CN115488917A - Manipulator and using method thereof - Google Patents

Abstract

The invention provides a manipulator and a using method thereof, relating to the field of mechanical equipment; the manipulator comprises a control center, a first driving part and a second driving part which are electrically connected with the control center, and a plurality of manipulator clamping jaws which are connected with the first driving part through a first connecting part and are arranged in a circumferential array on the same horizontal plane; any two adjacent manipulator clamping jaws are driven by the first driving part to at least form a first included angle and a second included angle of two clamping postures of the manipulator; the manipulator clamping jaw comprises a connecting arm and a paw, one end of the connecting arm is fixedly connected to the first connecting part, the other end of the connecting arm is movably connected to the paw through an SMA spring assembly, the paw is connected to the second driving part through the second connecting part, and the paw is driven by the second driving part to reciprocate in the vertical direction; when the SMA spring assembly is electrified to work, the claws of the manipulator are close to each other and are folded, and an object to be clamped is picked up; the manipulator is convenient to control, and can safely and efficiently clamp fragile or miniature articles.

Description

Manipulator and using method thereof

Technical Field

The invention relates to the technical field of mechanical equipment, in particular to a manipulator and a using method thereof.

Background

With the development of science and technology, various industries gradually apply automation programs, and an intelligent control manipulator is used as an important component in the automation programs and is widely applied to various processing industries; the manipulator can grab, carry objects or operate tools by fixed procedures, can complete various expected operations by programming, and greatly reduces the labor cost by application.

The traditional manipulator has the defects of complicated structure, large volume, almost constant moment, insufficient flexibility, simple function and incapability of adapting to clamping of objects under complex working conditions, for example, when fragile objects are grabbed, the manipulator is easy to damage and has the defects of difficulty in grabbing and easy breaking, so the concept of the flexible manipulator is provided; the flexible joint of the flexible manipulator is mainly made of a material with changeability and has the characteristic of flexibility, the joint can play a role in shock absorption and buffering when the flexible manipulator is used, when the flexible manipulator is bent, the finger joints are flexible, and the flexible manipulator has a good grabbing effect on fragile objects, so that the flexible manipulator has good application value in raw material supply, production packaging and storage transportation of light industry and food processing industry, and is applicable to sorting, packaging, storage and distribution scenes.

The drive of present mainstream flexible manipulator mainly includes pneumatics, hydraulic pressure and electronic mode, compares in electronic mode, has the shortcoming that power is not enough, control is unstable when the flexible manipulator of pneumatic type uses, and the flexible manipulator of fluid pressure type has sealed difficulty and has the sepage risk. In addition, the cost of the current mainstream manipulator is high, the control is complex, the control is simple, the cost is not high, and the structure of the manipulator suitable for clamping fragile articles needs further research.

Disclosure of Invention

The invention aims to provide a manipulator and a use method thereof, which are used for solving the problem that the existing flexible manipulator cannot be used for clamping fragile and miniature articles.

In order to achieve the above purpose, the invention provides the following technical scheme: a manipulator comprises a first driving part, a second driving part, a first connecting part, a second connecting part, a plurality of manipulator clamping jaws and a control center;

the manipulator clamping jaws are connected to the output end of the first driving part through the first connecting part, the manipulator clamping jaws are distributed on the circumference of the same horizontal plane of the output end in an array manner, and any two adjacent manipulator clamping jaws at least have a first included angle and a second included angle under the driving of the first driving part; the first included angle and the second included angle form two clamping postures of the manipulator;

the manipulator clamping jaw comprises a connecting arm, a paw and an SMA spring assembly, one end of the connecting arm is fixedly connected to a first connecting part, the other end of the connecting arm is movably connected to the paw through the SMA spring assembly, the paw is connected to the output end of a second driving part through a second connecting part, and the paw is driven by the second driving part to have a degree of freedom of movement in the vertical direction;

the control center is electrically connected with the first driving part, the second driving part and the SMA spring assembly respectively; when the SMA spring assembly is electrified to work, the claws of the mechanical arm clamping jaws are close to each other and are folded, so that an object to be clamped is picked up.

Further, the first driving part and the second driving part are sequentially arranged from top to bottom to form the manipulator main body;

the first driving part comprises a first shell and an electric rotating unit arranged in the first shell, and the second driving part comprises a second shell and an electric telescopic unit arranged in the second shell; the first shell is fixedly arranged above the second shell, the electric rotating unit is provided with a first output shaft which vertically penetrates through the bottom surface of the first shell, and the bottom end of the first output shaft extends to the position above the second shell;

