CN112123358A - Four-direction heart motion parallel mechanism palm manipulator capable of hooking and pinching - Google Patents
Four-direction heart motion parallel mechanism palm manipulator capable of hooking and pinching Download PDFInfo
- Publication number
- CN112123358A CN112123358A CN202011008268.1A CN202011008268A CN112123358A CN 112123358 A CN112123358 A CN 112123358A CN 202011008268 A CN202011008268 A CN 202011008268A CN 112123358 A CN112123358 A CN 112123358A
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- Prior art keywords
- finger
- rocker
- seat
- shaft
- driving
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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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
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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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
Abstract
The invention relates to a four-direction center motion parallel mechanism palm manipulator capable of hooking and pinching, which belongs to the technical field of robots and automation.A crank rotating motor of a dual-drive five-rod sliding block parallel mechanism is cooperated with a lead screw motor moving by a hinge seat of a rocker, the positive and negative rotation of the lead screw enables two hinge seats of four rockers to move in opposite directions or in the north direction and in the back direction to move linearly and is combined with the four cranks of the parallel mechanism in a rotating way, so that four fingers all move towards the center of the manipulator, four finger parts are arranged on a connecting rod or the rocker, and a grasped object is pinched; and for the grasped object with curved surface shapes of a horizontally placed cylinder, a sphere and an ellipsoid, the side of a finger is close to or is in contact with the grasped object with smaller contact force, and then the manipulator moves, the fingertip part is driven to rotate through the flexible shaft, and the grasped object is hooked at the bottom of the grasped object, so that the pinching clamping force is greatly reduced, and the grasped object can be reliably grasped.
Description
Technical Field
The invention relates to the technical field of robots and automation application, in particular to a four-direction heart motion parallel mechanism palm manipulator capable of hooking and pinching.
Background
The grabbing manipulator is also called an end effector and an end gripper, and is an operation tool for grabbing objects by a robot. Due to the complexity of grasping objects, the remaining end effectors are unable to universally and reliably grasp different classes of objects, except for some humanoid dexterous manipulators that are expensive to manufacture and complex to install. In terms of the contact state, in order to adapt to different shapes of the grasped objects such as a cuboid, a cylinder, a sphere and the like, the finger root parts of the fingers need to be indexed, so that the finger contact surfaces can better adapt to the grasped objects with different shapes, and the indexing action is the basic function of the palm.
For grasping objects such as agricultural products and food, due to the reasons of size change, non-uniform shape (physical shape), soft, hard, tough and brittle (physical property), dense and sparse distance and mutual stacking (physical state), the end effector with certain universality is more difficult to realize.
Therefore, the granted patent of 'dual-drive crank rocker slider parallel mechanism palm type manipulator with finger displacement and transposition' (patent number: 201710220457.7) provides a proposal of 'parallel mechanism palm type manipulator'. The manipulator is provided with four fingers, wherein one finger is fixed, the other two movable fingers are displaced and indexed (the displacement and the indexing relation is unique, namely the indexing angle of the movable finger is determined by the coordinate position of the movable finger) by adopting two parallel crank rocker slider parallel mechanisms, the palms of the parallel mechanisms are cooperatively driven by two motors to select the final pose of the finger so as to clamp an object, and the motion track of the movable finger is selected so as to avoid an obstacle.
The defects of the manipulator are obtained through the processes of algorithm test, prototype manufacture, grabbing test, performance analysis and the like: firstly, positioning and grabbing an object by a single fixed finger, enabling the datum of a mechanical arm not to coincide, enabling the offset between the origin of coordinates of the mechanical arm and the mass center of the large object and the mass center of the small object to be large, and enabling the eccentric moment of the mechanical arm to be large; secondly, positioning and grabbing the object by a single finger, wherein the grabbed object moves a little in the grabbing process due to the positioning precision of the mechanical arm; the two movable fingers, but not the three fingers, move towards the object to be grabbed simultaneously, so that the efficiency of the clamping process is low; and fourthly, the dual-drive five-rod sliding block parallel mechanism drives the second finger to displace, the displacement angle at the position determined by the x and y coordinates is determined, the finger with the plane cross section is adopted when the curved surface of the grasped object is contacted, or the finger with the plane cross section is adopted when the plane of the grasped object is contacted, and meanwhile, the universality of vertically grasping the cylinder and the cuboid is not good enough.
Disclosure of Invention
The applicant aims at the defects in the prior art, provides a four-direction heart motion parallel mechanism palm manipulator capable of being hooked and pinched, and the manipulator has the advantages of wide application range, good flexibility, and reliable and quick grabbing.
The technical scheme adopted by the invention is as follows: a four-directional-center-motion parallel mechanism palm manipulator capable of hooking and pinching comprises a bottom plate, a motor, a coupler, a large parallel belt seat bearing, a positive and negative thread lead screw, a positive thread lead screw nut, a right-angle plate slide block, a guide rail seat, a hinge shaft, a wear-resistant washer, a driven rocker, a driving rocker, a connecting rod, a pin shaft, a short finger seat, a finger part, a slotted crank, a gear cover plate, a stepping motor with a worm gear reducer, a driving gear, a flat key and a driving shaft, the device comprises a long sleeve, a bearing with a seat, a linear sliding seat, a driven shaft, a linear guide rail, a taper hole gear, a taper sleeve, a flat round nut, a small bearing with a seat, a short guide stud, a reverse thread lead screw nut, a middle finger seat, a thick cushion block, a long guide stud and a short guide stud, a U-shaped mounting plate, a bevel gear support plate, a motor planet gear reducer, a large bevel gear, a small bevel gear shaft, a small parallel bearing with a seat and a flexible shaft component; the components of the finger part are a finger root, a hinge mandrel and a fingertip; the flexible shaft component comprises a conical pressure head, a knurled nut sleeve and a flexible shaft body;
the four cranks driven by a stepping motor with a worm gear reducer have equal angular displacement, and a front left rocker hinge and a front right rocker hinge are coaxial and are fixed on a front right-angle plate sliding block, and a rear left rocker hinge and a rear right rocker hinge are coaxial and are fixed on a rear right-angle plate sliding block; the motor drives the positive and negative thread lead screws to enable the two right-angle plate sliding blocks to approach to each other or move away from each other in opposite directions at equal speed, and the rocker hinges move to form a parallel mechanism;
two ends of each of the two linear guide rails are fixed by two guide rail seats, four guide rail seats are arranged on the bottom plate, the two linear guide rails are coaxially arranged, the linear slide seat passes through the linear guide rails to move linearly, and the right-angle plate slide block is fixed on the linear slide seat; the positive and negative thread lead screws parallel to the two linear guide rails are provided with positive thread lead screw nuts and negative thread lead screw nuts;
the positive thread lead screw nut and the negative thread lead screw nut are respectively fixed on the two right-angle plate slide blocks, and the motor drives the positive thread lead screw and the negative thread lead screw to drive the positive thread lead screw nut and the negative thread lead screw nut under the guide of the linear guide rail, so that the two right-angle plate slide blocks realize opposite gripping or back loose linear movement; two hinge shafts are respectively fixed on two right-angle plate sliding blocks by nuts, the hinge shafts penetrate through holes in a driven rocker and a driving rocker, wear-resistant washers are arranged on the left side and the right side of the driven rocker, and the driven rocker and the driving rocker rotate oppositely on the hinge shafts in opposite directions;
