CN109760084A - A kind of modularization trapping manipulator becoming born of the same parents based on kinematic pair - Google Patents
A kind of modularization trapping manipulator becoming born of the same parents based on kinematic pair Download PDFInfo
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Abstract
The present invention provides a kind of modularization trapping manipulators for becoming born of the same parents based on kinematic pair, including pedestal and set multiple mechanical paws on the base, multiple mechanical paws circumferentially array or are installed on the base with being oppositely arranged, mechanical paw includes a folding exhibition unit being sequentially connected of N (N >=2), and folding exhibition unit includes that two attachment bases, the scissor-type being arranged between two attachment bases arrest face mechanism, four metamorphic mechanisms and driving device for connecting attachment base Yu arresting face mechanism；Wherein, metamorphic mechanisms are the metamorphic mechanisms formed based on prismatic pair to the transformation between revolute pair.It is the configuration of the present invention is simple, light-weight, and there is biggish folding ratio and higher structural strength, and also have it is good arrest performance, the crawl especially suitable for space non-cooperative target.
Description
Technical field
The invention belongs to spaces to arrest robotic technology field, more particularly, to a kind of mould for becoming born of the same parents based on kinematic pair
Block trapping manipulator.
Background technique
Space mechanism's manipulation technology refers in the case where space someone or unmanned participation, using space platform to specific
In-orbit target operated, such as space trash recycling, defragmentation, implement Space Attack, be a wide range of spatial observation, remote
Distance measurement, noncooperative target, which are tracked, becomes the related operations such as rail, breakdown maintenance, assembling construction, in-orbit rescue to capture, auxiliary
Technology.However existing space truss-like mechanism there is a problem in that: although space deployable mechanism can by expansion reach
The purpose for the large scale structure having to tens meters of construction or even rice up to a hundred, but in-orbit manipulation can not be carried out because its mobility is less；
More mobility may be implemented in variable geometry truss mechanism, but its driving is complicated；Hard and soft hybrid mechanism is difficult to realize complexity
Shape control；Modularization spacecraft can obtain various configuration by the recombination of module, but not have diversified grasp
Mobility is controlled, and restructuring procedure generally requires auxiliary robot to realize.
Chinese patent literature 201410056414.6 discloses a kind of expansible drive lacking rope bar truss-like mechanical paw,
It is related to a kind of modular mechanical gripper that can be used for grabbing different shape target in space, to solve traditional underactuatuated drive
With SARAH gripper weight is big, structure is complicated, grasp force poor to the shape adaptability of the target object of crawl is small and
SARAH gripper is not easy the problem of extending, it includes preceding end connection device, Gan Jian corner locating mechanism, end rope bar truss, rope
Rope, multiple positioning columns and multiple scalable modular rope bar truss；The preceding end connection device includes connecting plate, two ropes
Axis, two limited posts, two mounting plates, two transition platess and four support plates are located at two of the same side on vertical direction
Support plate is equipped with rope axis, the output shaft of motor it is vertically arranged and with corresponding rope axis connection；It is each described expansible
Modularization rope bar truss includes two around reel for rope, 12 frictional damping sheet metals and six connecting rods.In the prior art
Manipulator leads to that it takes up a lot of space because not having folding and expanding function, improves the difficulty of transport；Parallelogram knot
Structure stability is poor, it is difficult to control rigidity；And drive part is complicated because controlling caused by using servo motor, and structure bulky needs
Independent structure design is carried out to the arrangement of servo motor；And the technology does not consider that light-weight design causes manipulator to grab
It catches that power is little, the operation control of big quality objective is difficult to carry out.
Based on this, the invention proposes a kind of modularization trapping manipulators for becoming born of the same parents based on kinematic pair, it is intended to solve space
Big quality noncooperative target arrests problem.
Summary of the invention
In view of the drawbacks of the prior art, the present invention provides it is a kind of based on kinematic pair become born of the same parents modularization trapping manipulator,
Its structure is simple, light-weight, and has the characteristics that biggish folding ratio, the rigidity of structure are high.
The specific technical solution of the present invention is as follows:
A kind of modularization trapping manipulator becoming born of the same parents based on kinematic pair including pedestal and sets multiple machinery on the base
Gripper, multiple mechanical paws circumferentially array or are installed on the base with being oppositely arranged, mechanical paw include N (N >=2) it is a according to
Secondary connected folding opens up unit, and folding exhibition unit includes:
Two attachment bases setting up and down；
Be arranged between two attachment bases and arrest face mechanism, arrest face mechanism include two identical scissors rods, two
It is hinged in the middle part of scissors rod and forms scissor structure；
Four metamorphic mechanisms for connecting attachment base Yu arresting face mechanism, four metamorphic mechanisms are separately positioned on two
Four ends of scissors rod；
Metamorphic mechanisms include first connecting rod and the second connecting rod, are provided with and are located above in attachment base length direction
First link slot and underlying second link slot, the head end of first connecting rod protrude into the first link slot and form sliding pair
Connection, wherein the end of a scissors rod in a folding exhibition unit of n-th (2≤n≤N) is connected to the end of first connecting rod simultaneously
Form revolute pair connection；Second connecting rod includes along the glissile segment of attachment base length direction sliding and around attachment base length side
To the rotational segment of rotation, the second link slot includes interconnected outer groove and inside groove, and glissile segment protrudes into inside groove through outer groove,
And sliding pair connection is formed between glissile segment and outer groove, revolute pair connection is formed between glissile segment and inside groove, rotational segment protrudes into
Outer groove simultaneously forms hole axle mating connection, and the end of a scissors rod in (n-1)th folding exhibition unit is connected to the second connecting rod
Rotational segment and formed revolute pair connection；
Driving device is arranged on attachment base, and drives and carry out rounding state, unfolded state between two attachment bases
And arrest switching between state.
In above-mentioned technical proposal of the invention, each folding is opened up mutually indepedent between unit and can be combined between each other,
Each folding exhibition unit is independent truss structure, can arrest machinery by removing and increasing the number of folding exhibition unit to control
The finger length of hand adapts to the big quality noncooperative target in space.
Further, the face mechanism that arrests in the present invention belongs to telescopic structure, high, flexible with the degree of modularity
The features such as performance is strong, mechanical property is good, structure is simple, rigidity is high.
Specifically, two attachment bases in same folding exhibition unit arrest face with arresting face mechanism and form mechanical paw, often
It is a arrest face all and have rounding state (at this time the distance between two attachment bases recently, two scissors rods arresting in the mechanism of face
Collapse), unfolded state (at this time the distance between two attachment bases gradually becomes far, arrest two scissors rods in the mechanism of face gradually
Open, whole present arrests backswing), arrest state (presented between adjacent folding exhibition unit overturn toward the direction with
Capture the posture of object), under the drive of the drive, face of arresting carries out rounding state, unfolded state and arrests state
Between switching.
More specifically, the unfolded state in the present invention carries out becoming born of the same parents' process during switching to the state of arresting, on
State change born of the same parents' process of the metamorphic mechanisms in technical solution are as follows: under rounding state, the head end of first connecting rod protrudes into the first connection
In slot, and it is now placed in the opening close to the first link slot, the head end of the second connecting rod is located at the outer groove of the second link slot
In, and it is now placed in the opening close to outer groove；With unfolded state is switched to, the face mechanism of arresting is gradually spread out, wherein first
Connecting rod is slided along the center of the first link slot towards attachment base, and the second connecting rod is connected along the second link slot direction
The center sliding of seat, under the unfolded state of folding exhibition unit, first connecting rod and the second connecting rod only slided without into
Row rotation.
When folding exhibition unit is expanded to utmostly, the glissile segment of the second connecting rod is simultaneously completely through the second link slot
Outer groove and protrude into inside groove, correspondingly, not contacted between the cell wall of inside groove and glissile segment and realizing glissile segment with respect to inside groove
Rotation, at this point, the rotational segment of the second connecting rod stretches in outer groove and forms hole axle cooperation.
Then, first connecting rod, the second connecting rod can not continue the center sliding towards attachment base, such as the
The end of one connecting rod and/or the second connecting rod setting locating part and make the end of first connecting rod and/or the second connecting rod
It is against on attachment base ontology (side wall), and then determines the maximum extension position of folding exhibition unit, then the side for example by controlling groove depth
The maximum extension position of formula control folding exhibition unit, it is self-locking to generate, it switches to and is arrested in state procedure in folding exhibition state, it is original
Folding exhibition function lose, folding exhibition one and only one rotational freedom of unit, therefore single folding exhibition unit is either in rugosity
State, unfolded state are still arrested under state, and freedom degree is always 1.
Becoming born of the same parents position, i.e., folding exhibition unit is switched to by unfolded state when arresting state, the rotational segment of the second connecting rod with
Hole axle cooperation between the outer groove of second link slot can only be rotated and can not be slided, under the action of driving device,
Complete arresting for the big quality noncooperative target in space.
Kinematic pair metamorphic mechanisms are used in the present invention, realize prismatic pair (sliding pair) to the transformation between revolute pair, more
It is a folding exhibition unit folding exhibition during, only made a relative move between metamorphic mechanisms and attachment base and without relatively rotate；?
After the completion of folding exhibition, switches to when arresting state, only relatively rotated between metamorphic mechanisms and attachment base and without opposite shifting
Dynamic, each folding exhibition unit is bent towards the same direction, with formed centainly arrest angle.
For the present invention during expansion is with arresting, the freedom degree of single folding exhibition unit is unique always, is only becoming born of the same parents position
Place's tool is there are two freedom degree, by the limitation on setting geometry, under driving effect, realizes folding exhibition state to arresting shape
Arresting for the big quality noncooperative target in space is completed in the switching of state.
Another kind specific embodiment according to the present invention, adjacent folding, which is opened up, shares an attachment base between unit, with letter
Change structure.
Another kind specific embodiment according to the present invention, forms revolute pair between first connecting rod and the second connecting rod
Connection, and the revolute pair connection between first connecting rod and the second connecting rod and the revolute pair formed between glissile segment and outer groove
Connection coaxial arrangement.
Another kind specific embodiment according to the present invention, the first link slot, the second link slot are set through attachment base
It sets, and the second link slot includes that two outer grooves and an inside groove, two outer grooves are symmetricly set on the two sides of inside groove.
In the present invention, main function existing for inside groove is to provide space for the rotation of the head end of the second connecting rod, specially
After the first section (glissile segment) of the second connecting rod protrudes into inside groove, it is not in contact with the cell wall of inside groove.
Another kind specific embodiment according to the present invention, the first link slot is rectangular channel, and inside groove is circular trough, outer groove
It for the combination slot that circular trough and rectangular channel are formed, and partially overlaps between the circular trough and rectangular channel in outer groove, to meet second
The glissile segment of connecting rod carries out mobile and the second connecting rod rotational segment in outer groove and is rotated in outer groove.
Correspondingly, the shape of the first link slot, the second link slot can also use the knot of the other shapes such as hexagon
Structure.
Another kind specific embodiment according to the present invention, driving device includes being separately positioned on two attachment bases
Connecting rod, the telescopic branched chain for being rotatablely connected two connecting rods respectively, wherein the vertical attachment base length direction of two connecting rods is set
It sets, and is parallel to each other between two connecting rods.By the elongation or shortening of telescopic branched chain, the state for changing face of arresting is realized
Between switching.
Preferably, telescopic branched chain is loop bar branch, and loop bar branch includes sleeve, the loop bar that is slidably arranged in sleeve, set
The connecting pin of cylinder is rotatablely connected to underlying connecting rod, and the connecting pin of loop bar is rotatablely connected to the connecting rod being located above.
Specifically, the free end of sleeve is provided with loop bar sliding slot, the free end of loop bar is protruded into loop bar sliding slot, and be can change and protruded into
Length.
Further preferably, driving device is further provided with push rod branch, and push rod branch includes push rod, sliding block, is located below
Connecting rod be provided with sliding slot, sliding block is slidably arranged in sliding slot, and one end of push rod is rotatablely connected to the middle part of sleeve, push rod
The other end be rotatablely connected to sliding block.
Wherein, triangle knot is formed between the sleeve in same folding exhibition unit, push rod and underlying connecting rod
The opposite angle for arresting face (plane where two attachment bases) of adjustment sleeve is realized in structure, the position by changing pushing block.
Further, driving device is additionally provided with spring, and release spring driving sliding block slides in sliding slot, and then drives
Telescopic branched chain movement, so that carrying out rounding state, unfolded state between two attachment bases and arresting cutting between state
It changes.
Single folding exhibition unit in the present invention only has one degree of freedom, in order to further decrease quality, meets lightweight and sets
The demand of meter, the driving device in the present invention uses spring, for space manipulator, this with important practice significance,
Compared to complicated servo motor driving system, spring driven complexity is greatly lowered, and form is simple, when manipulator is close to mesh
When mark, by release spring, manipulator can effective capture target.Each folding opens up only one freedom degree of unit, that is, pacifies
A spring is filled, folding exhibition can be completed and arrests two movements.
Another kind specific embodiment according to the present invention, the folding exhibition unit positioned at bottom is additionally provided with locating rod, fixed
One end of position bar is rotatablely connected to the hinged place of two scissors rods, and the other end of locating rod is slidingly attached to underlying company
On joint chair.
Wherein, two metamorphic mechanisms on the same attachment base are symmetrically positioned in the two sides of locating rod always, avoid grabbing
The amount of deflection generated during catching is conducive to improve stability of the manipulator in capture process.
Multiple fastening bolts can be used between attachment base and pedestal in the present invention in the folding exhibition unit of bottom
Mode be attached, with guarantee connection stability, validity；Preferably, the lower section in the folding exhibition unit of bottom
Connecting rod is also equipped with fastening bolt.
In order to improve the stability of mechanical paw movement, another kind specific embodiment according to the present invention is being located at most
Metamorphic mechanisms in the folding exhibition unit of lower section are provided with raised type sliding part, such as sliding block or pulley, are provided on the base
Sliding slot, cooperate connection between sliding part and sliding slot.
Compared with prior art, the invention has the beneficial effects that:
The present invention arrests face mechanism using scissor-type, not only enable the manipulator have rigidity is high, folding malleability is good,
The advantages that inner space is sufficient, and mechanical paw arrests performance with good, especially suitable for grabbing for space non-cooperative target
It takes, certainly, present invention may also apply to arresting for other occasions；In addition, also having the advantages that big folding ratio.
Modularized design of the present invention can roll over the number of exhibition unit to control the length of mechanical paw, with suitable by increase and decrease
Answer the big quality noncooperative target in space.
Light-weight design of the present invention, driving device use the design of telescopic servo-actuated branch, and using spring as power
Source is driven, and the difficulty of structure design is reduced, so that the total quality of structure is greatly lowered.
Metamorphic mechanisms of the invention have multiple and different change born of the same parents positions, can carry out adaptability ruler according to the design needs
Very little design arrests demand with meet different occasions.
The present invention is described in further detail with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is the overall structure diagram for becoming the modularization trapping manipulator embodiment 1 of born of the same parents the present invention is based on kinematic pair,
Which show folded states；
Fig. 2 is the schematic diagram of the extended state of Fig. 1；
Fig. 3 is to arrest spherical object object the present invention is based on the modularization trapping manipulator embodiment 1 of kinematic pair change born of the same parents
Status diagram；
Fig. 4 is to arrest cuboid object the present invention is based on the modularization trapping manipulator embodiment 1 of kinematic pair change born of the same parents
The status diagram of body；
Fig. 5 is to arrest cylinder target object the present invention is based on the modularization trapping manipulator embodiment 1 of kinematic pair change born of the same parents
Status diagram；
Fig. 6 is the knot for becoming the single folding exhibition unit of modularization trapping manipulator embodiment 1 of born of the same parents the present invention is based on kinematic pair
Structure schematic diagram, which show unfolded states；
Fig. 7 is the enlarged diagram of oat tail groove structure in Fig. 6；
Fig. 8 is the rounding state schematic diagram of folding exhibition unit in Fig. 6；
Fig. 9 is that folding exhibition unit arrests status diagram in Fig. 6；
Figure 10 becomes in the modularization trapping manipulator embodiment 1 of born of the same parents the folding exhibition for being located at bottom the present invention is based on kinematic pair
The structural schematic diagram of unit, which show locating rods；
Figure 11 is to become in the modularization trapping manipulator embodiment 1 of born of the same parents the folding for being located at bottom the present invention is based on kinematic pair
Open up the scheme of installation of unit；
Figure 12 is the enlarged drawing in Figure 11 at B；
Figure 13 is that the present invention is based on the structures that kinematic pair becomes metamorphic mechanisms in the modularization trapping manipulator embodiment 1 of born of the same parents
Schematic diagram, wherein Figure 13 a shows that explosive state, Figure 13 b show folding exhibition state, and Figure 13 c, which is shown, becomes born of the same parents position, figure
13d shows the state of arresting.