the manipulator clamping jaws comprise three manipulator clamping jaws, and the first connecting part comprises a first connecting unit, a second connecting unit and a third connecting unit which are fixedly connected with one manipulator clamping jaw respectively; the first connecting unit is arranged as a fixing part, the fixing part is connected to the top end of the manipulator clamping jaw and is used for fixedly connecting the manipulator clamping jaw fixedly connected with the fixing part to the upper surface of the second shell; the second connecting unit comprises a driving gear which is connected and arranged at the top end of the clamping jaw of the manipulator, the driving gear is attached to the upper surface of the second shell, a first through hole is formed in the axis position of the tooth surface of the driving gear, and the first through hole is tightly matched with the bottom end of the first output shaft; the third connecting unit comprises a driven gear which is connected to the top end of the clamping jaw of the manipulator, the driven gear is attached to the upper surface of the second shell, and the driven gear is meshed with the driving gear; a second through hole is formed in the axial center of the tooth surface of the driven gear, a positioning part is arranged on the upper surface of the second shell, and the positioning part is matched with the second through hole through a bearing;

when the electric rotating unit is started, the driving gear is driven to drive the driven gear to rotate, and then the manipulator clamping jaw connected with the driving gear is driven to rotate, change and clamp the gesture.

Further, the manipulator clamping jaw also comprises a connecting rod unit;

the bottom end of the connecting arm is provided with a first installation position and a second installation position, the paw is provided with a third installation position and a fourth installation position, the first installation position is rotatably connected to the third installation position by adopting an SMA spring assembly, the second installation position is rotatably connected to the fourth installation position by adopting a connecting rod unit, and the SMA spring assembly is parallel to the connecting rod unit;

defining the folding direction of the manipulator as the inner side, and arranging a working surface facing to the inner side on the paw; when the SMA spring assembly is electrified to work, the bottom of the working face is driven to turn inwards, and the working face is made to contact an article to be clamped.

Further, the second connecting part comprises a rotating part and three fourth connecting units with the same structure;

the electric telescopic unit is provided with a second output shaft which vertically penetrates through the bottom surface of the second shell, and the rotating part is arranged at the bottom end of the second output shaft extending out of the second shell; the rotating part comprises a rotating disc, a third through hole is formed in the middle of the rotating disc, and the third through hole of the rotating disc is connected to the second output shaft in an adaptive mode through a bearing;

the fourth connecting units are arranged on the rotating disc in an array mode, and the positions of the fourth connecting units correspond to the positions of the clamping jaws of the mechanical arm one by one; the fourth connecting unit is provided with a movable connecting part which is rotatably connected with the connecting rod unit of the manipulator clamping jaw;

when electronic flexible unit starts, drives the rotating part at vertical direction reciprocating motion, and then drives connecting rod unit and reciprocates at vertical direction rather than the hand claw of being connected.

Further, the bottom end of the connecting arm is provided with a secondary step structure extending towards the inner side, the secondary step structure comprises a first step located at the outer side and a second step located at the inner side, and the bottom surface of the second step is higher than that of the first step; the middle part of the first step is provided with a first mounting groove with a downward opening, the first mounting groove and the groove walls at two sides of the first mounting groove form a first mounting position, and the second step forms a second mounting position;

a second mounting groove with an upward opening is formed in the upper portion of the paw, and a third mounting position and a fourth mounting position are formed by the second mounting groove and the groove walls on the two sides of the second mounting groove respectively; the third mounting position is located at the lower side of the fourth mounting position, and the third mounting position and the fourth mounting position correspond to the first mounting position and the second mounting position in the vertical direction.

Furthermore, the SMA spring assembly comprises an SMA spring, and a first connector and a second connector which are fixedly connected to two ends of the SMA spring respectively;

one end of the first connecting joint, which is far away from the SMA spring, is arranged into an annular structure, and the annular structure is rotationally arranged in the first mounting groove by adopting a rotating shaft assembly; the one end that the SMA spring was kept away from to the second connector sets up to the semicylinder structure, and this semicylinder structure is gone up to be provided with the fourth through-hole along being on a parallel with its axial, and this fourth through-hole adopts the pivot subassembly to rotate and sets up in the second mounting groove to the arcwall face butt of this semicylinder structure is in the tank bottom surface of second mounting groove.

Further, the link unit includes a pair of links arranged in parallel; the connecting rods are symmetrically arranged at the outer sides of the first mounting groove and the second mounting groove, and two ends of each connecting rod are rotatably connected to the groove walls of the first mounting groove and the second mounting groove by adopting rotating shaft assemblies respectively;

the fourth connecting unit comprises an L-shaped support and a cross rod, the upper end of the L-shaped support is fixedly connected to the disc surface of the rotating disc, the bottom end of the L-shaped support is connected to one end of the cross rod in a rotating mode through a rotating shaft assembly, the other end of the cross rod is arranged between two connecting rods which are arranged in parallel, and the rotating shaft assembly is connected to the middle portions of the two connecting rods.

Furthermore, the first through hole is an elliptical hole, and the shape of the bottom end of the first output shaft is matched with that of the first through hole.

Furthermore, the working surface of the paw is a vertical plane or an arc-shaped surface which is concave towards the inside of the paw.

The invention also provides a use method of the manipulator, which is applied to the manipulator and comprises the following steps:

1) Starting the first driving part, driving the driving gear to be meshed with the driven gear to rotate by the electric rotating unit according to the structure of the object to be clamped, controlling the clamping jaws of the adjacent mechanical arms to change between a first included angle and a second included angle, and determining the clamping posture of the mechanical arms; meanwhile, the paw of the manipulator clamping jaw and the manipulator clamping jaw synchronously change the posture under the action of the rotating disc;

2) Starting a second driving part, and driving the claws of the clamping jaws of the manipulator to downwards approach to an article to be clamped by the electric telescopic unit through a fourth connecting unit connected to the rotating disc;

3) Starting the SMA spring assembly, extending the SMA spring to drive the claws to mutually approach and close to clamp the object to be clamped, and completing clamping of the object to be clamped;

4) And then the second driving part is started, and the electric telescopic unit upwards lifts the gripper for clamping the object through the fourth connecting unit to complete the picking of the object to be clamped.

According to the technical scheme, the technical scheme of the invention has the following beneficial effects:

the invention discloses a manipulator and a using method thereof, wherein the manipulator comprises a first driving part, a second driving part, a first connecting part, a second connecting part, a plurality of manipulator clamping jaws and a control center; the manipulator clamping jaws are connected to the output end of the first driving part through the first connecting part, the manipulator clamping jaws are distributed on the circumference of the same horizontal plane of the output end in an array manner, and any two adjacent manipulator clamping jaws are driven by the first driving part to at least form a first included angle and a second included angle of two clamping postures of the manipulator; the manipulator clamping jaw comprises a connecting arm, a paw and an SMA spring assembly, wherein one end of the connecting arm is fixedly connected to the first connecting part, the other end of the connecting arm is movably connected to the paw through the SMA spring assembly, the paw is connected to the output end of the second driving part through the second connecting part, and the paw is driven by the second driving part to have a degree of freedom of movement in the vertical direction; the control center is electrically connected with the first driving part, the second driving part and the SMA spring assembly respectively; when the SMA spring assembly is electrified to work, the claws of the mechanical arm clamping jaws are close to each other and are folded, so that an object to be clamped is picked up. The manipulator is convenient to control, and can safely and efficiently clamp fragile or miniature articles.

The manipulator clamping posture is changed by adopting gears in the first connecting part, specifically, the first connecting part comprises connecting units which are fixedly connected with manipulator clamping jaws respectively, one connecting unit ensures that the manipulator clamping jaws connected with the connecting unit are not understood by the fixedly connected first driving part, the other two connecting units are respectively provided with a driving gear connected with a first output shaft and a driven gear meshed with the driving gear, and the position change of the manipulator connected with the connecting unit is realized by the meshing rotation of the gears. The invention can effectively position the manipulator through gear engagement, keep the clamping posture of the manipulator stable, and has low cost of the whole device.

It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent.

The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of the specific embodiments according to the teachings of the present invention.

Drawings

The figures are not intended to be drawn to scale with true references. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:

FIG. 1 is a first perspective view of a robot according to the present invention;

FIG. 2 is a second perspective view of the robot of the present invention;

FIG. 3 is a bottom plan view of the first coupling portion of the robot of the present invention;

FIG. 4 is a bottom view of the robot of the present invention;

FIG. 5 is a perspective view of a robot gripping jaw of the present invention;

FIG. 6 (a) is a perspective view of a connecting arm of a robot gripping jaw of the present invention;

FIG. 6 (b) is a perspective view of a gripper of a robot gripping jaw of the present invention;

FIG. 7 is a view of a driving gear structure of the first connecting portion;

fig. 8 is a view showing a structure of a driven gear in the first coupling portion;

fig. 9 is a block diagram of an SMA spring assembly.

In the figure, the specific meaning of each mark is:

1-a manipulator clamping jaw, 11-a connecting arm, 111-a first installation groove, 112-a second step, 12-a paw, 121-a working surface, 122-a second installation groove, 13-an SMA spring component, 131-an SMA spring, 132-a first connecting head, 133-a second connecting head and 14-a connecting rod; 2-a first drive, 21-a first housing; 3-a second drive, 31-a second housing, 32-a second output shaft; 4-first connection, 41-first connection unit; 42-second connection unit, 421-driving gear, 422-first through hole; 43-third connection unit, 431-driven gear, 432-second through hole; 5-second connection part, 51-rotation part, 511-rotation disc, 512-third through hole; 52-fourth connecting unit, 521-L-shaped bracket, 522-cross bar.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It should be apparent that the described embodiments are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.

The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Similarly, the singular forms "a," "an," or "the" do not denote a limitation of quantity, but rather denote the presence of at least one, unless the context clearly dictates otherwise. The terms "comprises," "comprising," or the like, mean that the elements or items listed before "comprises" or "comprising" encompass the features, integers, steps, operations, elements, and/or components listed after "comprising" or "comprising," and do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. "upper", "lower", "left", "right", and the like are used only to indicate relative positional relationships, and when the absolute position of the object to be described is changed, the relative positional relationships may also be changed accordingly.

Based on the problems of insufficient power and difficult sealing of the hydraulic flexible manipulator of the conventional pneumatic flexible manipulator, the conventional manipulator is relatively complex in structure and control system, so that the production cost of the manipulator is high; therefore, it is necessary to provide a robot structure with a simple structure and control. In addition, the current manipulator is large in size, cannot accurately control clamping force, and is insufficient in flexibility, so that fragile objects and miniature objects cannot be safely and nondestructively picked up. The invention provides a manipulator and a using method thereof, wherein an SMA spring assembly is used as a flexible driving part, the SMA spring assembly is simple to control and is flexible enough, and when the SMA spring assembly works, fragile objects and miniature objects can be safely and stably clamped and controlled.

The manipulator and the method for using the manipulator disclosed by the invention are further specifically described in the following with reference to the embodiments shown in the drawings.

The invention discloses a manipulator, which comprises a first driving part 2, a second driving part 3, a first connecting part 4, a second connecting part 5, a plurality of manipulator clamping jaws 1 and a control center, wherein the first driving part is connected with the first driving part;

the manipulator clamping jaws 1 are connected to the output end of the first driving part 2 through the first connecting part 4, the manipulator clamping jaws 1 are distributed on the same horizontal plane of the output end of the first driving part 2 in a circumferential array mode, and any two adjacent manipulator clamping jaws 1 at least have a first included angle and a second included angle under the driving of the first driving part 2; the first included angle and the second included angle form two clamping postures of the manipulator; the manipulator clamping jaw 1 comprises a connecting arm 11, a paw 12 and an SMA spring assembly 13, when the manipulator clamping jaw is installed, one end of the connecting arm 11 is fixedly connected to the first connecting part 4, the other end of the connecting arm is movably connected to the paw 12 through the SMA spring assembly 13, the paw 12 is connected to the output end of the second driving part 3 through the second connecting part 5, and the paw 12 has a degree of freedom moving along the vertical direction under the driving of the second driving part 3; the control center is respectively and electrically connected with the first driving part 2, the second driving part 3 and the SMA spring assembly 13; when the SMA spring assembly 13 is energized, the jaws 12 of the robot gripper 1 are brought closer together and closed, so that the item to be gripped is picked up.

According to the manipulator, the first driving part 2 drives the manipulator clamping jaw 1 to change the clamping posture of the manipulator, the second driving part 3 drives the gripper 12 of the manipulator to be close to an article to be clamped, and the SMA spring assembly 13 drives the gripper 12 to be clamped on the surface of the article to be clamped when working.

In specific implementation, as shown in fig. 1 and fig. 2, the first driving part 2 and the second driving part 3 are sequentially arranged from top to bottom to form a manipulator main body; the first driving part 2 includes a first housing 21 and an electric rotating unit provided in the first housing 21, and the second driving part 3 includes a second housing 31 and an electric telescopic unit provided in the second housing 31; as shown in the figure, the first casing 21 is fixed above the second casing 31, in the embodiment, the first casing 21 is connected to the second casing 31 by a pair of symmetrically arranged support pillars, the electric rotating unit is provided with a first output shaft vertically penetrating through the bottom surface of the first casing 21, and the bottom end of the first output shaft extends above the second casing 31. In the embodiment, the manipulator main body forms a core structure of the manipulator, the electric rotating unit selects a steering engine or a rotating motor, and the electric telescopic unit selects a telescopic motor.

In the embodiment shown in the drawings, the robot is provided with three robot gripping jaws 1, and the first driving section 2 drives the three robot gripping jaws 1 to change between gripping postures of 120 ° or 180 °.

As shown in fig. 3, the first connection portion 4 includes a first connection unit 41, a second connection unit 42, and a third connection unit 43 to which a robot gripping jaw 1 is fixedly attached, respectively; when in design, the first connecting unit 41 is arranged as a fixing part, the fixing part is connected to the top end of the manipulator clamping jaw 1, and is used for fixing the manipulator clamping jaw 1 fixedly connected with the fixing part on the upper surface of the second shell 31; the second connecting unit 42 comprises a driving gear 421 connected to the top end of the manipulator clamping jaw 1, the driving gear 421 is attached to the upper surface of the second housing 31, and a first through hole 422 is arranged at the axial center position of the tooth surface of the driving gear 421; the third connecting unit 43 includes a driven gear 431 connected to the distal end of the manipulator jaw 1, the driven gear 431 is attached to the upper surface of the second housing 31, and the driven gear 431 is engaged with the driving gear 421; during assembly, the first through hole 422 is tightly matched with the bottom end of the first output shaft, and the driving gear 421 is connected with the first driving part 2 only through the first output shaft; a second through hole 432 is provided at the axial center of the tooth surface of the driven gear 431, and a positioning portion adapted to the second through hole 432 by using a bearing is provided on the upper surface of the second housing 31.

In an embodiment, the first through hole 422 is an oblong hole, the shape of the bottom end of the first output shaft is matched with the first through hole 422, and the first output shaft cannot slide after being matched with the oblong hole; the positioning portion is designed as a cylinder protruding from the upper surface of the second housing 31 toward the first housing 21, and the outer wall of the cylinder is installed by using a rolling bearing to match with the second through hole 432. As shown in fig. 7 and 8, in this embodiment, the driving gear 421 and the driven gear 431 are both configured as a plate-shaped structure, the driving gear 421 and the driven gear 431 are respectively configured by a plurality of continuous teeth disposed on the periphery of one end of the plate-shaped structure, and the other end of the plate-shaped structure is connected to the upper end of the connecting arm 11 on the manipulator jaw 1 by a connecting member.

When the first driving part 2 works, the electric rotating unit thereof is started to drive the driving gear 421 to drive the driven gear 431 to rotate, and further drive the manipulator clamping jaw 1 connected with the driving gear to rotate and change the clamping posture. In this embodiment, the manipulator clamping jaw 1 connected to the first connecting unit 41 is fixed to the upper surface of the second housing 31 and is a stationary jaw, and the manipulator clamping jaw 1 connected to the second connecting unit 42 and the third connecting unit 43 is a movable jaw, so that the electric rotating unit drives the movable jaw to adjust and change the manipulator clamping posture.

With reference to the specific structure shown in fig. 5, the manipulator gripping jaw 1 further comprises a link unit; during installation, the bottom end of the connecting arm 1 is provided with a first installation position and a second installation position, and the paw 12 is provided with a third installation position and a fourth installation position; when the installation is carried out, the first installation position is rotationally connected to the third installation position by adopting an SMA spring assembly 13, the second installation position is rotationally connected to the fourth installation position by adopting a connecting rod unit, and the SMA spring assembly 13 is parallel to the connecting rod unit; the clamping direction of the mechanical arm clamping jaw 1 is defined as the inner side, and a working surface 121 facing to the inner side is arranged on the mechanical arm 12; when the SMA spring assembly 13 is electrified to work, the bottom of the working surface 121 is driven to turn inwards, and the working surface 121 is made to contact an article to be clamped; in the whole manipulator, the SMA spring assemblies 13 of the three manipulator clamping jaws 1 work simultaneously, and the claws 12 are tightened and folded inwards to complete the clamping action of an object to be clamped.

In the initial state of the manipulator clamping jaw 1, the length of the SMA spring assembly 13 should be not less than the length of the connecting rod unit, otherwise the working surface 121 of the gripper 12 is turned outwards, the elongation of the SMA spring assembly 13 required in the working process is greatly increased, and the clamping action is not facilitated to be realized; therefore, in the embodiment, the length of the link unit is equal to the length of the SMA spring assembly 13, so as shown in fig. 1, the link unit and the SMA spring assembly 13 form a parallelogram after being fixedly installed at the first installation position to the fourth installation position, and then the SMA spring assembly 13 can easily drive the gripper 12 to turn inwards after being electrified and extended, so as to complete the clamping of the article.

In the embodiment shown in fig. 9, the SMA spring assembly 13 includes an SMA spring 131, a first connector 132 and a second connector 133 respectively fixed to two ends of the SMA spring 131; one end of the first connecting head 132, which is far away from the SMA spring 131, is set to be an annular structure, and the annular structure is rotatably arranged in the first mounting groove 111 by adopting a rotating shaft assembly; one end of the second connector 133 far away from the SMA spring 131 is set to be a semi-cylindrical structure, a fourth through hole is arranged on the semi-cylindrical structure along the axial direction parallel to the semi-cylindrical structure, the fourth through hole is rotatably arranged in the second mounting groove 122 by adopting a rotating shaft assembly, and the arc-shaped surface of the semi-cylindrical structure abuts against the bottom surface of the second mounting groove 122. When the SMA spring 131 is electrically extended, the whole SMA spring assembly 13 is extended, and the second connector 133 pushes the gripper 12 to turn inwards at the abutting position with the second mounting groove 122, so as to adapt to the extension of the SMA spring 131 and realize posture change of the gripper 12. In the embodiment shown in the drawings, the first connector 132 and the second connector 133 are made of ceramic, and when the first connector 132 and the second connector 133 are fixed, the first connector 132 and the second connector 133 are respectively provided with a slot, and two ends of the SMA spring 131 are respectively fixedly clamped in the preset slots.

As shown in fig. 6 (a) and 6 (b), the upper portion of the connecting arm 11 is provided with an L-shaped bracket, and the bending portion of the L-shaped bracket is provided with a rounded corner, so as to improve the structural strength of the connecting arm 11; the bottom end of the connecting arm 11 is provided with a two-step structure extending towards the inner side, the two-step structure comprises a first step located at the outer side and a second step 112 located at the inner side, and the bottom surface of the second step 112 is higher than that of the first step; when the first step is connected, the middle part of the first step is provided with a first mounting groove 111 with a downward opening, the first mounting groove 111 and the two side groove walls thereof form a first mounting position, and the second step 112 forms a second mounting position. The upper portion of the gripper 12 is provided with a second mounting groove 122 with an upward opening, the second mounting groove 122 and two side groove walls thereof respectively form a third mounting position and a fourth mounting position, wherein the third mounting position is located at the lower side of the fourth mounting position, and the third mounting position and the fourth mounting position correspond to the first mounting position and the second mounting position in the vertical direction. In specific implementation, in order to avoid the phenomenon that the manipulator clamp 1 is close to an object to be clamped and collides with a storage surface of the object to be clamped, and the phenomenon that the paw 12 is prevented from overturning occurs, an arc-shaped transition surface is arranged on the side surface, opposite to the working surface 121, of the paw 12; for example, as shown in fig. 6 (b), the gripper 12 is designed to be a triangular prism, one side of the triangular prism forms the working surface 121, the edge opposite to the side and two adjacent sides thereof adopt arc transition, and the second mounting groove 122 penetrates from one opposite side of the edge to the working surface 121.

In addition, in the embodiment, the working surface 121 of the gripper 12 may be designed as a vertical plane, and considering that the clamping effect of the plane to the object is poor when the shape of the fragile object or the micro-object is a sphere-like structure, the working surface 121 may also be designed as an arc-shaped surface recessed toward the inside of the gripper 12 to adapt to the shape of the object, increase the contact area between the working surface 121 and the object, and effectively improve the clamping effect. In some embodiments, a rubber layer is attached to the working surface 121 of the gripper 12 to improve the friction between the gripper 12 and the object, thereby preventing the robot from being released when gripping an object that is too smooth.

As shown in fig. 1, 2, 4 and 5, the second connecting portion 5 includes a rotating portion 51 and three fourth connecting units 52 having the same structure; structurally, the electric telescopic unit is provided with a second output shaft 32 vertically penetrating through the bottom surface of the second shell 31, and the rotating part 51 is arranged at the bottom end of the second output shaft 32 extending out of the second shell 31; the rotating part 51 comprises a rotating disc 511, a third through hole 512 is arranged in the middle of the rotating disc 511, and the third through hole 512 of the rotating disc 511 is connected to the second output shaft 32 through a bearing in an adapting manner; the fourth connection units 52 are arrayed on the rotation plate 511 at positions corresponding one-to-one to the positions of the robot gripping jaws 1. The matching bearing of the rotating disc 511 and the second output shaft 32 is also generally a rolling bearing, and the rolling bearing is matched with the first driving part 2, so that the fourth connecting unit 52 connects the connecting rod unit and the manipulator clamping jaw 1 to rotate synchronously, and the normal extension and retraction of the second driving part are not influenced.

When the manipulator is installed, the fourth connecting unit 52 is provided with a movable connecting part which is rotatably connected to the connecting rod unit of the manipulator clamping jaw 1; therefore, when the electric telescopic unit is started, the rotating part 51 is driven to reciprocate in the vertical direction, and then the connecting rod unit and the claw 12 connected with the connecting rod unit are driven to move up and down in the vertical direction.

As further shown in fig. 1 and fig. 2, the fourth connecting unit 52 includes an L-shaped bracket 521 and a cross bar 522, the upper end of the L-shaped bracket 521 is fixedly connected to the disc surface of the rotating disc 511, and the bottom end is rotatably connected to one end of the cross bar 522 by a rotating shaft assembly; the connecting rod unit of the manipulator clamping jaw 1 comprises a pair of connecting rods which are arranged in parallel, the connecting rods are symmetrically arranged at the outer sides of the first mounting groove 111 and the second mounting groove 122, and two ends of each connecting rod 14 are respectively connected to the groove walls of the first mounting groove 111 and the second mounting groove 122 in a rotating mode through rotating shaft assemblies; when assembled, the other end of the cross bar 522 is disposed between the two parallel connecting rods 14 and connected to the middle portions of the two connecting rods 14 by using the rotating shaft assembly, that is, the cross bar 522 forms a movable connecting portion of the fourth connecting unit 52.

As an optional embodiment, the rotating shaft component is designed into a double-ended stud and at least two nuts which are matched with the double-ended stud; for the SMA spring assembly 13, the stud symmetrically penetrates through the groove walls on both sides of the first mounting groove 111 or the second mounting groove 122, the first connector 132 and the second connector 133 are respectively sleeved on the rod section of the stud in the groove, and the two ends of the stud protruding out of the groove walls are locked by nuts; for the link unit, the stud bolt symmetrically penetrates through the two side groove walls of the second step 112 or the second mounting groove 122, and the two ends of the symmetrical link 14 are respectively connected to one end of the stud bolt protruding out of the second step 112 or the second mounting groove 122 and then locked by bolts; for the cross bar 522, it is mounted in a similar position connection to the SMA spring 131; when the rotating shaft assembly formed by the double-headed studs is installed, all the double-headed studs are parallel to each other. Currently, for a manipulator with a larger volume, the rotating shaft assembly can be formed by matching the rotating shaft with other locking units.

The invention further provides a use method of the manipulator, which comprises the following steps:

1) Starting the first driving part 2, driving the driving gear 421 to engage the driven gear 431 to rotate by the electric rotating unit according to the structure of the article to be clamped, controlling the adjacent manipulator clamping jaws 1 to change between the first included angle and the second included angle, and determining the clamping posture of the manipulator; meanwhile, the paw 12 of the manipulator jaw 1 synchronously changes posture with the manipulator jaw 1 under the action of the rotating disc 511;

2) Starting the second driving part 3, and driving the claw 12 of the manipulator clamping jaw 1 to move downwards to approach the article to be clamped through the fourth connecting unit 52 connected to the rotating disc 511 by the electric telescopic unit;

3) Starting the SMA spring assembly 13, and extending the SMA spring 131 to drive the claws 12 to mutually draw close and close to clamp the object to be clamped, so as to finish clamping the object to be clamped;

4) And the second driving part 3 is started again, and the electric telescopic unit lifts the gripper 12 for clamping the object upwards through the fourth connecting unit 52, so as to complete the picking up of the object to be clamped.

According to the manipulator disclosed by the invention, the finger ends are driven by the SMA springs 131 to realize the clamping work of the articles, the power is sufficient, the structure and the control are simple, the manipulator is suitable for clamping fragile and miniature articles, and the control is stable; the using method of the invention selects the clamping gesture of the manipulator according to the structure of the article to be clamped, controls the SMA spring assembly 13 to drive the paw 12 close to the article to be clamped to clamp the article, and finally lifts the paw 12 after clamping the article by the second driving part 3 to finish the automatic picking of the article; when the gripper 12 grips an article, due to the fact that the structure of the article to be gripped is different, after the gripper 12 contacts the article to be gripped, the article abuts against the working surface 121 and clings to the surface of the article under the flexible action of the SMA spring 131, and the article can be gripped stably.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be defined by the appended claims.

Claims (10)

1. A manipulator is characterized by comprising a first driving part, a second driving part, a first connecting part, a second connecting part, a plurality of manipulator clamping jaws and a control center;

the manipulator clamping jaws are connected to the output end of the first driving part through the first connecting part, the manipulator clamping jaws are distributed on the circumference of the same horizontal plane of the output end in an array manner, and any two adjacent manipulator clamping jaws at least have a first included angle and a second included angle under the driving of the first driving part; the first included angle and the second included angle form two clamping postures of the manipulator;

the manipulator clamping jaw comprises a connecting arm, a paw and an SMA spring assembly, one end of the connecting arm is fixedly connected to a first connecting part, the other end of the connecting arm is movably connected to the paw through the SMA spring assembly, the paw is connected to the output end of a second driving part through a second connecting part, and the paw is driven by the second driving part to have a degree of freedom of movement in the vertical direction;

the control center is electrically connected with the first driving part, the second driving part and the SMA spring assembly respectively; when the SMA spring assembly is electrified to work, the claws of the manipulator clamping jaws are close to each other and are folded, so that an object to be clamped is picked up.

2. The manipulator according to claim 1, wherein the first and second driving units are arranged in this order from top to bottom to constitute the manipulator main body;

the first driving part comprises a first shell and an electric rotating unit arranged in the first shell, and the second driving part comprises a second shell and an electric telescopic unit arranged in the second shell; the first shell is fixedly arranged above the second shell, the electric rotating unit is provided with a first output shaft which vertically penetrates through the bottom surface of the first shell, and the bottom end of the first output shaft extends to the position above the second shell;

the manipulator clamping jaws comprise three manipulator clamping jaws, and the first connecting part comprises a first connecting unit, a second connecting unit and a third connecting unit which are fixedly connected with one manipulator clamping jaw respectively; the first connecting unit is arranged as a fixing part, the fixing part is connected to the top end of the manipulator clamping jaw and is used for fixedly connecting the manipulator clamping jaw fixedly connected with the fixing part to the upper surface of the second shell; the second connecting unit comprises a driving gear which is connected and arranged at the top end of the clamping jaw of the manipulator, the driving gear is attached to the upper surface of the second shell, a first through hole is formed in the axis position of the tooth surface of the driving gear, and the first through hole is tightly matched with the bottom end of the first output shaft; the third connecting unit comprises a driven gear which is connected to the top end of the manipulator clamping jaw, the driven gear is attached to the upper surface of the second shell, and the driven gear is meshed with the driving gear; a second through hole is formed in the axial center of the tooth surface of the driven gear, a positioning part is arranged on the upper surface of the second shell, and the positioning part is matched with the second through hole through a bearing;

when the electric rotating unit is started, the driving gear is driven to drive the driven gear to rotate, and then the manipulator clamping jaw connected with the driving gear is driven to rotate, change and clamp the gesture.

