CN109048982A - A kind of software self-locking manipulator localization method - Google Patents
A kind of software self-locking manipulator localization method Download PDFInfo
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- CN109048982A CN109048982A CN201811255843.0A CN201811255843A CN109048982A CN 109048982 A CN109048982 A CN 109048982A CN 201811255843 A CN201811255843 A CN 201811255843A CN 109048982 A CN109048982 A CN 109048982A
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- pedestal
- joint
- terrine
- slide bar
- manipulator
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000004807 localization Effects 0.000 title claims abstract description 11
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 64
- 239000000203 mixture Substances 0.000 claims abstract description 43
- 230000007246 mechanism Effects 0.000 claims description 22
- 230000008450 motivation Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 6
- 239000000945 filler Substances 0.000 description 39
- 238000012856 packing Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 13
- 238000010030 laminating Methods 0.000 description 8
- 239000000463 material Substances 0.000 description 7
- 239000000284 extract Substances 0.000 description 5
- 238000010276 construction Methods 0.000 description 4
- 238000001125 extrusion Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 208000002925 dental caries Diseases 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 206010061258 Joint lock Diseases 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to manipulator technical fields, more particularly to a kind of software self-locking manipulator localization method, it include: that joint accommodates storehouse, pedestal, take-up housing, if being provided with dry slide on pedestal, take-up housing is embedded in the slideway, and take-up housing accommodates storehouse with joint by bearing and connect, the two sides of slideway are provided with several slide bar through-holes, slide bar is provided in slide bar through-hole, the lower end of slide bar is stretched out from slide bar through-hole lower end, and joint accommodates and is provided with blend stop on storehouse；Slide bar corresponding with terrine tank mouth is pushed into base interior by terrine in the slide bar that pedestal lower surface is exposed, and the upper end of slide bar is exposed from pedestal upper surface, forms block column corresponding with terrine tank mouth position in the upper surface of pedestal；Blend stop is contacted with block column, blend stop deflection, the inner ring rotation of bearing, band movable joint accommodates storehouse rotation, using indirect addressing mode, fragile terrine body is avoided collision in position fixing process, while joint being made to accommodate the manipulator joint deflection fitting terrine side curve in storehouse.
Description
Technical field
The invention belongs to manipulator technical field more particularly to a kind of software self-locking manipulator localization methods.
Background technique
Existing flexible manipulator, which is typically employed in inside deformable material, is arranged air cavity, and multiple drivings are arranged in the side of air cavity
Chamber drives chamber expansion, stretches the side wall of the side of flexible manipulator after being passed through gas source, and manipulator is to another lateral bending
Song can be realized the crawl to soft, fragile object, but the type is mechanical due to being grabbed using flexible material
Hand has two: 1, buckling curve is fixed, such as a kind of " flexible manipulator with bow shape continuous bend inner cavity
CN108381534 ", after being passed through gas source, crawl is realized in manipulator bending, but curved curve can not be according to terrine surface curve
It is adapted to, formation point contact causes to grab unstable between terrine；2, intensity itself is inadequate, mechanical in order to complete to be bent
Hand getting flexible material is easily deformed when bearing external force, causes to grab unstable；
Since hand-made terrine itself is frangible, the outer curve of each tank body is all different, machine in the prior art
Tool hand is unable to complete in terrine production, the crawl to terrine, is provided a kind of for being grabbed in terrine production process to terrine
Manipulator, the mode that existing positioning method mostly uses manipulator and workpiece to touch realizes positioning, is easy the terrine to fragility
It causes to damage, simultaneously for the different terrine bad adaptability of size shape.
