CN116477299A - Flexible transmission unit for flexible manipulator and control method - Google Patents
Flexible transmission unit for flexible manipulator and control method Download PDFInfo
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- CN116477299A CN116477299A CN202310454308.2A CN202310454308A CN116477299A CN 116477299 A CN116477299 A CN 116477299A CN 202310454308 A CN202310454308 A CN 202310454308A CN 116477299 A CN116477299 A CN 116477299A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 49
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 55
- 239000000463 material Substances 0.000 claims abstract description 26
- 229910052751 metal Inorganic materials 0.000 claims description 18
- 239000002184 metal Substances 0.000 claims description 18
- 230000033001 locomotion Effects 0.000 claims description 15
- 230000008878 coupling Effects 0.000 claims description 13
- 238000010168 coupling process Methods 0.000 claims description 13
- 238000005859 coupling reaction Methods 0.000 claims description 13
- 230000001681 protective effect Effects 0.000 claims description 2
- 230000007723 transport mechanism Effects 0.000 claims description 2
- 235000013361 beverage Nutrition 0.000 abstract description 2
- 238000003860 storage Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 9
- 244000309464 bull Species 0.000 description 4
- 239000011664 nicotinic acid Substances 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 3
- 241000238413 Octopus Species 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 241000238366 Cephalopoda Species 0.000 description 1
- 241000406668 Loxodonta cyclotis Species 0.000 description 1
- 241000270295 Serpentes Species 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G39/00—Rollers, e.g. drive rollers, or arrangements thereof incorporated in roller-ways or other types of mechanical conveyors
- B65G39/02—Adaptations of individual rollers and supports therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G39/00—Rollers, e.g. drive rollers, or arrangements thereof incorporated in roller-ways or other types of mechanical conveyors
- B65G39/10—Arrangements of rollers
- B65G39/12—Arrangements of rollers mounted on framework
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0244—Bottles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0252—Cans
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flexible transmission unit for a flexible manipulator and a control method, wherein a flexible transmission unit module is connected by a spherical pair, a grooved pulley mechanism with an adjustable diameter is arranged in the flexible transmission unit module, the manipulator module is used for conveying a belt, the change of the grabbing diameter of the manipulator is realized through the grooved pulley mechanism, and a motor drives a roller to convey and store materials. The invention has powerful functions, can realize the transportation and storage of canned beverages with different sizes, can convey a plurality of materials at one time, and has the advantages of storability, high efficiency, high adaptability and the like.
Description
Technical Field
The invention relates to the field of robots, in particular to a flexible transmission unit for a flexible manipulator and a control method.
Background
Today's highly intelligent factories can be fully automated unmanned operations, and this high degree of intelligence is extremely high in equipment requirements. Furthermore, some intelligent factories have different products in one production line, and different processes are adopted for processing different products. This operation is a flexible processing mode, is not limited by the structure, the appearance, the size, the processing requirement and the like of the product, can adopt a proper processing path, is a superior processing mode for each product, and is relatively low in manufacturing cost of factories.
Through a series of evolution and evolution, the flexible manipulator slowly enters the field of view of people. The flexible manipulator has a more flexible movement mode compared with the rigid manipulator, is similar to the nose of an elephant, the tentacle of an octopus and the body of a snake, and is a manipulator with infinite joints superimposed together. The rigid manipulator is similar to a human arm, is a manipulator with rigid joints, is limited by joint movement in the movement process, and needs programming to realize related movement, and also needs to consider that movement interference can not occur between the joints in the engineering.
The rigid manipulator is usually used for carrying out alternate grabbing actions, and the operation mode is relatively time-consuming, and is a wear for time and a machine body because the manipulator is required to carry out reciprocating swinging only once. It is also more complicated and time consuming to transport multiple materials, or to grasp materials at multiple locations.
The invention of a patent number of CN103753524A, named as an octopus-like adaptive grabbing soft manipulator and grabbing method thereof, is published at present, the manipulator mainly comprises a tentacle, an air pipe, an electric proportional valve, a strain gauge and an electromagnetic valve, the tentacle imitates the shape of the octopus tentacle to form an irregular long-strip cone shape, tentacle bulges with larger diameters are arranged at the end parts of the tentacles, groups of ellipsoidal pressure regulating cavities are uniformly distributed in the tentacles, main air channels are distributed in the tentacles along the axial directions of the tentacles, and different shape changes of the spherical pressure regulating cavities are realized through feedback of the strain gauge signals and cooperation between the electromagnetic valve and the electric proportional valve, so that the tentacles are controlled to bend, and objects are wound through control of a plurality of groups of pressure regulating cavities. The invention has simple structure, easy manufacture, high adaptability and capability of grabbing objects with various shapes. The invention can only grasp articles one by one and can not transport a plurality of articles at a time, so the transport efficiency is lower, and the operation is complicated and not convenient enough.
The invention of a manipulator with the name of 'CN 110405804A' and the name of 'bionic squid tentacle' for realizing the food sorting function is published at present, the manipulator comprises a skeleton supporting structure, a shell, a mechanical tail part, a bionic sucker and a control system, the skeleton supporting structure comprises a plurality of base plates and a plurality of spherical universal joint couplings, the spherical universal joint couplings are embedded in the centers of the corresponding base plates, the tip of a mechanical structure frame is provided with a camera, the shell comprises a shell tail end and a shell head end, a conical hole is arranged in the shell tail end, a circular through hole is arranged in the shell head end, the skeleton supporting structure is embedded in the circular through hole, and the mechanical tail part is embedded in the conical hole and is connected with the skeleton supporting structure in a revolute pair mode through the spherical universal joint couplings. The method has the advantages of high sensitivity, high accuracy, high self-adaptive reliability and the like. The grabbing material is also transported one by one through the outside, the transmission efficiency is low, and the grabbing mode of the grabbing material adopts a sucker, so that the requirement on the working environment is high.
Disclosure of Invention
The invention aims to: the invention provides a flexible transmission unit for a flexible manipulator, which aims to solve the problem of transmission of bottled and canned materials with different sizes among different production lines. And the manipulator with internal conveying is provided for the condition of low transmission efficiency of the existing manipulator, so that the transmission efficiency is greatly improved.
The technical scheme is as follows: the invention relates to a flexible transmission unit for a flexible manipulator, which comprises a plurality of flexible transmission unit modules, a plurality of roller conveying mechanisms and a pull rope driving module, wherein the roller conveying mechanisms are arranged on the flexible transmission unit modules; the flexible transmission unit module comprises a spherical tile, a flexible unit supporting frame, a large spur gear, a small spur gear roller meshed with the large spur gear, a guide plate and a miniature speed reducing motor for driving the small spur gear to rotate; the ball tiles are connected between the ball tile mounting rings, and the flexible unit support frame is positioned between the ball tile mounting rings; the large straight gear and the small straight gear are arranged on the flexible unit support frame, a circular groove-shaped plate is fixed on the large straight gear, a circular through hole is formed in the center of the groove-shaped plate, a plurality of arc-shaped grooves which gradually approach the circular through hole from outside to inside are formed in the groove-shaped plate, the roller conveying mechanism and the large straight gear are respectively positioned on the front surface and the back surface of the groove-shaped plate, and the roller conveying mechanism is positioned between the groove-shaped plate and the guide plate; the guide plate is provided with a straight groove matched with the roller conveying mechanism, and the straight groove extends outwards along the radial direction from the center of the guide plate;
the roller conveying mechanism comprises a protection metal plate, rollers arranged in the protection metal plate, a roller driving device for driving the rollers to rotate, a first guide column which is positioned on one surface of the protection metal plate and penetrates through the arc-shaped groove, and a second guide column which is positioned on the other surface of the protection metal plate and penetrates through the straight groove; the rollers of the roller conveying mechanisms face the center and are distributed around the round passing opening; when the large spur gear is driven to rotate by the small spur gear, the groove-shaped plate rotates forward or backward along with the large spur gear, so that the roller conveying mechanism moves inwards or outwards along the arc-shaped groove;
and the stay cord driving module is arranged behind the flexible transmission unit module, and is connected with the servo motor through a diaphragm type coupling and driven by the servo motor to realize movement.
Preferably, the roller conveying mechanism further comprises a micro motor, roller fixing plates are arranged on two sides of the protection metal plate, the rollers are located between the roller fixing plates, and the micro motor drives the rollers to rotate.
Preferably, the flexible unit support frame is a triangular plate, wherein three angles respectively pass through between the ball tiles, and the whole flexible unit support frame is positioned between the ball tile mounting rings and is not connected with the ball tile mounting rings.
Preferably, six rope friction mechanisms are arranged on the flexible unit support frame, and two rope friction mechanisms are uniformly distributed at three corners of the flexible unit support frame; the rope friction mechanism comprises a friction wheel, a friction mechanism bracket and a roller bracket; the friction wheel is arranged on the roller bracket through a bearing, and the roller bracket is arranged on the friction mechanism bracket through a screw; the flexible transmission unit module is connected into an integral rope driving structure through ropes sleeved on the rope friction mechanisms in sequence; the stay cord drive module is driven by the servo motor to realize movement.
Preferably, the conveying structure comprises a miniature motor, a motor fixing plate, a plum coupling, a guide block, a roller fixing plate and a gear; the miniature motor is arranged on the motor fixing plate through a screw, the motor fixing plate, the roller fixing plate and the protection metal plate are connected through a screw; the plum coupling is connected with the miniature motor and the gear transmission shaft; the gear is positioned between the rollers, and the miniature motor drives the gear to rotate so as to drive the rollers to rotate.
Preferably, the guide block is welded on the protection sheet metal.
Preferably, the guide blocks are connected by screws and shims.
Preferably, each flexible unit module is connected with each other at the adjacent ball tile mounting ring by a screw.
Preferably, the servo motor is connected with a ball screw.
Preferably, when the material is conveyed to the flexible conveying unit module, the miniature speed reducing motor drives the trough-type plate to move so as to adjust the proper conveying diameter; then the miniature motor drives the roller to realize material conveying; finally, ropes penetrate through the rope friction mechanisms and are finally connected to the rope head mounting disc of the stay cord driving module, and the stay cord driving module supporting plate is moved through the movement of different servo motors to realize rope lifting, so that the ball tiles deform to drive the whole mechanical arm to swing in multiple directions.
The beneficial effects are that:
(1) According to the invention, materials can be conveyed into the flexible conveying unit and stored through forward rotation of the motor in the unit conveying mechanism, the material conveying direction can be determined through controlling forward rotation or reverse rotation of the motor, internal conveying is realized, the conveying efficiency is greatly improved, and the device can be used for conveying materials in different production lines. The manipulator is provided with a plurality of rope friction mechanisms, has great friction force, and ensures the operation safety and precision of the manipulator.
(2) The conveying mechanism consists of a miniature speed reducing motor, a plum blossom type coupling, a spur gear and a roller, and the grooved pulley mechanism is a structure of a two-stage gear set. The roller is driven to rotate by the micro speed reducing motor and the gear transmission to finish the conveying of materials. The roller adopts a friction wheel taking aluminum alloy as a substrate to wrap a layer of silica gel on the outer layer of the wheel to increase friction force, so that the conveying efficiency of materials in the mechanical arm is improved.
(3) The stay cord drive module comprises servo motor, diaphragm shaft coupling, ball, flange formula linear bearing, guiding axle, rope connecting plate. Compared with a trapezoidal screw, the ball screw has higher precision, speed and efficiency, and rolling friction when moving, so that the movement smoothness of the whole mechanism is ensured. The ball screw is driven to rotate through the servo motor, the driving in the linear direction is completed through the guide shaft and the linear bearing, and the rope connecting plate is driven to control the stretching length of the rope so as to enable the whole mechanical arm to swing, so that flexible control is realized.
Drawings
FIG. 1 is a schematic structural diagram of a bionic flexible manipulator with an internal conveying function according to the present invention;
FIG. 2 is a schematic view of a flexible transfer unit for a flexible manipulator according to the present invention;
FIG. 3 is a schematic view of a Geneva mechanism of a flexible transfer unit for a flexible manipulator according to the present invention;
FIG. 4 is a schematic view of a flexible transfer unit transport mechanism for a flexible manipulator according to the present invention;
fig. 5 is a schematic structural view of a rope friction mechanism of a flexible transmission unit for a flexible manipulator according to the present invention.
Detailed Description
For a further understanding of the present invention, the present invention will be described in detail with reference to the drawings and examples.
First embodiment:
in combination with fig. 1, 2 and 3, in the flexible transmission unit module of the bionic flexible manipulator with an internal conveying function of the embodiment, the spherical tile 9 is connected between the spherical tile mounting rings 2-1 through screws, the groove-shaped plates 2-2 are welded on the bull gears 2-3, the guide blocks 11-5 are clamped between the guide plates 2-8 and the groove-shaped plates 2-2 to form a grooved pulley mechanism, the guide plates 2-8 and the flexible unit support frames 2-4 are connected through screws, and the bull gears 2-3 and the pinion gears 2-5 form gear transmission, and the miniature motors 2-9 at the gears drive the pinion gears 2-5 to enable the grooved pulley mechanism to operate. The diameter of the mechanical arm is controlled by the unit conveying mechanism which moves under the limit of the guide plates 2-8 through the grooved pulley mechanism. The flexible transmission unit modules 2 are connected by screws.
With continued reference to fig. 4, the micro motor 11-1 is mounted on the motor fixing plate 11-2 by screws, and the motor fixing plate 11-2, the roller fixing plate 11-6 and the protective metal plate 11-4 are connected by screws. The plum coupling 11-3 is connected with the miniature motor 11-1 and the gear transmission shaft, and the guide block 11-5 is welded on the protection sheet metal 11-4. The micro motor 11-1 rotates to drive the gear train to enable the roller 2-7 to rotate so as to realize the transportation of materials, and the roller 2-7 provides larger friction force to ensure the transportation and storage of the materials.
With continued reference to fig. 5, the rope friction mechanism 10 is composed of a friction mechanism frame 12-1, friction wheels 12-2, and roller brackets 12-3. The rope friction mechanism 10 is mounted on the flexible unit bracket 2-4 by screws, the friction wheel 12-2 is mounted on the roller bracket 12-3 by bearings, and the roller bracket 12-3 is mounted on the friction mechanism frame 12-1 by screws. The rope friction means 10 provides greater stability and safety in contact with all three sides of the rope. Six rope friction mechanisms 10 are uniformly distributed on each flexible transmission unit module 2 to ensure larger friction force.
The mounting method of the flexible transmission unit comprises the following steps:
s1, a flexible unit support 2-4 is connected with a ball tile mounting ring 2-1 through screws, a flexible unit support 2-4 is connected with a guide plate 2-8 through screws, a gasket 2-6 is connected with a guide block 11-5 through screws, the guide block 11-5 is clamped between the guide plate 2-8 and a groove-shaped plate 2-2, the groove-shaped plate 2-2 is welded on a bull gear 2-3, a pinion 2-5 is connected with a micro motor 2-9, and the bull gear 2-3 and the pinion 2-5 form gear transmission to drive the pinion through the micro motor 2-9 at a gear position so that a sheave mechanism operates.
S2, the guide block 11-5 is welded on the protection metal plate 11-4, the motor fixing plate 11-2, the roller fixing plate 11-6 and the protection metal plate 11-4 are connected through screws, the plum blossom coupler 11-3 is connected with the micro motor 11-1 and the gear transmission shaft, and the roller 2-7 is clamped on the gear 11-7. The rope friction mechanism 10 is mounted on the flexible unit bracket 2-4 by screws, the friction wheel 12-2 is mounted on the roller bracket 12-3 by bearings, and the roller bracket 12-3 is mounted on the friction mechanism frame 12-1 by screws. The ball tiles 9 are connected between the ball tile mounting rings 2-1 through screws, 6 rope friction mechanisms 10 are installed on each flexible transmission unit module 2, and each flexible unit module 2 is connected at the adjacent ball tile mounting rings 2-1 through screws.
S3, the stay cord driving module is arranged behind the flexible transmission unit module 2, and the flexible transmission unit module 2 is connected through ropes and rope friction mechanisms 10. The whole pull-up driving module is arranged on a pull rope driving module supporting plate 4 through a screw, the pull rope driving module 3 is driven by a servo motor 5 to realize movement, and the pull rope driving module 3 is connected with the servo motor 5 through a diaphragm type coupling.
The application method of the embodiment comprises the following steps: the materials are conveyed to the flexible conveying unit module 2, and the miniature gear motor 2-9 at the gear position drives the groove-shaped plate 2-2 to move so as to adjust the conveying diameter in the mechanical arm. The miniature motor 11-1 drives the roller 2-7 to realize the conveying of materials in the mechanical arm.
The rope driving module mainly controls the swing of the whole mechanical arm through the pulling up of the rope, the rope is finally connected to the rope end mounting disc through each rope friction mechanism 10 from the adjustable belt conveying mechanical arm module, and the pulling up of the rope is realized by controlling the movement of different servo motors to control the operation of the supporting plate of the rope driving module. The ball tile 9 is deformed by stretching the rope so that the whole mechanical arm swings in multiple directions.
The flexible transmission unit of this embodiment is mainly installed perpendicularly to the mounting panel at top, and the deflection motion of whole crooked is realized to the drive of leaning on the rope, and after leaning on the deflection to the position that needs to carry, adjustable belt carries flexible transmission unit module and begins the operation, carries canned material. The material handling of the upper and lower production lines and the two production lines in a small range can be realized. For carrying of the upper and lower production lines, the flexible transmission unit can directly transmit materials to the required position through forward rotation of the motor. The two production lines in a small range can be carried by forward rotation of the motor to store materials in the flexible transmission unit, and the motor forward rotates to convey the materials to a required position, so that conveying efficiency is greatly improved.
The flexible transmission unit for the flexible manipulator has the advantages of simple structure, high efficiency, powerful functions, capability of realizing the transportation of canned beverages with different sizes, capability of conveying a plurality of materials at a time, capability of passing through the manipulator, storability, high efficiency, high adaptability and the like.
The invention and its embodiments have been described above by way of illustration and not limitation, and the invention is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one of ordinary skill in the art is informed by this disclosure, the structural mode and the embodiments similar to the technical scheme are not creatively designed without departing from the gist of the present invention.
Claims (10)
1. A flexible transmission unit for a flexible manipulator comprises a plurality of flexible transmission unit modules (2), a plurality of roller conveying mechanisms and a pull rope driving module (3); the flexible transmission unit module (2) comprises a ball tile (9), a flexible unit supporting frame (2-4), a large spur gear (2-3), a small spur gear (2-5) roller meshed with the large spur gear (2-3), a guide plate (2-8) and a miniature speed reduction motor (2-9) for driving the small spur gear (2-5) to rotate; the ball tiles (9) are connected between the ball tile mounting rings (2-1), and the flexible unit supporting frames (2-4) are positioned between the ball tile mounting rings (2-1); the large straight gear (2-3) and the small straight gear (2-5) are arranged on the flexible unit support frame (2-4), a circular groove-shaped plate (2-2) is fixed on the large straight gear (2-3), a circular through hole is formed in the center of the groove-shaped plate (2-2), a plurality of arc-shaped grooves gradually approaching to the circular through hole from outside to inside are formed in the groove-shaped plate (2-2), the roller conveying mechanism and the large straight gear (2-3) are respectively positioned on the front surface and the back surface of the groove-shaped plate (2-2), and the roller conveying mechanism is positioned between the groove-shaped plate (2-2) and the guide plate (2-8); a straight groove matched with the roller conveying mechanism is arranged on the guide plate (2-8), and the straight groove extends outwards along the radial direction from the center of the guide plate (2-8);
the roller conveying mechanism comprises a protection metal plate (11-4), rollers (2-7) arranged in the protection metal plate (11-4), a roller driving device for driving the rollers to rotate, and a first guide column which is positioned on one surface of the protection metal plate (11-4) and penetrates through the arc-shaped groove, and a second guide column which is positioned on the other surface of the protection metal plate (11-4) and penetrates through the straight groove; the rollers (2-7) of the roller conveying mechanisms face the center and are distributed around the round passing opening; when the large straight gear (2-3) is driven to rotate by the small straight gear (2-5), the groove-shaped plate (2-2) rotates forward or reversely along with the large straight gear (2-3) to lead the roller conveying mechanism to move inwards or outwards along the arc-shaped groove;
the flexible transmission unit is characterized in that the stay cord driving module (3) is arranged behind the flexible transmission unit module (2), the stay cord driving module (3) is connected with the servo motor (5) through a diaphragm type coupling, and the stay cord driving module (3) is driven by the servo motor (5) to realize movement.
2. The flexible transmission unit for the flexible manipulator according to claim 1, wherein the roller conveying mechanism further comprises a micro motor (11-1), roller fixing plates (11-6) are arranged on two sides of the protection metal plate (11-4), the rollers (2-7) are located between the roller fixing plates (11-6), and the micro motor (11-1) drives the rollers (2-7) to rotate through gear transmission.
3. Flexible transfer unit for a flexible manipulator according to claim 1, characterized in that the flexible unit support frame (2-4) is a triangular plate, three corners of which pass between the spherical tiles (9), the flexible unit support frame (2-4) being integrally located between the spherical tile mounting rings (2-1) and not connected with the spherical tile mounting rings (2-1).
4. A flexible transfer unit for a flexible manipulator according to claim 3, characterized in that six rope friction mechanisms (10) are arranged on the flexible unit support frame (2-4), and two rope friction mechanisms (10) are evenly distributed at three corners of the flexible unit support frame (2-4); the rope friction mechanism (10) comprises a friction wheel (12-2), a friction mechanism bracket (12-1) and a roller bracket (12-3); the friction wheel (12-2) is arranged on the roller bracket (12-3) through a bearing, and the roller bracket (12-3) is arranged on the friction mechanism bracket (12-1) through a screw; the flexible transmission unit modules (2) are connected into an integral rope driving structure through ropes sleeved on the rope friction mechanisms (10) in sequence; the stay cord driving module (3) is driven by the servo motor (5) to realize movement.
5. The flexible transmission unit for a flexible manipulator according to claim 1, characterized in that the conveying structure comprises the micro motor (11-1), a motor fixing plate (11-2), a quincuncial coupling (11-3), a guide block (11-5), a roller fixing plate (11-6), a gear (11-7); the miniature motor (11-1) is arranged on the motor fixing plate (11-2) through screws, the motor fixing plate (11-2), and the roller fixing plate (11-6) and the protection metal plate (11-4) are connected through screws; the plum coupling (11-3) is connected with the miniature motor (11-1) and the gear transmission shaft; the gear (11-7) is positioned between the rollers (2-7), and the miniature motor (11-1) drives the gear (11-7) to rotate so as to drive the rollers (2-7) to rotate.
6. Flexible transfer unit for flexible manipulator according to claim 5, characterized in that the guide block (11-5) is welded to the protective sheet metal (11-4).
7. Flexible transfer unit for flexible manipulator according to claim 6, characterized in that the guide blocks (11-5) are connected by screws and shims (2-6).
8. Flexible transfer unit for flexible manipulator according to claim 1, characterized in that each flexible unit module (2) is connected between adjacent ball tile mounting rings (2-1) by means of screws.
9. Flexible transmission unit for flexible manipulator according to claim 1, characterized in that the servo motor (5) is connected with a ball screw (6).
10. A control method of a flexible transmission unit for a flexible manipulator according to any one of claims 1-9, characterized in that when the material is transported to the flexible transmission unit module (2), the small spur gear (2-5) and the large spur gear (2-3) are driven to rotate by the micro speed reducing motor (2-9), and the grooved plate (2-2) is rotated forward or backward along with the large spur gear (2-3) to lead the roller transport mechanism to move inwards or outwards along the arc groove to adjust the proper transport diameter; then the miniature motor (11-1) drives the roller (2-7) to realize material conveying; finally, ropes penetrate through the rope friction mechanisms (10) and are finally connected to the rope head mounting disc of the rope driving module (3), and the rope driving module supporting plate (4) is moved through the movement of different servo motors (5) to realize rope lifting, so that the ball tile (9) is deformed to drive the whole mechanical arm to swing in multiple directions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310454308.2A CN116477299B (en) | 2023-04-25 | 2023-04-25 | Flexible transmission unit for flexible manipulator and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310454308.2A CN116477299B (en) | 2023-04-25 | 2023-04-25 | Flexible transmission unit for flexible manipulator and control method |
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| CN116477299A true CN116477299A (en) | 2023-07-25 |
| CN116477299B CN116477299B (en) | 2024-07-05 |
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| DE202010002890U1 (en) * | 2010-02-26 | 2011-08-02 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | gripping device |
| CN103753524A (en) * | 2013-12-16 | 2014-04-30 | 北京化工大学 | Octopus tentacle imitating adaptive capture soft manipulator and capture method thereof |
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