CN2726837Y - Shape self-adapting small-sized two-finger manipulator - Google Patents
Shape self-adapting small-sized two-finger manipulator Download PDFInfo
- Publication number
- CN2726837Y CN2726837Y CN 200320131521 CN200320131521U CN2726837Y CN 2726837 Y CN2726837 Y CN 2726837Y CN 200320131521 CN200320131521 CN 200320131521 CN 200320131521 U CN200320131521 U CN 200320131521U CN 2726837 Y CN2726837 Y CN 2726837Y
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- mechanical arm
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- motor
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Abstract
A small size and two-finger mechanical arm of self-shaped-adapt type of the utility model comprises a computer, a serial communication, a controlling circuit, a motor, a decelerator, a mechanical arm, an encoder, force sensors and a connecting circuit. The computer conducts message exchanging by the serial communication and the controlling circuit. The controlling circuit adopts a processor to control the moving of the motor. The motor drives the mechanical fingers to move by the decelerator. The force sensors on the mechanical fingers feed back a force signal to the controlling circuit and the encoder on the motor feeds back a position signal to the controlling circuit. The controlling circuit separately controls the two mechanical fingers to conduct independent moving. The utility model can conduct checking and controlling to the moving of the mechanical arm. The moving independence of the two mechanical fingers and the design of the contacting block on the end of the mechanical fingers enable the mechanical fingers to conduct self-adapt adjusting according to the shape of the held object to hold the objects with various shape and finish the required operation.
Description
Technical field
The utility model relates to a kind of robot device, is specifically related to a kind ofly can realize electromechanical assembly to the clamping of body form self-adaptation by mechanical arm.
Background technology
Along with development of science and technology such as robotization, Electromechanical Control, robot has obtained using widely in departments such as industry, scientific researches, for example assembling automatically, welding automatically, installation mechanical component etc.In these were used, robot need realize operations such as the picking up of object, clamping, carrying, placements by mechanical arm.The existing mechanical hand generally according to the clamping certain objects, finish specific operation design, if change the shape of object or change operation, mechanical arm generally just needs to change.Mechanical arm generally according to task setting motion, can't according to circumstances adjust in real time.
The utility model content
Can only come complete operation according to specific design in order to overcome the existing mechanical hand, and can't adapt to the deficiency of different objects shape and various operation tasks, the purpose of this utility model is: provide a kind of form adaptive small-sized two to refer to mechanical arm, this mechanical arm can adapt to the shape of different objects, to the control in real time of moving, thus can realize to difform object pick up, operations such as clamping, carrying, placement.
The technical scheme that its technical matters that solves the utility model adopts is as follows:
A kind of form adaptive small-sized two refers to mechanical arm, it comprises computing machine, serial communication, control circuit, motor, speed reduction unit, mechanical arm, scrambler, force transducer and connecting circuit, described force transducer is integrated on the mechanical arm, and this mechanical arm is provided with two mechanical fingers; Described computing machine is by serial communication interface and control circuit communication, and control circuit links to each other with motor by connecting circuit, passes through speed reduction unit driving device hands movement by motor; The signal of the scrambler that links to each other with motor feeds back to control circuit by connecting circuit, and the force transducer on the mechanical arm feeds back to control circuit with force signal by connecting circuit.
Described mechanical finger is two self-movements, the mechanical finger of motion coupling each other, is connected on the base by separately axle respectively, can be respectively rotate around separately axle, and by two mechanical fingers motions of control circuit control.
Can respectively adorn a removable contact block at two mechanical finger ends, the clamping face of contact block can be designed to different geometric configuratioies.When the clamping object, the contact block of mechanical finger end can be according to body form by rotating the self-adaptation adjustment of carrying out the position around hinge.
In design of the present utility model, force transducer can detect the stressing conditions of mechanical arm, and scrambler can detect the position signalling of mechanical arm.When robot movement to assigned address or when touching held object, the software on control circuit and the computing machine will be made corresponding reaction according to the stressing conditions and the position signalling of mechanical arm.Because two mechanical finger self-movements, irregular even object is not in center, the body form of mechanical arm, mechanical finger also can adapt to the shape clamping object of object.The contact block of mechanical finger end can be according to the shape of held object, passively carries out the self-adaptation adjustment.According to the difference of body form, the difference of operation task, contact block can be changed.Detect force signal by force transducer,, can the motion and the stressing conditions of mechanical arm be detected in real time by scrambler detection position signal.The real-time detection of computer software, serial communication, control circuit, force signal and position signalling, guaranteed the motion of the small-sized two finger mechanical arms of form adaptive is controlled in real time, can according to circumstances control the motion of mechanical arm, realize operations such as the form adaptive to object picks up, clamping, carrying, placement.
The beneficial effects of the utility model are:
1, two mechanical fingers are controlled respectively, can realize self-movement separately, adapt to the shape of object when the clamping object.
2, can the contact block of mechanical finger end be done corresponding the replacing according to the shape of different held objects, contact block can carry out the self-adaptation adjustment of position when the clamping object.Compare with needing the replacing mechanical arm in the prior art, the utility model can grasp difform object adaptively, finishes action required, and simple in structure.
3, the utilization of force transducer and scrambler, serial communication, control circuit, computing machine has realized form adaptive small-sized two is referred to the real-time detection of mechanical arm stressing conditions and motion conditions, and has controlled its motion in real time.
Description of drawings
Fig. 1 is the structure diagram that the utility model form adaptive small-sized two refers to mechanical arm
Fig. 2 is the structural representation of the mechanical finger among Fig. 1
Fig. 3 is the operating process block diagram that the utility model form adaptive small-sized two refers to mechanical arm
Among the figure, 1. computing machine 2. serial communications 3. control circuits 4. motors 5. speed reduction units 6. mechanical fingers 7. contact blocks 8. scramblers 9. force transducers 10. connecting circuit 11. bases
Embodiment
Below in conjunction with drawings and Examples the utility model is further specified.
Fig. 1 is depicted as the embodiment that the utility model form adaptive small-sized two refers to mechanical arm, this form adaptive small-sized two refers to that mechanical arm comprises computing machine 1, serial communication 2, control circuit 3, motor 4, speed reduction unit 5, mechanical arm, scrambler 8, force transducer 9 and corresponding connecting circuit 10, and this mechanical arm can be installed in robots arm's end.As shown in Figure 2, the utility model is provided with two mechanical fingers 6, and these two mechanical fingers 6 are connected on the base 11 by axle separately, can be respectively rotates around separately axle.Two mechanical finger 6 self-movements separately, not motion coupling each other.By hinge one contact block 7 is installed respectively at each mechanical finger 6 end.When the clamping object, contact block 7 contacts with object, and contact block 7 can rotate around hinge in certain angle according to the shape of object surface of contact, carries out the self-adaptation adjustment.According to different gripped objects, different operation tasks, contact block 7 can be changed.Contact block 7 can design forming V-shape, plane or other geometric configuration.
As shown in Figure 1, the control circuit 3 in the utility model links to each other with two motors 4 respectively by connecting circuit 10, and two motors 4 link to each other with two speed reduction units 5 respectively, and two speed reduction units 5 link to each other with two mechanical fingers 6 respectively.
The motion of two mechanical fingers 6 in the utility model is driven respectively by the speed reduction unit 5 that motor 4 passes through separately, and two motors 4 are by control circuit 3 controls.Computing machine 1 is by serial communication 2 interfaces and control circuit 3 communications.Control circuit 3 links to each other with motor 4 by connecting circuit 10.Two motor 4 rear ends one scrambler 8 is installed respectively, the signal of scrambler 8 feeds back to control circuit 3 by connecting circuit 10.When mechanical finger 6 touches object, can produce power on its surface of contact and the finger, the force transducer 9 on the mechanical arm can detect the size of power, and by connecting circuit 10 force signal is fed back to control circuit 3.Control circuit 3 turns back to computing machine 1 by serial communication 2 with force signal and position signalling, makes the operator can monitor the stressing conditions and the motion conditions of mechanical arm in real time.