Specific embodiment
Embodiment 1
Present embodiments provide a kind of modularization trapping manipulator for becoming born of the same parents based on kinematic pair, as shown in Fig. 1-13, packet
Include pedestal 1 and four mechanical paws 2.
As shown in Figs. 1-2, the gripper pedestal 11 of corresponding installation manipulator pawl 2, four hands there are four being arranged on pedestal 1
The mounting surface that there is pawl pedestal 11 opposite base 1 to be obliquely installed, and circumferentially array is arranged in pedestal 1 four gripper pedestals 11
Surrounding.
A mechanical paw 2 is provided on each gripper pedestal 11, it is preferred that four mechanical paws 2 are identical,
Each mechanical paw 2 includes N number of folding exhibition unit 3 being sequentially connected, it is preferred that and the number of folding exhibition unit 3 is 4-10, this
The number that folding exhibition unit 3 is shown in embodiment is 5 situations.
Wherein, as shown in fig. 6, by taking single folding opens up unit 3 as an example, illustrate the specific structure of folding exhibition unit 3, folding exhibition unit 3
Include:
Upper connecting base 31, lower connecting base 32 arrest 33, four metamorphic mechanisms 34 of face mechanism and driving device 6, wherein grab
Bu Mian mechanism 33 is arranged between upper connecting base 31 and lower connecting base 32, and arresting face mechanism 33 includes two identical scissors rods
331, the middle part of two scissors rods 331 is hinged and forms scissor structure；Four metamorphic mechanisms 34 are arranged in two scissors rods
On 331 four ends and it is respectively connected to upper connecting base 31, lower connecting base 32.
Driving device 6, which is used to drive, to be carried out rounding state, unfolded state and arrests between state between two attachment bases
Switching, wherein Fig. 8 shows the rounding state of folding exhibition unit 3, and Fig. 9 shows folding exhibition unit 3 and arrests state.
It is illustrated by taking the metamorphic mechanisms 34 in the lower right corner in Fig. 6 as an example, as shown in figure 13, metamorphic mechanisms 34 include first
Connecting rod 341 and the second connecting rod 342 are provided with first to be cooperatively connected with first connecting rod 341 in attachment base length direction
Link slot 4 and the second link slot 5 cooperated with the second connecting rod 342；
Wherein, the head end of first connecting rod 341 protrudes into the first link slot 4 and forms sliding between the first link slot 4
Pair connection, it is preferred that the first link slot 4 be the rectangular channel being arranged through lower connecting base 32, first connecting rod 341 for it is aforementioned
The rectangular shaft of rectangular channel cooperation；The end of first connecting rod 341 is rotatablely connected into a folding exhibition unit 3 of n-th (2≤n≤N)
The end of a piece scissors rod 331.
Second connecting rod 342 includes along the glissile segment 3421 of attachment base length direction sliding and around attachment base length side
To the rotational segment 3422 of rotation, the second link slot 5 includes interconnected outer groove 51 and inside groove 52, and glissile segment 3421 is through outer
Slot 51 and protrude into inside groove 52, and sliding pair connection is formed between glissile segment 3421 and outer groove 51, glissile segment 3421 and inside groove 52 it
Between form revolute pair connection, rotational segment 3422 protrudes into outer groove 51 and forms hole axle mating connection, and (n-1)th folding is opened up in unit 3
A scissors rod 331 end be connected to the rotational segment 3422 of the second connecting rod 342 and formed revolute pair connection；
Preferably, the combination slot that outer groove 51 is formed for circular trough and rectangular channel, and circular trough and rectangular channel in outer groove 51
Between partially overlap, mobile and the second connecting rod is carried out in outer groove 51 to meet the glissile segment 3421 of the second connecting rod 342
342 rotational segment 3422 is rotated in outer groove 51；Inside groove 52 is circular trough, and inside groove 52 is compared to the section of outer groove 51
Area is bigger, with bigger space be specially the second connecting rod 342 first section (glissile segment 3421) protrude into inside groove 52 it
Afterwards, it is not in contact with the cell wall of inside groove 52.