two layers of kidney-shaped grooves with different widths are milled on the horizontal plane of the driving rocker coaxially with the axis, the driving rocker is connected with the connecting rod on the left side through a hinge pin, the diameter of the guide cylindrical surface of the hinge pin is in clearance fit with the width of the kidney-shaped groove of the driving rocker, the hinge pin and the driving rocker are integrated after a nut of the hinge pin is screwed down, a gap is reserved in the thickness of the connecting rod, and the connecting rod can rotate in the hinge pin relative to the driving rocker; after the position of the movable pin shaft is fixed by the nut, the working length of the rocker can be manually adjusted; the other end of the connecting rod is hinged with a slotted crank through a pin shaft, the slotted crank is also milled and processed with the same axial lead to form two layers of kidney-shaped grooves with different widths, and the working eccentricity of the manual slotted crank is adjusted by the same principle as the connection principle of an active rocker and the connecting rod;
the other end of the active slotted crank is sleeved on the driving shaft and is fastened on the flattened surface at one end of the driving shaft by a screw to transmit the rotating torque of the driving shaft; the driving shaft is provided with a slotted crank, a long sleeve, two bearings with seats and a driving gear, a flattened cylindrical section at the other end of the driving shaft is inserted into a hole of the driving shaft of the stepping motor with the worm gear reducer in a clearance fit manner, the stepping motor with the worm gear reducer transmits torque to the driving shaft through the flattened cylindrical section, and a flat key on the driving shaft transmits the torque to the driving gear; the axial size of the long sleeve is polished, and the axial position of the driving gear can be adjusted; one bearing with a seat is fixed on a gear cover plate, axial gravity generated by a gripped object is transmitted to an inner ring of the bearing with the seat from a shaft shoulder surface of a driving shaft to be borne, the other bearing with the same axial line is fixed on a bottom plate, the gear cover plate is connected into an integral structure by two short guide studs and the bottom plate, two ends of each short guide stud are cylindrical surfaces in clearance fit with corresponding holes, and nuts are used for screwing the short guide studs but not the short guide studs;
the driven shaft is supported by a bearing with a seat and a bearing with a small seat, the bearing with the seat and the bearing with the small seat are respectively fixed on the gear cover plate and the bottom plate, and a rotator is axially formed by a shaft shoulder surface of the driven shaft, a taper hole gear, a taper sleeve and a flat round nut; the driving gear is meshed with the taper hole gear, a taper sleeve is arranged in the taper hole gear hole, and the oblate nut is screwed tightly, so that torque is transmitted to the driven shaft through the inclined wedge effect of the conical contact surface; the other end of the driven slotted crank is sleeved on the driven shaft and is fastened on the flattened surface at one end of the driven shaft by a screw, and the rotation torque of the driven shaft is transmitted to the driven slotted crank; the oblate nut is reversely unscrewed, the taper hole gear is separated from the taper sleeve, and the phase angle between the driving slotted crank and the driven slotted crank can be adjusted;
the connecting rod is provided with a waist-shaped groove, the width of the waist-shaped groove is in clearance fit with the diameter of a section of cylindrical surface of the threaded end of the short finger seat, the short finger seat can be arranged at any position of the waist-shaped groove of the connecting rod, can rotate at any angle relative to the connecting rod and is fixed on the connecting rod by a nut; the short finger seat is provided with a finger part;
the front left crank rocker mechanism and the rear left crank rocker mechanism which are positioned on the left side of the manipulator are driving crank rocker mechanisms, and the front right crank rocker mechanism and the rear right crank rocker mechanism which are positioned on the right side of the manipulator are driven crank rocker mechanisms; a short finger seat is arranged on the connecting rod at the left side, and a middle finger seat is correspondingly arranged on the connecting rod at the right side; the structure and the size of the four finger parts on the short finger seat and the middle finger seat are completely the same, and the planes of the four finger parts are coplanar;
the driving rocker is provided with a short finger seat, and the driven rocker is provided with a middle finger seat; the width of a narrow waist-shaped groove of the active rocker is in clearance fit with the diameter of a section of cylindrical surface of a threaded end of the short finger seat, the short finger seat is arranged at any position of the waist-shaped groove of the active rocker, and the short finger seat can rotate at any angle relative to the active rocker and is fixed on the active rocker by a nut; the position of the driving connecting rod is higher than that of the driving rocker, the position of the driven connecting rod is higher than that of the driven rocker, the thick cushion block is arranged on the mounting surface for mounting the finger parts, and the planes of the four mounting finger parts, namely the short finger seat and the middle finger seat, are coplanar.
As a further improvement of the above technical solution:
two ends of the positive and negative thread lead screw are supported by large parallel bearings with seats, the large parallel bearings with seats are fixed on the bottom plate, the motor is fixed on the bottom plate, and the motor and the positive and negative thread lead screw are connected by a coupler.
The U-shaped mounting plate is provided with a hole system connected with the robot body, and the U-shaped mounting plate is fixed on the bottom plate through four long and short guide studs to realize the connection of the bevel gear support plate and the bottom plate.
The finger root of the finger part is fixed on the short finger seat or the middle finger seat, the finger root and the finger tip form hinge connection by a hinge mandrel, the finger tip is in interference fit with the hinge mandrel, the finger root is in clearance fit with the hinge mandrel, rubber is pasted on the contact surface of the finger root and the finger tip and a grasped object, the finger tip is provided with a left raised fin and a right raised fin, and the limit angle for limiting the outward rotation of the finger tip relative to the finger root is zero degree, namely the finger is in a straight state and is also in an initial state of the finger; one outer end of the hinge mandrel is provided with a taper hole, and a conical pressure head at the other end of the soft shaft body is inserted into the taper hole and is pressed by the knurled nut sleeve to transmit torque;
the object to be grasped is clamped by the finger tips or the finger roots in the pinching mode, and the structure is complex: the soft shaft component is driven to ensure that the finger tip is in a straight state relative to the finger root and is also in an initial state of the finger; or a simple structure: when the soft shaft component is removed, the finger tip is in a straight state relative to the finger root due to the action of gravity.
The U-shaped mounting plate is fixed on the bevel gear supporting plate, the motor planet gear reducer is fixed on the bevel gear supporting plate, and the large bevel gear is sleeved on an output shaft of the motor planet gear reducer and is fixed by screws and gaskets; four small bevel gears are respectively pressed on the plane of the shaft ends of the small bevel gear shafts by the fastening screws, each small bevel gear shaft is supported by two small parallel belt seat bearings, and eight small parallel belt seat bearings are all fixed on the bevel gear supporting plate; the other shaft end of each small bevel gear shaft is provided with a taper hole, and a conical pressure head at one end of a flexible shaft body of the flexible shaft part is inserted into the taper hole and is pressed by a knurled nut sleeve to transmit torque; the two conical pressure heads and a flexible shaft body are rolled and fixed together, and two knurled nut sleeves in opposite directions are sleeved on the flexible shaft body to form a flexible shaft component which is integrally connected;
in the hooking mode, through the transmission of a bevel gear mechanism and a flexible shaft component, a motor planet gear reducer drives four small bevel gear shafts to enable four fingertips to synchronously rotate, and a horizontally placed cylinder or a sphere or an ellipsoid is hooked from the lower part of the side surface;
through the height of controlling the manipulator to and the three motor on the cooperative control manipulator, there are three kinds of modes of colluding: the finger root does not contact the grasped object, and the finger tip hooks the object from the lower part; for soft and crisp grasped objects, the finger root just contacts the grasped objects, the contact force is zero or less, and the finger tips hook the objects from the lower part; for a heavy grasped object, the contact force of the finger roots is larger, and meanwhile, the finger tips grasp the object more reliably in a mode that the finger tips hook the object from the lower part.
