with the input terminal of the first transmission mechanism；It is characterized by:
The quick crawl bar cluster adaptive robot arm device of the controllable force further includes cam, the second motor, the second transmission mechanism, coiling
Cylinder, jackshaft, tendon rope and K the second spring part；The outer edge surface of the cam has K lug boss and K recessed portion, the protrusion
Portion is circularly and evenly distributed, and the recessed portion is circularly and evenly distributed, and the lug boss and recessed portion are on the outer edge surface of cam
It is intervally arranged；The cam is set in pedestal, and the cam is connected with the output end of the first transmission mechanism, the outer edge surface of cam
It is contacted with each guide rod；The pedestal includes tying up chamber, and second motor is affixed on the base, the output of second motor
Axis is connected with the input terminal of the second transmission mechanism, and the output end of the second transmission mechanism is connected with reel；The jackshaft is arranged
In pedestal；The reel is socketed on jackshaft；The starting point of tendon rope and reel are affixed, and tendon rope coils through coiling
Cylinder；The second spring part is tension spring；The both ends of i-th of second spring parts are separately connected the end of tendon rope, i-th of push rod group
Part, all second spring parts are respectively positioned on the tie point of corresponding push-rod assembly to be tied up in chamber；Wherein, K is the natural number greater than 3, i
=1,2,3 ... K, i are natural number.
The quick crawl bar cluster adaptive robot arm device of controllable force of the present invention, it is characterised in that: described convex
The portion of rising has first slope and the second slope, and the gradient of first slope is greater than the gradient on the second slope, and all first slopes are along convex
The outer edge surface of wheel is circularly and evenly distributed, and all second slopes are circularly and evenly distributed along the outer edge surface of cam.
The quick crawl bar cluster adaptive robot arm device of controllable force of the present invention, it is characterised in that: described i-th
The both ends of a second spring part are separately connected the end of tendon rope and i-th of guide rod, i=1,2,3 ... K, i are natural number, and K is push rod group
The number of part.
The quick crawl bar cluster adaptive robot arm device of controllable force of the present invention, it is characterised in that: described i-th
The both ends of a second spring part are separately connected the end of tendon rope and i-th of slip pipe, i=1,2,3 ... K, i are natural number, and K is push rod group
The number of part.
The quick crawl bar cluster adaptive robot arm device of controllable force of the present invention, it is characterised in that: Mei Gesuo
Stating push-rod assembly further includes fexible film and flexible contact, and the fexible film is by any one in rubber, silica gel or latex
Or it is a variety of be made, the flexible contact is made of any one or more in rubber, silica gel or latex, i-th of fexible film
It is wrapped in the outside of i-th of slip pipe, i-th of flexible contact is fixed in the end of i-th of slip pipe, i=1, and 2,3 ... K, i are nature
Number, K are the number of push-rod assembly.
The quick crawl bar cluster adaptive robot arm device of controllable force of the present invention, it is characterised in that: described convex
The portion of rising includes permanent magnet or electromagnet, has permeability magnetic material on the guide rod, the permeability magnetic material is mounted on guide rod and protrusion
The corresponding height in portion.
The quick crawl bar cluster adaptive robot arm device of controllable force of the present invention, it is characterised in that: described recessed
Concave portion includes permanent magnet or electromagnet, has permeability magnetic material on the guide rod, the permeability magnetic material is mounted on guide rod and recess
The corresponding height in portion.
The quick crawl bar cluster adaptive robot arm device of controllable force of the present invention, it is characterised in that: described
One transmission mechanism includes retarder, worm and worm wheel, and the output shaft of the motor is connected with the input shaft of retarder, the worm screw
It is fixed in the output end of retarder, the worm gear is engaged with worm screw, and the worm gear is connect with cam；Have in the middle part of the cam logical
Hole, the tendon rope pass through the through-hole of cam.
The quick crawl bar cluster adaptive robot arm device of controllable force of the present invention, it is characterised in that: described
Two transmission mechanisms are retarder.
Compared with prior art, the present invention having the following advantages that and high-lighting effect:
Apparatus of the present invention are comprehensive using multiple push-rod assemblies, first motor, cam, the second motor, tendon rope and the second spring part etc.