Summary of the invention
The present invention overcomes above-mentioned the deficiencies in the prior art, provide a kind of software self-locking manipulator localization method, are used for
Positioning when being grabbed to the terrine in terrine production, at the same the technical issues of solving include:
1, the auto Deformation of the outer wall difference curve of different terrines is adapted in the process of grasping；
2, the shape fixation problem of manipulator after deformation；
3, to the control problem of fragile terrine clamping force；
4, the problem of deformed manipulator itself intensity deficiency；
5, a kind of pressure-dependent filler of frictional force is provided；
6, the positioning adjustment of manipulator initial position, angle；
7, fixing seat itself orientation problem；
Technical solution of the present invention:
A kind of software self-locking manipulator localization method, comprising the following steps:
Step a: being accommodated into joint for articulated chain and accommodate in storehouse, and driving mechanism pushes take-up housing band movable joint to accommodate storehouse sliding
One end to slideway far from base central, mobile foundation to terrine tank mouth top；
Step b: pedestal moves downward, and slide bar corresponding with terrine tank mouth is pushed away by terrine in the slide bar that pedestal lower surface is exposed
Enter base interior, the upper end of slide bar is exposed from pedestal upper surface, is formed in the upper surface of pedestal corresponding with terrine tank mouth position
Block column；
Step c: driving mechanism pulls take-up housing mobile to the center of pedestal, and the movement of blend stop and take-up housing is kept when mobile
Path orthogonal, when the both ends of blend stop are contacted with block column simultaneously, blend stop does not rotate, and in the both ends difference of blend stop and keeps off
When block column contacts, blend stop is deflected towards rear one end contacted with block column, and the inner ring rotation of bearing, band movable joint accommodates storehouse and turns
It is dynamic, so that joint is accommodated the manipulator joint deflection fitting terrine side curve in storehouse；
Step d: bow strip is pressed towards blend stop, contact-making switch triggering, and driving mechanism stops.
Further, in the step c, when driving mechanism pulls take-up housing mobile to the center of pedestal, each take-up housing
It is all made of individual driving mechanism and carries out self-movement.
Further, in the step a, reel is set by accommodating storehouse upper end in joint, is rolled up by reel motor driven
Cylinder rotation pulls articulated chain income joint to accommodate in storehouse.
The invention has the benefit that
1, the articulated chain that there is manipulator of the invention the manipulator joint of articulated connection to be formed, on each manipulator joint
Be provided with laminating apparatus, thus structure, may be implemented, by articulated chain from top to bottom along terrine side walls when, fitting dress
It sets and every section manipulator joint is pressed on terrine side, the manipulator joint of adjacent articulated connection relatively rotates, and makes articulated chain
The curve being bonded with terrine lateral wall is formed, solving existing flexible manipulator can not be in the process of grasping to different terrine
The problem of auto Deformation of outer wall difference curve adapts to；
2, manipulator joint of the invention, the hinged place of two joint bodies are provided with clad, and adjacent segment body closes on hinge
The side of extension bar forms compressive plane, is rotated by the hinge bar of adjacent segment body, compressive plane and clad layer-forming two with joint body
And change the cavity of volume, and filler is provided in two cavitys, the clad is connect with the tracheae, thus structure,
It may be implemented, vacuum, the inside extrusion packing object of clad are extracted to clad by tracheae, cavity is full of, will wrap by filler
The atmospheric pressure that coating is subject to is transferred to compressive plane, will hingedly lock, so that fixed two adjacent manipulator joints is opposite
Angle is fixed the shape of articulated chain, and is locked.
3, coupling mechanism force of the present invention by external air source as hinged place, fixes the shape of articulated chain, passes through joint chain
The crawl structure collected at lower end is grabbed, and increases the pressure between manipulator and terrine with gas source in the prior art to increase
Add the grasp mode of stiction different, it is constant to the pressure of terrine when bleed pressure changes, avoid crushing terrine.
4, the present invention forms articulated chain by hinged manipulator joint, and articulated chain has the deformable spy of flexible manipulator
Point, meanwhile, locking mechanism is set in the hinged place of manipulator joint, when required by locking mechanism, by adjacent manipulator
The relative angle in joint locks, and articulated chain is made to become rigid manipulator, relative to existing flexible manipulator, the pass that is locked
Pitch chain has the intensity of Rigid Manipulators.
5, the section of filler of the invention is circle, and the outer spaced set of circular cross-section has several anti-slop serrations, phase
Flexible packing is set between adjacent anti-slop serrations, is provided on the compressive plane of the joint body and anti-slop serrations cooperation
Toothing；When tracheae does not extract vacuum, pressure is smaller between adjacent filler and filler and compressive plane, and packing will be adjacent
Gap filling between anti-slop serrations keeps filler surface smooth, when reducing Wall deformation, the resistance that filler deforms therewith,
When tracheae extracts vacuum, pressure is larger between adjacent filler and filler and compressive plane, the tooth knot on anti-slop serrations and compressive plane
Structure under pressure, is embedded in the gap of adjacent anti-slop serrations, packing is squeezed and deformed, and increases frictional force, makes adjacent segment
The fixation of body relative angle is more stable.
6, be provided with slideway on the pedestal of the fix seat of that invention, be provided with take-up housing in slideway, take-up housing by bearing with
Joint accommodates storehouse connection, and the two sides of slideway are arranged in parallel with two groups of slide bars, and the lower end of slide bar is stretched out from pedestal lower surface, and joint holds
It is provided with blend stop on Na Cang, thus structure, may be implemented, in positioning, corresponding slide bar is pushed into base interior by terrine tank mouth, right
It answers the upper end of slide bar to expose from pedestal upper surface, tank mouth shape information is transferred to pedestal upper surface, blend stop is contacted with slide bar, is made
Articulated chain rotates with it, and turns to contact surface and terrine plane tangent, and positioning is realized by the way of mediate contact, is avoided to crisp
Weak terrine causes to impact, while the adjustment of manipulator joint Yu terrine contact of a curve is automatically performed in positioning, keeps crawl more steady
It is fixed.
7, fixing seat of the invention makes fixing seat in such a way that several articulated chains can individually adjust position and angle
It does not need to be accurately positioned with terrine itself, the center of circle of fixing seat is corresponding with terrine tank mouth center, has very high serious forgiveness, not
Stablize crawl to can also pass through the adjust automatically of articulated chain in the case where just and realize completely.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of software self-locking manipulator；
Fig. 2 is the structural schematic diagram of the manipulator joint in Fig. 1；
Structural schematic diagram of Fig. 3 manipulator joint in locking state；
Fig. 4 is the structural schematic diagram of the filler in Fig. 2；
Fig. 5 is the structural schematic diagram of the laminating apparatus in Fig. 2；
Fig. 6 is structural schematic diagram of the manipulator joint in specific embodiment six；
Fig. 7 is the structural schematic diagram of the specific embodiment of the invention seven；
Fig. 8 is the structural schematic diagram of the specific embodiment of the invention eight；
Fig. 9 is the structural schematic diagram of the specific embodiment of the invention nine；
Figure 10 is a kind of structural schematic diagram of software self-locking manipulator fixing seat；
Figure 11 is structural schematic diagram of the fixing seat under positioning states in Figure 10；
Figure 12 is the Section A-A schematic diagram in Figure 11；
Figure 13 is the structural schematic diagram of the take-up housing 4 in Figure 10；
In figure: 1 manipulator joint；2 joints accommodate storehouse；3 pedestals；4 take-up housings；1-1 joint body；1-2 laminating apparatus；1-3
Filler；1-4 clad；1-6 tracheae；The second clad of 1-7；The second tracheae of 1-8；3-1 slide bar；4-1 bearing；4-2 blend stop；1-
1-1 hinge bar；1-1-2 compressive plane；1-3-1 anti-slop serrations；1-3-2 packing；4-2-1 contact-making switch；4-2-2 bow strip；
Specific embodiment
Below with reference to attached drawing, the present invention is described in detail:
Specific embodiment one
As shown in connection with fig. 1, a kind of software self-locking manipulator disclosed in the present embodiment, comprising: manipulator joint 1, joint hold
Receive storehouse 2 and pedestal 3, if being provided with dry slide on the pedestal 3, several described slideways are the center of circle along diameter using the center of pedestal 3
It is arranged to circumference in equal parts, a joint is provided in each slideway and accommodates storehouse 2, is provided in the receiving storehouse 2 of joint several
A manipulator joint 1, successively articulated connection forms articulated chain to several 1 head and the tail of manipulator joint；Pedestal 3 as support and with mention
The junction for rising structure connection accommodates the position that storehouse 2 adjusts articulated chain by joint on pedestal 3, adapts to different shape and big
Small terrine grabs terrine by articulated chain；
As shown in connection with fig. 2, the manipulator joint includes: joint body 1-1, laminating apparatus 1-2, filler 1-3, clad
1-4 and tracheae 1-6, the joint body 1-1 include the bottom surface contacted with workpiece to be clamped, the top surface opposite with bottom surface, top surface with
Side between bottom surface, side include two opposite connecting pins, and two neighboring joint body 1-1 opposite connecting pin hingedly connects
It connects, and the hinged place of two joint body 1-1 is provided with clad 1-4；
As shown in connection with fig. 3, the side that adjacent segment body 1-1 closes on hinge bar 1-1-1 forms compressive plane 1-1-2, by adjacent
Hinge bar 1-1-1, the compressive plane 1-1-2 and clad 1-4 of joint body 1-1 forms two and rotates with joint body 1-1 and change body
Long-pending cavity is provided with filler 1-3 in two cavitys, and the clad 1-4 is connect with the tracheae 1-6；In tracheae 1-6
When not extracting vacuum, two joint body 1-1 are relatively rotated, and compressive plane 1-1-2 extrusion packing object 1-3 deformation is extracted in tracheae 1-6
When vacuum, pressure is transferred to compressive plane 1-1-2 by clad 1-4 inside extrusion packing object 1-3, filler 1-3, due to two chambers
Indoor filler 1-3 is squeezed simultaneously, makes the compressive plane 1-1-2 of the two sides hinge bar 1-1-1 stress simultaneously, and then by adjacent segment
The relative angle of body 1-1 is fixed；
As shown in connection with fig. 4, the section of the filler 1-3 is circle, and the outer spaced set of circular cross-section has several
Fluted, inside grooves setting flexible packing 1-3-2 is set between anti-slop serrations 1-3-1, adjacent anti-slop serrations 1-3-1,
Packing 1-3-2 fills the gap of adjacent anti-slop serrations 1-3-1, keeps the surface of the filler 1-3 smooth, the joint body 1-1
Compressive plane 1-1-2 on be provided with the anti-slop serrations 1-3-1 cooperation toothing；It is adjacent when tracheae 1-6 does not extract vacuum
Filler 1-3 and filler 1-3 and compressive plane 1-1-2 between pressure it is smaller, packing 1-3-2 by adjacent anti-slop serrations 1-3-1 it
Between gap filling, keep the surface filler 1-3 smooth, reduce Wall deformation when, the resistance that filler 1-3 is deformed therewith, in gas
When pipe 1-6 extracts vacuum, pressure is larger between adjacent filler 1-3 and filler 1-3 and compressive plane 1-1-2, anti-slop serrations 1-3-1
Under pressure with the toothing on compressive plane 1-1-2, it is embedded in the gap of adjacent anti-slop serrations 1-3-1, by packing 1-3-2
It is squeezed and deformed, increases frictional force, keep the fixation of adjacent segment body 1-1 relative angle more stable；
As shown in connection with fig. 5, laminating apparatus 1-2 is additionally provided on the joint body 1-1, the laminating apparatus 1-2 is for producing
The raw active force for being directed toward the joint body 1-1, the active force have perpendicular to the component of the bottom surface and by the manipulator
Joint 1 accommodates the component that storehouse 2 pulls from inside to outside from joint, and the laminating apparatus 1-2 is fan, the top surface of the joint body 1-1
It is provided with fan through-hole between bottom surface, fan is provided in fan through-hole, the fan is powered using external cord；Pass through wind
Fan rotation makes to form negative pressure between joint body 1-1 and terrine, and joint body 1-1 is pressed to terrine by atmospheric pressure, and then forms articulated chain
Curve identical with terrine surface curve；
Articulated chain is formed by hinged manipulator joint 1, so that articulated chain is formed multiple inflection points, articulated chain pastes from top to bottom
It closes terrine surface to slide, in sliding process, so that manipulator joint 1 is tightly attached to terrine table by the pressure that laminating apparatus 1-2 is generated
Face, articulated chain form the curve being bonded with terrine surface, when the lower end of articulated chain slides into terrine bottom, a plurality of joint chain
The claw-like structures collected at lower end extract vacuum by tracheae 1-6, make clad 1-4 that filler 1-3 is pressed on adjacent machine
The hinged place of swivel of hand 1, filler fill up extruding in the two sides of hinged place, fix the relative angle of adjacent machine swivel of hand 1,
And then the shape of articulated chain is fixed, realize the crawl to terrine.
Specific embodiment two
The present embodiment be on the basis of specific embodiment one, specifically, be provided on the inside of the clad 1-4 to
The protruding end that the hinged place of the joint body 1-1 extends, in clad 1-4 extrusion packing object 1-3, protruding end is by filler 1-
3 push to the pressurized plane 1-1-2 of two sides.
Specific embodiment three
The present embodiment is on the basis of specific embodiment one or two, and specifically, the filler 1-3 is several balls
Body filler is provided with the through-hole for ventilation on sphere filler, is provided with separating layer on the inside of the clad 1-4, point
Absciss layer is reticular structure, and the sphere filler is arranged in separating layer, and separating layer, will in the case where not influencing air flowing
Filler 1-3 is coated, and when not extracting vacuum, is kept filler 1-3 mobile with clad 1-4, is removed out of cavity.
Specific embodiment four
The present embodiment is on the basis of specific embodiment one or two, and specifically, the filler 1-3 is several circles
Cylinder filler, the axis of cylindrical body filler and the articulated shaft of the joint body 1-1 are arranged in parallel, the cylindrical body filler
It is provided with through-hole in the axial direction.
Specific embodiment five
The present embodiment is on the basis of specific embodiment one, and specifically, the filler is single cylindrical filling
The side of object, cylinder filling is fixedly connected on the clad 1-4, and the compressive plane 1-1-2 is arc-shaped, the cladding
The outside of layer 1-4 is provided with the second clad 1-7, and the second clad 1-7 is connect with the second tracheae 1-8.
Specific embodiment six
A kind of locking mechanism of software self-locking manipulator disclosed in the present embodiment, the locking mechanism, which is applied, to be embodied
A kind of software latching mechanical disclosed in mode five is on hand；
As shown in connection with fig. 6, comprising: compressive plane 1-1-2, column packing material, clad 1-4, the second clad 1-7, gas
Pipe 1-6 and the second tracheae 1-8, the compressive plane 1-1-2 are arranged in manipulator joint 1 and close on the side of articulated shaft, adjacent machine
Two ipsilateral compressive plane 1-1-2 of tool swivel of hand 1 form wedge-shaped groove structure, and the column packing material is arranged in the wedge groove
In structure, the clad 1-4 be covered on adjacent machine swivel of hand 1 hinged place formed enclosed construction, the clad 1-4 with
The tracheae 1-6 connection, the side of the column packing material are fixed on the inside of the clad 1-4, the clad 1-4
Outside be provided with the second clad 1-7, the second clad 1-7 covers clad 1-4 to form enclosed construction, the second clad
1-7 is connect with the second tracheae 1-8, and is provided with support construction at the outer that contacts with clad 1-7 the second clad 1-7, is propped up
Support structure is provided for the second clad 1-7 and is propped up, between being formed between the clad 1-4 of articulated shaft side and the second clad 1-7
Every；
Vacuum is extracted by the second tracheae 1-8, moves clad 1-4 outward with column packing material, it is cylindrical
Filler is disengaged with compressive plane 1-1-2, reduces the resistance that adjacent machine swivel of hand 1 rotates.
Specific embodiment seven
The present embodiment is on the basis of specific embodiment one, specifically, as shown in connection with fig. 7, on the joint body 1-1
It is additionally provided with slide roller 1-1-3, the slide roller 1-1-3 described in several is arranged in parallel on the bottom surface, and the slide roller
The axis of 1-1-3 and the axis of hinge bar are arranged in parallel, and the surface of the slide roller 1-1-3 is covered with rubber layer, rubber layer edge
Slide roller 1-1-1 axis direction thickness is different, along the rubber layer group camber of one group of sliding tube 1-1-1 of hinge bar axis direction
Contact surface.
Specific embodiment eight
The present embodiment is on the basis of specific embodiment one, specifically, as shown in connection with fig. 8, in the joint body 1-1
Portion is provided with cavity, and cavity inside is provided with elastic balloon 1-1-4, and the elastic balloon 1-1-4 is connect with high-pressure air pipe, described
Several through-holes are provided on the bottom surface of joint body 1-1, the through-hole is connected in the cavity in joint body 1-1, in elastic gas
When capsule 1-1-4 is passed through high pressure gas, elastic balloon 1-1-4 expansion is full of the cavity, and elastic balloon 1-1-4 is in the through-hole
Place forms bulge-structure, and bottom surface of the bulge-structure for joint body 1-1 is anti-skidding.
Specific embodiment nine
The present embodiment is on the basis of specific embodiment one, specifically, as shown in connection with fig. 9, on the joint body 1-1
It is provided with anti-slip roller 1-1-5 and anti-skidding air bag 1-1-6, several anti-slip roller 1-1-5 are arranged in parallel on the bottom surface, and described
The axis of anti-slip roller 1-1-5 and the axis of hinge bar are arranged in parallel, and the joint body 1-1 is internally provided with air bag holding tank, institute
The one end for stating anti-skidding air bag 1-1-6 is fixed on the bottom of the air bag holding tank, and anti-skidding air bag 1-1-6 and the air supply pipe connect
It connects, is contacted after the anti-skidding air bag 1-1-6 expansion with the Anti-skidding pipe 1-1-5.
Specific embodiment ten
A kind of software self-locking manipulator fixing seat, the fixing seat disclosed in the present embodiment are applied in specific embodiment one
A kind of software latching mechanical described in two or five is on hand；
Specifically, as shown in connection with fig. 10, comprising: joint accommodates storehouse 2, pedestal 3, take-up housing 4, and the pedestal 3 is for machinery
Hand fixes and supports, and take-up housing 4 is provided on pedestal 3, and take-up housing 4 accommodates storehouse 2 with joint and connect；
The pedestal 3 is disc structure, and the center of disk is provided with the connecting pin for connecting lift structure, on pedestal 3
If being provided with dry slide, using the center of pedestal 3 as the center of circle, radially circumference in equal parts is arranged several described slideways, and the slideway is
Along pedestal axially through through slot；
The take-up housing 4 is embedded in the slideway, and the two sides of take-up housing 4 and the inside of the slideway pass through the cunning inlayed
Dynamic connection structure connection, each take-up housing 4 realize independent slide, the center of take-up housing 4 by individual driving mechanism
It is provided perpendicular to the bearing cross hole of the pedestal 3, bearing 4-1, the outer ring of the bearing 4-1 and axis are provided in bearing cross hole
It holds through-hole to be fixedly connected, the joint accommodates storehouse 2 and passes through the bearing and be fixedly connected with the inner ring of bearing 4-1；
The tank mouth of terrine is round (dotted portion in Figure 10), and on the top view of pedestal, slideway is provided with 4 edge of take-up housing
Terrine tank mouth radially slides, and after pedestal 3 is moved to terrine tank mouth upper end, is individually driven by each take-up housing 4 respectively
Motivation structure, driving take-up housing 4 slide at tank mouth, and take-up housing 4 accommodates storehouse 2 with joint and is moved on the outside of terrine tank mouth；
In conjunction with shown in Figure 11 and Figure 12, the two sides of the slideway are provided with several slide bar through-holes, several slide bar through-holes
It is arranged along the slideway interval, the intermediate setting of slide bar a 3-1, the slide bar 3-1 is provided in each slide bar through-hole
There is annular baffle ring, is provided with baffle ring sliding slot in the slide bar through-hole, when the annular baffle ring slides into baffle ring sliding slot lower end, institute
The lower end for stating slide bar 3-1 is stretched out from slide bar through-hole lower end, and downwardly projecting detection column, institute are formed in the lower surface of the pedestal 3
The upper end for stating slide bar 3-1 slides into the slide bar through-hole, when the annular baffle ring slides into baffle ring sliding slot upper end, the slide bar
The upper end of 3-1 is stretched out from slide bar through-hole upper end, and block column protruding upward is formed in the upper surface of the pedestal 3；
After being moved at terrine tank mouth, pedestal 3 moves down pedestal 3, and the lower surface of pedestal 3 is contacted with terrine tank mouth,
Slide bar 3-1 corresponding with terrine tank mouth touches tank mouth, and pedestal 3 continues to move down, until tank mouth is by slide bar 3-1 from pedestal 3
The detection column that lower surface is exposed is pushed into inside pedestal 3, at this point, the upper end of slide bar 3-1 is exposed from 3 upper surface of pedestal, take-up housing 4
It slides from outside to inside, until 4 upper end of take-up housing is touched with from 3 upper surface of pedestal slide bar 3-1 outstanding, avoids take-up housing 4 and pottery
The direct contact of tank reduces the direct impact to fragile terrine, improves the safety in crawl position fixing process；
