CN214265598U

CN214265598U - High-freedom tracking and grabbing robot

Info

Publication number: CN214265598U
Application number: CN202022481080.0U
Authority: CN
Inventors: 李凝; 王笑; 林祝亮; 袁琳; 宋磊; 陈澳
Original assignee: Xingzhi College of Zhejiang Normal University
Current assignee: Xingzhi College of Zhejiang Normal University
Priority date: 2020-10-30
Filing date: 2020-10-30
Publication date: 2021-09-24
Anticipated expiration: 2030-10-30

Abstract

The utility model provides a snatch robot is trailed to high degree of freedom belongs to simple and easy robot technical field. It has solved the current robot free ability problem not strong. This robot includes the organism, the setting is in the bottom half and is used for driving the step-by-step part that the organism removed, the symmetry sets up on the organism and is used for snatching the manipulator part of article, the manipulator part includes the fixed body, be equipped with the turnover axis body that rotates the setting on the fixed body, fixed setting be used for the drive turnover axis body and carry out the pivoted main shaft driving piece, the pivot level of turnover axis body sets up, be equipped with the support arm subassembly on the turnover axis body, the tip of support arm subassembly is equipped with and is used for the mechanical claw subassembly with the article centre gripping. Compared with the prior art, the grabbing robot has high degree of freedom, can realize the functions of picking and placing objects conveniently in the application process, and has better applicability.

Description

High-freedom tracking and grabbing robot

Technical Field

The utility model belongs to the technical field of simple and easy robot, a high degree of freedom is trailed and is snatched robot is related to.

Background

Generally, ordinary machine equipment only simply replaces one or a few of people, so the application range of the robot is very limited, however, in different industrial production, some same steps can be replaced and applied in a plurality of different processes, and the robot cannot be perfectly replaced without being limited by a limited range of size ranges and degrees of freedom, so that the design of a simulation robot with high degree of freedom becomes very important.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the problem that the existing robot has poor free ability, and provides a high-freedom tracking and grabbing robot.

The purpose of the utility model can be realized by the following technical proposal:

the utility model provides a high degree of freedom is trailed and is snatched robot, it includes the organism, set up in the bottom of the body and be used for driving step-by-step part, the symmetry that the organism removed set up on the organism and be used for snatching the manipulator part of article, its characterized in that: the manipulator part include the fixed body, be equipped with the turnover axis body that the rotation set up, fixed setting be used for that the drive turnover axis body carries out pivoted main shaft driving piece, the pivot level of turnover axis body sets up, is equipped with the support arm subassembly on the turnover axis body, the tip of support arm subassembly is equipped with the mechanical claw subassembly that is used for the article centre gripping.

In the above-mentioned high-freedom tracking and grabbing robot, the support arm assembly comprises a first driving member and a second driving member fixedly arranged on the revolving shaft body, a rotating arm rotatably arranged on the revolving shaft body, a swinging arm rotatably arranged on the revolving shaft body, and an end arm rotatably connected with the end part of the other end of the rotating arm far away from the revolving shaft body, the both ends respectively with the linking arm that end arm and swing arm are connected, be equipped with the extension on the end arm, the one end of linking arm rotates with this extension to be connected, the other end of linking arm rotates with the outermost end tip of swing arm to be connected, first driving piece is used for driving the rotor arm and rotates, the second driving piece is used for driving the swing arm and rotates, form two rocker structures between swing arm, linking arm, the extension, the swing arm rotates the back and makes the extension rotate around its center of rotation through the effect of linking arm, and then realizes the rotation of end arm.

In foretell high degree of freedom is trailed and is snatched robot, the turnover axis body on seted up the installation breach, first driving piece has two longitudinal symmetry to set up on the turnover axis body, the installation breach is located between two first driving pieces, the tip of rotor arm is located the installation breach.

In the high-freedom tracking and grabbing robot, the mechanical claw assembly comprises a fixed connection body, a telescopic cylinder, a telescopic piece, two claws and two passive bodies, wherein the fixed connection body is fixedly arranged at the end part of the end arm, the fixed connection body is provided with a telescopic hole, the telescopic piece is slidably arranged in the telescopic hole, the telescopic cylinder is arranged at the innermost end of the telescopic hole, one end of the passive body is rotatably connected with the telescopic piece, the other end of the passive body is rotatably connected with the claws, the fixed connection body is further fixedly and symmetrically provided with two epitaxial bodies, the claws are rotatably connected with the epitaxial bodies, the rotary connection points of the claws, the passive body and the epitaxial bodies are not the same, the two claws and the two passive bodies are symmetrically arranged, and the epitaxial bodies rotate around the rotary connection points of the two claws and the epitaxial bodies under the action of the passive body after the telescopic piece moves, so that the expansion and retraction effects of the claws are realized.

In foretell high degree of freedom trails and snatchs robot, organism bottom on seted up four vacancies, step-by-step part is equipped with four step-by-step drive parts including rotating four wheel bodies that set up at the organism vacancy respectively on the organism, four step-by-step drive parts are connected with the wheel body respectively and can independently drive the rotation of wheel body.

In the high-freedom tracking and grabbing robot, the wheel body is uniformly provided with a plurality of anti-skidding notches on the circumference, the anti-skidding notches are internally provided with the sub-wheels in a free rolling manner, and the rotating shafts of the sub-wheels are perpendicular to the rotating shaft of the wheel body where the sub-wheels are located.

Compared with the prior art, the grabbing robot has high degree of freedom, can realize the functions of picking and placing objects conveniently in the application process, and has better applicability.

Drawings

Fig. 1 is a schematic structural view of a grasping robot;

FIG. 2 is a schematic structural view of a gripper assembly;

in the figure, 1, a machine body; 2. a fixed body; 3. a revolving shaft body; 4. a main shaft driving member; 5. A rotating arm; 6. a swing arm; 7. an end arm; 8. a connecting arm; 9. an extension portion; 10. installing a notch; 11. a fastening body; 12. a telescoping member; 13. a claw; 14. a passive body; 15. An epitaxial body; 16. a wheel body; 17. a sub-wheel.

Detailed Description

The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

As shown in fig. 1, this robot is snatched in tracking of high degree of freedom, it includes organism 1, the step-by-step part that sets up in organism 1 bottom and be used for driving organism 1 to remove, the symmetry sets up on organism 1 and is used for snatching the manipulator part of article, the manipulator part includes the fixed body 2, be equipped with the turnover axis body 3 that rotates the setting on the fixed body 2, the fixed setting is used for driving turnover axis body 3 and carries out pivoted main shaft driving piece 4, the pivot level of turnover axis body 3 sets up, be equipped with the support arm subassembly on the turnover axis body 3, the tip of support arm subassembly is equipped with the mechanical claw subassembly that is used for the article centre gripping.

This application only provides structural design, and this product still need adopt the digital controller to control opening of each drive element when functioning and stop, and two manipulator parts are the symmetry and have set up, have simulated human both hands perfectly, so it can carry out the scope of using also wider, in many workshops, many different kinds of processes can both adopt this design to accomplish.

The supporting arm component comprises a first driving part and a second driving part which are fixedly arranged on the turnover shaft body 3, a rotating arm 5 which is rotatably arranged on the turnover shaft body 3, a swing arm 6 which is rotatably arranged on the turnover shaft body 3, an end arm 7 which is rotatably connected with the end part of the other end of the rotating arm 5, which is far away from the turnover shaft body 3, and a connecting arm 8, the two ends of which are respectively connected with the end arm 7 and the swing arm 6, wherein an extension part 9 is arranged on the end arm 7, one end of the connecting arm 8 is rotatably connected with the extension part, the other end of the connecting arm 8 is rotatably connected with the outermost end part of the swing arm 6, the first driving part is used for driving the rotating arm 5 to rotate, the second driving part is used for driving the swing arm 6 to rotate, a double-rocker structure is formed between the swing arm 6, the connecting arm 8 and the extension parts, the swing arm 6 rotates around the rotating center thereof under the action of the connecting arm 8 after rotating, and further realizes the rotation of the end arm 7, the installation breach 10 has been seted up on the turnover axis body 3, and first driving piece has two longitudinal symmetries to set up on the turnover axis body 3, and installation breach 10 is located between two first driving pieces, and the tip of rotor arm 5 is located installation breach 10.

Above structure has specifically described support arm assembly's connected mode, drives the rotation of turnover axis body 3 through main shaft driving piece 4, and rethread first driving piece drives rotor arm 5 of setting on turnover axis body 3 and rotates, drives swing arm 6 of setting on rotor arm 5 through the second driving piece at last and rotates, has three drive element and three driven piece above, if divide into X, Y, Z with the form of motion, the omnidirectional motion combination can just be accomplished in these three's cooperation, forms comprehensive degree of freedom.

As shown in fig. 2, the mechanical claw assembly comprises a fixed body 11, a telescopic cylinder and a telescopic piece 12, two jaws 13 and two driven bodies 14, wherein a fixed connecting body 11 is fixedly arranged at the end part of the end arm 7, a telescopic hole is arranged on the fixed connecting body 11, a telescopic piece 12 is arranged in the telescopic hole in a sliding way, a telescopic cylinder is arranged at the innermost end of the telescopic hole, one end of the driven body 14 is rotatably connected with the telescopic piece 12, the other end of the driven body 14 is rotatably connected with the jaws 13, two extension bodies 15 are further fixedly and symmetrically arranged on the fixed connecting body 11, the jaws 13 are rotatably connected with the extension bodies 15, the rotating connection points of the jaws 13 with the driven bodies 14 and the extension bodies 15 are different, the two jaws 13 and the two driven bodies 14 are symmetrically arranged, and the extension bodies 15 rotate around the rotating connection points of the extension bodies 15 and the extension bodies 15 under the action of the driven body 14 after the telescopic piece 12 moves, so that the expansion effect of the jaws 13 is realized.

The supporting arm assembly is used for simulating arms of a human body, the mechanical claw assembly is used for simulating palms of the human body, the two clamping jaws 13 are used for simulating two fingers of the human body and used for clamping or taking workpieces and tools, in the operation process, the telescopic cylinder is adopted to drive the telescopic piece 12 and further pull the two passive bodies 14, the two passive bodies 14 are subjected to constraint conversion in the pulling process, and finally the two symmetrical clamping jaws 13 are synchronously expanded to achieve the claw taking and loosening effects.

Four vacancy have been seted up on organism 1 bottom, and step-by-step part is equipped with four step-by-step drive parts including rotating four wheel bodies 16 that set up in organism 1 vacancy respectively on organism 1, and four step-by-step drive parts are connected with wheel body 16 respectively and can independently drive the rotation of wheel body 16, and a plurality of anti-skidding breachs have evenly been seted up to the circumference on the wheel body 16, and the free roll is equipped with sub-wheel 17 in the anti-skidding breach, and the pivot of sub-wheel 17 is perpendicular rather than the 16 pivots of wheel body at place.

The step-by-step process of this design adopts traditional wheel body 16 to realize, but the turn process is different with ordinary car, and the torsion that does not adopt the front wheel crane span structure drives the front wheel and twists reverse and then realize turning, but provides four wheel body 16 different rotational speeds through four step drive parts and realizes the orbit change, for example, wheel body 16 behind the left side rotates with relative slow speed, wheel body 16 behind the left side, front right, right side rotates with relative fast, so this robot is whole will twist reverse as the center with wheel body 16 behind the left side, realize the effect of turning.

However, in the left-turning method, the wheel body 16 is subjected to friction force in the radial direction and the axial direction, so that the phenomenon of skidding is easily caused, and in the design, a plurality of sub-wheels 17 are additionally arranged in the lateral direction of the wheel body 16 to eliminate the axial friction force on the wheel body 16, so that the phenomenon of skidding of the wheel body 16 in the turning process is reduced.

It is to be understood that in the claims, the specification of the present invention, all "including … …" are to be interpreted in an open-ended manner, i.e. in a manner equivalent to "including at least … …", and not in a closed manner, i.e. in a manner not to be interpreted as "including … … only".