Conjunction realizes spatial spreading self-adapting grasping function, realizes the adaptive function to article size and shape using multiple push-rod assemblies
Can, quickly crawl is realized using the combination of cam and the second spring part and grasp force controls；The device has reached to the more of object
To grasping effect, grasping force can be provided to object in multiple directions, various shape (including the strip placed to different directions
Shape) object can grasp effectively；The device is not driven the limitation of source power, can have the grasp speed that is exceedingly fast and greatly simultaneously
Grasp force；Structure is simple, low energy consumption.The device is suitable in the various robots for needing general crawl, is especially suitable for use in
It needs in the occasion of controllable force quickly grabbed.
Detailed description of the invention
Fig. 1 is a kind of embodiment of the quick crawl bar cluster adaptive robot arm device for the controllable force that the present invention designs
Stereo appearance figure.
Fig. 2 is the isometric cutaway view of embodiment illustrated in fig. 1.
Fig. 3 is the top view (being not drawn into part) of embodiment illustrated in fig. 1.
Fig. 4 is the stereo appearance figure (being not drawn into part) of the tightening state of embodiment illustrated in fig. 1.
Fig. 5 is the stereo appearance figure of the cam of embodiment illustrated in fig. 1.
Fig. 6 is the top view of the cam of embodiment illustrated in fig. 1.
Schematic diagram of internal structure (being not drawn into part) when Fig. 7 is the open configuration of embodiment illustrated in fig. 1.
Schematic diagram of internal structure (being not drawn into part) when Fig. 8 is the tightening state of embodiment illustrated in fig. 1.
Process schematic when Fig. 9 is embodiment illustrated in fig. 1 crawl object.
Figure 10 is the isometric cutaway view of embodiment illustrated in fig. 1 crawl object.
In Fig. 1 into Figure 10:
11- top base cover board, pedestal 14- bottom base cover board 15- bottom base in 12- top base 13-
21- shaft 22- articulation piece 23- the first spring part 24- guide rod 25- rod tube connector
26- slip pipe 27- fexible film 28- flexible contact 3- first motor 41- worm screw
42- worm gear 51- cam 51A- lug boss 51B- recessed portion 52- bearing
6- the second motor 7- reel 8- tendon rope 9- the second spring part 10- object
Specific embodiment
The content of specific structure of the invention, working principle is described in further detail with reference to the accompanying drawings and embodiments.
A kind of quick crawl bar cluster adaptive robot arm device for controllable force that the present invention designs, including pedestal, K are pushed away
Bar assembly, first motor and the first transmission mechanism；Each push-rod assembly includes slip pipe, guide rod, shaft and the first spring part；K
A slip pipe is circularly and evenly distributed, and each slip pipe sliding is embedded in pedestal；In push-rod assembly, the slip pipe is sliding
Dynamic to be socketed on corresponding guide rod, the both ends of the first spring part are separately connected corresponding guide rod and corresponding slip pipe, described to lead
Bar is socketed in corresponding shaft；The K shafts are respectively sleeved in pedestal, and the K shafts are circularly and evenly distributed；It is sliding
The glide direction of pipe and the centerline parallel of guide rod；The center line of the slip pipe and the center line of shaft are mutually perpendicular to；Described
One motor is fixed in pedestal, and the output shaft of the first motor is connected with the input terminal of the first transmission mechanism；It is characterized by:
The quick crawl bar cluster adaptive robot arm device of the controllable force further includes cam, the second motor, the second transmission mechanism, coiling
Cylinder, jackshaft, tendon rope and K the second spring part；The outer edge surface of the cam has K lug boss and K recessed portion, the protrusion
Portion is circularly and evenly distributed, and the recessed portion is circularly and evenly distributed, and the lug boss and recessed portion are on the outer edge surface of cam
It is intervally arranged；The cam is set in pedestal, and the cam is connected with the output end of the first transmission mechanism, the outer edge surface of cam
It is contacted with each guide rod；The pedestal includes tying up chamber, and second motor is affixed on the base, the output of second motor
Axis is connected with the input terminal of the second transmission mechanism, and the output end of the second transmission mechanism is connected with reel；The jackshaft is arranged
In pedestal；The reel is socketed on jackshaft；The starting point of tendon rope and reel are affixed, and tendon rope coils through coiling
Cylinder；The second spring part is tension spring；The both ends of i-th of second spring parts are separately connected the end of tendon rope, i-th of push rod group
Part, all second spring parts are respectively positioned on the tie point of corresponding push-rod assembly to be tied up in chamber；Wherein, K is the natural number greater than 3, i
=1,2,3 ... K, i are natural number.
K=8 is taken, then a kind of implementation of the quick crawl bar cluster adaptive robot arm device of controllable force of the present invention
Example, as shown in Fig. 1~Figure 10.The embodiment includes pedestal, 8 push-rod assemblies, first motor 3 and the first transmission mechanism；Each
The push-rod assembly includes slip pipe 26, guide rod 24, shaft 21 and the first spring part 23；8 slip pipes 26 are circularly and evenly distributed,
Each sliding of the slip pipe 26 is embedded in pedestal；In push-rod assembly, the slip pipe 26 is slidably socketed in corresponding guide rod 24
On, the both ends of the first spring part 23 are separately connected corresponding guide rod 24 and corresponding slip pipe 26, and the guide rod 24 is socketed in phase
In the shaft 21 answered；8 shafts 21 are respectively sleeved in pedestal, and 8 shafts 21 are circularly and evenly distributed；Slip pipe 26
Glide direction and guide rod 24 centerline parallel；The center line of the slip pipe 26 and the center line of shaft 21 are mutually perpendicular to；Institute
It states first motor 3 to be fixed in pedestal, the output shaft of the first motor 3 is connected with the input terminal of the first transmission mechanism；The reality
Applying example further includes cam 51, the second motor 6, the second transmission mechanism, reel 7, jackshaft, the second spring of tendon rope 8 and 8 part 9；Institute
There are the outer edge surface for stating cam 51 8 lug boss 51A and 8 recessed portion 51B, lug boss 51A to be circularly and evenly distributed, recessed portion
51B is circularly and evenly distributed, and lug boss 51A and recessed portion 51B is intervally arranged on the outer edge surface of cam 51；Cam 51 is set in
In pedestal, cam 51 is connected with the output end of the first transmission mechanism, and the outer edge surface of cam 51 is contacted with each guide rod 24；The base
Seat includes tying up chamber, and second motor 6 is affixed on the base, the output shaft of second motor 6 and the second transmission mechanism
Input terminal is connected, and the output end of the second transmission mechanism is connected with reel 7；The jackshaft is set in pedestal；The coiling
Cylinder 7 is socketed on jackshaft；The starting point of tendon rope 8 and reel 7 are affixed, and tendon rope 8 coils through reel 7；Described i-th
The both ends of two spring parts 9 are separately connected the end of tendon rope 8, i-th of push-rod assembly, all second spring parts 9 and corresponding guide rod 24
Tie point, which is respectively positioned on, to be tied up in chamber；Wherein, 8 be natural number greater than 3, i=1,2,3 ... 8, i is natural number.
In the present embodiment, the pedestal includes top base cover board 11, top base 12, middle pedestal 13,14 and of bottom base cover board
Bottom base 15；The first motor 3 and the second motor 6 are fixed on top base 12, and 8 shafts 21 are set in top base 12
On；The middle pedestal 13 connects top base 12 and bottom base 15；The bottom base cover board 15 has 8 slip pipe through-holes and 1 tendon
Rope through-hole, the bottom base 15 have 8 slip pipe through-holes.
In the present embodiment, the push-rod assembly further includes articulation piece 22, and the guide rod 24 is set in pair by articulation piece 22
In the shaft 21 answered.
In the present embodiment, the lug boss 51A has first slope and the second slope, and the gradient of first slope is greater than second
The gradient on slope, all first slopes are circularly and evenly distributed along the outer edge surface of cam 51, and all second slopes are along cam 51
Outer edge surface is circularly and evenly distributed.
In the present embodiment, the both ends of i-th of second spring parts be separately connected tendon rope end and i-th of guide rod, i=1,
2,3 ... 8, i are natural number.
