CN204686886U - A kind of flexible adaptive manipulator control system - Google Patents
A kind of flexible adaptive manipulator control system Download PDFInfo
- Publication number
- CN204686886U CN204686886U CN201520407869.8U CN201520407869U CN204686886U CN 204686886 U CN204686886 U CN 204686886U CN 201520407869 U CN201520407869 U CN 201520407869U CN 204686886 U CN204686886 U CN 204686886U
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- paw
- wrist
- flexible
- signal detection
- motor
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Abstract
The utility model discloses a kind of flexible adaptive manipulator control system, it comprises manipulator body and the control module for controlling manipulator body; Described manipulator body comprises paw mechanism and Wrist mechanism, and paw mechanism is arranged on Wrist mechanism; Described paw mechanism comprises at least three flexible paws; Each flexible paw is arranged on paw seat respectively by jointed shaft, and each flexible paw is driven separately by the gripper motor be arranged on paw base plate respectively; Gripper motor makes flexible paw rotate around jointed shaft by linkage; The surface of described flexible paw side is in opposite directions the surface for capturing object, and this offers multiple groove on the surface; Described control module comprises controller and the signal detection module for the curent change that detects gripper motor; Each gripper motor is all connected in series a signal detection module, and all signal detection modules are connected to described controller; Described signal detection module comprises precision resistance and the amplifying unit of serial connection.
Description
Technical field
The utility model relates to a kind of Apery manipulator, particularly relates to a kind of flexible manipulator.
Background technology
Current manipulator paw material adopts rigid material mostly.Can realize the manipulator of self-adapting grasping, frame for movement is comparatively complicated, produces the possibility damaged larger when capturing object to object.And the frame for movement of flexible manipulator is simple, realize self-adapting grasping equally, owing to can produce deformation when flexible material captures object, therefore it is less to produce to object the possibility damaged; But current flexible material manipulator does not have the function of self adaptation object, can not judge that the object captured should use great dynamics; Or the infringement that can exist object and manipulator itself.
Utility model content
For above-mentioned deficiency of the prior art, the purpose of this utility model is to provide a kind of flexible adaptive manipulator control system, it adopts flexible paw, by capturing the reliable self-adapting grasping of structure realization to object reliably, ensure to cause damage to object by flexible structure and reliable control system.
In order to achieve the above object, the utility model is achieved by the following technical solutions.
A kind of flexible adaptive manipulator control system, comprises manipulator body and the control module for controlling manipulator body; Described manipulator body comprises paw mechanism and Wrist mechanism, and paw mechanism is arranged on Wrist mechanism; Described paw mechanism comprises at least three flexible paws; This flexible paw is made by 3D printing flexible material; Each flexible paw is arranged on paw seat respectively by jointed shaft, and each flexible paw is driven separately by the gripper motor be arranged on paw base plate respectively; Gripper motor makes flexible paw rotate around jointed shaft by linkage; The surface of described flexible paw side is in opposite directions the surface for capturing object, and this offers multiple groove on the surface;
Described control module comprises controller and the signal detection module for the curent change that detects gripper motor; Each gripper motor is all connected in series a signal detection module, and all signal detection modules are connected to described controller; Described signal detection module comprises precision resistance and the amplifying unit of serial connection.
As a kind of preferred embodiment of the present utility model, described groove is cross type groove; Described linkage comprises connecting rod I and connecting rod II; Connecting rod II is fixed on the driving rotating disk of gripper motor, and connecting rod I is hinged on flexible paw, and connecting rod II is hinged with connecting rod I.
As a kind of preferred embodiment of the present utility model, described 3D printing flexible material is rubber.
As a kind of preferred embodiment of the present utility model, described Wrist mechanism at least comprises three wrist motors, and each wrist motor is fixed on wrist base plate, and wrist joint is by realizing universal connection with the spherical hinge between wrist post; The driving rotating disk of each wrist motor connects one and fastens the tennis line on wrist joint; Wrist motor pulls the motion of tennis line traffic control wrist joint; The paw base plate of described paw mechanism is arranged on wrist joint;
Each wrist motor described is all connected in series a signal detection module, and all signal detection modules are connected to described controller; Described signal detection module comprises precision resistance and the amplifying unit of serial connection.
As a kind of preferred embodiment of the present utility model, the bottom of described wrist joint and the top of wrist post are hinged by spherical; All wrist motors with wrist base plate center for the center of circle is uniform.
