WO2022143666A1

WO2022143666A1 - Shock-absorbing and anti-impact device for flexible manipulator

Info

Publication number: WO2022143666A1
Application number: PCT/CN2021/142074
Authority: WO
Inventors: 邵旭辉; 潘柏松; 吴全会
Original assignee: 浙江工业大学台州研究院
Priority date: 2020-12-30
Filing date: 2021-12-28
Publication date: 2022-07-07
Also published as: CN214490656U

Abstract

A shock-absorbing and anti-impact device for a flexible manipulator, comprising a flexible manipulator finger root joint driving portion, a position fine tuning portion, and a shock-absorbing portion. The shock-absorbing portion comprises shock-absorbing sleeves (30) and a compression spring (33); the two shock-absorbing sleeves (30) are respectively fixed on a front fixed plate (17) of the finger root joint driving portion and a main motor rear fixed plate (1); the compression spring (33) is located between each shock-absorbing sleeve (30) end and an auxiliary motor fixed plate (4) and between the shock-absorbing sleeve (30) end and a front end fixed plate (12); a rubber shock-absorbing sleeve (31) is arranged in each sleeve, and is sleeved on a position fine tuning portion guide supporting column (34). The spring and the shock-absorbing rubber rings are employed simultaneously, thereby effectively reducing impact force in the clamping process or under an emergency situation, and protecting the flexible manipulator and a robot from being impacted by hard impact.

Description

A shock-absorbing and anti-shock device for a flexible manipulator

technical field

The present application relates to the field of arrangement and design of flexible manipulators, and in particular, to a shock-absorbing and anti-shock device for flexible manipulators.

Background technique

The application of flexible manipulators in the industrial field has become more and more extensive, in the field of industrial manufacturing and assembly. The application of robots is very extensive, and the control of different parts and the clamping force required by the target parts is different. The traditional manipulator is only a special manipulator designed for a single target product. Its adaptability to multi-target parts is poor, and the replacement cost is high. At this time, the application of flexible manipulators alleviates the need for robotic gripping operations.

technical problem

Through the combination of industrial robot and flexible manipulator, the problem of adaptability to different parts can be effectively solved. However, when the robot is combined with the flexible manipulator, it is necessary to consider the impact on the flexible manipulator or the rigid impact of the robot in an emergency to avoid damage to the flexible manipulator, so the shock absorption design of the flexible manipulator is necessary.

technical solutions

In order to solve the above problems existing in the prior art, the present invention provides a shock-absorbing and shock-proof device for realizing a flexible manipulator, which adopts a spring and a shock-absorbing rubber ring at the same time to effectively reduce the shock force during clamping or in emergencies. The flexible manipulator and the robot are protected from being hit by hard impacts.

The shock-absorbing and anti-shock device for a flexible manipulator of the utility model comprises:

The drive part, the position fine-tuning part and the shock absorption part of the flexible manipulator;

The drive part of the flexible manipulator finger root segment includes: a main motor, which is fixed on the rear fixing plate of the flexible manipulator finger root segment drive mechanism; the end of the main motor screw is nested with the flexible manipulator finger root segment through the first bearing seat. On the front fixed plate of the drive mechanism;

The position fine-tuning part includes: an auxiliary motor, which is fixed on the auxiliary motor fixing plate; the end of the auxiliary motor screw is nested on the front-end fixing plate of the position fine-tuning part through the second bearing seat;

The shock-absorbing part includes: a shock-absorbing sleeve and a compression spring, wherein two shock-absorbing sleeves are respectively fixed on the front fixing plate of the driving part of the finger base and the rear fixing plate of the main motor, and the compression spring is in the shock-absorbing part. Between the sleeve end and the auxiliary motor fixing plate and between the shock-absorbing sleeve end and the front-end fixing plate, there is a rubber shock-absorbing sleeve in the sleeve, which is sleeved on the guide support column of the position fine-tuning part, and the rubber sleeve passes through the shock-absorbing sleeve Ring end caps are fixed.

Further, the drive part of the root section of the flexible manipulator further includes: a main motor motion conversion device, including a first lead screw and a first nut, for converting the rotary motion of the main motor into linear motion; the root section of the manipulator, one end The finger base is hinged with the front fixed plate of the driving part of the finger base, the other end is hinged with one end of the push rod of the finger base, and the other end of the push rod of the finger base is hinged with the push rod arms on both sides of the middle movable plate of the driving part of the finger base ; Among them, the first screw rod is fixedly connected with the output shaft of the main motor, and the nut is fixed on the middle movable plate of the root section driving part of the flexible mechanical finger root section driving part; the end of the main motor screw rod is embedded through the first bearing seat The sleeve is connected to the front fixing plate of the flexible manipulator's finger root drive mechanism, and the two front and rear fixing plates are connected by the connecting piece of the finger root drive part; the front and rear fixing plates are connected by a guide support column; the front and rear fixing plates are connected A linear bearing is installed between the guide support column.

