CN110614644B - Multistable structure centre gripping manipulator - Google Patents
Multistable structure centre gripping manipulator Download PDFInfo
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- CN110614644B CN110614644B CN201910859085.1A CN201910859085A CN110614644B CN 110614644 B CN110614644 B CN 110614644B CN 201910859085 A CN201910859085 A CN 201910859085A CN 110614644 B CN110614644 B CN 110614644B
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- extension spring
- node
- rigid rod
- rack
- clamping arm
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention provides a clamping manipulator with a multistable structure, which comprises a rack, wherein a servo motor is fixed on the rack, the output end of the servo motor is in transmission connection with a telescopic transmission device which is telescopic along the length direction of the rack, and the front end of the telescopic transmission device is connected with a multistable structure with at least two self-balancing states. The mechanical arm is reasonable in structural design, the mechanical arm can be mutually converted between two self-balancing states through the driving force, and then the opening and closing of the clamping mechanical arm are converted; the combined design of the rigid rod and the extension spring is adopted, so that the device has the advantages of low mass, small inertia force, good flexibility, convenience in carrying and the like; the mechanism occupies small space during working, has high clamping speed, simple and ingenious structure and convenient installation.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to the field of small-sized clamping manipulators, and particularly relates to a clamping manipulator with a multi-stable-state structure.
Background
The integral tension structure is a light and latticed space structure system and is formed by connecting a pre-stretched rope unit and a pre-compressed rod unit. Without any external support, the geometrical configuration of the leaning rod and the rope can be kept under the prestress action, and the leaning rod and the rope always tend to return to the initial self-balancing state when being disturbed by conservative force. When the structure is stressed greatly, the structure is deformed greatly, but after the external force is removed, the structure has the capability of restoring to the original shape. The traditional tension integral structure only has one self-balancing state, and the novel tension integral structure is a multi-stable tension integral structure with various self-balancing states. By utilizing the structural characteristics, a clamping manipulator based on a multi-stable structure can be designed.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to overcome the defects of the prior art, the invention provides the clamping manipulator with the multistable structure, which has the advantages of multiple self-balancing states, low mass, small inertia force, good flexibility, folding property, small occupied space during working, high clamping speed, simple mechanism structure and convenience in installation.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a multistable structure centre gripping manipulator, includes the frame, be fixed with servo motor in the frame, servo motor output transmission is connected with the flexible transmission along frame length direction, flexible transmission front end is connected with the multistable structure that has two kinds of self-balancing states at least.
Furthermore, the multi-stable structure is arranged on the rack and comprises a U-shaped hollow ring connecting piece, a plurality of rigid rods and a plurality of extension springs, wherein the rigid rods and the extension springs are symmetrically arranged along the length direction of the rack; the plurality of rigid rods comprises a first rigid rod, a second rigid rod, a third rigid rod and a fourth rigid rod; the first rigid rod and the second rigid rod are symmetrically arranged along the length direction of the rack, the end parts of the first rigid rod and the second rigid rod, close to one side of the servo motor, are rotatably connected, and a first node is formed at the rotary connection part of the first rigid rod and the second rigid rod; the other end of the first rigid rod, corresponding to the first node, is a second node, and is rotatably connected with a third rigid rod at the second node, and the other end of the third rigid rod is rotatably connected with a first clamping arm; the end part, corresponding to the first node, of the second rigid rod is a seventh node and is rotatably connected with a fourth rigid rod at the seventh node, the other end of the fourth rigid rod is rotatably connected with a second clamping arm, and the first clamping arm and the second clamping arm are symmetrically arranged; the plurality of extension springs comprise a first extension spring, a second extension spring, a third extension spring, a fourth extension spring, a fifth extension spring, a sixth extension spring, a seventh extension spring, an eighth extension spring, a ninth extension spring and a tenth extension spring; one end of the rack close to the servo motor is provided with a sixth node, the other end of the rack is provided with a fifth node, the first extension spring is connected between the sixth node and the first node, and the second extension spring is connected between the first node and the fifth node; the third extension spring is connected between the sixth node and the second node, and the fourth extension spring is connected between the sixth node and the seventh node; the fifth extension spring is connected between the second node and the fifth node, and the sixth extension spring is connected between the seventh node and the fifth node; the seventh extension spring is connected between the second node and the non-clamping end of the first clamping arm, and the eighth extension spring is connected between the seventh node and the non-clamping end of the second clamping arm; one end of a ninth extension spring is connected with the fifth node, the other end of the ninth extension spring is connected with the first clamping arm, one end of a tenth extension spring is connected with the fifth node, and the other end of the tenth extension spring is connected with the second clamping arm; the third extension spring and the fourth extension spring are symmetrically arranged relative to the length direction of the rack, the fifth extension spring and the sixth extension spring are symmetrically arranged relative to the length direction of the rack, the seventh extension spring and the eighth extension spring are symmetrically arranged relative to the length direction of the rack, and the ninth extension spring and the tenth extension spring are symmetrically arranged relative to the length direction of the rack.
Preferably, the telescopic transmission device is a threaded rod, one end of the threaded rod is in transmission connection with the output end of the servo motor, and the other end of the threaded rod is in limit connection with a hollow ring of the U-shaped hollow ring connecting piece.
Accordingly, to facilitate the operative pivotal connection of the first rigid link to the second rigid link, the first rigid link is pivotally connected to the second rigid link at a first node by a revolute pair disposed within the hollow ring of the U-shaped hollow ring connector.
Furthermore, the first extension spring and the second extension spring have the same structure and are symmetrically arranged relative to the revolute pair.
Preferably, the third rigid rod is connected with the first clamping arm in a rotating mode through a pin, and the fourth rigid rod is connected with the second clamping arm in a rotating mode through a pin.
The invention has the beneficial effects that:
(1) the clamping manipulator with the multi-stable structure provided by the invention can be mutually converted between two self-balancing states through the driving force, so that the opening and closing of the clamping manipulator can be converted.
(2) The design that rigidity pole and extension spring unite is adopted, and extension spring keeps the tensioning state all the time, and overall structure has advantages such as quality is low, inertial force is little, the compliance is good, portable.
(3) The occupied space is small during working, and the clamping speed is high.
(4) Simple and ingenious structure and convenient installation.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic structural view of a robot closed state in the preferred embodiment of the present invention.
Fig. 2 is a schematic structural view of the manipulator in an open state in the preferred embodiment of the invention.
Fig. 3 is a schematic diagram of the structure of the transmission device in the preferred embodiment of the invention.
In the figure, the device comprises a frame 1, a frame 2, a first rigid rod 3, a second rigid rod 4, a third rigid rod 5, a fourth rigid rod 6, a first clamping arm 7, a second clamping arm 8, a U-shaped connecting piece 9, a first extension spring 10, a second extension spring 11, a third extension spring 12, a fourth extension spring 13, a fifth extension spring 14, a sixth extension spring 15, a seventh extension spring 16, an eighth extension spring 17, a ninth extension spring 18, a tenth extension spring 19, a servo motor 20, a threaded rod 21, a rotating pair 22, a pin (R), a first node (G), a second node (G), a third node (G), a fourth node (G), a fifth node (G), a sixth node (G) and a seventh node (G).
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
The clamping manipulator with the multistable structure as shown in fig. 1 to 3 is the best embodiment of the invention, and comprises a frame 1, wherein a servo motor 19 is fixed on the frame 1, the output end of the servo motor 19 is connected with a telescopic transmission device which extends and retracts along the length direction of the frame 1 in a transmission manner, and the front end of the telescopic transmission device is connected with the multistable structure with at least two self-balancing states. The telescopic transmission device is a threaded rod 20, one end of the threaded rod 20 is in transmission connection with the output end of the servo motor 19, and the other end of the threaded rod is in limit connection with the hollow ring of the U-shaped hollow ring connecting piece 8.
The multistable structure is arranged on the rack 1 and comprises a U-shaped hollow ring connecting piece 8, a plurality of rigid rods and a plurality of extension springs, wherein the rigid rods and the extension springs are symmetrically arranged along the length direction of the rack 1. The plurality of rigid bars comprises a first rigid bar 2, a second rigid bar 3, a third rigid bar 4 and a fourth rigid bar 5; the first rigid rod 2 and the second rigid rod 3 are symmetrically arranged along the length direction of the rack 1, the end parts of the first rigid rod 2 and the second rigid rod 3, which are close to one side of the servo motor 19, are rotatably connected, and a first node is formed at the rotary connection part of the first rigid rod 2 and the second rigid rod 3; the other end of the first rigid rod 2 corresponding to the first node is a second node II, and is rotatably connected with a third rigid rod 4 at the second node II, and the other end of the third rigid rod 4 is rotatably connected with a first clamping arm 6; the end part, which is far away from the first node, of the second rigid rod 3 is a seventh node and is rotatably connected with a fourth rigid rod 5 at the seventh node, the other end of the fourth rigid rod 5 is rotatably connected with a second clamping arm 7, and the first clamping arm 6 and the second clamping arm 7 are symmetrically arranged. The third rigid rod 4 is rotatably connected with the first clamping arm 6 through a pin 22, and the fourth rigid rod 5 is rotatably connected with the second clamping arm 7 through a pin 22.
The plurality of tension springs include a first tension spring 9, a second tension spring 10, a third tension spring 11, a fourth tension spring 12, a fifth tension spring 13, a sixth tension spring 14, a seventh tension spring 15, an eighth tension spring 16, a ninth tension spring 17, and a tenth tension spring 18; the rack 1 is shown with a sixth node at one end near the servo motor 19 and a fifth node at the other end. One end of the first clamping arm 6 is a clamping end, the other end of the first clamping arm is a non-clamping end, and the non-clamping end of the non-first clamping arm is a third node. The middle section of the first clamping arm 6 is provided with a fourth node.
The third extension spring 11 and the fourth extension spring 12 are symmetrically arranged with respect to the longitudinal direction of the frame 1, the fifth extension spring 13 and the sixth extension spring 14 are symmetrically arranged with respect to the longitudinal direction of the frame 1, and the seventh extension spring 15 and the eighth extension spring 16 are symmetrically arranged with respect to the longitudinal direction of the frame 1. The specific tension spring position layout is as follows:
the first extension spring 9 is connected between the sixth node and the first node, and the second extension spring 10 is connected between the first node and the fifth node; a third extension spring 11 is connected between a sixth node and a second node, and a fourth extension spring 12 is connected between the sixth node and a seventh node; a fifth extension spring 13 is connected between the second node (C) and the fifth node (C), and a sixth extension spring 14 is connected between the seventh node (C) and the fifth node (C); a seventh extension spring 15 is connected between the second node and the non-clamping end (i.e. the third node) of the first clamping arm 6, and an eighth extension spring 16 is connected between the seventh node and the non-clamping end of the second clamping arm 7; one end of the ninth extension spring 17 is connected with the fifth node (V), the other end is connected with the fourth node (IV) of the first clamping arm 6, correspondingly, the tenth extension spring 18 and the ninth extension spring 17 are symmetrically arranged relative to the length direction of the frame 1, one end of the tenth extension spring 18 is connected with the fifth node (V), and the other end is connected with the symmetrical position of the second clamping arm 7.
In the arrangement of the extension springs, in order to enable the manipulator to be opened and closed smoothly, the mechanical arm has retractility and reduces the working space, when the manipulator is closed, the first clamping arm 6 is parallel to the fifth extension spring 13, and the second clamping arm 7 is parallel to the sixth extension spring 14. In order to maintain the steady state structure, a seventh tension spring 15 and a ninth tension spring 17 are added, respectively, and in the tension spring selection, the stiffness of the seventh tension spring 15 and the ninth tension spring 17 is smaller than that of the first to sixth tension springs. In the scheme, each extension spring is always kept in a tensioning state, and the clamping force of the manipulator is related to the prestress of the multistable structure. The driving force is provided by a servo motor 19, and the servo motor 19 drives the U-shaped hollow ring connecting piece 8 to move through a threaded rod 20 so as to move the first rigid rod 2 and the second rigid rod 3, thereby realizing the closing and the opening of the manipulator. The position of the self-balancing state of the multistable structure is related to the parameters of the rigid rod and the extension spring.
As shown in fig. 3, in order to facilitate the effective rotational connection between the first rigid rod 2 and the second rigid rod 3, the first rigid rod 2 and the second rigid rod 3 are rotatably connected at a first node (r) by a rotating pair 21, and the rotating pair 21 is sleeved in the hollow ring of the U-shaped hollow ring connecting member 8. The U-shaped hollow ring connection 8 is connected to a threaded rod 20. The U-shaped hollow ring connecting piece 8 is transferred by a servo motor 19 through a threaded rod 20 to realize reciprocating linear motion, and then the opening and closing of the manipulator are changed, in order to make the structure more stable, two layers of identical plane multi-stable structures can be adopted, and the first extension spring 9 and the second extension spring 10 are in the same structure and are symmetrically arranged relative to the revolute pair 21.
When the clamping manipulator needs to be opened, the servo motor 19 provides power, the motion is transmitted to the U-shaped hollow ring connecting piece 8 through the threaded rod 20, the U-shaped hollow ring connecting piece moves rightwards, the first rigid rod 2 and the second rigid rod 3 are further pushed to move rightwards, and when the first rigid rod 2 and the second rigid rod 3 move to a balance critical point, the driving force is removed, and the clamping manipulator tends to be in an opened state like a balance state B shown in fig. 2 due to inertia. When the clamping manipulator needs to clamp an object, the servo motor 19 only needs to be rotated reversely, so that the U-shaped hollow ring connecting piece 8 moves leftwards to push the first rigid rod 2 and the second rigid rod 3 to move leftwards, and when the first rigid rod 2 and the second rigid rod 3 move to a balance critical point, the driving force is removed, and the clamping manipulator can automatically tend to a closed state due to inertia, namely a balance state A shown in figure 1.
The clamping manipulator with the multi-stable-state structure is reasonable in structural design, and can be mutually converted between two self-balancing states through the driving force, so that the opening and closing of the clamping manipulator can be converted; the combined design of the rigid rod and the extension spring is adopted, so that the device has the advantages of low mass, small inertia force, good flexibility, convenience in carrying and the like; the mechanism occupies small space during working, has high clamping speed, simple and ingenious structure and convenient installation.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (5)
1. The utility model provides a multistable structure centre gripping manipulator which characterized in that: the self-balancing type self-balancing electric vehicle comprises a rack (1), wherein a servo motor (19) is fixed on the rack (1), the output end of the servo motor (19) is in transmission connection with a telescopic transmission device which is telescopic along the length direction of the rack (1), and the front end of the telescopic transmission device is connected with a multistable structure with at least two self-balancing states;
the multistable structure is arranged on the rack (1) and comprises a U-shaped hollow ring connecting piece (8), a plurality of rigid rods and a plurality of extension springs, wherein the rigid rods and the extension springs are symmetrically arranged along the length direction of the rack (1); the plurality of rigid rods comprise a first rigid rod (2), a second rigid rod (3), a third rigid rod (4) and a fourth rigid rod (5); the first rigid rod (2) and the second rigid rod (3) are symmetrically arranged along the length direction of the rack (1), the end parts of the first rigid rod (2) and the second rigid rod (3) close to one side of the servo motor (19) are rotatably connected, and a first node (I) is formed at the rotating connection part of the first rigid rod (2) and the second rigid rod (3); the other end of the first rigid rod (2) corresponding to the first node (II) is a second node (II), and is rotatably connected with a third rigid rod (4) at the second node (II), and the other end of the third rigid rod (4) is rotatably connected with a first clamping arm (6); the end part, which is correspondingly far away from the first node (I), of the second rigid rod (3) is a seventh node (c) and is rotatably connected with a fourth rigid rod (5) at the seventh node (c), the other end of the fourth rigid rod (5) is rotatably connected with a second clamping arm (7), and the first clamping arm (6) and the second clamping arm (7) are symmetrically arranged; the plurality of extension springs comprise a first extension spring (9), a second extension spring (10), a third extension spring (11), a fourth extension spring (12), a fifth extension spring (13), a sixth extension spring (14), a seventh extension spring (15), an eighth extension spring (16), a ninth extension spring (17) and a tenth extension spring (18); one end of the rack (1) close to the servo motor (19) is provided with a sixth node (c), the other end of the rack is provided with a fifth node (c), the first extension spring (9) is connected between the sixth node (c) and the first node (c), and the second extension spring (10) is connected between the first node (c) and the fifth node (c); a third extension spring (11) is connected between the sixth node (sixth) and the second node (second), and a fourth extension spring (12) is connected between the sixth node (sixth) and the seventh node (seventh); a fifth extension spring (13) is connected between the second node (II) and the fifth node (III), and a sixth extension spring (14) is connected between the seventh node (III) and the fifth node (III); a seventh extension spring (15) is connected between the second node (II) and the non-clamping end of the first clamping arm (6), and an eighth extension spring (16) is connected between the seventh node (III) and the non-clamping end of the second clamping arm (7); one end of a ninth extension spring (17) is connected with the fifth node (fifth), the other end of the ninth extension spring is connected with the first clamping arm (6), one end of a tenth extension spring (18) is connected with the fifth node (fifth), and the other end of the tenth extension spring is connected with the second clamping arm (7); the third extension spring (11) and the fourth extension spring (12) are symmetrically arranged relative to the length direction of the rack (1), the fifth extension spring (13) and the sixth extension spring (14) are symmetrically arranged relative to the length direction of the rack (1), the seventh extension spring (15) and the eighth extension spring (16) are symmetrically arranged relative to the length direction of the rack (1), and the ninth extension spring (17) and the tenth extension spring (18) are symmetrically arranged relative to the length direction of the rack (1);
the first node (I) is positioned in the U-shaped hollow ring connecting piece (8), and the U-shaped hollow ring connecting piece (8) is connected with the telescopic transmission device;
when the manipulator is closed, the first clamping arm (6) is parallel to the fifth extension spring (13), and the second clamping arm (7) is parallel to the sixth extension spring (14);
the rigidity of the seventh extension spring (15) and the ninth extension spring (17) is less than the rigidity of the first to sixth extension springs;
each extension spring is always kept in a tension state.
2. A multistable structure clamping robot as claimed in claim 1 wherein: the telescopic transmission device is a threaded rod (20), one end of the threaded rod (20) is in transmission connection with the output end of the servo motor (19), and the other end of the threaded rod is in limit connection with a hollow ring of the U-shaped hollow ring connecting piece (8).
3. A multistable structural clamping robot as claimed in claim 2 wherein: the first rigid rod (2) and the second rigid rod (3) are rotatably connected at a first node (r) through a revolute pair (21), and the revolute pair (21) is positioned in a hollow ring of the U-shaped hollow ring connecting piece (8).
4. A multistable structural clamping robot as claimed in claim 3 wherein: the first extension spring (9) and the second extension spring (10) have the same structure and are symmetrically arranged relative to the revolute pair (21).
5. A multistable structural clamping robot as claimed in claim 1 wherein: the third rigid rod (4) is rotationally connected with the first clamping arm (6) through a pin (22), and the fourth rigid rod (5) is rotationally connected with the second clamping arm (7) through the pin (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910859085.1A CN110614644B (en) | 2019-09-11 | 2019-09-11 | Multistable structure centre gripping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910859085.1A CN110614644B (en) | 2019-09-11 | 2019-09-11 | Multistable structure centre gripping manipulator |
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| CN110614644A CN110614644A (en) | 2019-12-27 |
| CN110614644B true CN110614644B (en) | 2022-06-17 |
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| CN201910859085.1A Active CN110614644B (en) | 2019-09-11 | 2019-09-11 | Multistable structure centre gripping manipulator |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113733072B (en) * | 2021-09-22 | 2022-09-23 | 常州大学 | Semi-flexible manipulator in zoom ring mode |
| CN114104141B (en) * | 2021-11-29 | 2023-06-09 | 长春工业大学 | Bionic foot plantar toe joint mechanism and device based on stretching integral structure |
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| CN104440865A (en) * | 2014-11-14 | 2015-03-25 | 江苏苏力机械集团有限公司 | Spring self-balancing assistance mechanical hand |
| CN105773646A (en) * | 2016-04-26 | 2016-07-20 | 东莞市联洲知识产权运营管理有限公司 | Clamping jaw with optimized structure on mechanical arm |
| CN107756431A (en) * | 2017-11-20 | 2018-03-06 | 长沙理工大学 | A kind of space single-degree-of-freedom four paws clamp system |
| CN108068133A (en) * | 2017-12-08 | 2018-05-25 | 常州大学 | A kind of crucible special machine machinery claw with three fingers |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5072695B2 (en) * | 2008-04-22 | 2012-11-14 | 株式会社ハーモニック・ドライブ・システムズ | Robot hand and finger mechanism |
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2019
- 2019-09-11 CN CN201910859085.1A patent/CN110614644B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440865A (en) * | 2014-11-14 | 2015-03-25 | 江苏苏力机械集团有限公司 | Spring self-balancing assistance mechanical hand |
| CN105773646A (en) * | 2016-04-26 | 2016-07-20 | 东莞市联洲知识产权运营管理有限公司 | Clamping jaw with optimized structure on mechanical arm |
| CN107756431A (en) * | 2017-11-20 | 2018-03-06 | 长沙理工大学 | A kind of space single-degree-of-freedom four paws clamp system |
| CN108068133A (en) * | 2017-12-08 | 2018-05-25 | 常州大学 | A kind of crucible special machine machinery claw with three fingers |
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