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims

1. The utility model provides a robot is snatched in high degree of freedom tracking, it includes organism (1), sets up in organism (1) bottom and is used for driving step-by-step part, the symmetry that organism (1) removed and sets up on organism (1) and be used for snatching the manipulator part of article, its characterized in that: the manipulator part include the fixed body (2), be equipped with on the fixed body (2) and rotate turnover axis body (3) that set up, fixed being used for of setting up drive turnover axis body (3) and carry out pivoted main shaft driving piece (4), the pivot level setting of turnover axis body (3) is equipped with the support arm subassembly on the turnover axis body (3), the tip of support arm subassembly is equipped with the gripper subassembly that is used for grasping the article.

2. The high-degree-of-freedom tracking and grabbing robot as claimed in claim 1, wherein: support arm assembly including fixed first driving piece and the second driving piece that sets up on turnover axis body (3), rotate rotor arm (5) of setting on turnover axis body (3), rotate swing arm (6) of setting on turnover axis body (3), keep away from other end tip rotation connection's of turnover axis body (3) end arm (7) with rotor arm (5), both ends are respectively with link arm (8) that end arm (7) and swing arm (6) are connected, be equipped with extension (9) on end arm (7), the one end of link arm (8) is rotated with this extension (9) and is connected, the other end of link arm (8) is rotated with the outermost end tip of swing arm (6) and is connected, first driving piece is used for driving rotor arm (5) and rotates, the second driving piece is used for driving swing arm (6) and rotates, swing arm (6), link arm (8), A double-rocker structure is formed between the extending parts (9), and after the swing arm (6) rotates, the extending parts (9) rotate around the rotating center of the extending parts under the action of the connecting arm (8), so that the rotation of the end arm (7) is realized.

3. The high-degree-of-freedom tracking and grabbing robot as claimed in claim 2, wherein: turnover axis body (3) on seted up installation breach (10), first driving piece has two longitudinal symmetry to set up on turnover axis body (3), installation breach (10) are located between two first driving pieces, the tip of rotor arm (5) is located installation breach (10).

4. The high-degree-of-freedom tracking and grabbing robot as claimed in claim 2 or 3, wherein: the mechanical claw assembly comprises a fixed connecting body (11), a telescopic cylinder, a telescopic piece (12), two clamping jaws (13) and two driven bodies (14), wherein the fixed connecting body (11) is fixedly arranged at the end part of the end arm (7), the fixed connecting body (11) is provided with a telescopic hole, the telescopic piece (12) is slidably arranged in the telescopic hole, the telescopic cylinder is arranged at the innermost end of the telescopic hole, one end of the driven body (14) is rotatably connected with the telescopic piece (12), the other end of the driven body (14) is rotatably connected with the clamping jaws (13), the fixed connecting body (11) is further fixedly and symmetrically provided with two outer extending bodies (15), the clamping jaws (13) are rotatably connected with the outer extending bodies (15), the rotating connection points of the clamping jaws (13) with the driven bodies (14) and the outer extending bodies (15) are not the same point, the two clamping jaws (13) and the two driven bodies (14) are symmetrically arranged, and the outer extending bodies (15) are connected with the rotating connection points of the outer extending bodies (15) under the action of the driven bodies (14) after the telescopic piece (12) moves The center rotates to realize the expansion and contraction effect of the clamping jaws (13).

5. The high-degree-of-freedom tracking and grabbing robot as claimed in claim 1 or 2, wherein: organism (1) bottom on seted up four vacancy, step-by-step part is equipped with four step-by-step drive disk assembly including rotating four wheel body (16) that set up in organism (1) vacancy respectively on organism (1), four step-by-step drive disk assembly are connected and can independently drive the rotation of wheel body (16) with wheel body (16) respectively.

6. The high-degree-of-freedom tracking and grabbing robot as claimed in claim 5, wherein: the anti-skidding wheel is characterized in that a plurality of anti-skidding notches are uniformly formed in the upper circumference of the wheel body (16), sub-wheels (17) are arranged in the anti-skidding notches in a free rolling mode, and rotating shafts of the sub-wheels (17) are perpendicular to rotating shafts of the wheel body (16) where the sub-wheels are located.