Further, the position fine-tuning part also includes: an auxiliary motor motion conversion device, including an auxiliary motor screw and an auxiliary motor screw nut, for converting the rotary motion of the auxiliary motor into a linear motion; wherein, the auxiliary motor screw and the auxiliary motor The output shaft of the robot is fixedly connected, the screw nut of the auxiliary motor is fixed on the middle fixing plate of the position fine-tuning part, the auxiliary motor is fixed on the auxiliary motor fixing plate, and the middle fixing plate and the robot end fixing plate are fixedly connected through the T-shaped connecting plate; the auxiliary motor is fixed The plate and the front end fixing plate are connected by the position fine adjustment part connecting piece, and two position fine adjustment part guiding support columns are arranged between the auxiliary motor fixing plate and the front end fixing plate.

Further, both the main motor and the auxiliary motor are stepper motors.

Further, the connecting piece of the driving part of the finger root segment and the connecting piece of the position fine-tuning part are both "[" type fixing pieces.

Further, the first bearing and the second bearing are both linear bearings.

Further, the first bearing and the second bearing are supported by a diamond bearing seat.

beneficial effect

The utility model provides a shock-absorbing and anti-shock device for realizing a flexible manipulator, which adopts a spring and a shock-absorbing rubber ring at the same time, which can effectively reduce the impact force during clamping or in emergencies, and protect the flexible manipulator and the robot from hard shocks. injured.

Description of drawings

FIG. 1 is a schematic structural diagram of a shock-absorbing and shock-proof device for a flexible manipulator of the present invention.

FIG. 2 is a schematic structural diagram of a shock-absorbing and impact-preventing device of a flexible manipulator of the present invention.

FIG. 3 is a schematic diagram of the structure of a shock absorbing and anti-shock device of a flexible manipulator of the present invention.

FIG. 4 is a schematic diagram of a shock absorbing and anti-shock device of a flexible manipulator of the present invention.

FIG. 5 is a schematic diagram of a shock-absorbing and shock-proof device for a flexible manipulator of the present invention.

FIG. 6 is a schematic diagram of a shock-absorbing and shock-proof device for a flexible manipulator of the present invention.

FIG. 7 is a schematic diagram of a shock-absorbing and shock-proof device for a flexible manipulator of the present invention.

8 is a schematic diagram of a shock-absorbing and shock-proof device for a flexible manipulator of the present invention.

reference number

1. Rear fixing plate 2. Guide support column 3. Position fine-tuning part connecting piece 4. Auxiliary motor fixing plate 5. Position fine-tuning part guide support column fixed end (left) 6. Finger root drive part connecting piece 7. T-connection Parts 8. Robot end connecting plate 9. Middle fixing plate 10. Auxiliary motor screw nut 11. Auxiliary motor screw 12. Position fine-tuning part front fixing plate 13. Position fine-tuning part linear bearing 14. Position fine-tuning part guide support column (right ) 15. Ball screw diamond bearing seat 16. Finger base fixing seat 17. Front fixing plate of finger root drive part 18. Push rod arm 19. Push rod arm pin 20. Finger root drive part middle movable plate 21. Main step Incoming motor 22. Main driving screw 23. Main driving nut 24. Main driving screw nut 25. Robot finger root section 26. Main driving screw diamond bearing seat 27. Stud 28. Finger root section push rod 29. Auxiliary motor 30. Rubber shock-absorbing sleeve 31. Fixing stud 32. Compression spring 33. Shock-absorbing sleeve end cover.

BEST MODE FOR CARRYING OUT THE INVENTION

Type the best mode description paragraph of the invention here.

Embodiments of the present invention

The embodiments of the present invention are described below through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

The drive part and the position fine-tuning part of the flexible manipulator finger;

Among them, the driving part of the root segment of the flexible manipulator includes:

The main motor 21 is used to provide the opening and closing power of the root of the robot finger;

The main motor motion conversion device, including the main drive screw 22 and the main drive nut 23, is used to convert the rotational motion of the main motor 21 into linear motion;

One end of the manipulator finger root segment 25 is hinged with the front fixing plate 17 of the finger root segment driving part through the finger root segment fixing seat 16, and the other end is hinged with one end of the finger root segment push rod 28, and the other end of the finger root segment push rod 28 is driven with the finger root segment. The push rod arms on both sides of part of the middle movable plate 20 are hinged;

The main drive screw 22 is fixedly connected with the output shaft of the main motor 21, the main drive nut 23 is fixed on the middle movable plate 20 of the root drive part of the root drive part of the flexible manipulator, and the main motor 2 is fixed on the flexible manipulator. on the rear fixing plate 1 of the root drive mechanism;

The end of the main motor screw 22 is nested with the front fixing plate 17 of the flexible mechanical finger root drive mechanism through the first bearing seat, and the front and rear fixing plates are connected through the finger root drive part connecting piece 6;

The front and rear fixed plates are connected by a guide support column 2; a linear bearing is arranged between the front and rear fixed plates and the guide support column 2;

The position fine-tuning part of the drive mechanism includes:

Auxiliary motor, used to realize the overall front and rear displacement of the manipulator;

The auxiliary motor motion conversion device, including the auxiliary motor screw 11 and the auxiliary motor screw nut 10, is used to convert the rotary motion of the auxiliary motor into linear motion;

Among them, the auxiliary motor screw 11 is fixedly connected with the output shaft of the auxiliary motor, the auxiliary motor screw nut 10 is fixed on the middle fixing plate 9 of the position fine-tuning part, the auxiliary motor is fixed on the auxiliary motor fixing plate, and the middle fixing plate 9 is connected to the end of the robot. The fixing plate 8 is fixedly connected through the T-shaped connecting plate 7; the end of the auxiliary motor screw 11 is nested on the front end fixing plate 12 of the position fine-tuning part through the second bearing seat; the auxiliary motor fixing plate 4 and the front end fixing plate 12 pass the position The fine-tuning part connecting piece 3 is connected, and two position fine-tuning part guiding support columns 34 are arranged between the auxiliary motor fixing plate and the front-end fixing board;

The shock-absorbing part includes a shock-absorbing sleeve 30 and a compression spring 33, wherein two shock-absorbing sleeves 30 are respectively fixed on the front fixing plate 17 of the phalangeal segment driving part and on the rear fixing plate 1 of the main motor, respectively. The compression spring 33 is located between the end of the shock-absorbing sleeve 30 and the auxiliary motor fixing plate 4 and between the end of the shock-absorbing sleeve 30 and the front-end fixing plate 12. There is a rubber shock-absorbing sleeve in the sleeve, which is sleeved on the guide support of the position fine-tuning part On the column, the rubber sleeve is fixed by the shock-absorbing sleeve end cover.

Both the main motor and the auxiliary motor are stepper motors.

The connecting pieces of the phalangeal joint driving part and the connecting pieces of the position fine-tuning part are both "["-type fixing pieces.

Both the first bearing and the second bearing are linear bearings.

The first and second bearings are supported by a diamond-shaped bearing seat.

As shown in FIG. 4 , the main motor 21 provides the power to open and close the base of the manipulator, wherein the screw nut of the main motor 21 is fixed on the movable push plate 20 of the drive part of the base of the flexible manipulator, and the main motor is fixed on the flexible manipulator. On the rear motor fixing plate 1 of the root drive part, at the same time, the end of the main stepping motor screw is nested with the front fixing plate 17 of the root drive part of the mechanical finger through the diamond bearing seat 26, and the two front and rear fixing plates pass through. The "[" type fixing member 6 is connected to each other, and also between the front and rear fixing plates, there is also a guide support column 2 of the driving part of the finger root segment. A linear bearing is also arranged between the push plate and the guide column, which reduces the sliding friction force and also effectively prevents the wear of the guide column and improves the movement accuracy of the movable push plate.

Similarly, for the fine-tuning part of the position of the flexible manipulator, the auxiliary stepping motor 29 that realizes the entire front and rear displacement of the manipulator, a screw 11 and nut pair 10 that replaces the rotary motion with linear motion, and the same screw nut of the auxiliary stepping motor is fixed in position on the middle fixing plate 9 of the fine adjustment part. At this time, the middle fixing plate 9 and the robot end fixing plate 8 are rigidly connected through the T-shaped connecting plate 7 . The small motor is fixed on the auxiliary motor fixing plate 4 . At the same time, the port of the auxiliary motor screw is nested on the front fixing plate 12 of the position fine-tuning part through the diamond bearing seat 15 . The two front and rear fixing plates are also connected by "[" type fixing pieces 3. The middle fixing plate 9 and the robot end fixing plate are in a fixed state. When the auxiliary stepping motor rotates, it drives the overall movement of the manipulator.

As shown in Figure 5, the middle movable plate is driven by the main stepping motor to move, thereby driving the finger base to realize the opening and closing action. The change of the forward and reverse rotation of the stepping motor refers to the change of the opening and closing of the root joint.

As shown in Figure 6, through the rotation of the auxiliary motor, the whole manipulator is driven to move back and forth.

As shown in Figure 7-8, the figure shows the shock absorber deflection generated when the manipulator is subjected to the impact force in the Fy and Fx directions. The impact force in the Fy direction can cause a certain displacement in the Y direction of the manipulator to reduce the hard impact as shown in Figure 2. The use of rubber shock absorbers can reduce the impact force in the Fx direction and the Fz direction, thereby causing a certain displacement of the axis of the manipulator to avoid hard impact.

The utility model provides a shock-absorbing and anti-shock device for realizing a flexible manipulator. The manipulator can reduce the frontal impact force of the manipulator through the compression of the compression spring, and at the same time, the spring and the shock-absorbing rubber ring are used to effectively reduce the clamping force. It protects the flexible manipulator and the robot from being hit by the hard impact.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should The technical solution is modified or equivalently replaced without departing from the purpose and scope of the technical solution, and it should be included in the protection scope of the present invention.

Industrial Applicability

Type an industrial applicability description paragraph here.

Sequence Listing Free Content

Type the Sequence Listing free content description paragraph here.

Claims

A shock-absorbing and anti-shock device for a flexible manipulator, characterized in that it includes:

The drive part, the position fine-tuning part and the shock absorption part of the flexible manipulator;

The drive part of the base of the flexible manipulator includes: a main motor, which is fixed on the rear fixing plate of the drive mechanism of the base of the flexible manipulator; the end of the screw rod of the main motor is driven by the base of the flexible manipulator through the first bearing seat nesting on the front fixed plate of the mechanism;

The position fine-tuning part includes: an auxiliary motor, which is fixed on the auxiliary motor fixing plate; the end of the auxiliary motor screw is nested on the front-end fixing plate of the position fine-tuning part through the second bearing seat;

The shock-absorbing part includes: a shock-absorbing sleeve and a compression spring, wherein two of the shock-absorbing sleeves are respectively fixed on the front fixing plate of the drive part of the knuckle segment and the rear fixing plate of the main motor, and the compression spring is fixed on the shock-absorbing sleeve Between the cylinder end and the auxiliary motor fixing plate and between the shock-absorbing sleeve end and the front-end fixing plate, there is a rubber shock-absorbing sleeve in the sleeve, which is sleeved on the guiding support column of the position fine-tuning part, and the rubber sleeve passes through the shock-absorbing ferrule End caps are fixed.
The shock-absorbing and anti-shock device of a flexible manipulator according to claim 1, wherein the drive part of the root segment of the flexible manipulator further comprises: a main motor motion conversion device, comprising a first lead screw and a first nut, It is used to convert the rotary motion of the main motor into linear motion; the root of the mechanical finger, one end is hinged with the front fixing plate of the driving part of the root of the finger through the root of the finger, and the other end is hinged with one end of the push rod of the root of the finger, and the root of the finger is pushed. The other end of the rod is hinged with the push rod arms on both sides of the middle movable plate of the driving part of the finger base; wherein, the first screw rod is fixedly connected with the output shaft of the main motor, and the nut is fixed to the finger base drive of the base driving part of the flexible mechanical finger Part of the middle movable plate; the end of the main motor screw is nested with the front fixed plate of the flexible manipulator finger root drive mechanism through the first bearing seat, and the two front and rear fixed plates are connected by the finger root drive part connecting piece; The front and rear fixing plates are connected by a guide support column; a linear bearing is arranged between the front and rear fixing plates and the guide support column.
The shock-absorbing and anti-shock device for a flexible manipulator according to claim 1, wherein the main motor and the auxiliary motor are both stepping motors.
The shock-absorbing and anti-shock device of a flexible manipulator according to claim 1, wherein the first bearing and the second bearing are both linear bearings.
The shock-absorbing and anti-shock device of a flexible manipulator according to claim 1, wherein the first bearing and the second bearing are supported by a diamond-shaped bearing seat.
The shock-absorbing and anti-shock device for a flexible manipulator according to any one of claims 1-5, wherein the position fine-tuning part further comprises: an auxiliary motor motion conversion device, comprising an auxiliary motor screw and an auxiliary motor screw The nut is used to convert the rotary motion of the auxiliary motor into linear motion; wherein, the auxiliary motor screw is fixedly connected with the output shaft of the auxiliary motor, the auxiliary motor screw nut is fixed on the middle fixing plate of the position fine-tuning part, and the auxiliary motor is fixed on the Auxiliary motor fixing plate, the middle fixing plate and the robot end fixing plate are fixedly connected by a T-shaped connecting plate; the auxiliary motor fixing plate and the front end fixing plate are connected by the position fine-tuning part of the connecting piece, and two auxiliary motor fixing plate and front end fixing plate are arranged between them. The root position fine-tuning section guides the support column.
A shock-absorbing and anti-shock device for a flexible manipulator according to claim 6, characterized in that, the connecting piece of the driving part of the finger root segment and the connecting piece of the position fine-tuning part are both "["-type fixing pieces.