The utility model has the following advantages compared to existing technology:
The flexible paw that finger mechanism of the present utility model adopts is made by 3D printing flexible material; Can produce deformation because of inner side stressed when flexible paw captures object, this deformation is conducive to the crawl to object, and makes paw can the shape of the crawled object of self adaptation; At least three paws drive respectively by wrist motor, can realize parcel property reliably and capture; The type of drive of wrist motor and connecting rod, make whole paw motion process be similar to finger-joint and capture process, adaptive ability is very good.The utility model is further, and its wrist joint is in its leading role of Wrist mechanism master, and it can imitate the motion of human wrist flexibly, makes the working range of whole manipulator become large;
The utility model paw section adopts flexible material, paw leaves a lot of grooves, to increase frictional force, during manipulator crawl object, paw section can because the stressed generation deformation of inner side, should and make paw can according to the shape of the alteration of form paw section of object, then can by detecting the size by the electric current of motor when paw distortion, to then carry out judging at master control system after Current amplifier thus automatically adapt to change the dynamics captured, whole control procedure is very accurately reliable, ensure that the reliable judgement to object grasp, prevent the infringement to object and manipulator itself.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the utility model is described in further details.
Fig. 1 is a kind of detailed description of the invention structural representation of paw mechanism of the present utility model;
The structural representation overlooking direction that Fig. 2 is detailed description of the invention shown in Fig. 1;
Fig. 3 is the structural representation of a kind of detailed description of the invention of Wrist mechanism of the present utility model;
The structural representation overlooking direction that Fig. 4 is detailed description of the invention shown in Fig. 3;
Fig. 5 is control structure schematic diagram of the present utility model;
Fig. 6 is the electrical block diagram of signal detection module of the present utility model.
Description of reference numerals:
The flexible paw of 1-, 2-connecting rod I, 3-connecting rod II, 4-gripper motor, 5-paw base plate, 6-paw seat, 7-wrist joint, 8-wrist post, 9-wrist base plate, 10-wrist motor.
Detailed description of the invention
The technical solution of the utility model is described using following concrete structure as embodiment.
As shown in figs. 1 to 6, it illustrates detailed description of the invention of the present utility model, as shown in the figure, a kind of flexible adaptive manipulator control system of the utility model, comprises manipulator body and the control module for controlling manipulator body; Described manipulator body comprises paw mechanism and Wrist mechanism, and paw mechanism is arranged on Wrist mechanism; Described paw mechanism comprises at least three flexible paws 1; This flexible paw is made by 3D printing flexible material; Each flexible paw is arranged on paw seat 6 respectively by jointed shaft, and each flexible paw is driven separately by the gripper motor 4 be arranged on paw base plate respectively; Gripper motor makes flexible paw rotate around jointed shaft by linkage; The surface of described flexible paw side is in opposite directions the surface for capturing object, and this offers multiple groove on the surface;
As shown in the figure, described control module comprises controller and the signal detection module for the curent change that detects gripper motor; Each gripper motor is all connected in series a signal detection module, and all signal detection modules are connected to described controller; Described signal detection module comprises precision resistance and the amplifying unit of serial connection.
Preferably, as shown in the figure, described groove is cross type groove; Described linkage comprises connecting rod I and connecting rod II; Connecting rod II is fixed on the driving rotating disk of gripper motor, and connecting rod I is hinged on flexible paw, and connecting rod II is hinged with connecting rod I.
Preferably, as shown in the figure, described 3D printing flexible material is rubber.
Preferably, as shown in the figure, described Wrist mechanism at least comprises three wrist motors 10, and each wrist motor is fixed on wrist base plate, and wrist joint 7 is by realizing universal connection with the spherical hinge between wrist post 8; The driving rotating disk of each wrist motor connects one and fastens the tennis line on wrist joint; Wrist motor pulls the motion of tennis line traffic control wrist joint; The paw base plate of described paw mechanism is arranged on wrist joint;
As shown in the figure, each wrist motor described is all connected in series a signal detection module, and all signal detection modules are connected to described controller; Described signal detection module comprises precision resistance and the amplifying unit of serial connection.
Preferably, as shown in the figure, the bottom of described wrist joint and the top of wrist post are hinged by spherical; All wrist motors with wrist base plate center for the center of circle is uniform.
By reference to the accompanying drawings the utility model preferred embodiment is explained in detail above, but the utility model is not limited to above-mentioned embodiment, in the ken that those of ordinary skill in the art possess, can also make a variety of changes under the prerequisite not departing from the utility model aim;
Those of ordinary skill in the art do not depart from design of the present utility model and scope can make other changes many and remodeling.Should be appreciated that the utility model is not limited to specific embodiment, scope of the present utility model is defined by the following claims.
