CN111805563A - Single-drive electric self-adaptive manipulator based on connecting rod differential mechanism - Google Patents
Single-drive electric self-adaptive manipulator based on connecting rod differential mechanism Download PDFInfo
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- CN111805563A CN111805563A CN202010630533.3A CN202010630533A CN111805563A CN 111805563 A CN111805563 A CN 111805563A CN 202010630533 A CN202010630533 A CN 202010630533A CN 111805563 A CN111805563 A CN 111805563A
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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
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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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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Abstract
The invention discloses a single-drive electric self-adaptive manipulator based on a connecting rod differential mechanism, which comprises a shell component, a controller and a grabbing mechanism component, wherein the shell component comprises an upper cover plate, a lower cover plate, a front cover plate, a rear cover plate, a left cover plate and a right cover plate, the grabbing mechanism component is combined and surrounded from six sides, the controller sends an instruction to a motor and controls the motor to rotate, the controller cover plate is positioned above the controller, and the grabbing mechanism component mainly comprises a linear guide mechanism component, a crossed connecting rod differential mechanism component and a seesaw differential mechanism component. The invention realizes the coordinated movement of four fingers through a novel connecting rod differential mechanism, can automatically adapt to the shape and position change of parts in a certain range, and can be used for grabbing special-shaped parts. The manipulator has the advantages of simple and compact structure, low hardware cost and the like. In addition, the manipulator is easy to grab the plate-shaped parts which cannot be sucked and grabbed by using the suction cups due to high surface roughness, which is difficult to realize by the existing manipulator.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to a single-drive electric self-adaptive manipulator based on a connecting rod differential mechanism.
Background
In order to meet the personalized requirements, a multi-variety and small-batch customized production mode and a non-uniform scene become a production normal state, wherein the key for success lies in the universality and adaptability of manipulator grabbing, and parts with different shapes, sizes and materials need to be processed by higher flexibility and adaptability. The self-adaptive manipulator is a special robot end effector, and can automatically eliminate the position error of the part and automatically adapt to the shape and size of the part and the rigid and flexible characteristic change of the material by utilizing the self-adaptive technology to complete the grabbing of irregular parts. In the complex and changeable tasks of the robot, the self-adaptability and the dexterity of the grabbing of the manipulator have great influence on the success or failure of the application of the robot, and are the main problems restricting the high-quality development of the robot industry at present.
Although the research of the adaptive manipulator has been greatly advanced, the adaptive manipulator cannot meet the industrial requirements in terms of compactness, cost performance, and the task requirements in complex environments and multi-task scenes. The existing self-adaptive manipulator generally adopts a plurality of motors to coordinate and drive a plurality of fingers to move, so that the cost of the manipulator is very expensive, and the problem of multi-motor coordination control needs to be considered; a few adaptive manipulators employ a single motor drive, which typically utilize a gear differential or a pulley differential to coordinate multi-fingered motion. However, the former easily results in a heavy and bulky manipulator structure, and the latter can only realize small grabbing force by combining a rope driving mode. In addition, the existing adaptive manipulator focuses more on the design of the finger mechanism, and the research on the single-input and multiple-output differential mechanism is less, which is the main reason that the existing single-drive adaptive manipulator is slow to develop.
In industrial applications, a plate-shaped part is a common part, is generally used for shells of various devices or products, and often needs to be subjected to a polishing and grinding treatment on the surface. Since the surface roughness of the plate-like part to be surface-treated is high, suction gripping by a suction cup is impossible. The conventional self-adaptive manipulator is difficult to grab the periphery of the plate-shaped part, mainly because the thickness of the plate-shaped part is greatly different from the length and the width of the plate-shaped part, and the plate-shaped part is not beneficial to grabbing by the manipulator.
Disclosure of Invention
The present invention is directed to solving the above problems and providing a single-drive electric adaptive manipulator based on a link differential mechanism.
The invention realizes the purpose through the following technical scheme:
the invention comprises a shell component, a controller and a grabbing mechanism component, wherein the shell component comprises an upper cover plate, a lower cover plate, a front cover plate, a rear cover plate, a left cover plate and a right cover plate, the grabbing mechanism component is combined and surrounded from six sides, the controller sends an instruction to a motor and controls the motor to rotate, the controller cover plate is positioned above the controller, and the grabbing mechanism component mainly comprises a linear guide mechanism component, a crossed connecting rod differential mechanism component and a seesaw differential mechanism component.
Further, the linear guide mechanism assembly comprises a motor, a base, a gear, a supporting cross beam, a linear guide rail, a sliding block, a first rack, a second rack and a gear, the motor is fixed on the supporting cross beam through the base, the guide rail is fixedly connected with the supporting cross beam, the sliding block can slide on the guide rail along the linear direction, the first rack and the second rack are respectively connected with the sliding blocks on two sides, the gear is connected with a motor rotating shaft, the rack is driven to slide along the guide rail through the meshing effect of the gear and the rack, the first cross beam is connected with the first rack through a revolute pair, and the second cross beam is connected with the second rack through a revolute pair.
Further, the cross type connecting rod differential mechanism assembly comprises a first cross beam, a second cross beam, a third cross beam, a fourth cross beam, a first connecting rod, a second connecting rod, a first center rod, a third connecting rod, a fourth connecting rod and a second center rod, wherein the first cross beam and the second cross beam are connected with the first cross beam through rotating shafts, the third cross beam and the fourth cross beam are connected with the second cross beam through rotating shafts, the first cross beam and the fourth cross beam are connected through rotating shafts, and the second cross beam and the third cross beam are connected through rotating shafts. The first cross beam, the fourth cross beam, the first connecting rod and the second connecting rod form a parallelogram, the first central rod is connected with the rotating shafts at two positions and allows the rotating shafts to slide in the sliding grooves of the first central rod, the second cross beam, the third connecting rod and the fourth connecting rod form a parallelogram, the second central rod is connected with the rotating shafts and allows the rotating shafts at the I point to slide in the sliding grooves of the second central rod, and in addition, shaft retaining rings are arranged at two ends of all the rotating shafts.
Furthermore, the seesaw differential mechanism assembly comprises fingers, longitudinal beams and finger tips, the fingers and the longitudinal beams can rotate around the rotating shafts, but no relative movement exists between the fingers and the longitudinal beams, two finger tips are arranged at two ends of each finger, two support lugs are arranged on the longitudinal beams, the support lugs on the same sides of the two longitudinal beams are connected through springs, the seesaw differential mechanism assembly is mainly used for keeping the tensioning states of the two fingers and providing auxiliary force for the fingers in the process of grabbing to releasing parts.
The invention has the beneficial effects that:
the invention relates to a single-drive electric self-adaptive manipulator based on a connecting rod differential mechanism, which is mainly used for overcoming the problems of complex structure, heavy weight, large size, small grabbing force and the like of the conventional self-adaptive manipulator. Compared with the existing self-adaptive manipulator, the manipulator has the advantages of simple and compact structure, low hardware cost and the like. In addition, the manipulator is easy to grab the plate-shaped parts which cannot be sucked and grabbed by using the suction cups due to high surface roughness, which is difficult to realize by the existing manipulator.
Drawings
FIG. 1 is a diagram of an adaptive robot assembly of the present invention;
figure 2 is an exploded view of the adaptive robot assembly of the present invention;
FIG. 3 is a schematic view of the grasping mechanism assembly of the present invention;
FIG. 4 is a schematic view of the linear guide assembly of the present invention;
FIG. 5 is a schematic structural view of the differential mechanism of the present invention;
FIG. 6 is a schematic diagram of the cross-bar differential mechanism of the present invention;
FIG. 7 is a schematic diagram of the operating principle of the double cross type connecting rod differential mechanism of the present invention;
fig. 8 is a schematic view of the robot of the present invention gripping a plate-like part.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1, the adaptive manipulator designed by the present invention mainly comprises three parts: the device comprises a shell assembly 1, a controller 2 and a grabbing mechanism assembly 3.
As shown in fig. 2, the mounting housing assembly includes an upper cover plate 101, a lower cover plate 106, a front cover plate 105, a rear cover plate 103, a left cover plate 104, and a right cover plate 102, and encloses the grasping mechanism from six sides for fixing and protecting. The controller mainly sends the instruction for the motor and controls its rotation, and the controller apron is located the controller top, plays the guard action.
As shown in fig. 3, the grasping mechanism assembly mainly includes a linear guide mechanism assembly 31, a cross-type link differential mechanism assembly 32, and a seesaw differential mechanism assembly 33.
As shown in fig. 4, the linear guide mechanism assembly includes a motor 3101, a base 3102, a gear 3103, a support beam 3104, a linear guide 3105, a slider 3106, a first rack 3107, a second rack 3108, and a gear 3103. The motor is fixed on the supporting beam through the base, the guide rail is fixedly connected with the supporting beam, and the sliding block can slide on the guide rail along the linear direction. The first rack and the second rack are respectively connected with the sliding blocks on two sides, the gear is connected with the motor rotating shaft, and the rack is driven to slide along the guide rail through the meshing effect of the gear and the rack. The first beam is connected with the first rack through a rotating pair at the point O, and the second beam is connected with the second rack through a rotating pair at the point O1.
As shown in fig. 5, the cross link differential assembly includes a first cross beam 3201, a first cross beam 3202, a second cross beam 3203, a second cross beam 3204, a third cross beam 3205, a fourth cross beam 3206, a first link 3207, a second link 3208, a first center rod 3209, a third link 3210, a fourth link 3211, and a second center rod 3212. The first cross beam and the second cross beam are connected with the first cross beam through rotating shafts at points A and B, the third cross beam and the fourth cross beam are connected with the second cross beam through rotating shafts at points A1 and B1, the first cross beam and the fourth cross beam are connected through a rotating shaft at a point C, and the second cross beam and the third cross beam are connected through a rotating shaft at a point D. The first cross beam, the fourth cross beam, the first connecting rod and the second connecting rod form a parallelogram CEFG, the first central rod is connected with rotating shafts at the C point and the G point and allows the rotating shaft at the G point to slide in the sliding groove of the first central rod. Similarly, the second cross beam, the third link and the fourth link form a parallelogram DHIJ, and the second central rod connects the rotating shafts at the points D and I and allows the rotating shaft at the point I to slide in the sliding groove of the second central rod. In addition, both ends of all the rotating shafts are provided with shaft retainer rings.
The seesaw differential mechanism assembly includes fingers 3301, stringers 3302, and fingertips 3303. The fingers and the longitudinal beam can rotate around the rotating shaft at the point D, but the fingers and the longitudinal beam do not move relatively, and two finger tips are arranged at two ends of each finger. The longitudinal beam is provided with two support lugs, the support lugs on the same side of the two longitudinal beams are connected through springs, the support lugs are mainly used for keeping the tensioning state of two fingers and providing auxiliary force for the fingers in the process from grabbing to releasing parts.
The schematic diagram of the working principle of the cross-type connecting rod differential mechanism is shown in fig. 6, wherein the motion D at the point O is input motion, and the motions at the points C and D are output motions, so that the differential mechanism is a single-input two-output differential mechanism. When the output at the C point and the D point is carried outThe motion is free sliding, i.e. when there is no obstruction, the motion of two points is the same and d0The first beam is always kept in a horizontal state; if one side of the first beam is blocked in the motion process, if the point C is blocked, the motion of the point D continues to increase under the action of input motion, and at the moment, the first beam generates passive rotation alpha around the point O to adapt to the difference of the two output motions, and the degree of freedom is a redundant degree of freedom.
The manipulator designed by the invention adopts a double-cross type connecting rod differential mechanism as shown in figure 7, adopts two cross type connecting rod differential mechanisms which are symmetrically arranged, and drives racks at two sides to move through the rotation theta of a gear so as to form a point O and a point O1Linear motion in opposite directions is provided in a manner that changes the linear input motion of the cross-link differential to a rotational input that is easy to implement.
As shown in FIG. 8, the manipulator designed by the invention can be used for grabbing plate-shaped parts, can automatically adapt to the shape and position change of parts in a certain range, and can be used for grabbing special-shaped parts. If the rotation of the fingers in the seesaw differential mechanism is limited, the manipulator can be changed into a three-finger or two-finger manipulator.
The foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. The utility model provides a single-driven electric self-adaptation manipulator based on connecting rod differential mechanism which characterized in that: including casing subassembly, controller and snatch mechanism assembly, casing subassembly includes upper cover plate, lower apron, front shroud, back shroud, left side apron, right side apron, will snatch the mechanism combination from six faces and surround, and the controller is motor send instruction and control its rotation, and the controller apron is located the controller top, it mainly includes linear guiding mechanism subassembly, crossing connecting rod differential mechanism subassembly and seesaw differential mechanism subassembly to snatch the mechanism assembly.
