CN111805563A - A Single-drive Electric Adaptive Manipulator Based on Link Differential Mechanism - Google Patents

Abstract

The invention discloses a single-drive electric self-adaptive manipulator based on a connecting rod differential mechanism, which comprises a shell component, a controller and a grabbing mechanism component, wherein the shell component comprises an upper cover plate, a lower cover plate, a front cover plate, a rear cover plate, a left cover plate and a right cover plate, the grabbing mechanism component is combined and surrounded from six sides, the controller sends an instruction to a motor and controls the motor to rotate, the controller cover plate is positioned above the controller, and the grabbing mechanism component mainly comprises a linear guide mechanism component, a crossed connecting rod differential mechanism component and a seesaw differential mechanism component. The invention realizes the coordinated movement of four fingers through a novel connecting rod differential mechanism, can automatically adapt to the shape and position change of parts in a certain range, and can be used for grabbing special-shaped parts. The manipulator has the advantages of simple and compact structure, low hardware cost and the like. In addition, the manipulator is easy to grab the plate-shaped parts which cannot be sucked and grabbed by using the suction cups due to high surface roughness, which is difficult to realize by the existing manipulator.

Description

A Single-drive Electric Adaptive Manipulator Based on Link Differential Mechanism

technical field

The invention relates to the technical field of machinery, in particular to a single-drive electric self-adaptive manipulator based on a differential mechanism of a connecting rod.

Background technique

In order to meet the individual requirements, multi-variety and small-batch customized production modes and non-consistent scenarios have become the norm in production. The key to success lies in the versatility and adaptability of manipulator grasping, which requires greater flexibility and adaptability. Work with parts of different shapes, sizes and materials. Adaptive manipulator is a special robot end effector, which uses adaptive technology to complete the grasping of irregular parts, can automatically eliminate the position error of parts, and can automatically adapt to the shape and size of parts, as well as the rigidity and flexibility of materials. Characteristics change. In the complex and changeable tasks of robots, the adaptability and dexterity of manipulator grasping has a significant impact on the success or failure of robot applications, and is currently the main problem restricting the high-quality development of the robot industry.

Although the research of adaptive manipulators has made great progress, they still cannot meet the industrial requirements in terms of compactness, cost-effectiveness, and task requirements in complex environments and multi-task scenarios. Existing adaptive manipulators usually use multiple motors to coordinately drive multi-finger movements, which easily leads to very expensive manipulators and needs to consider the coordinated control of multiple motors; a few adaptive manipulators are driven by a single motor, and they usually use a gear differential mechanism. Or pulley differential mechanism to coordinate multi-finger movement. However, the former easily leads to the cumbersome and bulky structure of the manipulator, and the latter combined with the rope-driven method can only achieve a small grasping force. In addition, the existing adaptive manipulators focus more on the design of the finger mechanism, while the research on the single-input multiple-output differential mechanism is less, which is the main reason for the slow development of the current single-drive adaptive manipulator.

In industrial applications, plate-shaped parts are a common part, usually used in the casings of various equipment or products, and their surfaces often need to be polished. Due to the high surface roughness of the plate-shaped parts to be treated, it is impossible to use suction cups for suction and grasping. It is difficult for the existing adaptive manipulator to grasp the surrounding of such plate-shaped parts, mainly because the thickness of the plate-shaped parts is greatly different from the length and width, which is not conducive to the grasping of the manipulator.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a single-drive electric adaptive manipulator based on a link differential mechanism in order to solve the above problems.

The present invention realizes above-mentioned purpose through following technical scheme:

The present invention includes a casing assembly, a controller and a grasping mechanism assembly, the casing assembly includes an upper cover, a lower cover, a front cover, a rear cover, a left cover, and a right cover. The grasping mechanism assembly is surrounded, the controller sends instructions for the motor and controls its rotation, the controller cover is located above the controller, and the grasping mechanism components mainly include a linear guide mechanism component, a cross-link differential mechanism component, and Seesaw differential mechanism assembly.

Further, the linear guide mechanism assembly includes a motor, a base, a gear, a support beam, a linear guide rail, a slider, a first rack, a second rack and a gear, the motor is fixed on the support beam through the base, and the guide rail and the support The cross beam is fixedly connected, the slider can slide along the linear direction on the guide rail, the first rack and the second rack are respectively connected with the sliders on both sides, the gear is connected with the motor shaft, and the gear is driven by the meshing action of the rack and the rack. The bars slide along the guide rails, the first beam and the first rack are connected through a rotating pair, and the second beam and the second rack are connected through a rotating pair.

Further, the cross-link differential mechanism assembly includes a first cross beam, a first cross beam, a second cross beam, a second cross beam, a third cross beam, a fourth cross beam, a first link, a second link, a first a center rod, a third connecting rod, a fourth connecting rod, and a second center rod, the first cross beam and the second cross beam are connected with the first cross beam through the rotating shaft, and the third cross beam and the fourth cross beam are connected with the first cross beam through the rotating shaft The two cross beams are connected, the first cross beam and the fourth cross beam are connected by a rotating shaft, and the second cross beam and the third cross beam are connected by a rotating shaft. The first cross beam, the fourth cross beam, the first connecting rod and the second connecting rod form a parallelogram, the first central rod connects the two rotating shafts and allows the rotating shaft to slide in the chute of the first central rod, and the second cross beam , the third cross beam, the third connecting rod and the fourth connecting rod form a parallelogram, the second central rod connects the rotating shaft and allows the rotating shaft at point I to slide in the chute of the second central rod. Both ends are equipped with shaft retaining rings.

Further, the seesaw differential mechanism assembly includes fingers, longitudinal beams and fingertips. The fingers and the longitudinal beams can rotate around the rotation axis, but there is no relative movement between them. Two fingertips are installed at both ends of the fingers on each side, and the longitudinal beams can be rotated. There are two lugs on the beam, and the lugs on the same side of the two longitudinal beams are connected by springs, which are mainly used to maintain the tension state of the two fingers and provide auxiliary force for the fingers from grasping to releasing parts.

The beneficial effects of the present invention are:

The present invention is a single-drive electric self-adaptive manipulator based on a connecting rod differential mechanism. Compared with the prior art, the purpose of the present invention is mainly to overcome the complex structure, bulkiness and small grasping force of the existing self-adaptive manipulator. and other problems, the self-adaptive manipulator proposed by the present invention adopts a single drive, realizes the coordinated movement of four fingers through a new type of connecting rod differential mechanism, can automatically adapt to a certain range of changes in the shape and position of parts, and can be used for grasping abnormal parts. Pick. Compared with the existing adaptive manipulator, the manipulator has the advantages of simple structure, compactness, and low hardware cost. In addition, the manipulator is easy to grasp the plate-shaped parts that cannot be grasped by suction cups due to the high surface roughness, which is difficult to achieve with the existing manipulators.

Description of drawings

Fig. 1 is the self-adaptive manipulator assembly diagram of the present invention;

Figure 2 is an exploded view of the self-adaptive manipulator assembly of the present invention;

Fig. 3 is the structural schematic diagram of the grasping mechanism assembly of the present invention;

4 is a schematic structural diagram of a linear guide mechanism assembly of the present invention;

5 is a schematic structural diagram of a differential mechanism of the present invention;

6 is a schematic diagram of the working principle of the cross-link differential mechanism of the present invention;

Fig. 7 is the schematic diagram of the working principle of the double-cross-link differential mechanism of the present invention;

FIG. 8 is a schematic diagram of the manipulator grasping plate-shaped parts of the present invention.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings:

As shown in FIG. 1 , the adaptive manipulator designed by the present invention is mainly composed of three parts: a casing component 1 , a controller 2 , and a grasping mechanism component 3 .

As shown in FIG. 2 , the mounting housing assembly includes an upper cover 101 , a lower cover 106 , a front cover 105 , a rear cover 103 , a left cover 104 , and a right cover 102 , enclosing the grabbing mechanism from six sides Up, play the role of fixation and protection. The controller mainly sends commands for the motor and controls its rotation. The controller cover is located above the controller and plays a protective role.

As shown in FIG. 3 , the grasping mechanism assembly mainly includes a linear guide mechanism assembly 31 , a cross-link differential mechanism assembly 32 , and a seesaw differential mechanism assembly 33 .

As shown in Figure 4, the linear guide mechanism assembly includes a motor 3101, a base 3102, a gear 3103, a support beam 3104, a linear guide 3105, a slider 3106, a first rack 3107, a second rack 3108 and a gear 3103. The motor is fixed on the support beam through the base, the guide rail is fixedly connected with the support beam, and the slider can slide along the linear direction on the guide rail. The first rack and the second rack are respectively connected with the sliders on both sides, the gear is connected with the rotating shaft of the motor, and the gear rack is driven to slide along the guide rail through the meshing action of the gear and the rack. The first beam and the first rack are connected through the rotating pair at point O, and the second beam and the second rack are connected through the rotating pair at point O1.

As shown in FIG. 5 , the cross-link differential mechanism assembly includes a first cross beam 3201, a first cross beam 3202, a second cross beam 3203, a second cross beam 3204, a third cross beam 3205, a fourth cross beam 3206, a A connecting rod 3207 , a second connecting rod 3208 , a first central rod 3209 , a third connecting rod 3210 , a fourth connecting rod 3211 , and a second central rod 3212 . The first cross beam and the second cross beam are connected to the first beam through the rotation axes at points A and B, the third and fourth cross beams are connected to the second beam through the rotation axes at points A1 and B1, and the first The cross beam and the fourth cross beam are connected by the shaft at C, and the second cross beam and the third cross beam are connected by the shaft at D. The first cross beam, the fourth cross beam, the first link and the second link form a parallelogram CEFG, the first center link connects the rotation axes at points C and G and allows the rotation axis at point G to be in the first center The rod slides in the chute. Similarly, the second cross beam, the third cross beam, the third link and the fourth link form a parallelogram DHIJ, and the second center link connects the rotation axes at points D and I and allows the rotation axis at point I to be in the The second center rod slides in the chute. In addition, all shafts are fitted with shaft retaining rings at both ends.

The seesaw differential mechanism assembly includes fingers 3301 , longitudinal beams 3302 and fingertips 3303 . The fingers and the stringer can be rotated around the axis of rotation at point D, but there is no relative movement between them, and two fingertips are installed at both ends of each finger. There are two lugs on the longitudinal beam, and the lugs on the same side of the two longitudinal beams are connected by springs, which are mainly used to maintain the tension state of the two fingers and provide auxiliary force for the fingers from grasping to releasing parts. .

The schematic diagram of the working principle of the cross-link differential mechanism is shown in Figure 6. The motion d at point O is the input motion, and the motions at points C and D are the output motion. Therefore, the differential mechanism is a single-input two-output differential mechanism. moving mechanism. When the output motion of point C and point D is free sliding, that is, there is no obstruction, the motion of both points is the same as d ₀ , and the first beam is always kept horizontal; if one of them, such as point C, is in the process of motion Obstructed, under the action of the input motion, the motion of point D continues to increase. At this time, the first beam will generate a passive rotation α around point O to adapt to the difference between the two output motions. This degree of freedom is a redundant degree of freedom.

The manipulator designed in the present invention adopts the double cross-link differential mechanism as shown in FIG. 7, and adopts two symmetrically arranged cross-link differential mechanisms. Provides point O and point O ₁ with linear motion in opposite directions, which changes the linear input motion of a cross-link differential to an easily achievable rotational input.

As shown in Figure 8, using the manipulator designed in the present invention to grab plate-shaped parts, the manipulator can automatically adapt to a certain range of changes in the shape and position of the parts, and can be used for grabbing irregular parts. If the rotation of the fingers in the seesaw differential mechanism is restricted, the manipulator can become a three-finger or two-finger manipulator.

The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions only illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have Various changes and modifications fall within the scope of the claimed invention. The claimed scope of the present invention is defined by the appended claims and their equivalents.

Claims (4)

1. A single-drive electric self-adaptive manipulator based on a linkage differential mechanism, characterized in that it comprises a housing assembly, a controller and a grabbing mechanism assembly, the housing assembly comprising an upper cover, a lower cover, a front The cover, rear cover, left cover, and right cover surround the grasping mechanism from six sides. The controller sends commands to the motor and controls its rotation. The cover of the controller is located above the controller. The pick-up mechanism components mainly include linear guide mechanism components, cross-link differential mechanism components, and seesaw differential mechanism components. 2. The single-drive electric self-adaptive manipulator based on a linkage differential mechanism according to claim 1, wherein the linear guide mechanism assembly comprises a motor, a base, a gear, a supporting beam, a linear guide, a slider, The first rack, the second rack and the gear, the motor is fixed on the support beam through the base, the guide rail is fixedly connected with the support beam, the slider can slide along the linear direction on the guide rail, the first rack and the second rack are respectively It is connected with the sliders on both sides, and the gear is connected with the motor shaft. Through the meshing action of the gear and the rack, the rack is driven to slide along the guide rail. The first beam and the first rack are connected by a rotating pair, and the second beam and the second The bars are connected by a turning pair. 3. The single-drive electric adaptive manipulator based on a link differential mechanism according to claim 1, wherein the cross-link differential mechanism assembly comprises a first cross beam, a first cross beam, a second cross beam, The second cross beam, the third cross beam, the fourth cross beam, the first link, the second link, the first center rod, the third link, the fourth link, and the second center rod, the first cross beam and The second cross beam is connected to the first cross beam through a rotating shaft, the third cross beam and the fourth cross beam are connected to the second cross beam through a rotating shaft, the first cross beam and the fourth cross beam are connected through a rotating shaft, and the second cross beam and the third cross beam The beams are connected by pivots. The first cross beam, the fourth cross beam, the first connecting rod and the second connecting rod form a parallelogram, the first central rod connects the two rotating shafts and allows the rotating shaft to slide in the chute of the first central rod, and the second cross beam , The third cross beam, the third connecting rod and the fourth connecting rod form a parallelogram, the second central rod connects the rotating shaft and allows the rotating shaft at point I to slide in the chute of the second central rod. Both ends are equipped with shaft retaining rings. 4. The single-drive electric self-adaptive manipulator based on a connecting rod differential mechanism according to claim 1, wherein the seesaw differential mechanism assembly comprises a finger, a longitudinal beam and a fingertip, and the finger and the longitudinal beam can rotate around the axis of rotation, However, there is no relative movement between the two. Two fingertips are installed at both ends of the fingers on each side. There are two lugs on the longitudinal beam. The lugs on the same side of the two longitudinal beams are connected by springs, mainly used for Maintain tension between the two fingers and provide assistance for the fingers from grasping to releasing the part.

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