CN110561396B - High-precision quick-reaction manipulator - Google Patents
High-precision quick-reaction manipulator Download PDFInfo
- Publication number
- CN110561396B CN110561396B CN201911078746.3A CN201911078746A CN110561396B CN 110561396 B CN110561396 B CN 110561396B CN 201911078746 A CN201911078746 A CN 201911078746A CN 110561396 B CN110561396 B CN 110561396B
- Authority
- CN
- China
- Prior art keywords
- linear
- connecting rod
- manipulator
- rotating
- displacement sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000006243 chemical reaction Methods 0.000 title claims description 6
- 230000007246 mechanism Effects 0.000 claims abstract description 137
- 230000004044 response Effects 0.000 claims abstract description 6
- 238000006073 displacement reaction Methods 0.000 claims description 50
- 210000000707 wrist Anatomy 0.000 claims description 17
- 230000033001 locomotion Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005272 metallurgy Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 241000282472 Canis lupus familiaris Species 0.000 description 1
- 241000282326 Felis catus Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Images
Classifications
-
- 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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Abstract
The invention discloses a high-precision quick-response manipulator which comprises a first portal frame and a manipulator body, wherein the manipulator body comprises a mechanical arm and a palm connected with the mechanical arm, and the mechanical arm drives the palm to rotate and swing; the palm comprises a connecting rod mechanism, a linear driving mechanism, a connecting seat and a plurality of clamping fingers; the connecting seat is connected with the mechanical arm; the plurality of clamping fingers are respectively connected with the linear driving mechanism through a connecting rod mechanism; the linear driving mechanism is connected to the connecting seat; the linear driving mechanism drives the connecting rod mechanism to move so as to drive the clamping fingers to open or close. The invention has simple and convenient operation and high flexibility, can be operated by common workers, reduces the use cost and improves the operation efficiency.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a high-precision quick-response manipulator.
Background
Robots are the common name for automatic control machines, which include all machines (e.g., machine dogs, machine cats, etc.) that simulate human behavior or thought and other creatures. In a production line, a mechanical arm is required to grab a workpiece, and a mechanical claw can simulate certain action functions of a human hand and the arm and is used for grabbing and carrying an object or an automatic operation device for operating a tool according to a fixed program. The manipulator is the earliest industrial robot and the earliest modern robot, can replace heavy labor of people to realize mechanization and automation of production, can be operated under harmful environment to protect personal safety, and is widely applied to industries such as industry, agriculture, metallurgy, electronics, light industry and the like, for example, when crops are planted, picked or carried, the manipulator replaces traditional manual operation, the labor intensity of people can be reduced, the labor cost is saved, and the operation efficiency is improved. However, when the existing manipulator operates, a professional needs to program the manipulator firstly, the specialty is high, when different objects are grabbed, a series of work such as corresponding program modification and debugging needs to be carried out, so that the manipulator can effectively grab the corresponding objects, the workload is large, time and labor are wasted, the cost is high, the operation can only be completed by the professional, and the use flexibility is low.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides the high-precision quick-reaction manipulator which is simple and convenient to operate, high in flexibility, capable of being operated by common workers, capable of reducing the use cost and improving the operation efficiency.
In order to achieve the purpose, the invention provides a high-precision quick-response manipulator which comprises a first portal frame and a manipulator body, wherein the manipulator body comprises a manipulator and a palm connected with the manipulator, and the manipulator drives the palm to rotate and swing; the palm comprises a connecting rod mechanism, a linear driving mechanism, a connecting seat and a plurality of clamping fingers; the connecting seat is connected with the mechanical arm; the plurality of clamping fingers are respectively connected with the linear driving mechanism through a connecting rod mechanism; the linear driving mechanism is connected to the connecting seat; the linear driving mechanism drives the connecting rod mechanism to move so as to drive the clamping fingers to open or close.
Further, the linear driving mechanism comprises a first linear telescopic mechanism and a connecting plate; the connecting rod mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; the number of the clamping fingers is five; each clamping finger is hinged with one end of the first connecting rod and one end of the second connecting rod respectively; the other end of the first connecting rod and the other end of the second connecting rod are respectively hinged with one end of the third connecting rod, and a parallelogram link mechanism is formed among the clamping fingers, the first connecting rod, the second connecting rod and the third connecting rod; the third connecting rod is fixedly connected with the connecting seat; the first clamping finger and the second clamping finger are respectively hinged with the first connecting plate through a fourth connecting rod, the third clamping finger and the fourth clamping finger are respectively hinged with the second connecting plate through a fourth connecting rod, and the fifth clamping finger is hinged with the third connecting plate through a fourth connecting rod; the three connecting plates are respectively connected with the connecting seats through first linear telescopic mechanisms; when the first linear telescopic mechanism drives the connecting plate to do linear motion, the connecting rod mechanism drives the clamping fingers to open or close.
Furthermore, a first connecting rod and a second connecting rod are arranged on two sides of each clamping finger, so that a double-parallel four-link-shaped connecting rod mechanism is formed.
Furthermore, the first linear telescopic mechanism comprises a driving motor connected to the connecting seat and a ball screw connected with the driving motor, an internal thread hole matched with the ball screw is formed in the connecting plate, and spiral linear transmission is formed between the connecting plate and the ball screw.
Further, the mechanical arm comprises a movable seat, a large arm, a wrist, a rotating mechanism and a linear telescopic mechanism; the rotating mechanism comprises a first rotating mechanism and a second rotating mechanism, and the linear telescopic mechanism comprises a second linear telescopic mechanism and a third linear telescopic mechanism; the movable seat is connected with the first portal frame through the first rotating mechanism; the movable seat is hinged with one end of the large arm, and the other end of the large arm is hinged with one end of the wrist; the movable seat is hinged with the middle of the large arm through the second linear telescopic mechanism; two ends of the third linear telescopic mechanism are respectively hinged with one end of the large arm and one end of the wrist; the other end of the wrist is connected with the connecting seat through the second rotating mechanism.
The manipulator teaching mechanism comprises a second portal frame, a wearable manipulator and a control system; the wearable manipulator comprises a rotating platform, a cantilever frame, a hand back fixing frame, a plurality of finger stalls and a sensor; the sensor comprises an angle sensor and a linear displacement sensor, the angle sensor comprises a first angle sensor and a second angle sensor, and the linear displacement sensor comprises a first linear displacement sensor, a second linear displacement sensor and a third linear displacement sensor; the second portal frame is arranged on the control system; the rotating table is rotationally connected with the second portal frame; one end of the arm support is rotatably connected with the rotating platform, the other end of the arm support is connected with an annular ring, and the annular ring is rotatably connected with one end of the back fixing frame; the other end of the hand back fixing frame is rotatably connected with the plurality of finger stalls; the rotating table is connected with a first angle sensor used for measuring the rotating angle of the rotating table relative to the second portal frame, and two ends of the first linear displacement sensor are respectively connected with the rotating table and the arm frame in a rotating mode and used for measuring the swinging angle of the arm frame relative to the rotating table; the annular ring is connected with a second angle sensor for detecting the rotation angle of the hand back fixing frame relative to the arm frame; two ends of the second linear displacement sensor are respectively and rotatably connected with the back of the hand fixing frame and the finger stall and used for measuring the swinging angle of the finger stall relative to the back of the hand fixing frame; the hand back fixing frame is connected with the third linear displacement sensor for measuring the swinging angle of the hand back fixing frame relative to the arm support, and the first angle sensor, the second angle sensor, the first linear displacement sensor, the second linear displacement sensor and the third linear displacement sensor are all connected with the control system; the control system is connected with the mechanical arm and the linear driving mechanism.
The invention has the beneficial effects that:
1. the manipulator body provided by the invention realizes the grabbing and carrying of objects, can be suitable for industries such as industry, agriculture, metallurgy, electronics and light industry, replaces traditional manual operation, reduces the labor intensity of people, saves the labor cost and improves the operation efficiency. For example, when being applicable to crops and snatching and carrying, can improve crops efficiency of planting, efficiency of gathering or handling efficiency, alleviate peasant's intensity of labour, especially can install first portal frame on equipment such as crops car of planting, collection car, the operation is convenient, and it is nimble to use.
2. When the manipulator body grabs different objects, the teaching process of the manipulator body is completed through the manipulator teaching mechanism, so that the manipulator body can be quickly adapted to the grabbing of different objects, the goods can be grabbed flexibly, programming is not needed, the operation is quite simple, the manipulator can be operated by common workers, the use cost is reduced, the operation efficiency is improved, and the problems of large workload and high cost caused by the fact that the existing manipulator can be operated only by professional personnel are solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a perspective view of the present invention.
Figure 2 is a perspective view of the robotic arm of the present invention.
Fig. 3 is a perspective view of the palm of the present invention.
Fig. 4 is a perspective view of the wearable manipulator of the present invention.
Fig. 5 is a partial perspective view of fig. 4.
The above reference numerals: 1 first portal frame, 2 manipulator bodies, 20 mechanical arms, 21 palms, 3 manipulator teaching mechanisms, 30 second portal frame, 31 wearable manipulators, 32 control systems, 201 first rotating mechanisms, 202 movable seats, 203 second linear telescopic mechanisms, 204 large arms, 205 third linear telescopic mechanisms, 206 wrists, 207 second rotating mechanisms, 210 connecting seats, 211 linear driving mechanisms, 2110 driving motors, 2111 ball screws, 2112 connecting plates, 212 connecting rod mechanisms, 2120 first connecting rods, 2121 second connecting rods, 2122 third connecting rods, 2123 fourth connecting rods, 213 clamping fingers, 310 rotating tables, 311 first angle sensors, 312 arm frames, 313 first linear displacement sensors, 314 annular rings, 315 rotating frames, 316 second angle sensors, 317 back fixing frames, 318 third linear displacement sensors, 319 sleeves, 320 second linear displacement sensors and 321 sensor supports.
Detailed Description
The following detailed description of the present invention is given for the purpose of better understanding technical solutions of the present invention by those skilled in the art, and the present description is only exemplary and explanatory and should not be construed as limiting the scope of the present invention in any way.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
It is to be understood that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in a generic and descriptive sense only and not for purposes of limitation, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in the generic and descriptive sense only and not for purposes of limitation, as the term is used in the generic and descriptive sense, and not for purposes of limitation, unless otherwise specified or implied, and the specific reference to a device or element is intended to be a reference to a particular element, structure, or component. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
As shown in fig. 1 to 5, the high-precision fast-response manipulator provided by the present embodiment includes a first gantry 1 and a manipulator body 2, where the manipulator body 2 includes a manipulator 20 and a palm 21 connected to the manipulator 20, and the manipulator 20 drives the palm 21 to perform a rotation motion and a swing motion; the palm 21 comprises a link mechanism 212, a linear driving mechanism 211, a connecting seat 210 and a plurality of clamping fingers 213; the connecting base 210 is connected with the robot arm 20; the plurality of clamping fingers 213 are respectively connected with the linear driving mechanism 211 through a link mechanism 212; the linear driving mechanism 211 is connected to the connecting seat 210; the linear driving mechanism 211 drives the link mechanism 212 to move and drive the holding fingers 213 to open or close.
In the present embodiment, as shown in fig. 3, the linear driving mechanism 211 includes a first linear expansion mechanism and a connection plate 2112; the linkage 212 includes a first link 2120, a second link 2121, a third link 2122, and a fourth link 2123; the number of the gripping fingers 213 is five; each of the holding fingers 213 is hinged to one end of the first link 2120 and one end of the second link 2121; the other end of the first link 2120 and the other end of the second link 2121 are hinged to one end of the third link 2122, and a parallelogram link mechanism is formed among the holding finger 213, the first link 2120, the second link 2121 and the third link 2122; the third connecting rod 2122 is fixedly connected with the connecting seat 210; the first holding finger 213 and the second holding finger 213 are hinged to the first connecting plate 2112 through a fourth link 2123, the third holding finger 213 and the fourth holding finger 213 are hinged to the second connecting plate 2112 through a fourth link 2123, and the fifth holding finger 213 is hinged to the third connecting plate 2112 through a fourth link 2123; the three connecting plates 2112 are respectively connected with the connecting seat 210 through a first linear telescopic mechanism; when the first linear telescopic mechanism drives the connecting plate 2112 to perform linear motion, the connecting rod mechanism 212 drives the clamping fingers 213 to open or close.
In this embodiment, the first link 2120 and the second link 2121 are disposed on two sides of each of the fingers 213, so as to form a double parallel four-link type link mechanism, which ensures the gripping force of the fingers 213 and improves the gripping weight of the object.
In the present embodiment, as shown in fig. 2, the robot arm 20 includes a movable base 202, a large arm 204, a wrist 206, a rotation mechanism, and a linear expansion mechanism; the rotating mechanism comprises a first rotating mechanism 201 and a second rotating mechanism 207, and the linear telescopic mechanism comprises a second linear telescopic mechanism 203 and a third linear telescopic mechanism 205; the movable seat 202 is connected with the first gantry 1 through the first rotating mechanism 201; the movable seat 202 is hinged with one end of the large arm 204, and the other end of the large arm 204 is hinged with one end of the wrist 206; the movable seat 202 is hinged with the middle of the large arm 204 through the second linear telescopic mechanism 203; two ends of the third linear telescopic mechanism 205 are respectively hinged with one end of the large arm 204 and one end of the wrist 206; the other end of the wrist 206 is connected to the connecting seat 210 via the second rotating mechanism 207.
In the present embodiment, the first rotation mechanism 201 and the second rotation mechanism 207 may be a rotary hydraulic cylinder, or may be a motor and worm gear mechanism. In the present embodiment, it is preferable that the first rotation mechanism 201 and the second rotation mechanism 207 employ a rotation hydraulic cylinder.
In this embodiment, the first linear expansion mechanism includes a driving motor 2110 connected to the connection seat 210 and a ball screw 2111 connected to the driving motor 2110, an internal threaded hole matched with the ball screw 2111 is formed in the connection plate 2112, and a spiral linear transmission is formed between the connection plate 2112 and the ball screw 2111.
In the present embodiment, the second linear expansion mechanism 203 and the third linear expansion mechanism 205 may be electric rams, linear hydraulic cylinders, or the like.
The working principle of the embodiment is as follows: the movable seat 202 rotates relative to the first portal frame 1 through the first rotating mechanism 201 to realize the left-right swinging motion of the manipulator body 2 and the palm 21; under the stretching action of the second linear stretching mechanism 203, the large arm 204 is driven to swing up and down relative to the movable seat 202, so that the up-and-down swinging motion of the manipulator body 2 and the palm 21 is realized; under the stretching action of the third linear stretching mechanism 205, the wrist 206 is driven to swing up and down relative to the large arm 204, so that the up-and-down swinging motion of the palm 21 is realized; the rotation movement of the palm 21 with respect to the wrist 206 is achieved by the second rotation mechanism 207; the driving motor 2110 drives the ball screw 2111 to move, so as to drive the connecting plate 2112 to move linearly on the ball screw 2111, and the connecting plate 2112 drives the clamping fingers 213 to open and close through the link mechanism 212. The grip fingers 213 are provided with anti-slip threads to improve the grip with the object.
In this embodiment, the manipulator body 2 realizes grabbing and carrying of objects, can be applicable to industries such as industry, agriculture, metallurgy, electron, light industry ability, replaces traditional manual work, alleviates people's intensity of labour, saves the cost of labor, improves the operating efficiency. For example, when being applicable to crops and snatching and carrying, can improve crops efficiency of planting, efficiency of gathering or handling efficiency, alleviate peasant's intensity of labour, especially can install first portal frame 1 on equipment such as crops vehicle of planting, collection car, the operation is convenient, uses in a flexible way.
In this embodiment, the first rotating mechanism 201, the second rotating mechanism 207, the first linear telescoping mechanism, the second linear telescoping mechanism 203 and the third linear telescoping mechanism 205 are all conventional mature products which are easy to control, so that the structure is simplified and the manufacturing cost is reduced.
Example two
As shown in fig. 1 to 5, in the second embodiment, on the basis of the first embodiment, the high-precision fast reaction manipulator further includes a manipulator teaching mechanism 3, and the manipulator teaching mechanism 3 includes a second gantry 30, a wearable manipulator 31, and a control system 32; the wearable manipulator 31 comprises a rotating platform 310, an arm frame 312, a hand back fixing frame 317, a plurality of finger stalls 319 and sensors; the sensors comprise angle sensors including a first angle sensor 311 and a second angle sensor 316 and linear displacement sensors including a first linear displacement sensor 313, a second linear displacement sensor 320 and a third linear displacement sensor 318; the second gantry 30 is mounted on the control system 32; the rotating table 310 is rotatably connected with the second gantry 30; one end of the arm support 312 is rotatably connected with the rotating platform 310, the other end of the arm support 312 is connected with an annular ring 314, and the annular ring 314 is rotatably connected with one end of the hand back fixing frame 317; the other end of the hand back fixing frame 317 is rotatably connected with a plurality of finger sleeves 319; the rotating table 310 is connected with a first angle sensor 311 for measuring a rotating angle of the rotating table 310 relative to the second gantry 30, and two ends of the first linear displacement sensor 313 are respectively connected with the rotating table 310 and the arm support 312 in a rotating manner for measuring a swinging angle of the arm support 312 relative to the rotating table 310; the annular ring 314 is connected with a second angle sensor 316 for detecting the rotation angle of the hand back fixing frame 317 relative to the arm support 312; two ends of the second linear displacement sensor 319 are respectively rotatably connected with the back fixing frame 317 and the finger sleeve 319, and are used for measuring the swinging angle of the finger sleeve 319 relative to the back fixing frame 317; the hand back fixing frame 317 is connected with the third linear displacement sensor 318 for measuring the swinging angle of the hand back fixing frame 317 relative to the arm support 312, and the first angle sensor 311, the second angle sensor 316, the first linear displacement sensor 313, the second linear displacement sensor 320 and the third linear displacement sensor 318 are all connected with the control system 32; the control system 32 is coupled to the robotic arm 20 and the linear drive mechanism 211. Specifically, the control system 32 is connected to the driving motor 2110, the second linear expansion mechanism 203, the third linear expansion mechanism 205, the first rotating mechanism 201 and the second rotating mechanism 207, so as to control the driving motor 2110, the second linear expansion mechanism 203, the third linear expansion mechanism 205, the first rotating mechanism 201 and the second rotating mechanism 207 to operate. Wherein the second linear displacement sensor 320 is mounted on the back of the hand fixing frame 317 through a sensor bracket 321.
In this embodiment, the number of finger stalls 319 is five. In this embodiment, one end of the hand back fixing frame 317 is connected with a rotating frame 315, and the rotating frame 315 is rotatably connected with the annular ring 314 through a bearing. The rotational connection between the remaining two parts in this embodiment may be a rotational connection implemented by using the existing rotating shaft.
When the embodiment is used, after the arm of a worker passes through the annular ring 314, five fingers are respectively worn on the finger sleeves 319, the fingers of the worker swing up and down to drive the second linear displacement sensor 320 to output displacement signals to the control system 32, and the control system 32 controls the driving motor 2110 to act according to the displacement signals output by the second linear displacement sensor 320; the wrist of the worker swings up and down, so that the hand back fixing frame 317 swings up and down relative to the arm support 312, the third linear displacement sensor 318 outputs a displacement signal to the control system 32, and the control system 32 controls the third linear telescopic mechanism 205 to act according to the displacement signal output by the third linear displacement sensor 318; the arm of the worker swings up and down, so that the arm frame 312 swings up and down relative to the rotating platform 310, the first linear displacement sensor 313 outputs a displacement signal to the control system 32, and the control system 32 controls the second linear telescopic mechanism 203 to act according to the displacement signal output by the first linear displacement sensor 313; the arm of the worker rotates to rotate the arm support 312 relative to the rotating platform 310, so that the first angle sensor 311 outputs an angle signal to the control system 32, and the control system 32 controls the first rotating mechanism 201 to act according to a displacement signal output by the first angle sensor 311; the wrist of the worker rotates, so that the hand back fixing frame 317 rotates relative to the annular ring 314 at the other end of the arm support 312, the second angle sensor 316 outputs an angle signal to the control system 32, and the control system 32 controls the second rotating mechanism 207 to act according to a displacement signal output by the second angle sensor 316; when so manipulator body 2 snatchs different objects, accomplish the teaching process of manipulator body 2 through manipulator teaching mechanism 3 to make the snatching of different objects of manipulator body 2 ability quick adaptation, snatch the goods in a flexible way, need not the programming, the operation is fairly simple, and ordinary workman just can operate, reduces use cost, improves the operating efficiency, breaks away from current manipulator and only professional can operate, and the work load that brings is big, problem with high costs.
When the robot teaching device is manufactured, the robot teaching mechanism 3 and the robot body 2 are in a certain proportional relation, the control system 32 synchronizes the robot body 2 to be adjusted to a corresponding effective action position according to signals measured by the sensors, and the teaching process is completed so as to quickly match the grabbing of different objects.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. A high-precision quick-response manipulator is characterized by comprising a first portal frame and a manipulator body, wherein the manipulator body comprises a mechanical arm and a palm connected with the mechanical arm, and the mechanical arm drives the palm to rotate and swing; the palm comprises a connecting rod mechanism, a linear driving mechanism, a connecting seat and a plurality of clamping fingers; the connecting seat is connected with the mechanical arm; the plurality of clamping fingers are respectively connected with the linear driving mechanism through a connecting rod mechanism; the linear driving mechanism is connected to the connecting seat; the linear driving mechanism drives the connecting rod mechanism to move so as to drive the clamping fingers to open or close; the high-precision rapid reaction manipulator further comprises a manipulator teaching mechanism, and the manipulator teaching mechanism comprises a second portal frame, a wearable manipulator and a control system; the wearable manipulator comprises a rotating platform, a cantilever frame, a hand back fixing frame, a plurality of finger stalls and a sensor; the sensor comprises an angle sensor and a linear displacement sensor, the angle sensor comprises a first angle sensor and a second angle sensor, and the linear displacement sensor comprises a first linear displacement sensor, a second linear displacement sensor and a third linear displacement sensor; the second portal frame is arranged on the control system; the rotating table is rotationally connected with the second portal frame; one end of the arm support is rotatably connected with the rotating platform, the other end of the arm support is connected with an annular ring, and the annular ring is rotatably connected with one end of the back fixing frame; the other end of the hand back fixing frame is rotatably connected with the plurality of finger stalls; the rotating table is connected with a first angle sensor used for measuring the rotating angle of the rotating table relative to the second portal frame, and two ends of the first linear displacement sensor are respectively connected with the rotating table and the arm frame in a rotating mode and used for measuring the swinging angle of the arm frame relative to the rotating table; the annular ring is connected with a second angle sensor for detecting the rotation angle of the hand back fixing frame relative to the arm frame; two ends of the second linear displacement sensor are respectively and rotatably connected with the back of the hand fixing frame and the finger stall and used for measuring the swinging angle of the finger stall relative to the back of the hand fixing frame; the hand back fixing frame is connected with the third linear displacement sensor for measuring the swinging angle of the hand back fixing frame relative to the arm support, and the first angle sensor, the second angle sensor, the first linear displacement sensor, the second linear displacement sensor and the third linear displacement sensor are all connected with the control system; the control system is connected with the mechanical arm and the linear driving mechanism, and the linear driving mechanism comprises a first linear telescopic mechanism and a connecting plate; the connecting rod mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; the number of the clamping fingers is five; each clamping finger is hinged with one end of the first connecting rod and one end of the second connecting rod respectively; the other end of the first connecting rod and the other end of the second connecting rod are respectively hinged with one end of the third connecting rod, and a parallelogram link mechanism is formed among the clamping fingers, the first connecting rod, the second connecting rod and the third connecting rod; the third connecting rod is fixedly connected with the connecting seat; the first clamping finger and the second clamping finger are respectively hinged with the first connecting plate through a fourth connecting rod, the third clamping finger and the fourth clamping finger are respectively hinged with the second connecting plate through a fourth connecting rod, and the fifth clamping finger is hinged with the third connecting plate through a fourth connecting rod; the three connecting plates are respectively connected with the connecting seats through first linear telescopic mechanisms; when the first linear telescopic mechanism drives the connecting plate to do linear motion, the connecting rod mechanism drives the clamping fingers to open or close.
2. A high precision and fast response manipulator according to claim 1, wherein each clamping finger is provided with a first link and a second link on both sides, thereby forming a double parallel four-link type linkage mechanism.
3. The manipulator according to claim 1, wherein the first linear expansion mechanism includes a driving motor connected to the connecting base and a ball screw connected to the driving motor, the connecting plate has an internal threaded hole engaged with the ball screw, and a helical linear transmission is formed between the connecting plate and the ball screw.
4. The high-precision fast reaction manipulator according to claim 1, wherein the manipulator comprises a movable seat, a large arm, a wrist, a rotating mechanism and a linear telescopic mechanism; the rotating mechanism comprises a first rotating mechanism and a second rotating mechanism, and the linear telescopic mechanism comprises a second linear telescopic mechanism and a third linear telescopic mechanism; the movable seat is connected with the first portal frame through the first rotating mechanism; the movable seat is hinged with one end of the large arm, and the other end of the large arm is hinged with one end of the wrist; the movable seat is hinged with the middle of the large arm through the second linear telescopic mechanism; two ends of the third linear telescopic mechanism are respectively hinged with one end of the large arm and one end of the wrist; the other end of the wrist is connected with the connecting seat through the second rotating mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911078746.3A CN110561396B (en) | 2019-11-07 | 2019-11-07 | High-precision quick-reaction manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911078746.3A CN110561396B (en) | 2019-11-07 | 2019-11-07 | High-precision quick-reaction manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110561396A CN110561396A (en) | 2019-12-13 |
| CN110561396B true CN110561396B (en) | 2020-02-28 |
Family
ID=68786092
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911078746.3A Active CN110561396B (en) | 2019-11-07 | 2019-11-07 | High-precision quick-reaction manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110561396B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111152242A (en) * | 2020-02-28 | 2020-05-15 | 徐航 | Mechanical arm control method |
| CN111645046B (en) * | 2020-06-11 | 2021-06-01 | 厦门理工学院 | Active follow-up mechanical arm system and control method thereof |
| CN111872577A (en) * | 2020-07-28 | 2020-11-03 | 东莞理工学院 | Laser cutting is with having waste recycling's equipment |
| CN112059426A (en) * | 2020-08-03 | 2020-12-11 | 东莞理工学院 | Laser marking device with automatically, snatch function |
| CN112219556B (en) * | 2020-10-27 | 2023-04-18 | 张广宾 | Self-adaptive oil palm fruit picking cutter and picking execution device thereof |
| CN112659164A (en) * | 2021-01-26 | 2021-04-16 | 韩靖 | Cross-stretch structure between fingers of simulation manipulator |
| CN112809654A (en) * | 2021-01-28 | 2021-05-18 | 褚曼 | Six-dimensional mechanical arm |
| CN116117778B (en) * | 2023-04-19 | 2023-06-23 | 常州市巨人机器人科技有限公司 | High-speed heavy-load double-gantry multi-shaft composite truss robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2304451A1 (en) * | 1973-10-23 | 1976-10-15 | Aco Giesserei Kunststoffverarb | Manipulator esp for hot castings - is controlled by model representing main unit in miniature |
| US5845540A (en) * | 1995-06-30 | 1998-12-08 | Ross-Hime Designs, Incorporated | Robotic manipulator |
| CN104385266A (en) * | 2014-08-28 | 2015-03-04 | 北京邮电大学 | Seven-degree-of-freedom external skeleton type teleoperation main hand |
| CN104838809A (en) * | 2015-04-10 | 2015-08-19 | 江苏大学 | Under-actuated three-finger type fruit-vegetable flexible picking device |
| US9486927B1 (en) * | 2015-05-20 | 2016-11-08 | Google Inc. | Robotic gripper with multiple pairs of gripping fingers |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011127410A2 (en) * | 2010-04-09 | 2011-10-13 | Deka Products Limited Partnership | System and apparatus for robotic device and methods of using thereof |
-
2019
- 2019-11-07 CN CN201911078746.3A patent/CN110561396B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2304451A1 (en) * | 1973-10-23 | 1976-10-15 | Aco Giesserei Kunststoffverarb | Manipulator esp for hot castings - is controlled by model representing main unit in miniature |
| US5845540A (en) * | 1995-06-30 | 1998-12-08 | Ross-Hime Designs, Incorporated | Robotic manipulator |
| CN104385266A (en) * | 2014-08-28 | 2015-03-04 | 北京邮电大学 | Seven-degree-of-freedom external skeleton type teleoperation main hand |
| CN104838809A (en) * | 2015-04-10 | 2015-08-19 | 江苏大学 | Under-actuated three-finger type fruit-vegetable flexible picking device |
| US9486927B1 (en) * | 2015-05-20 | 2016-11-08 | Google Inc. | Robotic gripper with multiple pairs of gripping fingers |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110561396A (en) | 2019-12-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110561396B (en) | High-precision quick-reaction manipulator | |
| CN104908056B (en) | A kind of three finger mechanical paws of variable configuration | |
| CN204997665U (en) | Four degree of freedom low pressure electric appliances transfer robots | |
| US10836046B2 (en) | Robot gripper | |
| CN105500333A (en) | Transfer robot based on mobile mechanical arm | |
| CN201287337Y (en) | Mechanical arm for assembling link lever cover | |
| CN106625606B (en) | A kind of seven freedom transfer robot that slave arm is arranged symmetrically | |
| US9321180B2 (en) | Industrial robot device, an industrial robot and a method for manipulating objects | |
| CN104772752A (en) | Mechanical arm | |
| KR20140075027A (en) | Parallel robot | |
| CN204997674U (en) | Three degree of freedom servo manipulators of transport circuit breaker | |
| CN201938094U (en) | Four-freedom fruit-picking manipulator system | |
| CN105598476A (en) | Robot-assisted numerical control full-automatic production line | |
| CN214025770U (en) | Robot gripper | |
| CN205386836U (en) | Automatic feed bin system that snatchs of aided industrial robot | |
| CN211056161U (en) | Novel manipulator snatchs device | |
| CN209793733U (en) | Industrial manipulator based on PLC control | |
| CN205414425U (en) | Full automatic production line of supplementary numerical control of robot | |
| CN207774073U (en) | A kind of high precision small storage robot carried suitable for large space | |
| CN205905020U (en) | Mechanical arm | |
| CN216030866U (en) | Adjustable carrying gripper convenient and fast to use | |
| CN217102040U (en) | Pneumatic transplanting manipulator | |
| CN207077460U (en) | A kind of manipulator for preventing that material from coming off | |
| CN208249309U (en) | Plate catching robot | |
| CN108654894B (en) | Coaxial connecting rod gets a spraying all-in-one |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240116 Address after: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Dragon totem Technology (Hefei) Co.,Ltd. Address before: 247 Yuanda Er Road, Furong district, Changsha City, Hunan Province Patentee before: HUNAN BIOLOGICAL AND ELECTROMECHANICAL POLYTECHNIC |