Claims (5)
1. a flexible adaptive manipulator control system, is characterized in that: comprise manipulator body and the control module for controlling manipulator body; Described manipulator body comprises paw mechanism and Wrist mechanism, and paw mechanism is arranged on Wrist mechanism; Described paw mechanism comprises at least three flexible paws; This flexible paw is made by 3D printing flexible material; Each flexible paw is arranged on paw seat respectively by jointed shaft, and each flexible paw is driven separately by the gripper motor be arranged on paw base plate respectively; Gripper motor makes flexible paw rotate around jointed shaft by linkage; The surface of described flexible paw side is in opposite directions the surface for capturing object, and this offers multiple groove on the surface;
Described control module comprises controller and the signal detection module for the curent change that detects gripper motor; Each gripper motor is all connected in series a signal detection module, and all signal detection modules are connected to described controller; Described signal detection module comprises precision resistance and the amplifying unit of serial connection.
2. a kind of flexible adaptive manipulator control system as claimed in claim 1, is characterized in that: described groove is cross type groove; Described linkage comprises connecting rod I and connecting rod II; Connecting rod II is fixed on the driving rotating disk of gripper motor, and connecting rod I is hinged on flexible paw, and connecting rod II is hinged with connecting rod I.
3. a kind of flexible adaptive manipulator control system as claimed in claim 1, is characterized in that: described 3D printing flexible material is rubber.
4. the flexible adaptive manipulator control system of the one as described in as arbitrary in claims 1 to 3, it is characterized in that: described Wrist mechanism at least comprises three wrist motors, each wrist motor is fixed on wrist base plate, and wrist joint is by realizing universal connection with the spherical hinge between wrist post; The driving rotating disk of each wrist motor connects one and fastens the tennis line on wrist joint; Wrist motor pulls the motion of tennis line traffic control wrist joint; The paw base plate of described paw mechanism is arranged on wrist joint;
Each wrist motor described is all connected in series a signal detection module, and all signal detection modules are connected to described controller; Described signal detection module comprises precision resistance and the amplifying unit of serial connection.
5. a kind of flexible adaptive manipulator control system as claimed in claim 4, is characterized in that: the bottom of described wrist joint and the top of wrist post are hinged by spherical; All wrist motors with wrist base plate center for the center of circle is uniform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520407869.8U CN204686886U (en) | 2015-06-12 | 2015-06-12 | A kind of flexible adaptive manipulator control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520407869.8U CN204686886U (en) | 2015-06-12 | 2015-06-12 | A kind of flexible adaptive manipulator control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204686886U true CN204686886U (en) | 2015-10-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520407869.8U Expired - Fee Related CN204686886U (en) | 2015-06-12 | 2015-06-12 | A kind of flexible adaptive manipulator control system |
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| Country | Link |
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| CN (1) | CN204686886U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945023A (en) * | 2017-04-19 | 2017-07-14 | 华中农业大学 | Organ removing manipulator, arm and method |
| CN107363856A (en) * | 2017-08-16 | 2017-11-21 | 深圳果力智能科技有限公司 | A kind of adaptive finger, two pawl manipulators and robot |
| CN108555882A (en) * | 2018-05-07 | 2018-09-21 | 杭州宇控机电工程有限公司 | A kind of deep hydraulic machinery wrist joint in full sea |
| CN109366453A (en) * | 2018-10-24 | 2019-02-22 | 国网江苏省电力有限公司徐州供电分公司 | A kind of livewire work tow-armed robot and its control method for distribution line |
| CN114683298A (en) * | 2021-11-18 | 2022-07-01 | 西安交通大学 | Magnetic control soft sensing robot |
-
2015
- 2015-06-12 CN CN201520407869.8U patent/CN204686886U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106945023A (en) * | 2017-04-19 | 2017-07-14 | 华中农业大学 | Organ removing manipulator, arm and method |
| CN107363856A (en) * | 2017-08-16 | 2017-11-21 | 深圳果力智能科技有限公司 | A kind of adaptive finger, two pawl manipulators and robot |
| CN107363856B (en) * | 2017-08-16 | 2023-09-08 | 深圳果力智能科技有限公司 | Self-adaptive finger, two-claw mechanical arm and robot |
| CN108555882A (en) * | 2018-05-07 | 2018-09-21 | 杭州宇控机电工程有限公司 | A kind of deep hydraulic machinery wrist joint in full sea |
| CN108555882B (en) * | 2018-05-07 | 2024-03-15 | 杭州宇控机电工程有限公司 | Full sea depth hydraulic mechanical wrist joint |
| CN109366453A (en) * | 2018-10-24 | 2019-02-22 | 国网江苏省电力有限公司徐州供电分公司 | A kind of livewire work tow-armed robot and its control method for distribution line |
| CN114683298A (en) * | 2021-11-18 | 2022-07-01 | 西安交通大学 | Magnetic control soft sensing robot |
| CN114683298B (en) * | 2021-11-18 | 2023-08-18 | 西安交通大学 | Magnetically controlled soft sensing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151007 Termination date: 20180612 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |