CN110815277A - Manipulator and gripper integrated mechanism - Google Patents
Manipulator and gripper integrated mechanism Download PDFInfo
- Publication number
- CN110815277A CN110815277A CN201911108280.7A CN201911108280A CN110815277A CN 110815277 A CN110815277 A CN 110815277A CN 201911108280 A CN201911108280 A CN 201911108280A CN 110815277 A CN110815277 A CN 110815277A
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- driving
- connecting rod
- paw
- revolute pair
- axis
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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
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
Abstract
The invention discloses a manipulator and paw integrated mechanism, which comprises a fixed platform, a movable platform and three branched chains connected in parallel between the fixed platform and the movable platform; the fixed platform is provided with a driving device consisting of a driving motor and a speed reducer for driving the main driving branch chain, and a driving device consisting of the driving motor and the speed reducer for driving the paw driving mechanism on the main driving branch chain; the main driving branched chain is respectively connected with the movable platform and the fixed platform to form a space closed loop parallel mechanism, and the driving device on the main driving branched chain drives the main driving branched chain to move, so that the movable platform performs three-dimensional translation in space; the paw driving mechanism is respectively connected with the fixed platform and the paw, and the paw is driven to rotate around a shaft on the fixed platform through the serial mechanism, so that the paw is opened and closed; the paw is connected with the second swinging rod through a torsion spring, so that flexible grabbing of the object is achieved.
Description
Technical Field
The invention belongs to the technical field of industrial robots, and particularly relates to a manipulator and paw integrated mechanism.
Background
A number of researchers have studied the structure of the manipulator and the gripper in this respect, but they have basically been studied separately, the manipulator and the gripper are relatively independent in structure, the gripper is generally arranged on an end effector of the manipulator, and the gripper is also relatively independent of the manipulator. As in the robot disclosed in patent CN110216704A, the drive mechanism of the gripper and the clamping device are all together, which increases the inertia of the robot end effector and thus affects the positioning accuracy of the robot. In order to improve the flexibility of the gripper grabbing process, patent CN110154077A proposes a self-adaptive flexible mechanical gripper structure, where the gripper includes an electromagnet, a permanent magnet, a fixed body, a traction mechanism, etc., the fixed body is rotatably connected with a driving gear and a driven gear, the driving gear is engaged with the driven gear, the gripper utilizes some characteristics of the magnet to realize flexible grabbing, and simultaneously prevents burning out the motor when a heavy object is taken upwards, but the gripper structure is complex and is all to be arranged on the end effector of the manipulator, and the quality of the end effector is also increased.
Disclosure of Invention
The purpose of this patent is to provide one kind and can realize the flexibility and snatch to form the integral structure with the drive of hand claw and mechanical structure and manipulator body, reduce manipulator end effector's inertia, improve the positioning accuracy of manipulator.
In order to achieve the purpose, the technical scheme of the patent is as follows: a manipulator and gripper mechanism comprising: the three-freedom-degree translation device comprises a movable platform, a fixed platform, a paw connected with the movable platform and three branched chains connected with the movable platform and the fixed platform, wherein the branched chains comprise main driving branched chains, are connected with the fixed platform and the movable platform and are used for controlling the movable platform to perform three-freedom-degree translation in space; and the paw driving mechanism on the main driving branched chain is connected to the paws of the fixed platform and the movable platform and used for controlling the opening and closing of the paws.
The swing rod installed on the movable platform drives the opening and closing of the paw as a driving part of the grabbing mechanism, the paw is connected with the swing rod through the torsion spring, on one hand, the angle of the torsion spring can be measured in real time through the angular displacement sensor, so that the grabbing force is reflected, on the other hand, the grabbing force is buffered, and therefore flexible grabbing of an object is achieved.
Compared with the prior art, the patent has the following advantages: the driving device of the grabbing mechanism is arranged on the fixed platform, the paw driving mechanism is arranged on the main driving branched chain, and only the paw and the torsion spring are arranged on the end effector, so that the weight of the grabbing mechanism is greatly reduced, and the lightweight paw is realized; the hand claw and the swinging rod are connected through the torsion spring, flexible grabbing of objects is achieved, the objects which are fragile and large in deformation can be grabbed, and meanwhile grabbing under different application occasions can be achieved due to the fact that materials and shapes of the hand claw are not limited.
Drawings
Fig. 1 is a schematic structural diagram of embodiment 1 of the present invention.
Fig. 2 is a schematic view of a parallelogram structure in embodiment 1 of the present invention.
FIG. 3 is a schematic view of a movable platform according to embodiment 1 of the present invention
Fig. 4 is a schematic structural diagram of embodiment 2 of the present invention.
Fig. 5 is a schematic view of a movable platform according to embodiment 2 of the present invention.
Fig. 6 is a schematic structural diagram of embodiment 3 of the present invention.
Fig. 7 is a schematic view of a parallelogram structure in embodiment 3 of the present invention.
Fig. 8 is a schematic view of a movable platform according to embodiment 3 of the present invention.
Fig. 9 is a schematic structural diagram of embodiment 4 of the present invention.
Fig. 10 is a schematic view of a movable platform according to embodiment 4 of the present invention.
Fig. 11 is a schematic structural diagram of embodiment 5 of the present invention.
Fig. 12 is a schematic view of a movable platform according to embodiment 5 of the present invention.
Detailed Description
The invention will be further understood from the following detailed description of the preferred embodiments and from the drawings, which should not be taken as a whole or as a limitation or restriction of the technical solution of the invention.
Example 1
As shown in fig. 1, 2 and 3, a manipulator and gripper integrated mechanism comprises a fixed platform 9, a movable platform 8, three main driving branched chains connected in parallel between the fixed platform 9 and the movable platform 8; the device is characterized by further comprising a paw driving mechanism arranged on the main driving branched chain, a paw 15 arranged on the movable platform 8 and a torsion spring 14;
the three main driving branched chains have the same structure, comprise a driving motor 10, a speed reducer 11, a driving arm 2 and a driven arm assembly and are sequentially connected; one end of the driving arm 2 is connected with the fixed platform 9 through a revolute pair, and the other end of the driving arm is connected with the driven arm component; the driven arm assembly is connected with the movable platform 8; the driving motor 10 and the speed reducer 11 are fixed on the fixed platform 9, the driving motor 10 drives the driving arm 2 to rotate through the speed reducer 11 and drives the movable platform 8 connected with the driving arm to move in a translation mode through the driven arm component;
the rotating shaft of the driving motor 10 of the main driving branched chain of the first branched chain, the rotating shaft of the driving motor 10 of the main driving branched chain of the second branched chain and the rotating shaft of the driving motor 10 of the main driving branched chain of the third branched chain are horizontally arranged on the plane of the fixed platform 9, and are uniformly arranged on the fixed platform 9 at intervals of 120 degrees in pairs; the main driving branched chains of the three branched chains are provided with paw driving mechanisms; the gripper driving mechanism comprises a driving motor 12, a speed reducer 13, a driving arm 1, a pull rod 3, a first swing rod 4, a driven connecting rod 5 and a second swing rod 7; the driving motor 12 and the speed reducer 13 are fixed on the fixed platform 9; one end of the driving arm 1 is connected with the fixed platform 9 through a revolute pair, and the driving motor 12 drives the driving arm 1 through a speed reducer 13;
the rotating shaft of the driving motor 12 of the paw driving mechanism of the first branch chain, the rotating shaft of the driving motor 12 of the paw driving mechanism of the second branch chain and the rotating shaft of the driving motor 12 of the paw driving mechanism of the third branch chain are respectively arranged above the rotating shaft of the driving motor 10 of the main driving branch chain of the first branch chain, the rotating shaft of the driving motor 10 of the main driving branch chain of the second branch chain and the rotating shaft of the driving motor 10 of the main driving branch chain of the third branch chain; the driven connecting rod 5 of the paw driving mechanism is parallel to the plane where the two driven arms 6c and 6d of the corresponding main driving branched chain are located; the driving arm 2 and the movable platform 8 are connected together through a driven arm component; the driven arm assembly comprises an upper connecting rod 6a, a lower connecting rod 6b, a connecting rod 6e playing a role in limiting and fixing, and two connecting rods 6c and 6d connected between the upper connecting rod 6a and the lower connecting rod 6b in parallel; two ends of the two connecting rods 6c and 6d are respectively hinged with the upper connecting rod 6a and the lower connecting rod 6b to form a quadrilateral mechanism; the upper connecting rod 6a and the lower connecting rod 6b are equal in length; the two connecting rods 6c and 6d are equal in length; the driving arm 2 is connected with the middle of the upper connecting rod 6a, and the movable platform 8 is connected with the middle of the lower connecting rod 6b in the driven arm component; the axis of the upper connecting rod 6a is parallel to the axis of the rotating pair of the driving arm 2; the driving arm 1 and the paw 15 are connected in series through a pull rod 3, a first swing rod 4, a driven connecting rod 5 and a second swing rod 7, the pull rod 3 is connected with the driving arm 2 and the first swing rod 4 through a revolute pair, and the driven connecting rod 5 is connected with the first swing rod 4 and the second swing rod 7 through a ball head; the paw 15 arranged on the movable platform 8 is connected with the movable platform 8 through a revolute pair, and the axis of the revolute pair is superposed with the axis of a revolute pair connected with the second swing rod 7 and the movable platform 8; the torsion spring 14 is also arranged on the rotating pair, and the axis of the torsion spring 14 is coincident with the axis of the rotating pair; one end of the torsion spring 14 is fixedly connected with the paw 15, and the other end of the torsion spring is fixedly connected with the second swinging rod 7; the second swing rod 7 is connected with the movable platform 8 through a rotating pair, and the axis of the rotating pair is superposed with the axis of the lower connecting rod 6b of the main driving branched chain; the paw 15 and the torsion spring 14 are arranged in the middle of the swinging rod; the paw driving mechanism arranged on the main driving branched chain, the paw 15 and the torsion spring 14 are 3 sets and are arranged on the movable platform at an angle of 120 degrees.
Example 2
As shown in fig. 4 and 5, this embodiment is different from embodiment 1 in that the three branched chains are fixed at 90 ° to the half circumference of the platform 9; two branch chains of the three branch chains are respectively provided with a paw driving mechanism, and a rotating shaft of a driving motor 12 of the paw driving mechanism of the first branch chain and a rotating shaft of a driving motor 12 of the paw driving mechanism of the second branch chain are respectively arranged above a rotating shaft of a driving motor 10 of a main driving branch chain of the first branch chain and a rotating shaft of a driving motor 10 of a main driving branch chain of the second branch chain; the number of the paw driving mechanisms arranged on the main driving branched chain, the paws 15 and the torsion springs 14 is 2, and the paw driving mechanisms, the paws 15 and the torsion springs are symmetrically arranged at two sides of the movable platform 8; the main driving branched chain and the paw driving mechanism are the same as the embodiment 1; the claw 15 and the torsion spring 14 arranged on the movable platform 8 are the same as those in embodiment 1; the driven arm assembly is the same as embodiment 1.
Example 3
As shown in fig. 6, 7 and 8, this embodiment is different from embodiment 2 in that a paw driving mechanism is provided in one of the three branches, and the rotating shaft of the driving motor 12 of the paw driving mechanism of the first branch is arranged above the rotating shaft of the driving motor 10 of the main driving branch of the first branch; the driven arm assembly adopts a plane 4R parallelogram mechanism, namely the connecting rods 6c and 6d are connected with the connecting rods 6c and 6d through revolute pairs; the driving arm 2 is connected with the upper connecting rod 6a through a rotating pair, and the axis of the rotating pair is parallel to the axis of a rotating pair connected with the driving arm 2 and the fixed platform 9; the lower connecting rod 6b is connected with the movable platform 8 through a revolute pair, and the axis of the revolute pair is superposed with the axis of the lower connecting rod 6 b; the three branched chain arrangements are the same as in example 2; the main driving branched chain and the paw driving mechanism are the same as the embodiment 1; the claw 15 and the torsion spring 14 arranged on the movable platform 8 are the same as those in embodiment 1; the number of the paw driving mechanism arranged on the main driving branched chain, the paws 15 and the torsion springs 14 is 1, and a fixed paw 16 fixedly connected with the movable platform 8 is arranged opposite to the paw 15.
Example 4
As shown in fig. 9 and fig. 10, the present embodiment is different from embodiment 2 in that the movable platform is changed from a horizontal placement to a vertical column placement, the first branched chain and the second branched chain are horizontally placed in the middle of the column fixed platform, the third branched chain is vertically placed in front of the column fixed platform, the driving arm 1 and the driving arm 2 are placed above the motor 10 and the reducer 11, and the claw driving mechanisms are respectively arranged behind the first branched chain and the second branched chain; the paw 15 arranged on the movable platform 8 is connected with the movable platform 8 through a revolute pair, the axis of the revolute pair is overlapped with the axis of the rod 17, the rod 17 is connected with the movable platform 8 through the revolute pair, the second swing rod 7 is fixedly connected with the rod 17, the torsion spring 14 is also arranged on the revolute pair, and the axis of the torsion spring 14 is overlapped with the axis of the revolute pair; the paw 15 and the torsion spring 14 are arranged below the second swinging rod 7; one end of the torsion spring 14 is fixedly connected with the rod 17, and the other end of the torsion spring is fixedly connected with the paw 15; the number of the paw driving mechanisms arranged on the main driving branched chain, the paws 15 and the torsion springs 14 is 2, and the paw driving mechanisms, the paws 15 and the torsion springs are symmetrically arranged on the movable platform 8; the main driving branched chain and the paw driving mechanism are the same as the embodiment 1; the driven arm assembly is the same as embodiment 1.
Example 5
As shown in fig. 11 and 12, this embodiment is different from embodiment 4 in that a paw driving mechanism is disposed behind only the first branch, the number of the paw driving mechanisms disposed on the main driving branch, the number of the paws 15 and the torsion springs 14 is 1, and a fixed paw 16 is disposed at a symmetrical position of the paw driving mechanism and fixedly connected to the movable platform 8; the paw 15, the torsion spring 14 and the connection between the paw and the torsion spring are the same as those in the embodiment 4, and the main driving branched chain and the paw driving mechanism are the same as those in the embodiment 1; the fixed platform 9 is the same as the embodiment 4; the driven arm assembly is the same as embodiment 1.
Claims (6)
1. A manipulator and paw integrated mechanism comprises a fixed platform (9), a movable platform (8) and three main driving branched chains connected in parallel between the fixed platform (9) and the movable platform (8); the device is characterized by also comprising a paw driving mechanism arranged on the main driving branched chain, a paw (15) arranged on the movable platform (9) and a torsion spring (14);
the three main driving branched chains have the same structure, comprise a driving motor (10), a speed reducer (11), a driving arm (2) and a driven arm assembly and are sequentially connected; one end of the driving arm (2) is connected with the fixed platform (9) through a revolute pair, and the other end of the driving arm is connected with the driven arm component; the driven arm assembly is connected with the movable platform (8); the driving motor (10) and the speed reducer (11) are fixed on the fixed platform (9), the driving motor (10) drives the driving arm (2) to rotate through the speed reducer (11) and drives the movable platform (8) connected with the driving arm to move in a translation mode through the driven arm component;
the driven arm assembly comprises an upper connecting rod (6a), a lower connecting rod (6b) and two connecting rods connected in parallel between the upper connecting rod (6a) and the lower connecting rod (6 b); two ends of the two connecting rods are respectively hinged with the upper connecting rod (6a) and the lower connecting rod (6b) to form a quadrilateral mechanism; the upper connecting rod (6a) and the lower connecting rod (6b) are equal in length; the two connecting rods have equal length; the driving arm (2) is connected with the middle of the upper connecting rod (6a), and the movable platform (8) is connected with the middle of the lower connecting rod (6b) in the driven arm component; the axis of the upper connecting rod (6a) is parallel to the axis of the rotating pair of the driving arm (2);