Further, in order to realize the connection between first connecting rod 341 and the second connecting rod 342, as shown in fig. 6, this
Revolute pair connection, and first connecting rod 341 and the are formed in embodiment, between first connecting rod 341 and the second connecting rod 342
Revolute pair connection between two connecting rods 342 and the revolute pair connection formed between glissile segment 3421 and outer groove 51 are coaxially disposed.
Specifically, stateful switchover process of the folding exhibition unit 3 in the signal period in metamorphic mechanisms 34 is such as Figure 13 institute
Show, wherein in order to preferably show the structure of metamorphic mechanisms 34 in the present embodiment, Figure 13 a shows explosive state, further
, Figure 13 b shows folding exhibition state, and Figure 13 c, which is shown, becomes born of the same parents position, and Figure 13 d shows the state of arresting.
Detailed process are as follows:
Under rounding state, the head end of first connecting rod 341 is protruded into the first link slot 4, and first connecting rod at this time
341 head end is located at the opening close to the first link slot 4, and the head end of the second connecting rod 342 is located at the outer of the second link slot 5
In slot 51, and it is now placed in the opening close to outer groove 51；As folding exhibition unit switches to unfolded state, face mechanism 33 is arrested
It gradually spreads out, wherein first connecting rod 341 is slided along the center of the first link slot 4 towards attachment base, the second connecting rod 342
Along the second link slot 5 towards attachment base center slide, folding exhibition unit 3 unfolded state under, first connecting rod 341
With the second only being slided for connecting rod 342 without rotation.
Further, when folding exhibition unit 3 is expanded to utmostly, can not continue to protrude into forward, first connecting rod 341
It is fully inserted into the first link slot 4 and forms limit, the glissile segment 3421 of the second connecting rod 342 is completely through the second link slot 5
Outer groove 51 and protrude into inside groove 52, correspondingly, not contacted between the cell wall of inside groove 52 and glissile segment 3421 and realizing glissile segment
3421 relative to inside groove 52 rotation, at this point, the rotational segment 3422 of the second connecting rod 342 stretches in outer groove 51 and forms hole axle
Cooperation.
It is switched to and is arrested in state procedure by folding exhibition state in folding exhibition unit, original folding exhibition function is lost, folding exhibition unit
3 one and only one rotational freedom, therefore single folding exhibition unit 3 either still arrests state in rounding state, unfolded state
Under, freedom degree is always 1, becomes born of the same parents position as shown in figure 13 c.
Becoming born of the same parents position, i.e., folding exhibition unit 3 is switched to the rotation of the second connecting rod 342 when arresting state by unfolded state
Hole axle cooperation between section 3422 and the outer groove 51 of the second link slot 5 can only be rotated and can not be slided, and be filled in driving
Under the action of setting 6, rotation of the upper connecting base 31 between lower connecting base 32 is realized, as shown in figure 13d, further complete folding
The capture process of unit 3 is opened up, the big quality noncooperative target in space is arrested in realization.
In order to simplify structure, in the present embodiment, as shown in Figs. 1-2, a connection is shared between adjacent folding exhibition unit 3
Seat.
A kind of preferred structure of driving device 6 in the present embodiment is as Figure 6-9, and driving device 6 includes upper connection
Bar 61, lower connecting rod 62, the telescopic branched chain 63 being arranged between upper connecting rod 61 and lower connecting rod 62, wherein upper connecting rod 61,
The length direction setting of parallel and vertical joint chair between lower connecting rod 62, the upper end of telescopic branched chain 63 is hinged to upper connecting rod
61, the lower end of telescopic branched chain 63 is hinged to lower connecting rod 62.
Specifically, the mode that cylinder can be directly used in telescopic branched chain 63 is directly driven, it can also be using other knots
The mode of structure transmission, in order to simplify dynamic structure, as shown in fig. 6, the present embodiment provides a kind of preferred telescopic branched chain 63 and
Driving method is as follows:
Telescopic branched chain 63 include sleeve 631, with sleeve 631 be cooperatively connected loop bar 632, push rod 633, sliding block 634 and
Spring (not shown), wherein the connecting pin of sleeve 631 is rotatablely connected to lower connecting rod 62, and the connecting pin of loop bar 632 turns
Dynamic to be connected to upper connecting rod 61, the free end of sleeve 631 is provided with loop bar sliding slot, and loop bar sliding slot is protruded into the free end of loop bar 632
In, and can change the length protruded into；Sliding slot 621 is provided on the length direction of lower connecting rod 62, the sliding of sliding block 634 is set
It sets in sliding slot 621, one end of push rod 633 is rotatablely connected to the middle part of sleeve 631, and the other end of push rod 633 is rotatablely connected
To sliding block 634, further preferably, the junction of sliding block 634 and push rod 633 uses oat tail groove structure 635；Spring is for example arranged
It in sliding slot 621, and is resisted by sliding block 634 always in compressive state, the position of sliding block 634 is adjusted by release spring, into
And driving push rod 633 changes the mated condition of telescopic branched chain 63, so that carrying out rounding state, expansion between two attachment bases
State and arrest switching between state.
In the present embodiment, the folding exhibition unit 3 for being located at bottom can also be provided with locating rod 7, it is as shown in Figure 10, fixed
The upper end of position bar 7 is rotatablely connected to the hinged place of two scissors rods 331, and the lower end of locating rod 7 is slidingly attached to underlying
On attachment base (lower connecting base 32).Wherein, two metamorphic mechanisms 34 on the same attachment base are symmetrically positioned in positioning always
The two sides of bar 7 avoid the amount of deflection generated in capture process, are conducive to improve stability of the manipulator in capture process.
Further, as shown in figure 12, the metamorphic mechanisms 34 in the folding exhibition unit 3 for being located at bottom can also be arranged
There are raised type sliding part 8, such as sliding block 634 or pulley, sliding groove 9, sliding part 8 and sliding groove 9 are provided on pedestal 1
Between cooperate connection, with further increase mechanical paw 2 movement stability.
Although the present invention is disclosed above in the preferred embodiment, it is not intended to limit the invention the range of implementation.Any
The those of ordinary skill in field is not departing from invention scope of the invention, when can make a little improvement, i.e., all according to this hair
Bright done same improvement, should be the scope of the present invention and is covered.
Claims (10)
1. a kind of modularization trapping manipulator for becoming born of the same parents based on kinematic pair, including pedestal and the multiple machinery being located on the pedestal
Gripper, multiple mechanical paws circumferentially array or are mounted on the pedestal with being oppositely arranged, and the mechanical paw includes N
(N >=2) a folding exhibition unit being sequentially connected, which is characterized in that folding opens up unit and includes:
Two attachment bases setting up and down；
It is arranged between two attachment bases and arrests face mechanism, the face mechanism that arrests includes two identical scissors rods,
It is hinged in the middle part of two scissors rods and forms scissor structure；
For connecting the attachment base and four metamorphic mechanisms for arresting face mechanism, four metamorphic mechanisms are respectively set
In four ends of two scissors rods；
The metamorphic mechanisms include first connecting rod and the second connecting rod, are provided with and are located above in the attachment base length direction
The first link slot and underlying second link slot, the head end of the first connecting rod protrudes into first link slot and shape
It is connected at sliding pair, wherein the end of a scissors rod in a folding exhibition unit of n-th (2≤n≤N) is connected to described first and connects
The end of extension bar simultaneously forms revolute pair connection；Second connecting rod includes the glissile segment along attachment base length direction sliding
With the rotational segment around attachment base length direction rotation, second link slot includes interconnected outer groove and inside groove,
The glissile segment protrudes into the inside groove through the outer groove, and forms sliding pair between the glissile segment and the outer groove and connect
It connects, forms revolute pair connection between the glissile segment and the inside groove, the rotational segment, which protrudes into the outer groove and forms hole axle, matches
Connection is closed, the end of a scissors rod in (n-1)th folding exhibition unit is connected to rotational segment and the formation of second connecting rod
Revolute pair connection；
Driving device is arranged on the attachment base, and drives and carry out rounding state, unfolded state between two attachment bases
And arrest switching between state.