By manual adjustment, it is possible to vary: firstly, the working lengths of a driven rocker, a driving rocker and a slotted crank are changed by adjusting the positions of pin shafts at the two ends of a connecting rod on the driven rocker, the driving rocker and the slotted crank, secondly, flat round nuts are loosened, and the asymmetry degree of a left crank and a right crank relative to the axial lead of a linear guide rail is adjusted by adjusting the phase angle between a taper hole gear and a taper sleeve; these six approaches can be varied individually or in any combination to form specific embodiments.
The invention has the following beneficial effects:
adaptability of shape: the driving cooperation of the two stepping motors has good adaptability to the shapes of cuboids, cylinders, spheres, ellipsoids and the like.
Size adaptability: the manipulator has four fingers, through manual regulation, can change crank eccentricity, four fingers position and angle on two connecting rods or rocker respectively, and size adaptability is good.
Operation flexibility: the automatic grabbing of the four moving fingers after manual adjustment is realized, and the original points of the positioning coordinates of the mechanical arm in the grabbing process are unchanged.
Fourthly, capturing agility: the lead screw stepping motor driving the sliding block to move mainly plays a role in positioning, the stepping motor with the worm gear speed reducer driving the crank to rotate mainly plays a role in grasping, and the crank rotates to move in an angle and rapidly.
Using energy conservation: the crank rotation adopts a worm gear mechanism reducer to self-lock, the slider linear motion adopts a lead screw nut mechanism to self-lock, and the two driving stepping motors are powered off in the grasping process.
Grabbing reliability: for the grabbed objects with curved surface shapes of a horizontally placed cylinder, a sphere and an ellipsoid, the side faces of fingers are close to or are in contact with the grabbed objects with smaller contact force, and then the manipulator moves, the finger tip part is driven to rotate through the flexible shaft, and the grabbed objects are grabbed at the bottom of the grabbed objects, so that the grabbing clamping force is greatly reduced, and the grabbed objects are reliably grabbed.
Drawings
Fig. 1 is a sectional expanded view a-a of the parallel mechanism palm manipulator of the present invention.
Fig. 2 is a bottom view of the parallel mechanism palm manipulator of the present invention.
Fig. 3 is a B-B sectional development view of the parallel mechanism palm manipulator of the invention.
Fig. 4 is a C-direction partially enlarged view of the parallel mechanism palm robot of the present invention.
FIG. 5 is a partial enlarged view of the parallel mechanism palm manipulator of the present invention in D-D section.
Fig. 6 is a left side view of the finger components of the parallel mechanism palm manipulator of the present invention.
Fig. 7 is a front view of the finger components of the parallel mechanism palm manipulator of the present invention.
Fig. 8 is a right cross-sectional view of the finger component of the parallel mechanism palm manipulator of the present invention.
Fig. 9 is a main sectional view of a flexible shaft part of the parallel mechanism palm manipulator of the invention.
Fig. 10 is a front cross-sectional view of a rectangular plate slide feature of a parallel mechanism palm manipulator of the present invention.
Fig. 11 is a front view of the hinge axis components of the parallel mechanism palm manipulator of the present invention.
Fig. 12 is a cross-sectional view of the active rocker component of the parallel mechanism palm manipulator of the present invention.
FIG. 13 is a front view of the active rocker component of the parallel mechanism palm manipulator of the present invention.
Fig. 14 is a sectional view of a link part of a parallel mechanism palm manipulator of the present invention.
Fig. 15 is a front view of the link components of the parallel mechanism palm manipulator of the present invention.
Fig. 16 is a front view of the drive shaft components of the parallel mechanism palm manipulator of the present invention.
Fig. 17 is a front view of a driven shaft component of the parallel mechanism palm manipulator of the present invention.
Figure 18 is a right side view of a short finger seat feature of the parallel mechanism palm manipulator of the present invention.
Figure 19 is a front view of the short finger seat component of the parallel mechanism palm manipulator of the present invention.
Figure 20 is a left side view of the short finger seat component of the parallel mechanism palm manipulator of the present invention.
Figure 21 is a right side view of the middle finger seat component of the parallel mechanism palm manipulator of the present invention.
Fig. 22 is a front view of the middle finger seat component of the parallel mechanism palm manipulator of the present invention.
Figure 23 is a left side view of the middle finger seat component of the parallel mechanism palm manipulator of the present invention.
Figure 24 is a left side view of a finger tip 16c component of the finger member 16 of the parallel mechanism palm manipulator of the present invention.
Fig. 25 is a front view of a finger tip 16c component of the finger member 16 of the parallel mechanism palm manipulator of the present invention.
Fig. 26 is a cross-sectional view of a finger tip 16c feature of the finger component 16 of the parallel mechanism palm manipulator of the present invention.
Fig. 27 shows an embodiment of the parallel mechanism of the present invention in which the connecting rod of the manipulator with palms is translated to pick up a horizontally disposed cylinder with a large rectangular body and a large diameter from the front and back.
Fig. 28 is an embodiment of pinching a small rectangular parallelepiped and a small-diameter horizontally placed cylinder from the front-rear direction in the parallel mechanism palm manipulator link translation manner according to the present invention.
Fig. 29 shows an embodiment of pinching a thin rectangular parallelepiped and a small-diameter horizontally placed cylinder from the left and right directions in a parallel mechanism palm manipulator link translation manner according to the present invention.
Fig. 30 shows an embodiment of pinching a thick rectangular parallelepiped and a large-diameter horizontally placed cylinder from the left and right directions in a parallel mechanism palm manipulator link translation manner according to the present invention.
FIG. 31 is the position of the parallel mechanism palm manipulator vertically pinching the vertically disposed cylinder according to the present invention.
FIG. 32 is another position of the parallel mechanism palm robot for vertically pinching a vertically disposed cylinder according to the present invention.
Fig. 33 shows the non-contact manner of the finger root of the large vertical size hooking sphere or the horizontally placed cylinder of the parallel mechanism palm manipulator of the present invention.
Fig. 34 shows the non-contact mode of the finger root of the small vertical size hooking sphere or the horizontally placed cylinder of the parallel mechanism palm manipulator of the present invention.
Fig. 35 shows the finger-root contact manner for the parallel mechanism palm manipulator to vertically hook a large-sized sphere or horizontally-placed cylinder according to the present invention.
Wherein: 1. a base plate; 2. a motor; 3. a coupling; 4. a large parallel pedestal bearing; 5. a lead screw with positive and negative threads; 6. a positive thread lead screw nut; 7. a square plate slide block; 8. a guide rail seat; 9. a hinge axis; 10. a wear-resistant washer; 11. a driven rocker; 12. an active rocker; 13. a connecting rod; 14. a pin shaft; 15. a short finger seat; 16. a finger member; 17. a slotted crank; 18. a gear cover plate; 19. a stepping motor with a worm gear reducer; 20. a driving gear; 21. a flat bond; 22. a drive shaft; 23. a long sleeve; 24. a pedestal bearing; 25. a linear slide carriage; 26. a driven shaft; 27. a linear guide rail; 28. a bevel gear; 29. a taper sleeve; 30. an oblate nut; 31. a small belt seat bearing; 32. a short guide stud; 33. a reverse-threaded lead screw nut; 34. a middle finger seat; 35. a thick cushion block; 36. a long guide stud and a short guide stud; 37. a U-shaped mounting plate; 38. a bevel gear support plate; 39. a motor planet wheel reducer; 40. a large bevel gear; 41. a bevel pinion gear; 42. a bevel pinion shaft; 43. a small parallel seated bearing; 44. a flexible shaft component. Among the finger members 16, 16a, the finger base; 16b, hinge spindle 16c, a fingertip. In the flexible shaft part 44, 44a and a conical pressure head; 44b, a knurled nut sleeve; 44c, a soft shaft body.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in attached figures 1-5, the hooking and pinching palm manipulator with the four-directional-center motion parallel mechanism comprises a bottom plate 1, a motor 2, a coupler 3, a large parallel bearing with a seat 4, a positive and negative thread lead screw 5, a positive thread lead screw nut 6, a right-angle plate slider 7, a guide rail seat 8, a hinge shaft 9, a wear-resistant washer 10, a driven rocker 11, a driving rocker 12, a connecting rod 13, a pin shaft 14, a short finger seat 15, a finger part 16, a slotted crank 17, a gear cover plate 18, a stepping motor 19 with a worm gear reducer, a driving gear 20, a flat key 21, a driving shaft 22, a long sleeve 23, a bearing with a seat 24, a linear sliding seat 25, a driven shaft 26, a linear guide rail 27, a taper hole gear 28, a long and short taper sleeve 29, a flat round nut 30, a small bearing with a seat 31, a short guide stud 32, a negative thread lead screw nut 33, a middle finger seat 34, a, A U-shaped mounting plate 37, a bevel gear support plate 38, a motor planet gear reducer 39, a large bevel gear 40, a small bevel gear 41, a small bevel gear shaft 42, a small parallel belt bearing 43 and a flexible shaft component 44. Wherein, the finger part 16 comprises a finger root 16a, a hinge mandrel 16b and a finger tip 16 c; the flexible shaft part 44 comprises a conical pressure head 44a, a knurled nut sleeve 44b and a flexible shaft body 44 c.
As shown in the attached drawings 1-5, the four-directional-heart-motion parallel mechanism palm manipulator capable of hooking and pinching comprises a crank-rocker mechanism with the same size of four front left, front right, rear left and rear right rods positioned on the same plane, wherein the four cranks driven by a stepping motor 19 with a worm gear reducer have the same angular displacement, and a front left rocker hinge and a front right rocker hinge are coaxial and are fixed on a front right-angle plate sliding block 7, and a rear left rocker hinge and a rear right rocker hinge are coaxial and are fixed on a rear right-angle plate sliding block 7; the motor 2 drives the positive and negative thread lead screws 5 to enable the two right-angle plate sliding blocks 7 to approach to each other or move away from each other in a reverse direction at the same speed, and the rocker hinges move to form a parallel mechanism;
two ends of two linear guide rails 27 are respectively fixed by two guide rail seats 8, four guide rail seats 8 are arranged on the bottom plate 1, the two linear guide rails 27 are coaxially arranged, the linear slide carriage 25 passes through the linear guide rails 27 to move linearly, and the right-angle plate slide block 7 is fixed on the linear slide carriage 25; the positive and negative threaded lead screws 5 parallel to the two linear guide rails 27 are provided with positive threaded lead screw nuts 6 and negative threaded lead screw nuts 33, two ends of the positive and negative threaded lead screws 5 are supported by large parallel bearings with seats 4, the large parallel bearings with seats 4 are fixed on the bottom plate 1, the motor 2 is fixed on the bottom plate 1, and the motor 2 and the positive and negative threaded lead screws 5 are connected by a coupler 3;
the positive thread lead screw nut 6 and the negative thread lead screw nut 33 are respectively fixed on the two rectangular plate sliding blocks 7, so that the motor 2 drives the positive and negative thread lead screw 5, the positive thread lead screw nut 6 and the negative thread lead screw nut 33 to enable the two rectangular plate sliding blocks 7 to oppositely grab or loosely move back to back in a linear manner when the linear guide rail 27 is guided downwards; two hinge shafts 9 are respectively fixed on two right-angle plate sliding blocks 7 through nuts, the hinge shafts 9 penetrate through holes in a driven rocker 11 and a driving rocker 12, wear-resistant washers 10 are arranged on the left side and the right side of the driven rocker 11, and the driven rocker 11 and the driving rocker 12 rotate oppositely on the hinge shafts 9 in opposite directions;
two layers of kidney-shaped grooves with different widths are milled on the horizontal plane of the driving rocker 12 coaxially, the driving rocker 12 is hinged with the connecting rod 13 on the left side by the pin shaft 14, the diameter of the guide cylindrical surface of the pin shaft 14 is in clearance fit with the width of the kidney-shaped groove of the driving rocker 12, the pin shaft 14 and the driving rocker 12 are integrated after the pin shaft 14 is screwed down by a nut, a clearance is reserved on the thickness of the connecting rod 13, and the connecting rod 13 can rotate relative to the driving rocker 12 in the pin shaft 14; after the position of the movable pin shaft 14 is fixed by a nut, the working length of the rocker can be manually adjusted; the other end of the connecting rod 13 is hinged with a slotted crank 17 through a pin shaft 14, the slotted crank 17 is also milled with the same axial lead to form two layers of kidney-shaped grooves with different widths, and the working eccentricity of the manual slotted crank 17 is adjusted by the same principle as the connection of the driving rocker 12 and the connecting rod 13;
the other end of the active slotted crank 17 is sleeved on the driving shaft 22 and is fastened on the flattened surface at one end of the driving shaft 22 by a screw to transmit the rotation torque of the driving shaft 22; the driving shaft 22 is provided with a slotted crank 17, a long sleeve 23, two bearings 24 with seats and a driving gear 20, a flattened cylindrical section at the other end of the driving shaft 22 is inserted into a hole of the driving shaft of the stepping motor 19 with the worm gear reducer in a clearance fit manner, the stepping motor 19 with the worm gear reducer transmits torque to the driving shaft 22 through the flattened cylindrical section, and a flat key 21 on the driving shaft 22 transmits the torque to the driving gear 20; the axial size of the long sleeve 23 is ground, and the axial position of the driving gear 20 can be adjusted; one bearing 24 with a seat is fixed on the gear cover plate 18, the axial gravity generated by a gripped object is transmitted to the inner ring of the bearing 24 with a seat from the shaft shoulder surface of the driving shaft 22 to be born, the other bearing 24 with a seat with the same axial line is fixed on the bottom plate 1, the gear cover plate 18 is connected with the bottom plate 1 into an integral structure by two short guide studs 32, the two ends of each short guide stud 32 are cylindrical surfaces which are in clearance fit with corresponding holes, and the two short guide studs 32 are screwed on the bottom plate 1 and the gear cover plate 18 by nuts instead of the short guide studs 32;
the driven shaft 26 is supported by a bearing 24 with a seat and a bearing 31 with a small seat, the bearing 24 with the seat and the bearing 31 with the small seat are respectively fixed on the gear cover plate 18 and the bottom plate 1, and a rotator is axially formed by a shaft shoulder surface of the driven shaft 26, a taper hole gear 28, a taper sleeve 29 and a flat round nut 30; the driving gear 20 is meshed with a taper hole gear 28, a taper sleeve 29 is arranged in a hole of the taper hole gear 28, and an oblate nut 30 is screwed so as to transmit torque to the driven shaft 26 through the inclined wedge effect of a conical contact surface; the other end of the driven slotted crank 17 is sleeved on the driven shaft 26 and is fastened on the flat cutting surface at one end of the driven shaft 26 by a screw, and the rotation torque of the driven shaft 26 is transmitted to the driven slotted crank 17; by unscrewing the flat nut 30 in the opposite direction, the bevel gear 28 and the taper sleeve 29 are disengaged, and the phase angle between the driving slotted crank 17 and the driven slotted crank 17 can be adjusted, that is: the driving slotted crank 17 and the driven slotted crank 17 can be symmetrical left and right in the horizontal plane direction or asymmetrical left and right;
a waist-shaped groove is formed in the connecting rod 13, the width of the waist-shaped groove is in clearance fit with the diameter of a section of cylindrical surface of the threaded end of the short finger seat 15, the short finger seat 15 can be arranged at any position of the waist-shaped groove of the connecting rod 13, the short finger seat 15 can rotate at any angle relative to the connecting rod 13, and then the short finger seat is fixed on the connecting rod 13 through a nut; the short finger seat 15 is provided with a finger part 16;
as shown in fig. 2, the front left crank rocker mechanism and the rear left crank rocker mechanism on the left side of the manipulator are driving crank rocker mechanisms, and the front right crank rocker mechanism and the rear right crank rocker mechanism on the right side of the manipulator are driven crank rocker mechanisms; a short finger seat 15 is arranged on the connecting rod 13 at the left side, and a middle finger seat 34 is correspondingly arranged on the connecting rod 13 at the right side; the structures and the sizes of the four finger parts 16 on the short finger seat 15 and the middle finger seat 34 are completely the same, and the structure of the manipulator ensures that the planes of the four finger parts 16 on the short finger seat 15 and the middle finger seat 34 are coplanar;
as shown by the two-dot chain lines in fig. 1 and 3, the short finger seat 15 and the middle finger seat 34 can be respectively arranged on the driving rocker 12 and the driven rocker 11; the width of the narrow waist-shaped groove of the driving rocker 12 is in clearance fit with the diameter of a section of cylindrical surface of the threaded end of the short finger seat 15, the short finger seat 15 can be arranged at any position of the waist-shaped groove of the driving rocker 12, the short finger seat 15 can rotate at any angle relative to the driving rocker 12 and is fixed on the driving rocker 12 by a nut, and the driven rocker 11 is correspondingly arranged on one middle finger seat 34; because the driving connecting rod 13 is higher than the driving rocker 12 and the driven connecting rod 13 is higher than the driven rocker 11, after the driving rocker 12 is provided with one short finger seat 15 and the driven rocker 11 is provided with one middle finger seat 34, the mounting surfaces for mounting the finger parts 16 are all provided with thick cushion blocks 35, and the coplanarity of the four planes for mounting the finger parts 16, namely the short finger seat 15 and the middle finger seat 34, can be ensured;
two ends of the positive and negative thread lead screw 5 are supported by a large parallel bearing with a seat 4, the large parallel bearing with a seat 4 is fixed on the bottom plate 1, the motor 2 is fixed on the bottom plate 1, and the motor 2 and the positive and negative thread lead screw 5 are connected by a coupler 3.
The U-shaped mounting plate 37 is provided with a hole system connected with the robot body, and the U-shaped mounting plate 37 is fixed on the bottom plate 1 through four long and short guide studs 36 to realize the connection of the bevel gear support plate 38 and the bottom plate 1.
The finger root 16a of the finger component 16 is fixed on the short finger seat 15 or the middle finger seat 34, the finger root 16a and the fingertip 16c form a hinge connection by the hinge mandrel 16b, the fingertip 16c is in interference fit with the hinge mandrel 16b, the finger root 16a is in clearance fit with the hinge mandrel 16b, rubber is pasted on the contact surfaces of the finger root 16a, the fingertip 16c and the object to be grabbed, the fingertip 16c is provided with a left protruding fin and a right protruding fin, the limit angle limiting the outward rotation of the fingertip 16c relative to the finger root 16a is zero degree (the finger is in a straight state and is also in an initial state), one outer end of the hinge mandrel 16b is provided with a taper hole, and a conical pressure head 44a at the other end of the knurled flexible shaft body 44c is inserted into the taper hole and is pressed by the nut sleeve;
the object to be grasped is clamped by the finger tip 16c or the finger root 16a in the pinching mode, and the structure is complex: the flexible shaft component 44 is driven to make the finger tip 16c be in a straightened state relative to the finger root 16a and also be in an initial state of the finger; or a simple structure: when the flexible shaft member 44 is removed, the finger tip 16c is straightened relative to the finger base 16a due to gravity.
As shown in fig. 4, the U-shaped mounting plate 37 is fixed on the bevel gear support plate 38, the motor planetary reducer 39 is fixed on the bevel gear support plate 38, and the large bevel gear 40 is sleeved on the output shaft of the motor planetary reducer 39 and fixed by screws and spacers; four small bevel gears 41 are respectively pressed on the plane of the shaft ends of the small bevel gear shafts 42 by the fastening screws, each small bevel gear shaft 42 is supported by two small parallel bearing with a seat 43, and eight small parallel bearings with a seat 43 are all fixed on the bevel gear supporting plate 38; the other shaft end of each small bevel gear shaft 42 is provided with a taper hole, and a conical pressure head 44a at one end of a flexible shaft body 44c of the flexible shaft part 44 is inserted into the taper hole and is pressed by a knurled nut sleeve 44b to transmit torque; the two conical pressure heads 44a and a soft shaft body 44c are fixed together by rolling, and two knurled nut sleeves 44b in opposite directions are sleeved on the soft shaft body 44c to form a flexible shaft component 44 which is integrally connected;
in the hooking mode, through the transmission of a bevel gear mechanism and a flexible shaft component 44, the motor planet gear reducer 39 drives four small bevel gear shafts 42 to enable four fingertips 16c to synchronously rotate, and a horizontally placed cylinder or a sphere or an ellipsoid is hooked from the lower part of the side surface;
through the height of controlling the manipulator to and the three motor on the cooperative control manipulator, there are three kinds of modes of colluding: a manner in which the finger tip 16c grabs the object from below without the finger base 16a contacting the object to be grabbed; for soft and brittle grasped objects, the way that the finger root 16a just contacts the grasped object, the contact force is zero or less, and the finger tip 16c grabs the object from the lower part; for a heavy object to be grasped, the contact force of the finger bases 16a is large, and the finger tips 16c grasp the object more reliably in a manner of hooking the object from below.
By manual adjustment, it is possible to vary: firstly, the working lengths of the driven rocker 11, the driving rocker 12 and the slotted crank 17 are changed by adjusting the positions of the pin shafts 14 at the two ends of the connecting rod 13 on the driven rocker 11, the driving rocker 12 and the slotted crank 17, secondly, the oblate nuts 30 are loosened, and thirdly, the asymmetry degree of the left and right side cranks relative to the axial line of the linear guide rail 27 is adjusted by adjusting the phase angle between the cone hole gear 28 and the cone sleeve 29, thirdly, the positions of four short finger seats 15 or finger seats 34 on the four connecting rods respectively, fourthly, the angles of the four short finger seats 15 or finger seats 34 on the four connecting rods respectively, fifthly, the positions of the four short finger seats 15 or finger seats 34 on the two driven rockers 11 and the two driving rockers 12 respectively, and sixthly, the angles of the four short finger seats 15 or finger seats 34 on the two driven rockers 11 and the two driving rockers 12 respectively are manually adjusted; these six approaches can be varied individually or in any combination to form specific embodiments.
The working principle and the working process of the invention are as follows:
as shown in fig. 5, in the gear train of the same plane for synchronously driving the four cranks, the two driving gears 20 and the two bevel gears 28 have equal modulus and tooth number, the two driving gears 20 are positive modified gears and have large addendum coefficient, and the two bevel gears 28 are negative modified gears and have small addendum coefficient; the center distance of a pair of gears meshed with the driving gear 20 is large, the center distance of two pairs of gears meshed with the driving gear 20 and the taper hole gear 28 is small, phase angles of two key grooves on the two driving gears 20 and two driving shafts 22 are matched or not processed (the processing matching is carried out, the displacement coefficient is small, the diameter of the tooth top circle of the driving gear 20 is larger than the center distance, the tooth top moves relatively in a gear tooth gap without interference, the processing matching is not carried out, the displacement coefficient is large, the diameter of the tooth top circle of the driving gear 20 is smaller than the center distance, and a gap is reserved between the tooth top circles of the two gears without; therefore, the two bevel hole gears 28 are not interfered with each other, the equal angular displacement of the four cranks is realized in the gear train on the same plane, and the light weight effect with simple structure is achieved.
As shown in the gear train on the same plane, the origin O of the positioning coordinate of the manipulator is the midpoint of the connecting line of the nodes of the two pairs of meshed gear pairs, namely the driving gear 20 and the bevel gear 28.
For a cuboid and vertically placed cylinder, each finger part 16 of the vertically grabbed manipulator is in a stretched state, and only a pinching mode of finger clamping can be adopted; for the object to be grabbed of curved surface shape that cylinder, spheroid, ellipsoid body are placed to the level, the manipulator of grabbing perpendicularly not only can adopt to hold between the fingers the mode of getting, can also be after the object is grabbed in finger side contact, through the rotation of flexible axle drive fingertip part, collude in the bottom of the object side of being grabbed department to the clamping-force that the significantly reduced was held between the fingers gets, and reliably snatch.
In the implementation process of the four-directional-center-motion parallel mechanism palm manipulator capable of being hooked and pinched, the motor 2 and the stepping motor 19 with the worm gear reducer can cooperatively control the motion track of fingers together with the manipulator in addition to the final grabbing pose and object grabbing by cooperatively controlling the motor 2 and the stepping motor 19 with the worm gear reducer, so that the fingers are prevented from interfering with other objects, such as grabbing of a plurality of grabbed objects which are close to each other.
By manual adjustment, it is possible to vary: firstly, the working lengths of the driven rocker 11, the driving rocker 12 and the slotted crank 17 are changed by adjusting the positions of the pin shafts 14 at the two ends of the connecting rod 13 on the driven rocker 11, the driving rocker 12 and the slotted crank 17, secondly, the oblate nuts 30 are loosened, and thirdly, the asymmetry degree of the left and right side cranks relative to the axial line of the linear guide rail 27 is adjusted by adjusting the phase angle between the cone hole gear 28 and the cone sleeve 29, thirdly, the positions of four short finger seats 15 or finger seats 34 on the four connecting rods respectively, fourthly, the angles of the four short finger seats 15 or finger seats 34 on the four connecting rods respectively, fifthly, the positions of the four short finger seats 15 or finger seats 34 on the two driven rockers 11 and the two driving rockers 12 respectively, and sixthly, the angles of the four short finger seats 15 or finger seats 34 on the two driven rockers 11 and the two driving rockers 12 respectively are manually adjusted; these six approaches can be varied individually or in any combination to form specific embodiments.
As shown in fig. 27-28, an embodiment of automatically pinching a large or small cuboid and a horizontally placed cylinder with a large or small diameter from front to back by four fingers by adopting a link 13 translation mode under the cooperative control of a motor 2 and a stepping motor 19 with a worm gear reducer is realized; when large and small objects are grabbed, the final grabbing pose is that the four short finger seats 15 all translate without rotating, the motion tracks of the four fingers can be different in the process, and the two-dot chain lines in fig. 27-28 show the grabbed objects.
As shown in fig. 29-30, after four short finger seats 15 are respectively rotated by ninety degrees and fixed, another embodiment of a thin or thick cuboid, a small or large diameter horizontally placed cylinder is automatically pinched from left and right directions by a link translation mode under the cooperative control of a motor 2 and a stepping motor 19 with a worm gear reducer; when large and small objects are grabbed, the final grabbing pose is that the four short finger seats 15 are translated without rotating, the motion tracks of the four fingers can be different in the process, and the two-dot chain lines in fig. 29-30 show the grabbed objects.
31-32, the parallel mechanism palm manipulator of the present invention vertically pinches the contact state of the same vertically placed cylinder in two poses, the pinching mode overcomes the gravity of the object to be pinched by the friction force generated by the clamping, and therefore the contact force is large; the two-dot chain lines in fig. 31 to 32 show the gripped object.
By controlling the output angular displacement of the motor planetary reducer 39 and the height of the parallel mechanism palm manipulator arm according to the present invention, the motion of the finger root 16a does not interfere with the support plane, and there are two hooking modes: firstly, as shown in fig. 33, the finger root 16a non-contact mode, the finger root 16a non-contact grasped object mode of vertically hooking the pose of the large-size sphere or the horizontally placed cylinder, and as shown in fig. 34, the finger root 16a non-contact state of vertically hooking the pose of the small-size sphere or the horizontally placed cylinder, the positioning accuracy of the deflection and the transposition of the four finger roots 16a can be very low, the hooking mode directly overcomes the gravity and the contact force of the grasped object by the contact force of the lifting, the positioning control is simple, the fingers are closed, and the reliability is high; secondly, in a mode that both the finger root 16a and the finger tip 16c contact the grabbed object as shown in fig. 35, the finger root 16a vertically hooks the pose of a large-size sphere or a horizontally placed cylinder, the contact force is minimum, and the reliability is highest; the two-dot chain lines in fig. 33 to 35 show the gripped object.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (6)
1. The utility model provides a can collude four directional heart motion parallel mechanism palm manipulators that get and hold between fingers which characterized in that: the device comprises a bottom plate (1), a motor (2), a coupler (3), a large parallel bearing with a base (4), a positive and negative threaded lead screw (5), a positive threaded lead screw nut (6), a right-angle plate slider (7), a guide rail base (8), a hinge shaft (9), a wear-resistant washer (10), a driven rocker (11), a driving rocker (12), a connecting rod (13), a hinge pin (14), a short finger base (15), a finger part (16), a slotted crank (17), a gear cover plate (18), a stepping motor with a worm gear reducer (19), a driving gear (20), a flat key (21), a driving shaft (22), a long sleeve (23), a bearing with a base (24), a linear sliding base (25), a driven shaft (26), a linear guide rail (27), a taper hole gear (28), a taper sleeve (29), a flat round nut (30), a small bearing with a base (31), a short guide stud, The device comprises a reverse thread lead screw nut (33), a middle finger seat (34), a thick cushion block (35), long and short guide studs (36), a U-shaped mounting plate (37), a bevel gear support plate (38), a motor planet gear reducer (39), a large bevel gear (40), a small bevel gear (41), a small bevel gear shaft (42), a small parallel bearing with a seat (43) and a flexible shaft component (44); the components of the finger part (16) are a finger root (16a), a hinge mandrel (16b) and a fingertip (16 c); the flexible shaft component (44) comprises a conical pressure head (44a), a knurled nut sleeve (44b) and a flexible shaft body (44 c);
the four-crank rocker mechanism is characterized by comprising four crank rocker mechanisms with the same size, namely a front left rod, a front right rod, a rear left rod and a rear right rod, which are positioned on the same plane, wherein angular displacements of four cranks driven by a stepping motor (19) with a worm gear reducer are equal, rocker hinges of the front left rocker and the front right rocker are coaxial and are fixed on a right-angle plate sliding block (7) in front, and rocker hinges of the rear left rocker and the rear rocker are coaxial and are fixed on a right-angle plate sliding block (7) in rear; the motor (2) drives the positive and negative thread lead screws (5) to enable the two right-angle plate sliding blocks (7) to approach to each other or move away from each other in the opposite direction at the same speed, and the rocker hinges move to form a parallel mechanism;
two ends of two linear guide rails (27) are respectively fixed by two guide rail seats (8), four guide rail seats (8) are arranged on the bottom plate (1), the two linear guide rails (27) are coaxially arranged, a linear sliding seat (25) passes through the linear guide rails (27) to move linearly, and a rectangular plate sliding block (7) is fixed on the linear sliding seat (25); a positive thread screw nut (6) and a negative thread screw nut (33) are arranged on the positive and negative thread screws (5) which are parallel to the two linear guide rails (27);
a positive thread lead screw nut (6) and a negative thread lead screw nut (33) are respectively fixed on the two right-angle plate sliding blocks (7), and the motor (2) drives the positive and negative thread lead screws (5) to drive the positive thread lead screw nut (6) and the negative thread lead screw nut (33) under the guide of the linear guide rail (27), so that the two right-angle plate sliding blocks (7) realize opposite gripping or back loosening linear movement; two hinge shafts (9) are respectively fixed on two right-angle plate sliding blocks (7) by nuts, the hinge shafts (9) penetrate through holes in a driven rocker (11) and a driving rocker (12), wear-resistant gaskets (10) are arranged on the left side and the right side of the driven rocker (11), and the driven rocker (11) and the driving rocker (12) rotate oppositely on the hinge shafts (9);
two layers of kidney-shaped grooves with different widths are milled on the horizontal plane of the driving rocker (12) coaxially with the axis, the driving rocker (12) is hinged with the connecting rod (13) on the left side through a pin shaft (14), the diameter of a guide cylindrical surface of the pin shaft (14) is in clearance fit with the width of the kidney-shaped groove of the driving rocker (12), the pin shaft (14) and the driving rocker (12) are integrated after the nut of the pin shaft (14) is screwed down, a gap is reserved in the thickness of the connecting rod (13), and the connecting rod (13) can rotate relative to the driving rocker (12) in the pin shaft (14); after the position of the movable pin shaft (14) is fixed by a nut, the working length of the rocker can be manually adjusted; the other end of the connecting rod (13) is hinged with a slotted crank (17) through a pin shaft (14), the slotted crank (17) is also milled with the same axial lead to form two layers of kidney-shaped grooves with different widths, and the working eccentricity of the manual slotted crank (17) is adjusted in the same principle as the connection of the driving rocker (12) and the connecting rod (13);
the other end of the active slotted crank (17) is sleeved on the driving shaft (22) and is fastened on the flattened surface at one end of the driving shaft (22) by a screw to transmit the rotation torque of the driving shaft (22); the driving shaft (22) is provided with a slotted crank (17), a long sleeve (23), two bearings (24) with seats and a driving gear (20), a flattened cylindrical section at the other end of the driving shaft (22) is inserted into a hole of the driving shaft of the stepping motor (19) with the worm gear reducer in a clearance fit manner, the stepping motor (19) with the worm gear reducer transmits torque to the driving shaft (22) through the flattened cylindrical section, and a flat key (21) on the driving shaft (22) transmits the torque to the driving gear (20); the axial size of the long sleeve (23) is ground, and the axial position of the driving gear (20) can be adjusted; one bearing with a seat (24) is fixed on a gear cover plate (18), the axial gravity generated by a gripped object is transmitted to the inner ring of the bearing with a seat (24) by the shaft shoulder surface of a driving shaft (22) to be born, the other bearing with a seat (24) with the same axial lead is fixed on a bottom plate (1), the gear cover plate (18) is connected into an integral structure by two short guide studs (32) and the bottom plate (1), both ends of each short guide stud (32) are cylindrical surfaces which are in clearance fit with corresponding holes, and nuts are used for screwing the short guide studs (32) instead of screwing the short guide studs (32) on the bottom plate (1) and the gear cover plate (18);
the driven shaft (26) is supported by a bearing with a seat (24) and a bearing with a small seat (31), the bearing with a seat (24) and the bearing with a small seat (31) are respectively fixed on the gear cover plate (18) and the bottom plate (1), and a rotator is formed by a shaft shoulder surface of the driven shaft (26), a taper hole gear (28), a taper sleeve (29) and a flat round nut (30) in the axial direction; the driving gear (20) is meshed with a taper hole gear (28), a taper sleeve (29) is arranged in a hole of the taper hole gear (28), and an oblate nut (30) is screwed, so that torque is transmitted to the driven shaft (26) through the inclined wedge effect of a conical contact surface; the other end of the driven slotted crank (17) is sleeved on the driven shaft (26) and is fastened on the flat cutting surface at one end of the driven shaft (26) by a screw, and the rotation torque of the driven shaft (26) is transmitted to the driven slotted crank (17); the oblate nut (30) is reversely unscrewed, the taper hole gear (28) and the taper sleeve (29) are separated, and the phase angle between the driving slotted crank (17) and the driven slotted crank (17) can be adjusted;
a waist-shaped groove is formed in the connecting rod (13), the width of the waist-shaped groove is in clearance fit with the diameter of a section of cylindrical surface of the threaded end of the short finger seat (15), the short finger seat (15) can be arranged at any position of the waist-shaped groove of the connecting rod (13), the short finger seat (15) can rotate at any angle relative to the connecting rod (13), and then the short finger seat is fixed on the connecting rod (13) by a nut; the short finger seat (15) is provided with a finger part (16);
the front left crank rocker mechanism and the rear left crank rocker mechanism which are positioned on the left side of the manipulator are driving crank rocker mechanisms, and the front right crank rocker mechanism and the rear right crank rocker mechanism which are positioned on the right side of the manipulator are driven crank rocker mechanisms; a short finger seat (15) is arranged on the connecting rod (13) at the left side, and a middle finger seat (34) is correspondingly arranged on the connecting rod (13) at the right side; the structures and the sizes of the four finger parts (16) on the short finger seat (15) and the middle finger seat (34) are completely the same, and the planes of the four finger parts (16) arranged on the short finger seat (15) and the middle finger seat (34) are coplanar;
a short finger seat (15) is arranged on the driving rocker (12), and a middle finger seat (34) is arranged on the driven rocker (11); the width of a narrow waist-shaped groove of the active rocker (12) is in clearance fit with the diameter of a section of cylindrical surface of a threaded end of the short finger seat (15), the short finger seat (15) is arranged at any position of the waist-shaped groove of the active rocker (12), the short finger seat (15) can rotate at any angle relative to the active rocker (12), and then the short finger seat is fixed on the active rocker (12) by a nut; the driving connecting rod (13) is higher than the driving rocker (12), the driven connecting rod (13) is higher than the driven rocker (11), a thick cushion block (35) is arranged on the mounting surface of the finger component (16), and the planes of the four finger components (16) are coplanar, namely the short finger seat (15) and the middle finger seat (34).
2. The colludable and pinchable four-directional cardiac motion parallel mechanism palm manipulator of claim 1, wherein: two ends of the positive and negative threaded lead screw (5) are supported by large parallel bearing blocks (4), the large parallel bearing blocks (4) are fixed on the bottom plate (1), the motor (2) is fixed on the bottom plate (1), and the motor (2) and the positive and negative threaded lead screw (5) are connected by the coupler (3).
3. The colludable and pinchable four-directional cardiac motion parallel mechanism palm manipulator of claim 1, wherein: the U-shaped mounting plate (37) is provided with a hole system connected with the robot body, and the U-shaped mounting plate (37) is fixed on the bottom plate (1) through four long and short guide studs (36) to realize the connection of the bevel gear support plate (38) and the bottom plate (1).
4. The colludable and pinchable four-directional cardiac motion parallel mechanism palm manipulator of claim 1, wherein: the finger root (16a) of the finger part (16) is fixed on the short finger seat (15) or the middle finger seat (34), the finger root (16a) and the finger tip (16c) are connected through a hinge by a hinge mandrel (16b), the finger tip (16c) is in interference fit with the hinge mandrel (16b), the finger root (16a) is in clearance fit with the hinge mandrel (16b), rubber is pasted on the contact surfaces of the finger root (16a), the finger tip (16c) and a grasped object, the finger tip (16c) is provided with a left protruding fin and a right protruding fin, and the limit angle for limiting the outward rotation of the finger tip (16c) relative to the finger root (16a) is zero degree, namely the limit angle is a straightening state and is also an initial state of the finger; one outer end of the hinge mandrel (16b) is provided with a taper hole, a conical pressure head (44a) at the other end of the soft shaft body (44c) is inserted into the taper hole and is pressed by the knurled nut sleeve (44b) to transmit torque;
in the pinching mode, the object to be grasped is held by the finger tip (16c) or the finger base (16a), and the structure is complex: the soft shaft component (44) is driven to enable the finger tip (16c) to be in a straightened state relative to the finger root (16a) and also to be in an initial state of the finger; or a simple structure: when the flexible shaft part (44) is removed, the finger tip (16c) is straightened relative to the finger base (16a) due to the action of gravity.
5. The colludable and pinchable four-directional cardiac motion parallel mechanism palm manipulator of claim 1, wherein: the U-shaped mounting plate (37) is fixed on a bevel gear supporting plate (38), the motor planet gear reducer (39) is fixed on the bevel gear supporting plate (38), and the large bevel gear (40) is sleeved on an output shaft of the motor planet gear reducer (39) and fixed by screws and gaskets; four small bevel gears (41) are respectively pressed on the plane of the shaft end of the small bevel gear shaft (42) by a fastening screw, each small bevel gear shaft (42) is supported by two small parallel belt seat bearings (43), and eight small parallel belt seat bearings (43) are fixed on the bevel gear supporting plate (38); the other shaft end of each small bevel gear shaft (42) is provided with a taper hole, a conical pressure head (44a) at one end of a flexible shaft body (44c) of the flexible shaft component (44) is inserted into the taper hole and is pressed by a knurled nut sleeve (44b) to transmit torque; two conical pressure heads (44a) and a soft shaft body (44c) are fixed together in a rolling way, and two knurled nut sleeves (44b) in opposite directions are sleeved on the soft shaft body (44c) to form a flexible shaft component (44) which is integrally connected;
in the hooking mode, through the transmission of a bevel gear mechanism and a flexible shaft component (44), a motor planet gear reducer (39) drives four small bevel gear shafts (42) to enable four fingertips (16c) to synchronously rotate, and a horizontally placed cylinder or a sphere or an ellipsoid is hooked from the lower part of the side surface;
through the height of controlling the manipulator to and the three motor on the cooperative control manipulator, there are three kinds of modes of colluding: a mode that the finger root (16a) does not contact the object to be grabbed, and the finger tip (16c) grabs the object from the lower part; for soft and brittle grasped objects, the way that the finger root (16a) just contacts the grasped objects, the contact force is zero or less, and the finger tip (16c) grabs the objects from the lower part; for a heavy object to be grasped, the contact force of the finger root (16a) is larger, and the finger tip (16c) can grasp the object more reliably by means of hooking the object from the lower part.
6. The colludable and pinchable four-directional cardiac motion parallel mechanism palm manipulator of claim 1, wherein: by manual adjustment, it is possible to vary: firstly, the working lengths of a driven rocker (11), a driving rocker (12) and a slotted crank (17) are changed by adjusting the positions of pin shafts (14) at the two ends of a connecting rod (13) on the driven rocker (11), the driving rocker (12) and the slotted crank (17), secondly, an oblate nut (30) is loosened, thirdly, the asymmetry degree of left and right side cranks relative to the axial lead of a linear guide rail (27) is adjusted by adjusting the phase angle between a taper hole gear (28) and a taper sleeve (29), thirdly, the positions of four short finger seats (15) or finger seats (34) on the four connecting rods, fourthly, the angles of the four short finger seats (15) or finger seats (34) on the four connecting rods, fifthly, the positions of the four short finger seats (15) or finger seats (34) on the two driven rockers (11) and the two driving rockers (12), and sixthly, the four short finger seats or finger seats (15) or finger seats (34) are respectively on the two driven rockers (11, The angles on the two driving rocking bars (12) are adjusted manually in six ways; these six approaches can be varied individually or in any combination to form specific embodiments.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011008268.1A CN112123358B (en) | 2020-09-23 | 2020-09-23 | Four-direction heart motion parallel mechanism palm manipulator capable of hooking and pinching |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011008268.1A CN112123358B (en) | 2020-09-23 | 2020-09-23 | Four-direction heart motion parallel mechanism palm manipulator capable of hooking and pinching |
Publications (2)
| Publication Number | Publication Date |
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| CN112123358A true CN112123358A (en) | 2020-12-25 |
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| CN115043212A (en) * | 2022-06-22 | 2022-09-13 | 江南大学 | Manipulator suitable for multiple operation objects and operation method |
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| CN112123358B (en) | 2021-11-26 |
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Inventor after: Zhang Jun Inventor after: Lu Xinlong Inventor after: Liu Yu Inventor after: Chen Yanqiu Inventor after: Yao Yuhang Inventor after: Wang Kun Inventor after: Zhou Lang Inventor after: Lv Bing Inventor before: Zhang Jun Inventor before: Lu Xinlong Inventor before: Yao Yuhang Inventor before: Wang Kun Inventor before: Zhou Lang Inventor before: Lv Bing |
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Application publication date: 20201225 Assignee: WUXI LEAD INTELLIGENT EQUIPMENT Co.,Ltd. Assignor: Jiangnan University Contract record no.: X2022320010008 Denomination of invention: Hook and pinch four finger concentric parallel manipulator palm manipulator Granted publication date: 20211126 License type: Common License Record date: 20220701 |