CN111216155A

CN111216155A - Simple dual-arm cooperative manipulator

Info

Publication number: CN111216155A
Application number: CN202010192041.0A
Authority: CN
Inventors: 周景亮; 陈泽锦; 王愉灵; 杨江; 李庄璇; 滕孝琰
Original assignee: Fujian University of Technology
Current assignee: Fujian University of Technology
Priority date: 2020-03-18
Filing date: 2020-03-18
Publication date: 2020-06-02

Abstract

The invention discloses a simple double-arm cooperative manipulator which comprises a base, wherein motor bases are respectively fixed at two ends of the base, driving motors which are oppositely arranged are fixed on the two motor bases, mechanical arms are respectively fixed on output shafts of the two driving motors, driving cylinders which are oppositely arranged are respectively fixed on free ends of the two mechanical arms, connecting plates are respectively fixed on push rod ends of the two driving cylinders, and at least one arc-shaped clamping jaw is respectively connected onto the two connecting plates. The invention has the advantages of high speed, simple structure and the like, and can be applied to workpiece grabbing in different fields; and the grabbing and throwing angles are adjustable, and the device is accurate and reliable.

Description

Simple dual-arm cooperative manipulator

Technical Field

The invention relates to the field of manipulators, in particular to a simple double-arm cooperative manipulator.

Background

The robot is a member for gripping a workpiece, and has various structural forms such as a gripping type, a holding type, an adsorption type, and the like according to the shape, size, weight, material, and working requirements of the gripped object. With the continuous development of modern industry, manipulators are increasingly applied to various industries. The robot is an automatic operation device capable of grasping, carrying an object or operating a tool by simulating the motions of a human arm and a hand according to a set program. It can replace the heavy labor of people to realize the mechanization and automation of production, and can be operated under harmful environment to protect the personal safety, thus being widely applied to the departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like.

The manipulator mainly comprises a hand part and a motion mechanism, and can simulate certain motion functions of the hand and the arm. The hand is a part for gripping a workpiece (or tool). The motion mechanism enables the hand to complete various rotation (swing), movement or compound motions to realize specified actions and change the position and the posture of a gripped object. The independent motion modes of the motion mechanism, such as lifting, stretching, rotating and the like, are called the degree of freedom of the manipulator. In order to grasp an object at any position and orientation in space, 6 degrees of freedom are required. The degree of freedom is a key parameter for the design of the manipulator. The more degrees of freedom, the more flexible the manipulator, the wider the versatility, and the more complex the structure. The general special manipulator has 2-3 degrees of freedom. For the holding of special-shaped workpieces or products, the surface is easy to damage, and especially, a special mechanical arm device special for grabbing special-shaped products is lacked.

The existing manipulator mainly has the following defects:

1. at present, most of mechanical arms are driven by a single motor, and for large-size objects, the speed is low and the torque is insufficient.

2. The non-metallic large articles such as glass, plastic and the like which are easy to damage are difficult to clamp.

3. The single motor drives, and the linkage of two arms is influenced by the structural size, and the structural size is limited.

4. The product is easily destroyed by a single arm of the product made of non-metallic materials, and the two arms can be better clamped.

Disclosure of Invention

The invention aims to provide a simple double-arm cooperative manipulator which is simple in result, high in speed and accurate in grabbing.

In order to achieve the purpose, the invention adopts the following technical scheme:

simple and easy type both arms are manipulator in coordination, and it includes the base, and the both ends of base are fixed with the motor cabinet respectively, are fixed with the driving motor of relative setting on two motor cabinets, are fixed with the arm on two driving motor's the output shaft respectively, are fixed with the actuating cylinder that drives that sets up relatively on the free end of two arms respectively, and two push rod tip that drive the actuating cylinder are fixed with the connecting plate respectively, are connected with at least one arc clamping jaw on two connecting plates respectively.

Further, the arc-shaped clamping jaws are fixedly connected to the corresponding connecting plates; or the arc-shaped clamping jaws are connected to the corresponding connecting plates through universal joints.

Furthermore, the arc-shaped clamping jaws on the two connecting plates are arranged in a staggered mode.

Furthermore, a flange plate is fixed on an output shaft of the driving motor and is fixedly connected with one end of the corresponding mechanical arm.

Furthermore, the arc-shaped clamping jaws on the two connecting plates are different in size.

Further, the two driving motors are both direct current brushless speed reducing motors.

By adopting the technology, the invention has the following beneficial effects:

1. the speed is high, the structure is simple, and the device can be applied to workpiece grabbing in different fields;

2. the grabbing and throwing angles are adjustable, and the device is accurate and reliable;

3. when clamping the special-shaped workpiece, the special arc-shaped clamping jaw is adopted to ensure that the special-shaped part is accurately clamped;

4. the miniature cylinder is ingeniously designed, and the electromagnet can tightly grasp the special-shaped workpiece after being electrified.

Drawings

The invention is described in further detail below with reference to the accompanying drawings and the detailed description;

FIG. 1 is a perspective view of the present invention;

fig. 2 is a top view of the present invention.

Detailed Description

As shown in fig. 1-2, the simple dual-arm cooperative manipulator of the present invention includes a base 1, motor bases 2 are respectively fixed at two ends of the base 1, driving motors 3 are fixed on the two motor bases 2, the driving motors 3 are oppositely arranged, mechanical arms 4 are respectively fixed on output shafts of the two driving motors 3, driving cylinders 5 are respectively fixed on free ends of the two mechanical arms 4, connecting plates 6 are respectively fixed on push rod ends of the two driving cylinders 5, and at least one arc-shaped clamping jaw 7 is respectively connected on the two connecting plates 6.

In this embodiment, the arc-shaped clamping jaws 7 are fixedly connected to the corresponding connecting plates 6; in addition, as an improvement, the arc-shaped clamping jaw 7 can be connected to the corresponding connecting plate 6 through a universal joint, so that the arc-shaped clamping jaw 7 can swing within a certain angle, and when the driving cylinder 5 drives the arc-shaped clamping jaw 7 to clamp a workpiece, self-adaptive clamping can be realized according to the surface of the workpiece. The universal joint adopts current bulb connection structure, and for example the universal joint is by bulb and rotation seat, the tip of bulb and the back fixed connection of arc clamping jaw, rotate the seat and fix on connecting plate 6, and the bulb passes through sphere rotatable coupling with the cavity of rotating the seat inside.

The arc-shaped clamping jaws 7 on the two connecting plates 6 are arranged in a staggered mode, and the sizes of the arc-shaped clamping jaws 7 on the two connecting plates 6 are different. The arc-shaped clamping jaws 7 on the two sides are determined according to the shape and the size of a workpiece, and when the size of the clamped workpiece changes, the arc-shaped clamping jaws 7 are replaced to clamp different objects.

And a flange 8 is fixed on an output shaft of the driving motor 3, and the flange 8 is fixedly connected with one end of the corresponding mechanical arm 4.

The two driving motors 3 are both direct current brushless speed reduction motors (M3508).

The working principle of the invention is as follows: after the two driving motors 3 are powered on, the two driving motors 3 are set to have the same initial angle, so that the arc-shaped grippers on the two sides are at the same height. When the special-shaped workpiece reaches a preset position, the electromagnetic valve is electrified, and the two driving cylinders 5 extend out to clamp the workpiece. Through angle control, the encoder feeds back and coordinates to compensate the angle difference on two sides so as to achieve synchronous control, ensure that the corresponding angles at the same time are the same, and ensure that the two driving motors 3 synchronously act. The two driving motors 3 rotate simultaneously to bring the special-shaped workpiece back. The angle is taken as a target, the encoder angle is taken as feedback, the output of the driving motor 3 is changed, the output is taken as a target, the speed of the driving motor 3 is taken as feedback, and finally stable output is obtained. The output shaft of the driving motor 3 rotates to 45 degrees at the same time, the electromagnetic valve is powered off, the driving cylinder 5 retracts, and the special-shaped workpiece is thrown out.

While the invention has been described in connection with the above embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, which are illustrative and not restrictive, and that those skilled in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.

Claims

1. Simple and easy type both arms are manipulator in coordination, its characterized in that: the mechanical arm clamping device comprises a base, motor bases are fixed to two ends of the base respectively, driving motors which are arranged oppositely are fixed to the two motor bases, mechanical arms are fixed to output shafts of the two driving motors respectively, driving cylinders which are arranged oppositely are fixed to free ends of the two mechanical arms respectively, connecting plates are fixed to push rod end portions of the two driving cylinders respectively, and at least one arc-shaped clamping jaw is connected to the two connecting plates respectively.

2. The simple dual-arm cooperative manipulator according to claim 1, comprising: the arc-shaped clamping jaws are fixedly connected to the corresponding connecting plates; or the arc-shaped clamping jaws are connected to the corresponding connecting plates through universal joints.

3. The simple dual-arm cooperative manipulator according to claim 1, comprising: the arc-shaped clamping jaws on the two connecting plates are arranged in a staggered manner.

4. The simple dual-arm cooperative manipulator according to claim 1, comprising: and a flange plate is fixed on an output shaft of the driving motor and is fixedly connected with one end of the corresponding mechanical arm.

5. The simple dual-arm cooperative manipulator according to claim 1, comprising: the arc-shaped clamping jaws on the two connecting plates are different in size.

6. The simple dual-arm cooperative manipulator according to claim 1, comprising: and the two driving motors are direct-current brushless speed reduction motors.