CN111283707B - Two-finger self-adaptive manipulator with rigid and flexible integration - Google Patents
Two-finger self-adaptive manipulator with rigid and flexible integration Download PDFInfo
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- CN111283707B CN111283707B CN202010127026.8A CN202010127026A CN111283707B CN 111283707 B CN111283707 B CN 111283707B CN 202010127026 A CN202010127026 A CN 202010127026A CN 111283707 B CN111283707 B CN 111283707B
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- motor
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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
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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
Abstract
The invention relates to a rigid-flexible fused two-finger self-adaptive manipulator, which comprises: the motor base (2) is symmetrically provided with a pair of mounting seats (21); the linear motor (1) is connected to the lower part of the motor base (2), and the driving end of the linear motor is connected to the mounting hole of the motor base (2) and is positioned between the pair of mounting bases (21); a differential mechanism (3); the parallel connecting rod mechanism (4) comprises two pulley connecting rods (41) which are arranged in parallel, one end of each pulley connecting rod (41) is rotatably connected with the mounting seat (21), and the other end of each pulley connecting rod is rotatably connected with a fingertip (44); and the lower end of the pulley connecting rod (41) at the inner side in the parallel connecting rod mechanism (4) is connected with a semicircular pulley (411), and the semicircular pulley (411) is connected with a pair of reeds close to one side of the semicircular pulley. The rigid-flexible fused two-finger adaptive manipulator provided by the invention has a single-input and double-output function, so that adaptive grabbing can be realized through one driver.
Description
Technical Field
The invention relates to a manipulator, in particular to a rigid-flexible integrated two-finger self-adaptive manipulator.
Background
The existing self-adaptive mechanical arm mainly comprises the following types:
(1) the full-drive adaptive manipulator is characterized in that each joint of the manipulator is driven by a driver and can move independently, and the number of the drivers used by the manipulator in the driving mode is up to dozens.
Although the manipulator has complete functions and strong adaptability, the complexity of the structure of the manipulator and the diversity of the grasped objects bring a great amount of calculation for the grasping planning of the manipulator. On the other hand, since the drivers are numerous and various sensing units are provided, the cost of these manipulators is very expensive. In general, although the fully-driven adaptive manipulator can solve the adaptive grabbing problem well in theory, in practical industrial application, the fully-driven adaptive manipulator is not ideal in technical and cost aspects.
(2) Compared with a full-drive manipulator, the number of adopted drivers of the under-drive manipulator is less than that of joints, and redundant degrees of freedom are not controlled by a central controller but are controlled by constraint conditions generated when an object is grabbed.
At present, most of the fingers of the under-actuated manipulator adopt a complex under-actuated structure, and each finger adopts at least one actuator. Therefore, a multi-axis controller is still needed to plan the coordinated movement between the fingers, and the design is still complex, the cost performance is not high, and the multi-axis controller is difficult to be widely applied to medium and small enterprises.
Disclosure of Invention
To solve the above technical problems, it is an object of the present invention to provide a robot arm having a simple structure, having a large gripping stroke, and capable of performing adaptive gripping using a single actuator without an additional displacement or force sensor, and structurally combining high precision of a flexible mechanism and high rigidity and large stroke motion characteristics of a rigid mechanism.
The technical scheme of the invention is as follows:
the utility model provides a two of hard and soft integration indicate self-adaptation manipulator which characterized in that includes:
the motor base (2) is symmetrically provided with a pair of mounting seats (21);
the linear motor (1) is connected to the lower part of the motor base (2), and the driving end of the linear motor is connected to the mounting hole of the motor base (2) and is positioned between the pair of mounting bases (21);
the differential mechanism (3) comprises a support (31), the lower end of the support (31) is connected with the driving end of the linear motor (1), the main body structure of the differential mechanism is H-shaped, and the middle part of the main body structure is connected with a motor shaft connecting plate (32) through a flexible hinge (301);
the connecting plates on the left side and the right side of the H shape are respectively connected with a pair of reeds, wherein each pair of reeds is positioned on a diagonal line of the connecting plate, and the connecting diagonals of the two pairs of reeds are intersected;
the parallel connecting rod mechanism (4) comprises two pulley connecting rods (41) which are arranged in parallel, one end of each pulley connecting rod (41) is rotatably connected with the mounting seat (21), and the other end of each pulley connecting rod is rotatably connected with a fingertip (44); and the lower end of the pulley connecting rod (41) at the inner side in the parallel connecting rod mechanism (4) is connected with a semicircular pulley (411), and the semicircular pulleys (411) are connected with a pair of reeds close to one side of the semicircular pulleys.