In another kind embodiment of the present invention, the both ends of i-th of second spring parts are separately connected the end of tendon rope
With i-th of slip pipe i=1,2,3 ... 8, i is natural number.
The quick crawl bar cluster adaptive robot arm device of controllable force of the present invention, it is characterised in that: Mei Gesuo
Stating push-rod assembly further includes fexible film and flexible contact, and the fexible film is by any one in latex, silica gel or rubber
Or it is a variety of be made, the flexible contact is made of any one or more in latex, silica gel or rubber, i-th of fexible film
It is wrapped in the outside of i-th of slip pipe, i-th of flexible contact is fixed in the end of i-th of slip pipe, i=1, and 2,3 ... K, i are nature
Number, K are the number of push-rod assembly.
In the present embodiment, each push-rod assembly further includes fexible film 27 and flexible contact 28, the fexible film
27 are made of rubber, and the flexible contact 28 is made of rubber, and i-th of fexible film 27 is wrapped in the outside of i-th of slip pipe 26,
I-th of flexible contact 28 is fixed in the end of i-th of slip pipe 26, i=1, and 2,3 ... 8, i is natural number.
In the present embodiment, the lug boss includes permanent magnet or electromagnet, has permeability magnetic material on the guide rod, described to lead
Magnetic material is mounted on guide rod height corresponding with lug boss.
In the present embodiment, the recessed portion includes permanent magnet or electromagnet, has permeability magnetic material on the guide rod, described to lead
Magnetic material is mounted on guide rod height corresponding with recessed portion.
In the present embodiment, first transmission mechanism includes retarder, worm screw 41 and worm gear 42, the first motor 3
Output shaft is connected with the input shaft of retarder, and the worm screw 41 is fixed in the output end of retarder, the worm gear 42 and worm screw 41
Engagement, the worm gear 42 are connect with cam 51；There is through-hole, the tendon rope 8 passes through the through-hole of cam 51 in the middle part of the cam 51.
In the present embodiment, second transmission mechanism is retarder.
The working principle of embodiment illustrated in fig. 1 is introduced with reference to the accompanying drawing.
Device tool is there are two state, and open configuration when first state, second state is to gather state.
The device gathers that state is as shown in Figure 4 and Figure 8, and the 8 of cam 51 recessed portion 51B is respectively at 8 push rods at this time
Component face, under this state, since the second spring part 9 is there are pretightning force so that the body cradle of 8 push-rod assemblies respectively with cam 51
8 recessed portion 51B contact so that all push-rod assemblies are gathered, the end of the slip pipe 26 of all push-rod assemblies is drawn close
Together.
The open configuration of the device is as shown in Figure 1, Figure 2 and Figure 7, and the 8 of cam 51 lug boss 51A divides respectively at 8 at this time
Push-rod assembly face, the body cradle of 8 push-rod assemblies is contacted with 8 lug boss 51A of cam 51 respectively, so that all push away
The slip pipe 26 of bar assembly state in a vertical shape, all push-rod assemblies is vertical.This state has compared to state, the second spring part 9 is gathered
Bigger tensile force.
The device is convex by the driving of the first transmission mechanism by first motor 3 in open configuration and the switching for gathering state
It takes turns 51 rotation and realizes.The slope of the two sides lug boss 51A of cam 51 is different, as shown in Figure 5 and Figure 6, the embodiment
When grabbing switching state, 51 rotation direction of cam of selection should make the device from open configuration to rapid when gathering state, and
From slow when gathering state to open configuration, i.e. the part order that contacts cam 51 of articulation piece 22 are as follows: lug boss 51A, slope are big
Side, the small side of recessed portion 51B, slope, lug boss 51A ....
When due to gathering state, 9 deformation quantity of the second spring part is small, therefore the device is in when not working and gathers state.
The device be divided into when grabbing object 10 the following three steps:
Step 1: preparation, cam 51 are rotated by certain angle first motor 3, so that device is from gathering
State change is to open configuration.
Step 2: the device generates crowded close to the object 10 put on the bearing surface under the drive of mechanical arm and to object 10
Pressure, if slip pipe 26 has touched object 10, which can be sliding along corresponding guide rod 24 under the reaction force of object 10
It is dynamic；And if slip pipe 26 does not touch object 10, which will not move relative to gripping device；Due to different slip pipes 26
Produce different sliding distances under the extruding reaction force of object 10, therefore the shape of the device-adaptive object 10.
Step 3: cam 51 is rotated by low-angle first motor 3, so that the device is extensive rapidly from open configuration
Multiple to state is gathered, all slip pipes 26 are gathered to center, until slip pipe touches object 10 or corresponding articulation piece 22 touches
The recessed portion 51B of cam 51, to complete to grab.
The device is divided into two steps when discharging object 10:
Step 1: cam 51 is rotated by first motor 3, which is gradually converted to opening shape from gathering state
State, in transition process, the slip pipe around object is gradually distance from object, and grasp force fades away, and object is released, in addition,
Slip pipe also returns to initial position under the action of the first spring part.
Step 2: resuming work, and cam 51 is rotated by corresponding angle first motor 3, and the device is from opening
State becomes gathering state, then closes device.
The device adjusts grasp speed by the speed control of profile design and first motor 3 to cam 51, has
Quick Grabbing properties.Since the device is by two driving sources, so the quickening of grasp speed will not weaken grasp force.Pass through control
The angle that the second motor 6 drives reel is made, the stroke of the second spring part 9 can be accurately controlled, and then control grasp force.
Apparatus of the present invention are comprehensive using multiple push-rod assemblies, first motor, cam, the second motor, tendon rope and the second spring part etc.
Conjunction realizes spatial spreading self-adapting grasping function, realizes the adaptive function to article size and shape using multiple push-rod assemblies
Can, quickly crawl is realized using the combination of cam and the second spring part and grasp force controls；The device has reached to the more of object
To grasping effect, grasping force can be provided to object in multiple directions, various shape (including the strip placed to different directions
Shape) object can grasp effectively；The device is not driven the limitation of source power, can have the grasp speed that is exceedingly fast and greatly simultaneously
Grasp force；Structure is simple, low energy consumption.The device is suitable in the various robots for needing general crawl, is especially suitable for use in
It needs in the occasion of controllable force quickly grabbed.
Claims (9)
1. a kind of quick crawl bar cluster adaptive robot arm device of controllable force, including pedestal, K push-rod assembly, the first electricity
Machine and the first transmission mechanism；Each push-rod assembly includes slip pipe, guide rod, shaft and the first spring part；The K slip pipes are in circle
Week is uniformly distributed, and each slip pipe sliding is embedded in pedestal；In push-rod assembly, the slip pipe is slidably socketed corresponding
On guide rod, the both ends of the first spring part are separately connected corresponding guide rod and corresponding slip pipe, and the guide rod is socketed in accordingly
In shaft；The K shafts are respectively sleeved in pedestal, and the K shafts are circularly and evenly distributed；The glide direction of slip pipe with
The centerline parallel of guide rod；The center line of the slip pipe and the center line of shaft are mutually perpendicular to；The first motor is fixed in base
In seat, the output shaft of the first motor is connected with the input terminal of the first transmission mechanism；It is characterized by: the controllable force is quick
Grabbing bar cluster adaptive robot arm device further includes cam, the second motor, the second transmission mechanism, reel, jackshaft, tendon rope
With K the second spring parts；The outer edge surface of the cam has K lug boss and K recessed portion, and the lug boss circumferentially uniformly divides
Cloth, the recessed portion are circularly and evenly distributed, and the lug boss and recessed portion are intervally arranged on the outer edge surface of cam；It is described convex
Wheel is set in pedestal, and the cam is connected with the output end of the first transmission mechanism, and the outer edge surface of cam is contacted with each guide rod；
The pedestal includes tying up chamber, and second motor is affixed on the base, the output shaft and the second driver of second motor
The input terminal of structure is connected, and the output end of the second transmission mechanism is connected with reel；The jackshaft is set in pedestal；It is described around
Spool is socketed on jackshaft；The starting point of tendon rope and reel are affixed, and tendon rope coils through reel；The second spring part is
Tension spring；The both ends of i-th of second spring parts are separately connected the end of tendon rope, i-th of push-rod assembly, all second spring parts and phase
The tie point for the push-rod assembly answered, which is respectively positioned on, to be tied up in chamber；Wherein, K is the natural number greater than 3, and i=1,2,3 ... K, i are nature
Number.
2. the quick crawl bar cluster adaptive robot arm device of controllable force as described in claim 1, it is characterised in that: described
Lug boss has first slope and the second slope, and the gradient of first slope is greater than the gradient on the second slope, all first slope edges
The outer edge surface of cam is circularly and evenly distributed, and all second slopes are circularly and evenly distributed along the outer edge surface of cam.
3. the quick crawl bar cluster adaptive robot arm device of controllable force as described in claim 1, it is characterised in that: described
The both ends of i-th of second spring parts are separately connected the end of tendon rope and i-th of guide rod, i=1,2,3 ... K, i are natural number, and K is to push away
The number of bar assembly.
4. the quick crawl bar cluster adaptive robot arm device of controllable force as described in claim 1, it is characterised in that: described
The both ends of i-th of second spring parts are separately connected the end of tendon rope and i-th of slip pipe, i=1,2,3 ... K, i are natural number, and K is to push away
The number of bar assembly.
5. the quick crawl bar cluster adaptive robot arm device of controllable force as described in claim 1, it is characterised in that: each
The push-rod assembly further includes fexible film and flexible contact, and the fexible film is by any one in rubber, silica gel or latex
Kind or it is a variety of be made, the flexible contact is made of any one or more in rubber, silica gel or latex, i-th of flexible thin
Film is wrapped in the outside of i-th of slip pipe, and i-th of flexible contact is fixed in the end of i-th of slip pipe, i=1, and 2,3 ... K, i are certainly
So number, K are the number of push-rod assembly.
6. the quick crawl bar cluster adaptive robot arm device of controllable force as described in claim 1, it is characterised in that: described
Lug boss includes permanent magnet or electromagnet, has permeability magnetic material on the guide rod, the permeability magnetic material be mounted on guide rod with it is convex
Play the corresponding height in portion.
7. the quick crawl bar cluster adaptive robot arm device of controllable force as described in claim 1, it is characterised in that: described
Recessed portion includes permanent magnet or electromagnet, has permeability magnetic material on the guide rod, the permeability magnetic material be mounted on guide rod with it is recessed
The corresponding height of concave portion.
8. the quick crawl bar cluster adaptive robot arm device of controllable force as described in claim 1, it is characterised in that: described
First transmission mechanism includes retarder, worm and worm wheel, and the output shaft of the motor is connected with the input shaft of retarder, the snail
Bar is fixed in the output end of retarder, and the worm gear is engaged with worm screw, and the worm gear is connect with cam；Have in the middle part of the cam
Through-hole, the tendon rope pass through the through-hole of cam.
9. the quick crawl bar cluster adaptive robot arm device of controllable force as described in claim 1, it is characterised in that: described
Second transmission mechanism is retarder.
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| CN201811526879.8A CN109571539B (en) | 2018-12-13 | 2018-12-13 | Controllable-force self-adaptive robot hand device for quick grabbing rod cluster |
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| CN201811526879.8A CN109571539B (en) | 2018-12-13 | 2018-12-13 | Controllable-force self-adaptive robot hand device for quick grabbing rod cluster |
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| CN109571539B CN109571539B (en) | 2023-12-15 |
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| CN110465965A (en) * | 2019-08-06 | 2019-11-19 | 李泽铭 | Fluid force balances elastic component array adaptive robot arm device |
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| CN111331587A (en) * | 2020-03-20 | 2020-06-26 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Self-adaptive robot hand device for grabbing sliding rod by driving expansion of tendon rope |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110465965A (en) * | 2019-08-06 | 2019-11-19 | 李泽铭 | Fluid force balances elastic component array adaptive robot arm device |
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| CN111331587A (en) * | 2020-03-20 | 2020-06-26 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Self-adaptive robot hand device for grabbing sliding rod by driving expansion of tendon rope |
| CN113291790A (en) * | 2021-05-25 | 2021-08-24 | 武汉理工大学 | Self-adaptive grabbing mechanism |
| CN113291790B (en) * | 2021-05-25 | 2022-08-30 | 武汉理工大学 | Self-adaptive grabbing mechanism |
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