CN111805563B - A single-drive electric self-adaptive manipulator based on linkage differential mechanism - Google Patents
A single-drive electric self-adaptive manipulator based on linkage differential mechanism Download PDFInfo
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- CN111805563B CN111805563B CN202010630533.3A CN202010630533A CN111805563B CN 111805563 B CN111805563 B CN 111805563B CN 202010630533 A CN202010630533 A CN 202010630533A CN 111805563 B CN111805563 B CN 111805563B
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- connecting rod
- cross beam
- differential mechanism
- cover plate
- mechanism assembly
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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
-
- 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
本发明公开了一种基于连杆差动机构的单驱电动自适应机械手，包括壳体组件、控制器和抓取机构组件，壳体组件包括上盖板、下盖板、前盖板、后盖板、左盖板、右盖板，从六个面将抓取机构组合包围起来，控制器为电机发送指令并控制其转动，控制器盖板位于控制器上方，抓取机构组件主要包括线性导向机构组件、交叉式连杆差动机构组件、及跷跷板差动机构组件。本发明通过一种新型的连杆差动机构实现四个手指的协调运动，能自动适应一定范围的零件形状和位置变化，可用于异状零件抓取。机械手具有结构简单、紧凑、及硬件成本低等优点。此外，机械手易于抓取因表面粗糙度较高而无法使用吸盘进行吸附抓取的板状零件，这是现有机械手很难实现的。
The invention discloses a single-drive electric self-adaptive manipulator based on a connecting rod differential mechanism, comprising a casing assembly, a controller and a grabbing mechanism assembly. The cover plate, left cover plate and right cover plate surround the grasping mechanism from six sides. The controller sends commands to the motor and controls its rotation. The controller cover is located above the controller. The grasping mechanism components mainly include linear components. A guide mechanism assembly, a cross-link differential mechanism assembly, and a seesaw differential mechanism assembly. The present invention realizes the coordinated movement of four fingers through a novel connecting rod differential mechanism, can automatically adapt to a certain range of changes in the shape and position of parts, and can be used for grabbing abnormal parts. The manipulator has the advantages of simple structure, compactness, and low hardware cost. In addition, the manipulator is easy to grasp plate-shaped parts that cannot be grasped by suction cups due to the high surface roughness, which is difficult to achieve with the existing manipulators.
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
With the implementation of "industrial 4.0" and "chinese manufacture 2025", personalization and customization became features of today's society that revolutionized existing production patterns and lifestyles. In order to meet the requirement of individuation, a multi-variety and small-batch customized production mode and a non-uniform scene become a production normal state, wherein the key of success lies in the universality and adaptability of mechanical arm 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 by finishing the grabbing of irregular parts by using a self-adaptive technology, and can automatically adapt to the shape and size of the part and the change of the rigidity and flexibility of materials. 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 at present, 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 utilizes 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 multiple-output differential mechanism is less, which is the main reason for the slow development of the existing single-drive adaptive manipulator.
In industrial applications, a plate-shaped part is a common part, usually used for housings of various devices or products, often
The surface of the steel plate needs to be polished and ground. The plate-shaped part to be processed on the surface has high surface roughness, so that the sucking disc cannot be used for sucking and grabbing. 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 by 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 surrounded from six sides, the controller sends an instruction to a first motor and controls the first 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 second 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 second 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 in 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 rotating shaft of the second motor, 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 rotating pair, and the second cross beam is connected with the second rack through a rotating 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 side of the two longitudinal beams are connected through springs, the seesaw differential mechanism assembly is mainly used for keeping the tensioning state 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 sends instructions to the first motor 108 and controls the first motor to rotate, and the controller cover plate 107 is located above the controller and plays a role in protection.
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 second motor 3101, a base 3102, a support beam 3104, a linear guide 3105, a slider 3106, a first rack 3107, a second rack 3108, and a gear 3103. The second 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 rotating shaft of the second motor, 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 revolute pair at the O point, and the second beam is connected with the second rack through an O point1The revolute pair where the point is located is connected.
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, and the third cross beam and the fourth cross beam are connected with the first cross beam through rotating shafts at points A and B1Points and B1The rotating shaft at the point is connected with the second cross beam, the first cross beam is connected with the fourth cross beam through the rotating shaft at the position C, and the second cross beam is connected with the third cross beam through the rotating shaft at the position 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 the rotating shafts at the C point and the G point and allows the rotating shaft at the F 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 retaining 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 fingertips are arranged at two ends of each finger. The longitudinal beams are provided with two support lugs 3304, the support lugs on the same side of the two longitudinal beams are connected through springs, and 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 operation 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 motion at the C point and the D point is free sliding, namely, no obstruction exists, the two point motions are the same and are 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 symmetrically-arranged cross type connecting rod differential mechanisms, 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 O1Providing linear motion in opposite directions in a manner that differentiates the cross-type linksThe linear input motion of (a) is changed into a rotational input which is easy to implement.
As shown in fig. 8, when the manipulator provided by the invention is used for grabbing the plate-shaped part 4, the manipulator can automatically adapt to the shape and position change of the part within 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 (3)
1. The utility model provides a single-driven electric self-adaptation manipulator based on connecting rod differential mechanism which characterized in that: the grabbing mechanism assembly 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 assembly is surrounded from six sides, the controller sends an instruction to a first motor and controls the first motor to rotate, the controller cover plate is positioned above the controller, and the grabbing mechanism assembly comprises a linear guide mechanism assembly, a crossed connecting rod differential mechanism assembly and a seesaw differential mechanism assembly; 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 central rod, a third connecting rod, a fourth connecting rod and a second central 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, the second crossed beam and the third crossed beam are connected through rotating shafts, the first crossed beam, the fourth crossed beam, the first connecting rod and the second connecting rod form a parallelogram, the first central rod is connected with the rotating shafts between the first connecting rod and the second connecting rod and between the first crossed beam and the fourth crossed beam and allows the rotating shafts to slide in a sliding groove of the first central rod, the second crossed beam, the third cross beam and the fourth crossed beam, The third connecting rod and the fourth connecting rod form a parallelogram, the second central rod is connected with two rotating shafts between the second cross beam and the third cross beam and between the third connecting rod and the fourth connecting rod, the rotating shafts between the third connecting rod and the fourth connecting rod are allowed to slide in a sliding groove of the second central rod, and in addition, two ends of all the rotating shafts are provided with shaft check rings.
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 second motor, a base, a supporting cross beam, a linear guide rail, a sliding block, a first rack, a second rack and a gear, the second motor is fixed on the supporting cross beam through the base, the linear guide rail is fixedly connected with the supporting cross beam, the sliding block slides on the linear 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 rotating shaft of the second motor, the rack is driven to slide along the linear 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 seesaw differential mechanism assembly comprises fingers, longitudinal beams and finger tips, the fingers and the longitudinal beams rotate around a rotating shaft, no relative displacement exists between the fingers and the longitudinal beams, two finger tips are arranged at two ends of one side of each finger, two support lugs are arranged on the longitudinal beams, the support lugs on the same side of the two longitudinal beams are connected through springs, the tension state of the two fingers is kept, and auxiliary force is provided for the fingers in the process of grabbing and releasing parts.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010630533.3A CN111805563B (en) | 2020-06-30 | 2020-06-30 | A single-drive electric self-adaptive manipulator based on linkage differential mechanism |
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| CN202010630533.3A CN111805563B (en) | 2020-06-30 | 2020-06-30 | A single-drive electric self-adaptive manipulator based on linkage differential mechanism |
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| CN111805563A CN111805563A (en) | 2020-10-23 |
| CN111805563B true CN111805563B (en) | 2021-10-01 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112720551A (en) * | 2020-12-28 | 2021-04-30 | 南京航空航天大学 | Flexible mechanical claw and working method thereof |
| CN113561208B (en) * | 2021-06-17 | 2022-03-01 | 安徽大学 | A Pneumatic Adaptive Manipulator with Variable Configuration |
| CN115256436B (en) * | 2022-08-16 | 2023-03-03 | 安徽大学 | An Adaptive Manipulator with High Mechanical Gain |
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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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| CN104626179A (en) * | 2014-12-20 | 2015-05-20 | 重庆联合机器制造有限公司 | Clamping mechanism for mounting and demounting workpiece |
| CN108161962A (en) * | 2017-12-08 | 2018-06-15 | 桐乡胜辉精密机械有限公司 | A kind of big tensor clamping device for narrow space |
| CN210386650U (en) * | 2019-06-27 | 2020-04-24 | 广东弓叶科技有限公司 | Garbage sorting and gripping device and automatic garbage sorting equipment |
| 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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2020
- 2020-06-30 CN CN202010630533.3A patent/CN111805563B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001001273A (en) * | 1999-06-22 | 2001-01-09 | Victor Co Of Japan Ltd | Chucking device |
| CN203141501U (en) * | 2013-02-04 | 2013-08-21 | 江苏大学 | Special pneumatic manipulator clamp for warm extrusion |
| CN203510219U (en) * | 2013-10-25 | 2014-04-02 | 沈阳中科正方新能源技术有限公司 | Differential gear drive type adaptive manipulator |
| CN104626179A (en) * | 2014-12-20 | 2015-05-20 | 重庆联合机器制造有限公司 | Clamping mechanism for mounting and demounting workpiece |
| CN108161962A (en) * | 2017-12-08 | 2018-06-15 | 桐乡胜辉精密机械有限公司 | A kind of big tensor clamping device for narrow space |
| CN210386650U (en) * | 2019-06-27 | 2020-04-24 | 广东弓叶科技有限公司 | Garbage sorting and gripping device and automatic garbage sorting equipment |
| 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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