2. becoming the modularization trapping manipulator of born of the same parents based on kinematic pair as described in claim 1, which is characterized in that adjacent folding exhibition
An attachment base is shared between unit.
3. becoming the modularization trapping manipulator of born of the same parents based on kinematic pair as described in claim 1, which is characterized in that described first connects
Revolute pair connection is formed between extension bar and second connecting rod, and between the first connecting rod and second connecting rod
The revolute pair connection coaxial arrangement formed between revolute pair connection and the glissile segment and the outer groove.
4. becoming the modularization trapping manipulator of born of the same parents based on kinematic pair as described in claim 1, which is characterized in that described first connects
Access slot, second link slot run through the attachment base setting, and second link slot includes two outer grooves and one
A inside groove, two outer grooves are symmetricly set on the two sides of the inside groove.
5. becoming the modularization trapping manipulator of born of the same parents based on kinematic pair as claimed in claim 4, which is characterized in that described first connects
Access slot is rectangular channel, and the inside groove is circular trough, the combination slot that the outer groove is formed for circular trough and rectangular channel, and the outer groove
In circular trough and rectangular channel between partially overlap.
6. becoming the modularization trapping manipulator of born of the same parents based on kinematic pair as described in claim 1, which is characterized in that the driving dress
The telescopic branched chain including two connecting rod, rotation connection connecting rods being separately positioned on two attachment bases is set,
In the vertical attachment base length direction setting of two connecting rods, and be parallel to each other between two connecting rods.
7. becoming the modularization trapping manipulator of born of the same parents based on kinematic pair as claimed in claim 6, the telescopic branched chain is loop bar branch
Chain, the loop bar branch includes sleeve, the loop bar that is slidably arranged in the sleeve, the connecting pin of the sleeve be rotatablely connected to
The underlying connecting rod, the connecting pin of the loop bar are rotatablely connected to the connecting rod being located above.
8. becoming the modularization trapping manipulator of born of the same parents based on kinematic pair as claimed in claim 7, which is characterized in that the driving dress
It sets and is further provided with push rod branch, the push rod branch includes push rod, sliding block, and the underlying connecting rod is provided with cunning
Slot, the sliding block are slidably arranged in the sliding slot, and one end of the push rod is rotatablely connected to the middle part of the sleeve, described to push away
The other end of bar is rotatablely connected to the sliding block.
9. becoming the modularization trapping manipulator of born of the same parents based on kinematic pair as claimed in claim 8, which is characterized in that the driving dress
It sets and is additionally provided with spring, discharge the spring and the sliding block is driven to slide in the sliding slot, and then drive the telescopic branched chain
Movement, so that carrying out rounding state, unfolded state between two attachment bases and arresting switching between state.
10. becoming the modularization trapping manipulator of born of the same parents based on kinematic pair as described in claim 1, which is characterized in that be located at most lower
The folding exhibition unit of side is additionally provided with locating rod, and one end of the locating rod is rotatablely connected to the hinged place of two scissors rods,
The other end of the locating rod is slidingly attached on the underlying attachment base.
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| CN201910106104.3A CN109760084B (en) | 2019-02-01 | 2019-02-01 | Modularization capture manipulator based on kinematic pair metamorphism |
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| CN114407053A (en) * | 2022-03-24 | 2022-04-29 | 武汉科技大学 | Folding and unfolding manipulator based on metamorphic principle |
| CN115814300A (en) * | 2022-10-07 | 2023-03-21 | 北京工业大学 | Pincers are cut and are grabbed integrative accessory and engineering machine tool based on metamorphic mechanism |
| CN116534292A (en) * | 2023-05-22 | 2023-08-04 | 中国科学院空间应用工程与技术中心 | N (3 RRU) reconfigurable series-parallel type capturing mechanism and capturing method thereof |
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