2. The single-drive electric adaptive manipulator based on the connecting rod differential mechanism of claim 1, characterized in that: the linear guide mechanism assembly comprises a motor, a base, a gear, a supporting cross beam, a linear guide rail, a sliding block, a first rack, a second rack and a gear, wherein the motor is fixed on the supporting cross beam through the base, the guide rail is fixedly connected with the supporting cross beam, the sliding block can slide on the guide rail along the linear direction, the first rack and the second rack are respectively connected with the sliding blocks on two sides, the gear is connected with a motor rotating shaft, the rack is driven to slide along the guide rail through the meshing effect of the gear and the rack, the first cross beam is connected with the first rack through a revolute pair, and the second cross beam is connected with the second rack through a revolute pair.
3. The single-drive electric adaptive manipulator based on the connecting rod differential mechanism of claim 1, characterized in that: the crossed connecting rod differential mechanism assembly comprises a first cross beam, a first crossed beam, a second cross beam, a third crossed beam, a fourth crossed beam, a first connecting rod, a second connecting rod, a first center rod, a third connecting rod, a fourth connecting rod and a second center rod, wherein the first crossed beam and the second crossed beam are connected with the first cross beam through rotating shafts, the third crossed beam and the fourth crossed beam are connected with the second cross beam through rotating shafts, the first crossed beam and the fourth crossed beam are connected through rotating shafts, and the second crossed beam and the third crossed beam are connected through rotating shafts. The first cross beam, the fourth cross beam, the first connecting rod and the second connecting rod form a parallelogram, the first central rod is connected with the rotating shafts at two positions and allows the rotating shafts to slide in the sliding grooves of the first central rod, the second cross beam, the third connecting rod and the fourth connecting rod form a parallelogram, the second central rod is connected with the rotating shafts and allows the rotating shafts at the I point to slide in the sliding grooves of the second central rod, and in addition, shaft retaining rings are arranged at two ends of all the rotating shafts.
4. The single-drive electric adaptive manipulator based on the connecting rod differential mechanism of claim 1, characterized in that: the seesaw differential mechanism assembly comprises fingers, longitudinal beams and finger tips, the fingers and the longitudinal beams can rotate around a rotating shaft, but no relative movement exists between the fingers and the longitudinal beams, two finger tips are arranged at two ends of each finger, two support lugs are arranged on the longitudinal beams, the support lugs on the same sides of the two longitudinal beams are connected through springs, the seesaw differential mechanism assembly is mainly used for keeping the tensioning states of the two fingers and providing auxiliary force for the fingers in the process of grabbing to releasing parts.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010630533.3A CN111805563B (en) | 2020-06-30 | 2020-06-30 | Single-drive electric self-adaptive manipulator based on connecting rod differential mechanism |
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| CN202010630533.3A CN111805563B (en) | 2020-06-30 | 2020-06-30 | Single-drive electric self-adaptive manipulator based on connecting rod differential mechanism |
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| CN111805563B CN111805563B (en) | 2021-10-01 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112720551A (en) * | 2020-12-28 | 2021-04-30 | 南京航空航天大学 | Flexible mechanical claw and working method thereof |
| CN113561208A (en) * | 2021-06-17 | 2021-10-29 | 安徽大学 | Configuration-variable pneumatic self-adaptive manipulator and use method thereof |
| CN115256436A (en) * | 2022-08-16 | 2022-11-01 | 安徽大学 | Self-adaptive manipulator with high mechanical gain |
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| CN111283707A (en) * | 2020-02-28 | 2020-06-16 | 安徽大学 | Two-finger self-adaptive manipulator with rigid and flexible integration |
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| CN203141501U (en) * | 2013-02-04 | 2013-08-21 | 江苏大学 | Special pneumatic manipulator clamp for warm extrusion |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112720551A (en) * | 2020-12-28 | 2021-04-30 | 南京航空航天大学 | Flexible mechanical claw and working method thereof |
| CN113561208A (en) * | 2021-06-17 | 2021-10-29 | 安徽大学 | Configuration-variable pneumatic self-adaptive manipulator and use method thereof |
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| CN115256436A (en) * | 2022-08-16 | 2022-11-01 | 安徽大学 | Self-adaptive manipulator with high mechanical gain |
| CN115256436B (en) * | 2022-08-16 | 2023-03-03 | 安徽大学 | Self-adaptive manipulator with high mechanical gain |
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