Operating process of the present utility model as shown in Figure 3.Earlier move motion control software on computing machine 1, the operator can be by the motion of software set mechanical arm, and the information that shows by software is understood the movement position, speed, stressing conditions of mechanical arm etc., the motion of real time monitoring, control mechanical arm.Different computing machines 1 have different serial communication interfaces, and control circuit 3 can design a kind of serial communication interface and multiple serial communication interface.Computing machine 1 uses a kind of in IEEE1394 standard, USB standard, RS232 standard, RS485 standard or other serial communication standard, perhaps uses two or more serial communication standard and control circuit 3 to carry out communication simultaneously.By serial communication 2, computing machine 1 transmits control signal to control circuit 3, and control circuit 3 sends the information of stressing conditions and motion conditions to computing machine 1.Control circuit 3 has used a kind of in digital signal processor (DSP), single-chip microcomputer, CPU or other processors, perhaps uses two or more processor simultaneously, and relevant electronic devices and components constitute control circuit, the motion of control motor 4.The axle of the output shaft of speed reduction unit 5 and mechanical finger 6 links to each other, and the output shaft of speed reduction unit 5 drives mechanical finger 6 motions.Force transducer 9 detects the stressing conditions of mechanical arm, by connecting circuit 10 force signal is sent to control circuit 3.Scrambler 8 on two motors 4 can detect the turned position of 4 in motor separately, by connecting circuit 10 position signalling is sent to control circuit 3.Control circuit 3 is determined the ruuning situation of two motors 4 according to the signal of scrambler 8, determines the stressing conditions of mechanical finger 6 according to the signal of force transducer 9, and sends the information of motion conditions and stressing conditions to computing machine 1 by serial communication 2.
Claims (6)
1, a kind of form adaptive small-sized two refers to mechanical arm, it is characterized in that: it comprises computing machine, serial communication, control circuit, motor, speed reduction unit, mechanical arm, scrambler, force transducer and connecting circuit, described force transducer is integrated on the mechanical arm, and this mechanical arm is provided with two mechanical fingers; Described computing machine is by serial communication interface and control circuit communication, and control circuit links to each other with motor by connecting circuit, passes through speed reduction unit driving device hands movement by motor; The signal of the scrambler that links to each other with motor feeds back to control circuit by connecting circuit, and the force transducer on the mechanical arm feeds back to control circuit with force signal by connecting circuit.
2, form adaptive according to claim 1 small-sized two refers to mechanical arm, it is characterized in that: described mechanical finger is two self-movements, the mechanical finger of motion coupling each other, be connected on the base by separately axle respectively, can be respectively rotate around separately axle.
3, form adaptive according to claim 2 small-sized two refers to mechanical arm, and it is characterized in that: the contact block that is installed on two mechanical finger ends by hinge is removable.
4, form adaptive according to claim 3 small-sized two refers to mechanical arm, and it is characterized in that: the clamping face of described contact block can be V-arrangement, plane.
5, form adaptive according to claim 1 small-sized two refers to mechanical arm, it is characterized in that: control circuit links to each other with two motors respectively by connecting circuit, two motors link to each other with two speed reduction units respectively, and two speed reduction units link to each other with two mechanical fingers respectively.
6, form adaptive according to claim 1 small-sized two refers to it is characterized in that mechanical arms: control circuit can be based on a kind of in digital signal processor, single-chip microcomputer, CPU and other processors, perhaps uses two or more processor simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200320131521 CN2726837Y (en) | 2003-12-29 | 2003-12-29 | Shape self-adapting small-sized two-finger manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200320131521 CN2726837Y (en) | 2003-12-29 | 2003-12-29 | Shape self-adapting small-sized two-finger manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2726837Y true CN2726837Y (en) | 2005-09-21 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200320131521 Expired - Fee Related CN2726837Y (en) | 2003-12-29 | 2003-12-29 | Shape self-adapting small-sized two-finger manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2726837Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101905763A (en) * | 2009-06-03 | 2010-12-08 | 克罗内斯股份公司 | The device and method that is used for container handling |
| CN103386690A (en) * | 2013-07-22 | 2013-11-13 | 山东省科学院自动化研究所 | Double-finger double-driving translation clamping type flexible grip and control method |
| CN107892172A (en) * | 2017-12-15 | 2018-04-10 | 镇江高等职业技术学校 | A kind of pickup transfer robot for part handling |
-
2003
- 2003-12-29 CN CN 200320131521 patent/CN2726837Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101905763A (en) * | 2009-06-03 | 2010-12-08 | 克罗内斯股份公司 | The device and method that is used for container handling |
| CN103386690A (en) * | 2013-07-22 | 2013-11-13 | 山东省科学院自动化研究所 | Double-finger double-driving translation clamping type flexible grip and control method |
| CN107892172A (en) * | 2017-12-15 | 2018-04-10 | 镇江高等职业技术学校 | A kind of pickup transfer robot for part handling |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |