CN111702748A - Flexible parallel mechanism suitable for grabbing in special environment - Google Patents
Flexible parallel mechanism suitable for grabbing in special environment Download PDFInfo
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- CN111702748A CN111702748A CN202010645225.8A CN202010645225A CN111702748A CN 111702748 A CN111702748 A CN 111702748A CN 202010645225 A CN202010645225 A CN 202010645225A CN 111702748 A CN111702748 A CN 111702748A
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- flexible
- parallel mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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Abstract
The invention discloses a flexible parallel mechanism suitable for grabbing under special environment, which respectively controls the length and the deformation of an upper flexible rod piece and a lower flexible rod piece through a servo motor, further drives an end effector to move, and meanwhile, the end effector can freely rotate for 360 degrees so as to be suitable for grabbing objects with different shapes. The flexible rod piece in the flexible parallel mechanism has high flexibility and can generate nonlinear large deformation, so that the flexible parallel mechanism has stronger adaptability to narrow spaces and unstructured spaces, and meanwhile, the mechanism also has the advantages of simple structure, convenience in operation, large working space and the like.
Description
Technical Field
The invention relates to the field of grabbing mechanisms, in particular to a flexible parallel mechanism suitable for grabbing in a special environment.
Background
With the continuous development of science and technology, the robot technology is mature continuously, corresponding applications are increased continuously, and the performance requirements of various fields on the robot are greatly different. In production life, mechanical repeated work is widely performed by using a robot instead of a human, and under a specific complex environment, higher requirements are put on the robot technology.
The traditional rigid parallel robot has mature technology, and is widely applied to the fields of quick grabbing and machining due to the advantages of good rigidity, high speed, small vibration and the like. However, the length of the component of the rigid parallel robot is often small, so that the working space is limited, the component has high rigidity and cannot deform, the movement of the rigid parallel robot mainly depends on the movement of a kinematic pair, and the rigid parallel robot has no obstacle avoidance capability under the working condition, and cannot execute the grabbing task in special spaces such as narrow space or unstructured space. The motion of the movable platform of the flexible parallel robot mainly depends on the large deformation of a flexible member in the robot, the structure is flexible and flexible, so that the flexible parallel robot has strong adaptability to narrow space and unstructured space, and the flexible part is directly connected with the movable platform without a kinematic pair, so that the flexible parallel robot has the advantages of compact structure, light weight, high accuracy, low cost, no friction and the like.
Disclosure of Invention
In view of the technical shortcomings, the invention aims to provide a flexible parallel mechanism suitable for grabbing in a special environment, which can realize grabbing tasks in a narrow space and an unstructured environment through nonlinear large deformation of a flexible rod piece.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a flexible parallel mechanism suitable for grabbing in a special environment, which comprises a base, wherein an upper bottom plate section and a lower bottom plate section are arranged in the base, a sliding block panel is connected to the bottom plate section in a sliding manner, a screw nut transmission mechanism used for controlling the sliding block panel to slide transversely is also arranged on the bottom plate section, a sliding block is fixed on the sliding block panel, one end of the sliding block along the sliding direction is clamped with a flexible rod piece through a clamp, an upper roller group and a lower roller group which are respectively matched with the two flexible rod pieces are arranged at one end of the base, the other end of the two flexible rod pieces, far away from the clamp, extends out of the base and is fixedly connected together through a movable platform, an end effector is arranged on the movable platform, the roller groups limit the deformation of the flexible rod pieces between the roller groups and the clamp and ensure that the length of the flexible rod pieces between, the position of the end effector can be accurately calculated by a mathematical modeling method.
Preferably, a linear guide rail is arranged on the bottom plate section bar, and a small sliding block connected with the linear guide rail in a sliding mode is arranged on the sliding block panel.
Preferably, the screw rod nut transmission mechanism comprises a servo motor, the servo motor is fixed at one end, far away from the roller group, of the base through a flange piece, the output end of the servo motor is fixed with a screw rod through a coupler, two bearing seats which are respectively in rotary connection with the screw rod are fixed at two ends of the bottom plate profile, and a screw seat which is in threaded connection with the screw rod is fixed on the sliding block panel.
Preferably, the upper and lower slider panels are respectively connected with the upper and lower end faces of the upper and lower base plate profiles in a sliding manner.
Preferably, the sliding block is fixed on the sliding block panel through bolts so as to be convenient to detach and replace.
Preferably, the roller set comprises four rollers in two sets.
Preferably, the size parameters of the flexible rod are changed according to the field working environment so as to adapt to different working environments.
The invention has the beneficial effects that: the invention can realize the grabbing task in a narrow space and an unstructured environment through the nonlinear large deformation of the self flexible rod piece; the end effector can freely rotate for 360 degrees so as to be suitable for grabbing objects with different shapes; the flexible rod piece has high flexibility and adjustable length, so that the flexible rod piece has larger working space and stronger applicability to various complex environments; meanwhile, the device also has the advantages of light weight, low cost and simple structure.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a flexible parallel mechanism suitable for grasping in a special environment according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram (side view) of a flexible parallel mechanism suitable for grasping in a special environment according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram (top view) of a flexible parallel mechanism suitable for grasping in a special environment according to an embodiment of the present invention.
Description of reference numerals:
1. a flange sheet; 2. a clamp; 3. a flexible rod member; 4. a roller; 5. a movable platform; 7. a screw rod; 8. a base; 9. a guide rail; 10. a floor profile; 11. a servo motor; 12. a slider; 13. a slipway panel; 14. an end effector; 15. a coupling; 16. and a bearing seat.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 3, a flexible parallel mechanism suitable for grabbing in a special environment includes a base 8, an upper bottom plate profile 10 and a lower bottom plate profile 10 are arranged in the base 8, the bottom plate profile 10 is connected with a slider panel 13 in a sliding manner, meanwhile, the bottom plate profile 10 is also provided with a lead screw nut transmission mechanism for controlling the slider panel 13 to slide transversely, a slider 12 is fixed on the slider panel 13 through a bolt, one end of the slider 12 along the sliding direction thereof is clamped with a flexible rod 3 through a clamp 2, and the upper slider panel 13 and the lower slider panel 13 are respectively connected to the upper end surface and the lower end surface of the upper bottom plate profile 10 and the lower bottom plate profile 10 in a sliding manner;
the automatic bending machine is characterized in that an upper roller group 4 and a lower roller group 4 which are respectively matched with the two flexible rod pieces 3 are arranged at one end of the base 8, the other end, far away from the clamp 2, of each flexible rod piece 3 extends out of the base 8 and is fixedly connected with the same through the movable platform 5, the movable platform 5 is provided with the end effector 14, the roller groups 4 limit the deformation of the flexible rod pieces 3 between the roller groups and the clamp 2, meanwhile, the length of the flexible rod pieces 3 between the roller groups and the movable platform 5 is guaranteed to be an effective deformation length, and the position of the end effector 14 can be accurately calculated through a mathematical modeling method.
The bottom plate section bar 10 is provided with a linear guide rail 9, and the sliding block panel 13 is provided with a small sliding block which is connected with the linear guide rail 9 in a sliding manner.
The screw rod nut transmission mechanism comprises a servo motor 11, the servo motor 11 is fixed at one end, far away from the roller group 4, of the base 8 through a flange piece 1, the output end of the servo motor 11 is fixed with a screw rod 7 through a coupler 15, two ends of the bottom plate profile 10 are fixed with two bearing seats 16 which are respectively connected with the screw rod 7 in a rotating mode, and a screw nut seat which is connected with the screw rod 7 in a threaded mode is fixed on the sliding block panel 13.
The roller set 4 comprises four rollers in two sets.
During the use, servo motor 11 passes through shaft coupling 15 drive lead screw 7 and rotates, and lead screw 7 drives slider panel 13 and slider 12 through the screw seat on slider panel 13 and is linear motion along linear guide 9, and slider 12 changes the effective deformation length of flexible member 6 between roller group 4 and the movable platform 5 through the push-and-pull, and when two flexible member 6's length is different, flexible member 6 will take place to warp and drive movable platform 5 and end effector 14 and remove.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (7)
1. The flexible parallel mechanism is suitable for grabbing under a special environment and is characterized by comprising a base (8), wherein an upper base plate section bar and a lower base plate section bar (10) are arranged in the base (8), a sliding block panel (13) is connected to the base plate section bar (10) in a sliding mode, a lead screw nut transmission mechanism used for controlling the sliding block panel (13) to slide transversely is also arranged on the base plate section bar (10), a sliding block (12) is fixed on the sliding block panel (13), the sliding block (12) is clamped with a flexible rod piece (3) along one end of the sliding direction through a clamp (2), an upper roller group and a lower roller group (4) matched with the two flexible rod pieces (3) are arranged at one end of the base (8), the other end, far away from the clamp (2), of the flexible rod piece (3) extends out of the base (8) and is fixedly connected together through a movable platform (5), the end effector (14) is arranged on the movable platform (5), the roller group (4) limits the deformation of the flexible rod (3) between the roller group and the clamp (2) and ensures that the length of the flexible rod (3) between the roller group and the movable platform (5) is an effective deformation length, and the position of the end effector (14) can be accurately calculated through a mathematical modeling method.
2. The flexible parallel mechanism suitable for grabbing under special environment as claimed in claim 1, wherein said bottom plate profile (10) is provided with a linear guide rail (9), and said slider panel (13) is provided with a small slider slidably connected with the linear guide rail (9).
3. The flexible parallel mechanism suitable for grabbing under the special environment as claimed in claim 1, wherein the screw nut transmission mechanism comprises a servo motor (11), the servo motor (11) is fixed at one end of the base 8 far away from the roller group (4) through a flange plate (1), the output end of the servo motor (11) is fixed with a screw rod (7) through a coupler (15), two bearing seats (16) rotatably connected with the screw rod (7) are fixed at two ends of the bottom plate profile (10), and a screw nut seat in threaded connection with the screw rod (7) is fixed on the slider panel (13).
4. The flexible parallel mechanism suitable for grabbing under special environment as claimed in claim 1, wherein the upper and lower slider panels (13) are slidably connected to the upper and lower end surfaces of the upper and lower base plate profiles (10), respectively.
5. The flexible parallel mechanism suitable for grabbing under special environment as claimed in claim 1 is characterized in that the slider (12) is fixed on the slider panel (13) by bolts for easy disassembly and replacement.
6. A flexible parallel mechanism adapted for gripping in special circumstances according to claim 1, wherein said set of rollers (4) comprises four rollers in two sets.
7. A flexible parallel mechanism adapted for gripping in special circumstances, according to claim 1, characterized in that the dimensional parameters of the flexible rod member (3) are changed according to the working environment in the field.
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CN202010645225.8A CN111702748A (en) | 2020-07-07 | 2020-07-07 | Flexible parallel mechanism suitable for grabbing in special environment |
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CN202010645225.8A CN111702748A (en) | 2020-07-07 | 2020-07-07 | Flexible parallel mechanism suitable for grabbing in special environment |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114654482A (en) * | 2022-04-26 | 2022-06-24 | 北京市商汤科技开发有限公司 | Control method for mobile robot, device, equipment and storage medium |
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CN109202865A (en) * | 2018-07-27 | 2019-01-15 | 南京理工大学 | A kind of two-freedom parallel connection gear shifting manipulator |
CN109454631A (en) * | 2018-12-13 | 2019-03-12 | 深圳职业技术学院 | Continuous humanoid robot and its mechanical arm, control method in parallel |
CN109807858A (en) * | 2017-11-20 | 2019-05-28 | 上海交通大学 | The flat elastic link parallel institution in two turn one of space of large deformation driving |
CN109807871A (en) * | 2019-03-28 | 2019-05-28 | 上海交通大学 | A kind of plane motion flexible coding system with power perception |
WO2019196422A1 (en) * | 2018-04-10 | 2019-10-17 | 苏州迈澜医疗科技有限公司 | Multi-degree-of-freedom parallel mechanism |
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2020
- 2020-07-07 CN CN202010645225.8A patent/CN111702748A/en active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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CN109807858A (en) * | 2017-11-20 | 2019-05-28 | 上海交通大学 | The flat elastic link parallel institution in two turn one of space of large deformation driving |
WO2019196422A1 (en) * | 2018-04-10 | 2019-10-17 | 苏州迈澜医疗科技有限公司 | Multi-degree-of-freedom parallel mechanism |
CN109202865A (en) * | 2018-07-27 | 2019-01-15 | 南京理工大学 | A kind of two-freedom parallel connection gear shifting manipulator |
CN109454631A (en) * | 2018-12-13 | 2019-03-12 | 深圳职业技术学院 | Continuous humanoid robot and its mechanical arm, control method in parallel |
CN109807871A (en) * | 2019-03-28 | 2019-05-28 | 上海交通大学 | A kind of plane motion flexible coding system with power perception |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN114654482A (en) * | 2022-04-26 | 2022-06-24 | 北京市商汤科技开发有限公司 | Control method for mobile robot, device, equipment and storage medium |
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