CN103448070A - Tail end structure of multipurpose manipulator - Google Patents
Tail end structure of multipurpose manipulator Download PDFInfo
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- CN103448070A CN103448070A CN201310390609XA CN201310390609A CN103448070A CN 103448070 A CN103448070 A CN 103448070A CN 201310390609X A CN201310390609X A CN 201310390609XA CN 201310390609 A CN201310390609 A CN 201310390609A CN 103448070 A CN103448070 A CN 103448070A
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Abstract
本发明公开了一种多用型机械手的末端结构，该机械手末端结构除了能够完成一般夹持型机械手的抓握动作，还能够完成拾取纸张操作按键、抓取小药片等细微动作，并配合机械手的手臂完成其他的像开关门等生活操作。本发明手指的所有动作仅需要一个电机完成，通过这种结构减少了机械手的驱动电机个数，能有效地减轻机械手的重量，减少不必要的能源损耗，并且在保持简单结构的前提下，完成多种操作功能。
The invention discloses a terminal structure of a multi-purpose manipulator. The terminal structure of the manipulator can not only complete the grasping action of a general clamping manipulator, but also complete subtle actions such as picking up paper operation buttons and grabbing small tablets, and cooperates with the manipulator. The arm completes other life operations such as opening and closing doors. All the movements of the finger in the present invention only need one motor to complete. This structure reduces the number of driving motors of the manipulator, which can effectively reduce the weight of the manipulator and reduce unnecessary energy consumption. Various operating functions.
Description
Technical field
The present invention is a kind of end structure of multi-purpose type manipulator, is applied to intelligent wheelchair system, relates to Robotics, belongs to the medical machinery applied technical field.
Background technology
Aging population has become worldwide Social Events.The current aged of China has surpassed 10% of total population, future 20 years, and China's elderly population scale will be doubled.The acceleration of social senilization's process, make medical treatment and Social Insurance System face unprecedented pressure.
Aging process and smaller families, empty nesting accompany, and the solitary form of the elderly is more widespread, and problem is taken care of in the daily life of " empty nest old man family " will be particularly outstanding.Nursing staff's shortage, the deficiency of facilities for the elders, make family's endowment will become the main endowment form of China.Helping the elderly and physical disabilities' self-support in life, is the important guarantee of realizing family's endowment.
In recent years, along with international community is more and more higher to old and the disabled's attention degree, a lot of countries all are devoted to utilize advanced technology to promote physical disabilities' self-care ability, and this is the requirement that meets social development, is also the needs that the mankind constantly advance at sciemtifec and technical sphere.Under this background, the medicine equipment that the various the elderlys of contributing to and the disabled take care of oneself is also in every field development maturation, especially the appearance of intelligent wheel chair, wherein, with the intelligent wheelchair system of work jibs owing to replacing staff to carry out simple daily life operation, for physical disabilities' life brings great convenience.At present, the wheelchair manipulator product of comparative maturity has been arranged in the world, Manus, the iARM series of ExactDynamics company exploitation has been arranged abroad, the FRIENDS I of Bu Laimei university, II series, the WMRA series of university of south florida etc.China starts late in the research aspect the wheelchair manipulator, but has also obtained very large achievement.(patent No.: ZL200720077281.6), South China Science & Engineering University helps the disabled/helps the elderly with rope driving device arm (patent No. application publication number: CNIO2672715A) etc. the invalid wheelchair mechanical arm of Shanghai Electric Group Co., Ltd.But no matter be domestic or external wheelchair manipulator product, the emphasis of its research often is placed on the architecture advances of mechanical arm and controls, and its end execution architecture mostly is simple clamp-type manipulator, although simple in structure, it is convenient to control, but its function is also often very dull, only can implement simply to grasp generic operation, and can not implement trickleer, diversified life operation, more and more be difficult to meet use crowd's demand.
The wheelchair mechanical arm is installed on intelligent wheelchair system, and the user completes simple action by the panel operation of wheelchair, helps the comfortless elderly and the disabled of health to complete some basic operations of daily life.As ensureing key component-arm end old, that the disabled's daily life is taken care of oneself and needed on intelligent wheel chair, should be able to complete activities of daily life by the cooperative mechanical arm on its structure, for example can hold cup, beverage bottle, can press elevator, can pick up tablet, paper etc.Although apery type manipulator worldwide makes great progress at present, the apery type hand of forefront, Shadow Hand series such as exploitations such as Rich Walker, the UBH3 series of the research and development such as Lotti, the Gifu Hand series of the Kawasaki of Gifu, Japan university etc., can both imitate many actions of the mankind very flexibly, but its structure and control are often very complicated, cost is very high, also can't really enter in people's life.Therefore, design a simple in structure, the feature richness that is applied to intelligent wheelchair system, control robot Dextrous Hand easily, to improving the intelligent wheel chair product, promote its application in life, help taking care of oneself of the elderly and the disabled to have great significance.
Summary of the invention
In order to overcome the shortcoming and defect of above-mentioned prior art, the object of the present invention is to provide a kind of simple and compact for structure, feature richness, control multi-purpose type manipulator easily, solve the problem that current wheelchair robot manipulator structure is simple, function is dull and popularization is not high.The present invention is achieved through the following technical solutions:
A kind of end structure of multi-purpose type manipulator, comprise clamp-type manipulator basic framework, end dactylus boss, end dactylus hooked end, self adaptation warp architecture, forearm, mechanical wrist and end dactylus groove.Described clamp-type manipulator basic framework is fixed on mechanical wrist, and finger is directly controlled its motion by motor by ball screw assembly.Described end dactylus boss is derived from the end dactylus, is equivalent to the additional pinkie of manipulator.Described end dactylus hooked end is derived from the end dactylus, described self adaptation warp architecture is embedded in the finger of clamp-type manipulator basic framework, wherein left knee and far-end dactylus complete coupled motions by gear teeth meshing, described forearm is connected by two taper roll bearings staggered relatively in forearm with mechanical wrist, and described end dactylus groove is contained in the end dactylus.
The more excellent scheme of the end structure of above-mentioned a kind of multi-purpose type manipulator is, the basic framework of described arm end structure adopts the clamp-type manipulator of parallelogram linkage, thereby the folding of finger is controlled in the reciprocating motion that becomes the manipulator push rod with rotatablely moving of ball-screw adjutant motor, simple in structure, it is convenient to control, and the grip increase, improved the reliability that manipulator grasps object.
The more excellent scheme of the end structure of above-mentioned a kind of multi-purpose type manipulator is that described end dactylus boss comprises that length refers to that boss and brachydactylia boss, described length refer to that boss is derived from the first end dactylus; Described brachydactylia boss is derived from the second end dactylus.Described end dactylus boss is pinched the wisp function for the function that touches the button that realizes manipulator with grabbing, long refer to that boss guarantees that manipulator also can have outstanding boss foremost when mechanical finger closes up, can complete and touch the button and the operation of other operation of electrical appliances panels.Two boss are equivalent to two pinkies of manipulator, can be for completing the tiny work of pinching of grabbing.
The more excellent scheme of the end structure of above-mentioned a kind of multi-purpose type manipulator is, described end dactylus hooked end is combined as the shape after the form of copying the human nail is improved, for picking up the scraps of paper, comprise end dactylus hooked end and end dactylus curved surface end, described end dactylus hooked end is derived from the first end dactylus; Described end dactylus curved surface end is derived from the second end dactylus; Described end dactylus hooked end and end dactylus curved surface end can be fitted substantially.The end dactylus hooked end that described length refers to sweeps paper for the supporting surface that is pasting paper, clamps paper after the negative camber laminating of its negative camber and brachydactylia and completes grasping movement.
The more excellent scheme of the end structure of above-mentioned a kind of multi-purpose type manipulator is that described self adaptation warp architecture comprises the movable dactylus of the first near-end, the movable dactylus of the first end, the movable dactylus of the second near-end, the movable dactylus of the second end, the movable dactylus of the 3rd near-end, the movable dactylus of the 3rd end, the movable dactylus of nearby place's end, the movable dactylus of the 4th end, the first back-moving spring, the second back-moving spring, the 3rd back-moving spring, the 4th back-moving spring; The movable dactylus of described the first near-end and the movable dactylus of the second near-end are embedded in the first special parallel strip, around bolt, rotate; The movable dactylus of described the 3rd near-end and the movable dactylus of the 3rd near-end are embedded in the second special parallel strip, around bolt, rotate; The movable dactylus of described the first end and the movable dactylus of the second end are embedded in the first end dactylus, around rotating around bolt; The movable dactylus of described the 3rd end and the movable dactylus of the 4th end are embedded in the second end dactylus, around rotating around bolt; The movable dactylus of described the first near-end and the movable dactylus of the first end pass through gear teeth meshing; The movable dactylus of described the second near-end and the movable dactylus of the second end pass through gear teeth meshing; The movable dactylus of described the 3rd near-end and the movable dactylus of the 3rd end pass through gear teeth meshing; The movable dactylus of described nearby place's end and the movable dactylus of the 4th end pass through gear teeth meshing; Described the first back-moving spring, the second back-moving spring, the 3rd back-moving spring, the 4th back-moving spring are each positioned at the movable dactylus of the first near-end, the movable dactylus of the second near-end, the movable dactylus of the 3rd near-end, the movable dactylus of the nearby place's end position relative with special parallel strip embedded space, be used for the location of the movable dactylus idles of four near-ends and reset, four movable dactylus of near-end are limited in track corresponding on special parallel strip and move by the round end countersunk bolts.Above-mentioned self adaptation warp architecture is because have gear teeth meshing between the movable dactylus of each near-end and the movable dactylus of end, when the movable dactylus of near-end is subject to oppressive force, dactylus is crooked laterally, the end dactylus is to the toilet paper inside bend simultaneously, thereby the movable dactylus on both sides is all carried out described operation object is formed to envelope, increase the reliability captured.
The more excellent scheme of the end structure of above-mentioned a kind of multi-purpose type manipulator is, described mechanical wrist and clamp-type manipulator basic framework are connected by sunk screw, and described mechanical wrist is connected by a rotary joint with forearm; Described mechanical wrist comprises the first wrist shell, the second wrist shell, ball screw assembly,, L-type plate a, the first motor; Described the first motor is fixed in the first wrist shell by the L-type plate; Described ball screw assembly, connects the thrust that the first motor and push rod are push rod by the torque conversion of motor; Described the first wrist shell and the second wrist enclosure closed form the mechanical wrist profile; Described forearm comprises the first forearm lid, the second forearm lid, the first taper roll bearing, sleeve, the second taper roll bearing, end cap, shaft coupling, the second L-type plate, the second motor; Described the first taper roll bearing and the second taper roll bearing be the relative forearm that is contained in oppositely, centre separates with sleeve, the wrist end is through end-face hole, the first taper roll bearing, sleeve and second taper roll bearing of forearm, end face adds with end cap the interior ring that screw is fixed on the second taper roll bearing, eliminate axial freedom, it is fixed on forearm and can break away from around forearm rotation; Shaft coupling one end is connected to the end face of mechanical wrist through end cap with screw, the other end connects motor, by the Electric Machine Control wrist, is rotated; It is inner that described the second motor is fixed in the first forearm lid by the second L-type plate; Described the first forearm lid and the closed formation of the second forearm lid forearm profile.
The more excellent scheme of the end structure of above-mentioned a kind of multi-purpose type manipulator is, the operation that described end dactylus groove combination is picked up tabloid for manipulator, and described groove is positioned at the second end dactylus; The face that described the first end dactylus is corresponding with the groove of the second end dactylus is plane; When finger closes up, the inner plane of the first end dactylus pushes away tabloid in the groove that sweeps into the first end dactylus, and so latter two finger is closing the inside, little space that tabloid is packaged in to groove.
The more excellent scheme of the end structure of above-mentioned a kind of multi-purpose type manipulator is, the end effector mechanism of described multi-purpose type manipulator only needs a motor to complete driving, wrist is rotated also needs a motor, therefore, two motors of manipulator supply and demand in the design complete basic action, thereby effectively alleviated the weight of manipulator, improved its control response and security.When the finger of described manipulator closes up, the total length of end structure is 192mm, and width is 92mm, and mechanical wrist length is 150mm, and forearm length is 250mm, and the height of manipulator is 50mm, and it is 120mm that finger opens inner surface ultimate range.
Compared with prior art, the present invention has following advantage and effect:
Use the pedestal of clamp-type manipulator as whole end execution architecture, can bring into play the clamp-type robot manipulator structure and grasp simply again stable advantage, fundamentally simplify the structure of manipulator, simultaneously, also can be well provide a basis of adhering to for other additional mechanism providing additional operation.The clamp-type manipulator adopts the form of parallelogram linkage, can make to control to become simple, flexible structure.Added front wheel driving self adaptation warp architecture in manipulator, can improve the crawl availability of wheelchair arm end executing agency, especially can form envelope for columnar object, and the form of employing gear teeth meshing between two dactylus of this mechanism's left knee and end dactylus, utilize and capture the pressure-driven end dactylus of thing to left knee, reduce drive source, also contributed to simplify structure and the weight of manipulator.Increase separately a boss at original two larger end dactylus front ends of area, be equivalent to, for manipulator has increased by two pinkies, so both improve the function of manipulator, improved again the grasping manipulation performance of manipulator.Imitate human nail's form at the end dactylus of manipulator, add the hooked end combination, can make manipulator complete the operation of picking up paper; Increasing groove combination simultaneously and wrap tablet taking on the end dactylus of manipulator, is also to complete set operation with simple structure.Two kinds of above-mentioned versions neither can seem burden has again its practical value on function.The rotary freedom that the design's multi-purpose type manipulator partly increases in wrist, well made up the defect on arm end executing agency configuration flexibility, makes the grip function of manipulator abundanter, and can complete other some twist the operation of class.The end effector mechanism of whole manipulator only needs a motor to complete its all grasping operation, and add the motor of wrist part, the motor directly be installed on manipulator only has two, the weight of manipulator is controlled preferably, not only improved the controlled and response of manipulator, and make the arm of manipulator needn't bear too large torque, and can contribute to the life-span of prolonged mechanical hand arm, also can improve the security of manipulator.Make a general survey of whole manipulator, its machine construction principle is simple, compact conformation, and weight is lighter, and it is convenient to control, and the feature richness practicality, and life applied range, believe and also have good potentiality aspect market.
The accompanying drawing explanation
The overall structure schematic diagram that Fig. 1 is the embodiment of the present invention;
The front-view schematic diagram that Fig. 2 is the embodiment of the present invention;
The schematic top plan view that Fig. 3 is the embodiment of the present invention;
The elevational schematic view that Fig. 4 is the embodiment of the present invention;
Fig. 5 is A-A place cross-sectional schematic in Fig. 2
Fig. 6 is B-B place cross-sectional schematic in Fig. 2
The cross-sectional schematic that Fig. 7 is C-C place in Fig. 4;
The local enlarged diagram that Fig. 8 is F place in Fig. 7;
Fig. 9 is the first end dactylus structural representation;
Figure 10 is the second end dactylus structural representation;
Figure 11 is the second special parallel strip structural representation;
The structural principle schematic diagram that Figure 12 is the under-driven adaptive warp architecture.
Shown in figure, be:
1, the first end dactylus
101, the long boss that refers to
102, the first end dactylus hooked end
2, the first special parallel strip
3, the first triangle parallel strip
4, the movable dactylus of the first near-end
5, pedestal
6, the first wrist shell
7, the first forearm lid
8, the first brace
9, the movable dactylus of the 3rd near-end
10, the 3rd triangle parallel strip
11, the second special parallel strip
12, the second end dactylus
121, brachydactylia boss
122, groove
123, the second end dactylus curved surface end
13, the 4th triangle parallel strip
14, the second long parallel strip
15, the second brace
16, the second wrist shell
17, the second forearm lid
18, the first long parallel strip
19, the second triangle parallel strip
20, the movable dactylus of the first end
21, the first back-moving spring
22, the 3rd back-moving spring
23, the movable dactylus of the 3rd end
24, the movable dactylus of the second end
25, the second back-moving spring
26, the movable dactylus of the second near-end
27, first connecting rod
28, push rod
29, leading screw
30, second connecting rod
31, the movable dactylus of nearby place's end
32, the 4th back-moving spring
33, the movable dactylus of the 4th end
34, the first L shaped version
35, the first motor
36, the first taper roll bearing
37, the second taper roll bearing
38, sleeve
39, end cap
40, shaft coupling
41, the second L shaped version
42, the second motor
The specific embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limit therewith.
As Fig. 1, the present invention is a kind of end structure of multi-purpose type manipulator, comprises clamp-type manipulator basic framework 43, end dactylus boss 44, end dactylus hooked end 45, self adaptation warp architecture 46, forearm 47, mechanical wrist (48) and end dactylus groove 49, described clamp-type manipulator basic framework 43 use 90 o sunk screws are fixed in mechanical wrist 48, the long finger, passed through the ball-screw sub-control with the driving of brachydactylia by motor, and described end dactylus boss 44 is derived from the first end dactylus 1, the second end dactylus 12, described end dactylus hooked end 45 is derived from the first end dactylus 1, the second end dactylus 12, described self adaptation warp architecture 46 is embedded in the finger of clamp-type manipulator basic framework 43, wherein the movable dactylus 4 of the first near-end, the movable dactylus 9 of the second near-end, the movable dactylus 26 of the 3rd near-end, the movable dactylus 31 of nearby place's end and the movable dactylus 20 of the first end, the movable dactylus 23 of the second end, the movable dactylus 24 of the 3rd end, the movable dactylus 33 of the 4th end is by gear teeth meshing to implement coupled motions, and described forearm 47 and mechanical wrist (48) are by interior the first taper roll bearing 36 staggered relatively of forearm 47, the second taper roll bearing 38 connects, and described end dactylus groove 49 is arranged at the first end dactylus 1, the second end dactylus 12.
Described clamp-type manipulator basic framework 43 comprises pedestal 5, long refers to, brachydactylia, first connecting rod 27, second connecting rod 30, the first brace 8, the second brace 15, push rod 28; Described length refers to comprise the long parallel strip 18 of the first special parallel strip 2, first, the first triangle parallel strip 3, the second triangle parallel strip 19, the first end dactylus 1; Described brachydactylia comprises the long parallel strip 14 of the second special parallel strip 11, second, the 3rd triangle parallel strip 10, the 4th triangle parallel strip 13, the second end dactylus 12; Rectangular and the first long parallel strip 18 parallel aligned in the centre of the described first special parallel strip 2, bolted splice connection base frame 5 and the first end dactylus 1 for two; Described the first triangle parallel strip 3 and the second triangle parallel strip 19 parallel aligned, wherein two angles bolted splice connection base frame 5 and the first end dactylus 1, form double-deck parallelogram connection-rod structure with the above-mentioned first special parallel strip 2 and the first long parallel strip 18 with connecting of pedestal 5 and end dactylus; 27 1 of described first connecting rods are hinged with the round end dormant bolts with the holes, angle of the first triangle parallel strip 3, the second triangle parallel strip 19, and other end and the first brace 8, the second brace 15 are hinged; Rectangular and the second long parallel strip 14 parallel aligned in the centre of the described second special parallel strip 11, bolted splice connection base frame 5 and the second end dactylus 12 for two; Described the 3rd triangle parallel strip 10 and the 4th triangle parallel strip 13 parallel aligned, wherein two angles bolted splice connection base frame 5 and the second end dactylus 12, form double-deck parallelogram connection-rod structure with the above-mentioned second special parallel strip 11 and the second long parallel strip 14 with connecting of pedestal and end dactylus; 30 1 of described second connecting rods are hinged with the round end dormant bolts with the holes, angle of the 3rd triangle parallel strip 10, the 4th triangle parallel strip 13, and other end and the first brace 8, the second brace 15 are hinged; Described the first brace 8 and the second brace 15 parallel aligned, be separately fixed on two parallel surfaces up and down of push rod 28; When described push rod 28 moves forward and backward, thereby cause two above-mentioned parallelogram connection-rod structure sex change to form the opening and closing of two fingers of manipulator by first connecting rod 27 and second connecting rod 30.
Described end dactylus boss (44) comprises that length refers to that boss and brachydactylia boss, described length refer to that boss is arranged at the first end dactylus 1; Described brachydactylia boss is arranged at the second end dactylus 12.
Described end dactylus hooked end 45 comprises the first end dactylus hooked end 102 and the second end dactylus curved surface end 123, and described the first end dactylus hooked end 102 is arranged at the first end dactylus 1; Described the second end dactylus curved surface end 123 is derived from the second end dactylus 12; Described the first end dactylus hooked end 102 and the second end dactylus curved surface end 123 can be fitted substantially.
Described self adaptation warp architecture 46 comprises the movable dactylus 4 of the first near-end, the movable dactylus 20 of the first end, the movable dactylus 26 of the second near-end, the movable dactylus 24 of the second end, the movable dactylus 9 of the 3rd near-end, the movable dactylus 23 of the 3rd end, the movable dactylus 31 of nearby place's end, the movable dactylus 33 of the 4th end, the first back-moving spring 21, the second back-moving spring 25, the 3rd back-moving spring 22, the 4th back-moving spring 32; The movable dactylus 4 of described the first near-end and the movable dactylus 26 of the second near-end are embedded in the first special parallel strip 2, around stay bolt, rotate; The movable dactylus 9 of described the 3rd near-end and the movable dactylus 31 of nearby place's end are embedded in the second special parallel strip 11, around bolt, rotate; The movable dactylus 1 of described the first end and the movable dactylus 12 of the second end are embedded in the first end dactylus, can rotate around bolt; The movable dactylus 23 of described the 3rd end and the movable dactylus 33 of the 4th end are embedded in the second end dactylus, around rotating around bolt; The movable dactylus 4 of described the first near-end and the movable dactylus 1 of the first end pass through gear teeth meshing; The movable dactylus 26 of described the second near-end and the movable dactylus 24 of the second end pass through gear teeth meshing; The movable dactylus 9 of described the 3rd near-end and the movable dactylus 23 of the 3rd end pass through gear teeth meshing; The movable dactylus 31 of described nearby place's end and the movable dactylus 33 of the 4th end pass through gear teeth meshing; Described the first back-moving spring 21, the second back-moving spring 25, the 3rd back-moving spring 22, the 4th back-moving spring 32 are each positioned at the movable dactylus 4 of the first near-end, the movable dactylus 26 of the second near-end, the movable dactylus 9 of the 3rd near-end, the movable dactylus 31 of the nearby place's end position relative with special parallel strip embedded space, be used for the location of the movable dactylus idles of four near-ends and reset, four movable dactylus of near-end are limited in track corresponding on special parallel strip and move by the round end countersunk bolts.
Described mechanical wrist 48 is connected by sunk screw with clamp-type manipulator basic framework 43, and described mechanical wrist 48 is connected by a rotary joint with forearm 47; Described mechanical wrist 48 comprises the first wrist shell 6, the second wrist shell 16, push rod 28, leading screw 29, the first L-type plate 34, the first motor 35; Described the first motor 35 is fixed in the first wrist shell 6 by the first L-type plate 34; Described leading screw connects the first motor 35 and push rod 28, the thrust that is push rod by the torque conversion of motor; Described the first wrist shell 6 and the closed formation mechanical wrist of the second wrist shell 16 profile; Described forearm 47 comprises first forearm lid 7, second forearm lid the 17, first taper roll bearing 36, sleeve 38, the second taper roll bearing 37, end cap 39, shaft coupling 40, the second L-type plate 41, the second motor 42; Described the first taper roll bearing 36 and the second taper roll bearing 37 be the relative forearm that is contained in oppositely, centre separates with sleeve 38, the wrist end is through end-face hole, the first taper roll bearing 36, sleeve 38 and second taper roll bearing 37 of forearm, end face adds the fixing axial freedom of eliminating of screw with end cap, it is fixed on forearm and can break away from around forearm rotation; Shaft coupling 40 1 ends are connected to the end face of mechanical wrist through end cap 39 with screw, the other end connects the second motor 42, by the Electric Machine Control wrist, is rotated; Described the second motor 42 is fixed in the first forearm by the second L-type plate 41 and covers 7 inside; The closed formation forearm of described first forearm lid the 7 and second forearm lid 17 profile.
Described end dactylus groove 49 is arranged at the first end dactylus 1 and the second end dactylus 12, and the negative camber of the negative camber of described the first end dactylus hooked end 102 and the second end dactylus curved surface end 123 fits when two fingers close up.
Described forearm 47 axially is connected with mechanical wrist 48, and mechanical wrist 48 can rotate around forearm 47; The opening and closing of finger are moved forward and backward by push rod 28, transmit its variation by first connecting rod 27 and second connecting rod 30 and cause the distortion of two parallelogram connection-rod structures to complete; Described the first end dactylus 1 and the second end dactylus 12 to open when closing up two inner surfaces parallel; Two boss heights of described the first end dactylus 1 and the second end dactylus 12 are different, when manipulator finger is closed up, can have the most top outstanding finger to complete the operation touched the button.
The course of work of multi-purpose type manipulator is described below:
During the first electric machine rotation, its torque is transformed into moving back and forth of push rod by ball screw assembly,, then by first connecting rod and second connecting rod, parallelogram linkage distortion in two fingers of driving mechanical hand, so the finger of manipulator is opened with closing up.
When manipulator grasps columnar object, in the process that finger closes up, the movable dactylus of the near-end of manipulator outwards rotates under the reaction force of columnar object, drive the movable dactylus of end to the mechanical finger inside bend by the gear teeth with the movable dactylus engagement of end, thereby form envelope to capturing thing, improve the validity captured.
While picking up paper, the hooked end of manipulator combines and is positioned at below, and manipulator descends and adjusts the supporting surface that the end effector mechanism that makes manipulator is pressed close to paper, and the brachydactylia of manipulator compresses paper, and length refers to paper, not contact, and then, the finger of manipulator slowly closes up.In the process that the length of manipulator refers to close up with brachydactylia, the hooked end of long the first end dactylus referred to is being scraped the below that supporting surface slowly enters paper, one jiao of negative camber that blows into hooked end by paper, then finger after closing up clamps the paper bent up, the posture that keeps finger to clamp, angle and height by adjusting arm, complete the operation of picking up paper.
While picking up tablet, similar with the process of picking up paper.The supporting surface of tablet is close to by arm end executing agency, tablet faces toward the position of the groove of the second end dactylus between two finger tips, then finger closes up, the plane of the first end dactylus pushes tabloid in the groove of the second end dactylus, then the posture of closing up that keeps finger, tabloid is packaged in the groove of manipulator, the angle of furnishing manipulator arm and posture, complete the pick-up operation of tabloid.
The boss structure of arm end dactylus is equal to two pinkies of manipulator.When the button of pressing guidance panel or switch, angle and height by adjusting manipulator arm, just can utilize the boss of finger to complete this generic operation.For trickleer object, the rotary joint by rotary wrist and forearm junction, rotate the below to end effector mechanism by the boss of manipulator, and finger is implemented normal opening and closing action, completes and use end dactylus boss to pinch operation to grabbing of trickle object.
The spinning movement of manipulator and the opening and closing of finger action have motor to drive, and the finger movement of under-driven adaptive warp architecture has driven by capturing the reaction force of thing to the movable dactylus of near-end.
Can realize preferably the present invention as mentioned above.
Above-described embodiment is embodiments of the present invention; but embodiments of the present invention are not restricted to the described embodiments; other any do not deviate from change, the modification made under Spirit Essence of the present invention and principle, substitutes, combination, simplify; all should be equivalent substitute mode, within being included in protection scope of the present invention.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310390609.XA CN103448070B (en) | 2013-08-30 | 2013-08-30 | A kind of end structure of multipurpose manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310390609.XA CN103448070B (en) | 2013-08-30 | 2013-08-30 | A kind of end structure of multipurpose manipulator |
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| Publication Number | Publication Date |
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| CN103448070A true CN103448070A (en) | 2013-12-18 |
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Cited By (11)
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| CN103722407A (en) * | 2013-12-21 | 2014-04-16 | 袁新 | Clamping jaw device |
| CN106182047A (en) * | 2015-04-30 | 2016-12-07 | 上海磐颖实业有限公司 | Non-servo motor drives Multi-freedom-degreemanipulator manipulator |
| CN106424254A (en) * | 2016-10-09 | 2017-02-22 | 宁波蓝圣智能科技有限公司 | Robot bending equipment |
| CN107825450A (en) * | 2017-12-11 | 2018-03-23 | 苏州元谋智能机器人系统有限公司 | Switch gate manipulator, switch gate robot and switch gate method |
| CN109199590A (en) * | 2018-10-11 | 2019-01-15 | 上海奥朋医疗科技有限公司 | Blood vessel intervention manipulator and the operating robot of variable conduit and cis-position |
| CN109396926A (en) * | 2018-11-30 | 2019-03-01 | 贵州西南工具(集团)有限公司 | A kind of twin shaft movable type clamping jaw |
| CN109760084A (en) * | 2019-02-01 | 2019-05-17 | 哈尔滨工业大学（深圳） | A Modular Grasping Manipulator Based on Motion Parametabolites |
| CN111716347A (en) * | 2019-03-20 | 2020-09-29 | 株式会社理光 | Mechanical claw |
| CN114008695A (en) * | 2019-07-23 | 2022-02-01 | 日本金钱机械株式会社 | Mechanical arm |
| CN114310545A (en) * | 2021-12-30 | 2022-04-12 | 昆山达尼思自动化设备有限公司 | Automatic chamfering equipment |
| US11790720B2 (en) | 2019-07-23 | 2023-10-17 | Japan Cash Machine Co., Ltd. | Automatic bill handling system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103722407A (en) * | 2013-12-21 | 2014-04-16 | 袁新 | Clamping jaw device |
| CN106182047A (en) * | 2015-04-30 | 2016-12-07 | 上海磐颖实业有限公司 | Non-servo motor drives Multi-freedom-degreemanipulator manipulator |
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| CN107825450B (en) * | 2017-12-11 | 2024-04-05 | 苏州新优化投资咨询有限公司 | Door opening and closing mechanical arm, door opening and closing robot and door opening and closing method |
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| CN109199590A (en) * | 2018-10-11 | 2019-01-15 | 上海奥朋医疗科技有限公司 | Blood vessel intervention manipulator and the operating robot of variable conduit and cis-position |
| CN109396926A (en) * | 2018-11-30 | 2019-03-01 | 贵州西南工具(集团)有限公司 | A kind of twin shaft movable type clamping jaw |
| CN109760084A (en) * | 2019-02-01 | 2019-05-17 | 哈尔滨工业大学（深圳） | A Modular Grasping Manipulator Based on Motion Parametabolites |
| CN111716347A (en) * | 2019-03-20 | 2020-09-29 | 株式会社理光 | Mechanical claw |
| CN114008695A (en) * | 2019-07-23 | 2022-02-01 | 日本金钱机械株式会社 | Mechanical arm |
| US11790720B2 (en) | 2019-07-23 | 2023-10-17 | Japan Cash Machine Co., Ltd. | Automatic bill handling system |
| CN114008695B (en) * | 2019-07-23 | 2024-01-30 | 日本金钱机械株式会社 | Mechanical arm |
| CN114310545A (en) * | 2021-12-30 | 2022-04-12 | 昆山达尼思自动化设备有限公司 | Automatic chamfering equipment |
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