the gripper driving mechanism comprises a driving motor (12), a speed reducer (13), a driving arm (1), a pull rod (3), a first swing rod (4), a driven connecting rod (5) and a second swing rod (7); the driving motor (12) and the speed reducer (13) are fixed on the fixed platform (9); one end of the driving arm (1) is connected with the fixed platform (9) through a revolute pair, and the driving arm (1) is driven by the driving motor (12) through the speed reducer (13); the other end of the driving arm (1) is connected with the pull rod (3) through a revolute pair, the other end of the pull rod (3) is connected with the first swing rod (4) through the revolute pair, the first swing rod (4) is connected with the driving arm (2) through the revolute pair, and the axes of the revolute pairs on the driving arm (1), the pull rod (3) and the first swing rod (4) are parallel to the axis of the revolute pair, connected with the fixed platform (9), of the driving arm (2) of the main driving branched chain;
the other end of the first swinging rod (4) is hinged with the driven connecting rod (5) through a hook hinge or a spherical hinge, and the other end of the driven connecting rod (5) is hinged with the second swinging rod (7) through a hook hinge or a spherical hinge; the second swinging rod (7) is connected with the movable platform (8) through a revolute pair, and the axis of the revolute pair is parallel to the axis of the lower connecting rod (6b) of the corresponding main driving branched chain;
the paw (15) is connected with the movable platform (8) through a revolute pair, the axis of the revolute pair is overlapped with the axis of a revolute pair connected with the second swing rod (7) and the movable platform (8), the torsion spring (14) is also arranged on the revolute pair, and the axis of the torsion spring (14) is overlapped with the axis of the revolute pair; one end of the torsion spring (14) is fixedly connected with the paw (15), and the other end of the torsion spring is fixedly connected with the second swinging rod (7).
2. A manipulator and paw integrated mechanism according to claim 1, wherein the driven arm component adopts a spatial 4S quadrilateral mechanism, namely the two connecting rods are connected with the upper connecting rod (6a) and the lower connecting rod (6b) through spherical hinges; the driving arm (2) is fixedly connected with an upper connecting rod (6a), and a lower connecting rod (6b) is fixedly connected with a movable platform (8).
3. A manipulator and paw integrated mechanism according to claim 1, wherein the driven arm assembly adopts a plane 4R parallelogram mechanism, namely, the two connecting rods are connected with the upper connecting rod (6a) and the lower connecting rod (6b) through a revolute pair; the driving arm (2) is connected with the upper connecting rod (6a) through a revolute pair, and the axis of the revolute pair is parallel to the axis of a revolute pair connected with the driving arm (2) and the fixed platform (9); the lower connecting rod (6b) is connected with the movable platform (8) through a revolute pair, and the axis of the revolute pair is overlapped with the axis of the lower connecting rod (6 b).
4. A manipulator and paw integrated mechanism according to claim 1, wherein the revolute pairs of the main arms (2) of the three main driving branches connected with the fixed platform (9) are horizontally arranged and uniformly arranged at intervals of 120 ° in pairs.
5. A manipulator and gripper integrated mechanism according to claim 1, wherein the minor axis of two of the three main driving branches (2) is perpendicular to the minor axis of the other main driving branch (2).
6. A manipulator and paw integrated mechanism according to claim 1, wherein the number of paw driving mechanisms and paws (15) and torsion springs (14) arranged on the main driving branch chain is 1-3.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911108280.7A CN110815277B (en) | 2019-11-13 | 2019-11-13 | Manipulator and gripper integrated mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911108280.7A CN110815277B (en) | 2019-11-13 | 2019-11-13 | Manipulator and gripper integrated mechanism |
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| CN110815277A true CN110815277A (en) | 2020-02-21 |
| CN110815277B CN110815277B (en) | 2021-09-03 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146589A (en) * | 2021-05-19 | 2021-07-23 | 江苏天东智特科技有限公司 | Logistics sorting robot with embedded mechanical claw |
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| CN110815277B (en) | 2021-09-03 |
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