3. The robot hand of claim 2, wherein the robot gripping jaw further comprises a link unit;

the bottom end of the connecting arm is provided with a first installation position and a second installation position, the paw is provided with a third installation position and a fourth installation position, the first installation position is rotatably connected to the third installation position by adopting an SMA spring assembly, the second installation position is rotatably connected to the fourth installation position by adopting a connecting rod unit, and the SMA spring assembly is parallel to the connecting rod unit;

defining the closing direction of the manipulator as the inner side, and arranging a working surface facing to the inner side on the paw; when the SMA spring assembly is electrified to work, the bottom of the working face is driven to turn inwards, and the working face is made to contact an article to be clamped.

4. The robot hand according to claim 3, wherein the second connecting portion includes a rotating portion and three fourth connecting units having the same structure;

the electric telescopic unit is provided with a second output shaft which vertically penetrates through the bottom surface of the second shell, and the rotating part is arranged at the bottom end of the second output shaft extending out of the second shell; the rotating part comprises a rotating disc, a third through hole is formed in the middle of the rotating disc, and the third through hole is connected to the second output shaft in an adaptive mode through a bearing;

the fourth connecting unit arrays are arranged on the rotating disc, and the positions of the fourth connecting unit arrays correspond to the positions of the clamping jaws of the manipulator one by one; the fourth connecting unit is provided with a movable connecting part which is rotatably connected with the connecting rod unit of the manipulator clamping jaw;

when electronic flexible unit starts, drives the rotating part at vertical direction reciprocating motion, and then drives connecting rod unit and reciprocates at vertical direction rather than the hand claw of being connected.

5. The robot hand according to claim 3, wherein the bottom end of the connecting arm is provided with a two-step structure extending towards the inner side, the two-step structure comprises a first step located at the outer side and a second step located at the inner side, and the bottom surface of the second step is higher than that of the first step; the middle part of the first step is provided with a first mounting groove with a downward opening, the first mounting groove and the groove walls at two sides of the first mounting groove form a first mounting position, and the second step forms a second mounting position;

a second mounting groove with an upward opening is formed in the upper part of the paw, and a third mounting position and a fourth mounting position are respectively formed by the second mounting groove and the groove walls on the two sides of the second mounting groove; the third mounting position is located at the lower side of the fourth mounting position, and the third mounting position and the fourth mounting position correspond to the first mounting position and the second mounting position in the vertical direction.

6. The manipulator according to claim 5, wherein the SMA spring assembly comprises an SMA spring, a first connector and a second connector respectively fixedly connected to two ends of the SMA spring;

one end of the first connecting joint, which is far away from the SMA spring, is arranged into an annular structure, and the annular structure is rotationally arranged in the first mounting groove by adopting a rotating shaft assembly; the one end that the SMA spring was kept away from to the second connector sets up to the semicylinder structure, and this semicylinder structure is gone up to be provided with the fourth through-hole along being on a parallel with its axial, and this fourth through-hole adopts the pivot subassembly to rotate and sets up in the second mounting groove to the arcwall face butt of this semicylinder structure is in the tank bottom surface of second mounting groove.

7. The robot hand of claim 5, wherein the link unit includes a pair of links arranged in parallel; the connecting rods are symmetrically arranged at the outer sides of the first mounting groove and the second mounting groove, and two ends of each connecting rod are rotatably connected to the groove walls of the first mounting groove and the second mounting groove by adopting rotating shaft assemblies respectively;

the fourth connecting unit comprises an L-shaped support and a cross rod, the upper end of the L-shaped support is fixedly connected to the disc surface of the rotating disc, the bottom end of the L-shaped support is connected to one end of the cross rod in a rotating mode through a rotating shaft assembly, the other end of the cross rod is arranged between two connecting rods which are arranged in parallel, and the rotating shaft assembly is connected to the middle portions of the two connecting rods.

8. The manipulator according to claim 2, wherein the first through hole is provided as an oblong hole, and the bottom end of the first output shaft is shaped to fit the first through hole.

9. The robot hand of claim 3, wherein the working surface of the gripper is a vertical plane or an arc-shaped surface depressed inward of the gripper.

10. A method of using a robot hand applied to the robot hand according to any one of claims 1 to 9, the method comprising:

1) Starting the first driving part, driving the driving gear to be meshed with the driven gear to rotate by the electric rotating unit according to the structure of the object to be clamped, controlling the clamping jaws of the adjacent mechanical arms to change between a first included angle and a second included angle, and determining the clamping posture of the mechanical arms; meanwhile, the claws of the mechanical arm clamping jaws and the mechanical arm clamping jaws synchronously change postures under the action of the rotating disc;

2) Starting a second driving part, and driving the claws of the clamping jaws of the manipulator to downwards approach to an article to be clamped by the electric telescopic unit through a fourth connecting unit connected to the rotating disc;

3) Starting the SMA spring assembly, enabling the SMA spring to extend to drive the claws to mutually approach and close to clamp the object to be clamped, and completing clamping of the object to be clamped;

4) And then the second driving part is started, and the electric telescopic unit upwards lifts the gripper for clamping the object through the fourth connecting unit to complete the picking of the object to be clamped.

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