Furthermore, the lower end of the support (31) is provided with an L-shaped motor shaft connecting plate (32), a motor shaft pressing plate (33) is connected onto the support, and the driving end of the linear motor (1) is extruded and fixed in a unthreaded hole formed by the motor shaft pressing plate (33) and the motor shaft connecting plate (32).
Furthermore, a motor housing (5) is arranged outside the linear motor (1), and the upper part of the motor housing (5) is connected to the shell of the motor base (2).
Furthermore, an electrical interface (51) is further arranged on the motor housing (5).
Further, the reeds each include a flat portion and a curved portion at the end of the flat portion, the curved portions being connected to the semicircular pulley (411).
By the scheme, the invention at least has the following advantages:
the rigid-flexible two-finger adaptive manipulator provided by the invention adopts a compact flexible differential mechanism and has a single-input and double-output function, so that adaptive grabbing can be realized through one driver, and the cost and the control strategy of the adaptive manipulator are reduced.
Compared with the traditional complex planetary gear differential mechanism, the flexible differential mechanism designed by the invention has the advantages that the compactness of the mechanism is improved, and the flexible mechanism has unique elasticity to automatically recover to a balance position after being deformed;
the finger structure adopts a parallelogram link mechanism, so that the finger tip can generate a larger movement range, and the mechanical arm based on the mechanism can adapt to objects in a larger size range;
the mechanical hand designed by the invention has an automatic centering function, namely, the motion of two fingers is synchronous when each finger is not limited to move;
the self-adaptive manipulator designed by the invention can adapt to the size change and the position error of parts when grabbing objects;
the self-adaptive mechanical hand designed by the invention has only one degree of freedom for each finger, the adaptability for grabbing objects comes from the coordinated motion between the two fingers instead of an under-actuated mechanism of the fingers, the design idea has a simple structure, reduces the complexity of the mechanical hand, is easy to maintain and improves the reliability.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be considered as limiting the scope, and it is obvious for those skilled in the art that other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of the differential mechanism of the present invention;
FIG. 3 is a schematic perspective view of the finger mechanism of the present invention;
FIG. 4 is a schematic perspective view of the pulley link of the present invention;
fig. 5 is an exploded view of the motor housing of the present invention;
FIG. 6 is a schematic view of the present invention showing the forced bending of the bracket;
FIG. 7 is a schematic diagram of the parallel linkage mechanism of the present invention;
FIG. 8 is a simplified diagram of the motion of the present invention;
FIG. 9 is a schematic view of the synchronous motion of two fingers according to the present invention;
FIG. 10 is a schematic diagram of the error elimination of the present invention;
FIG. 11 is a perspective view of the stand of the present invention;
in the figure:
1-a linear motor;
2-motor base; 21-a mounting seat; 22-first mounting screws; 23-a second mounting screw;
3-a differential mechanism; 301-a flexible hinge; 31-a scaffold; 311-reed mount; 312-tabletting; 313-a first screw; 32-motor shaft connecting plate; 33-motor shaft pressing plate; 331-a second screw; 34-a first reed; 35-a second reed; 36-a third reed; 37-a fourth reed;
4-parallel linkage; 41-pulley link; 411-semicircular pulley; 42-a first pin; 43-first retaining ring; 44-finger tip; 45-a second pin; 46-a second retaining ring;
5, a motor housing; 51-an electrical interface; 52-an adapter port;
100-part;
200-a fixture; 201-part centerline; 202-robot centerline.
Detailed Description
The following detailed description of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The invention discloses a rigid-flexible fused two-finger self-adaptive manipulator which mainly comprises a differential mechanism 3, a parallel link mechanism 4 and a driving device. The driving device is a linear motor 1, a motor base 2 is connected to the linear motor 1, parallel link mechanisms 4 are symmetrically arranged on the motor base 2, two fingertips 44 are respectively arranged on a finger mechanism of one parallel connection mechanism 4, a differential mechanism 3 is further arranged above the motor base 2, and the differential mechanism 3 is connected with the parallel link mechanisms 4. The linear motor 1 moves up and down to drive the bracket 31 to move, so that the parallel connection mechanism 4 is driven to drive the fingertip 44 to clamp.
Referring to fig. 1 to 7, in the present invention, a motor base 2 is connected to the upper portion of the driving end of a linear motor 1, and a motor housing 5 is connected to the exterior of the housing of the linear motor 1. The motor base 2 comprises a square frame mechanism, a circular mounting hole is formed in the frame mechanism and used for mounting a driving end of the linear motor 1, the front face of the frame mechanism is connected with the linear motor 1 through 4 first mounting screws 22, and four side faces of the frame mechanism are connected with the motor cover 5 through 8 second mounting screws 23. The bottom of the motor housing 5 is also provided with an adapter 52, which adapter 52 is used for connecting external equipment. The side surface of the motor housing 5 is provided with an electrical interface 51 connected with the outside for supplying power and controlling the motor.
The differential mechanism 3 is connected to the driving end of the linear motor 1, the differential mechanism 3 comprises a bracket 31, the bracket 31 comprises an H-shaped main structure, two reed installation seats 311 are respectively arranged on a left installation plate and a right installation plate of the bracket 31, the reed installation seats 311 are arranged on one installation plate on a pair of opposite angles of the installation plate, the reed installation seats 311 are also arranged on the other installation plate on a pair of opposite angles of the installation plate, and the connecting lines of the two pairs of opposite angles are crossed. The main structure is connected to the lower motor shaft connecting plate 32 by a flexible hinge 301. The flexible hinge 301 connects the main structure and the motor shaft connecting plate 32, which is equivalent to a notch-type flexible hinge formed on the bracket 31, and allows the upper and lower parts of the finger tip to relatively rotate with high precision under the action of external moment. The flexible hinge 301 is a single degree of freedom rotation with very high stiffness in the remaining directions. The motor shaft connecting plate 32 is L-shaped, the motor shaft connecting plate 32 is connected with a motor shaft pressing plate 33 through screws, and the motor shaft pressing plate 33 clamps a motor shaft of the linear motor 1. The four reed installing seats 311 are respectively connected with a first reed 34, a second reed 35, a third reed 36 and a fourth reed 37, and when the four reeds are specifically connected, the reeds are pressed through a motor shaft connecting plate 312 and then fixedly connected through a first screw 313. First reed 34, second reed 35, third reed 36, fourth reed 37 are very small in thickness, have very large rigidity in the length direction of the reed due to its own geometric characteristics, but have very small bending rigidity in the width direction, and the reed includes a flat portion, which is connected to reed mounting base 311 by pressing piece 312 and first screw 313, and a curved portion, which is bent to the outside, connecting the flat portion.
Still be provided with a pair of mount pad 21 on motor frame 2 symmetrically, two finger mechanisms of parallel link mechanism 4 rotate respectively and install on mount pad 21, and concrete finger mechanism has included two pulley connecting rods 41, and the lower part of pulley connecting rod 41 is installed on mount pad 21 through second round pin axle 45, and the upper portion of pulley connecting rod 41 is installed on the fingertip through first round pin axle 42, and the tip of second round pin axle 45 is provided with second retaining ring 46, and the tip of first round pin axle 42 is provided with first retaining ring 43. After the installation is completed, the pulley link 41, the motor base 21 and the finger tip 44 form a parallelogram structure. The lower part of one pulley link 41 inside is also connected with a semicircular pulley 411, which is provided with two sets of mounting holes, each set of which is connected with the curved surface part of one reed. Therefore, when the semicircular pulley 411 rotates by a small angle theta, the rotation angle is amplified by the parallelogram structure and converted into translation x of the finger tip 44, and the parallel grabbing function of the manipulator is ensured. It is easy to see that each finger of the manipulator has only one joint, namely a parallelogram-shaped rotating joint.
The working principle of the invention is as follows:
referring to fig. 8, when the driver is pulled downwards, the second spring leaf 35 and the fourth spring leaf 37 pull the pulley to rotate, fingers are closed, and the first spring leaf 34 and the third spring leaf 36 are basically not stressed. Wherein the front reed in the front view of figure 2 is shown in solid bold lines in figure 8 and the rear reed is shown in dashed bold lines. As can be seen from the schematic diagram of fig. 9 after the two fingers move synchronously, when the fingers of the manipulator do not touch the object, the two fingers move synchronously, and have an automatic centering function, the rotation angles of the pulleys on the two sides are the same, and the two fingertips can realize a larger movement range; in addition, the flexible hinge 301 is not subjected to rotational deformation, the length of the second spring leaf 35 and the fourth spring leaf 37 wrapped on the pulley is shortened, and the length of the first spring leaf 34 and the third spring leaf 36 wrapped on the pulley is lengthened; conversely, when the driver is pushed upwards, the first spring leaf 34 and the third spring leaf 36 pull the fingers to be spread.
Referring to fig. 10, when a part 100 installed in a jig 200 is gripped and a center line 201 of the part 100 has a position error Δ with respect to a robot center line 202, a right finger first contacts an object and stops moving, and then a left finger contacts the object, and rotation angles of pulleys on both sides are different (θ 1< θ 2) under the action of a differential mechanism 3, a flexible hinge 301 is subjected to tilt deformation, and a deformation amount thereof is related to only a magnitude of the position error and is not related to a specific size of the part.
The invention has the following advantages:
the rigid-flexible integrated two-finger self-adaptive manipulator provided by the invention adopts a compact flexible differential mechanism and has a single-input and double-output function, so that self-adaptive grabbing can be realized through one driver, and the cost and the control strategy of the self-adaptive manipulator are reduced.
Compared with the traditional complex planetary gear differential mechanism, the flexible differential mechanism designed by the invention has the advantages that the compactness of the mechanism is improved, and the flexible mechanism has unique elasticity to automatically recover to a balance position after being deformed;
the finger structure adopts a parallelogram link mechanism, so that the finger tip can generate a larger movement range, and the mechanical arm based on the mechanism can adapt to objects in a larger size range;
the mechanical hand designed by the invention has an automatic centering function, namely, the motion of two fingers is synchronous when each finger is not limited to move;
the self-adaptive manipulator designed by the invention can adapt to the size change and the position error of parts when grabbing objects;
the self-adaptive manipulator designed by the invention has only one degree of freedom for each finger, the adaptability for grabbing objects comes from the coordinated motion between the two fingers instead of an under-actuated mechanism of the fingers, and the design idea has a simple structure, reduces the complexity of the manipulator, is easy to maintain and improves the reliability.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and it should be noted that, for those skilled in the art, many modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (5)
1. The utility model provides a two of hard and soft integration indicate self-adaptation manipulator which characterized in that includes:
the motor base (2) is symmetrically provided with a pair of mounting seats (21);
the linear motor (1) is connected to the lower part of the motor base (2), and the driving end of the linear motor is connected to the mounting hole of the motor base (2) and is positioned between the pair of mounting bases (21);
the differential mechanism (3) comprises a support (31), the lower end of the support (31) is connected with the driving end of the linear motor (1), the main body structure of the differential mechanism is H-shaped, and the middle part of the main body structure is connected with a motor shaft connecting plate (32) through a flexible hinge (301);
the connecting plates on the left side and the right side of the H shape are respectively connected with a pair of reeds, wherein each pair of reeds is positioned on a diagonal of the connecting plate, and the connecting diagonals of the two pairs of reeds are intersected;
the parallel connecting rod mechanism (4) comprises two pulley connecting rods (41) which are arranged in parallel, one end of each pulley connecting rod (41) is rotatably connected with the mounting base (21), and the other end of each pulley connecting rod is rotatably connected with a fingertip (44); and the lower end of the pulley connecting rod (41) at the inner side in the parallel connecting rod mechanism (4) is connected with a semicircular pulley (411), and the semicircular pulleys (411) are connected with a pair of reeds close to one side of the semicircular pulleys.
2. The rigid-flexible two-finger adaptive manipulator according to claim 1, characterized in that: the lower end of the support (31) is an L-shaped motor shaft connecting plate (32), a motor shaft pressing plate (33) is connected onto the support, and the driving end of the linear motor (1) is pressed and fixed in a unthreaded hole formed by the motor shaft pressing plate (33) and the motor shaft connecting plate (32).
3. The rigid-flexible two-finger adaptive manipulator according to claim 1, wherein: the linear motor (1) is also provided with a motor housing (5), and the upper part of the motor housing (5) is connected to the shell of the motor base (2).
4. The rigid-flexible two-finger adaptive manipulator according to claim 3, wherein: and an electrical interface (51) is also arranged on the motor housing (5).
5. The rigid-flexible two-finger adaptive manipulator according to claim 1, wherein: the reeds each comprise a flat portion and a curved portion at the end of the flat portion, the curved portion being connected to the semicircular pulley (411).
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| CN202010127026.8A CN111283707B (en) | 2020-02-28 | 2020-02-28 | Two-finger self-adaptive manipulator with rigid and flexible integration |
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| CN111805563B (en) * | 2020-06-30 | 2021-10-01 | 安徽大学 | Single-drive electric self-adaptive manipulator based on connecting rod differential mechanism |
| CN114029998B (en) * | 2021-11-23 | 2022-07-01 | 安徽大学绿色产业创新研究院 | Flexible underactuated manipulator for precision assembly of special-shaped parts |
Citations (1)
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| CN205928703U (en) * | 2016-04-26 | 2017-02-08 | 江南大学 | But underactuated manipulator of hard and soft coupling transposition finger |
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| DE2500143A1 (en) * | 1975-01-03 | 1976-07-08 | Stanford Research Inst | Force and moment measurement in automatic manipulator mechanisms - is performed by light beam which detects deflections of rod |
| US5280981A (en) * | 1991-02-01 | 1994-01-25 | Odetics, Inc. | End effector with load-sensitive digit actuation mechanisms |
| US5378033A (en) * | 1993-05-10 | 1995-01-03 | University Of Kentucky Research Foundation | Multi-function mechanical hand with shape adaptation |
| US6588816B1 (en) * | 1996-10-07 | 2003-07-08 | Phd, Inc. | Modular stamped parts transfer gripper |
| JP2009291843A (en) * | 2008-06-02 | 2009-12-17 | Tokyo Institute Of Technology | Manipulator |
| CN106078781B (en) * | 2016-08-05 | 2018-11-30 | 广州市轻工职业学校 | The flat folder perception self-adaption robot finger apparatus of connecting rod belt wheel straight line |
| CN107972051A (en) * | 2017-11-29 | 2018-05-01 | 清华大学 | Spacing leverage speedup compensating line puts down folder adaptive robot finger apparatus |
| CN110788875B (en) * | 2019-10-14 | 2020-12-18 | 安徽大学 | Single-motor-driven self-adaptive paw with RCC function |
| CN110696026B (en) * | 2019-11-01 | 2022-04-19 | 湖南大学 | Differential drive formula manipulator based on flexible coupling |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205928703U (en) * | 2016-04-26 | 2017-02-08 | 江南大学 | But underactuated manipulator of hard and soft coupling transposition finger |
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