In conjunction with shown in Figure 13, blend stop 4-2 is additionally provided on the take-up housing 4, the length of the blend stop 4-2 is greater than the cunning
The spacing of two column slide bar 3-1, the middle part of the blend stop 4-2 are fixedly connected with the inner ring of the bearing 4-1 outside road, and blend stop 4-2 is set
The side in the take-up housing 4 close to 3 center of pedestal is set, and is provided with contact-making switch 4-2-1 on the blend stop 4-2；
When take-up housing 4 is mobile, blend stop 4-2 is in the direction perpendicular to slideway path, connects in blend stop 4-2 and slide bar 3-1
When touching, when the two sides of blend stop 4-2 contact simultaneously with two sides slide bar 3-1, blend stop 4-2 does not rotate, when the two sides of blend stop 4-2
When not contacting simultaneously with two sides slide bar 3-1, blend stop 4-2 is deflected towards the rear side contacted with slide bar 3-1, while manipulator joint
1 rotates with it, and keeps the bottom surface of manipulator joint 1 and terrine surface curve (dotted portion in figure) tangent, take-up housing 4 continues to move
Dynamic, contact-making switch 4-2-1 is triggered, and take-up housing 4 stops movement；Manipulator joint is automatically performed in the position fixing process of articulated chain
1 with the tangent adjustment of terrine surface curve, make manipulator crawl terrine it is more stable.
Specific embodiment 11
The present embodiment be on the basis of specific embodiment ten, specifically, in conjunction with shown in Figure 11, the driving mechanism packet
Screw rod, lead screw motor and fixing seat sliding block are included, the fixing seat sliding block is fixedly connected on the take-up housing 4, fixing seat sliding block
It is socketed on the screw rod, the screw rod is arranged in parallel with the slideway, and one end of the screw rod and the lead screw motor
Shaft connection.
Specific embodiment 12
The present embodiment is specifically, reset knot to be provided on the blend stop 4-2 on the basis of specific embodiment ten
Structure, the resetting structure include blend stop reset spring, and one end of blend stop reset spring is connect with the blend stop 4-2, and blend stop resets
The other end of spring is connect with the take-up housing 4.
Specific embodiment 13
The present embodiment be on the basis of specific embodiment ten, 11 or 12, specifically, in conjunction with shown in Figure 13, institute
It states the front end blend stop 4-2 and is provided with bow strip, setting is there are two bow strip slide bar on bow strip, described in the insertion of two piece-root grafting touch article slide bars
Slide construction is formed in slide opening on blend stop 4-2, the contact-making switch 4-2-1 is arranged in the bow strip and the blend stop 4-2
Between, stop signal of the contact-making switch 4-2-1 as the driving mechanism.
Specific embodiment 14
A kind of software self-locking manipulator localization method disclosed in the present embodiment, the method be specific embodiment ten,
It is realized in a kind of software self-locking manipulator fixing seat disclosed in 11 or 12；
The following steps are included:
Step a: articulated chain is accommodated into joint and is accommodated in storehouse 2, driving mechanism pushes take-up housing 4 to accommodate storehouse 2 with movable joint
Slide into the one end of slideway far from 3 center of pedestal, mobile foundation 3 to terrine tank mouth top；
Step b: pedestal 3 moves downward, slide bar 3-1 corresponding with terrine tank mouth in the slide bar 3-1 that 3 lower surface of pedestal is exposed
Inside terrine push-in pedestal 3, the upper end of slide bar 3-1 is exposed from 3 upper surface of pedestal, formation and terrine in the upper surface of pedestal 3
The corresponding block column in tank mouth position；
Step c: driving mechanism pulls take-up housing 4 mobile to the center of pedestal 3, and blend stop 4-2 and take-up housing 4 are kept when mobile
Movement routine it is vertical, the both ends of blend stop 4-2 simultaneously contacted with block column when, blend stop 4-2 does not rotate, in blend stop 4-2
Both ends difference when being contacted with block column, one end deflection that blend stop 4-2 is contacted with block column towards rear, the inner ring of bearing 4-1
Rotation, band movable joint accommodate storehouse 2 and rotate, and joint is made to accommodate the deflection fitting terrine side curve of manipulator joint 1 in storehouse 2；
Step d: bow strip 4-2-2 is pressed towards blend stop 4-2, contact-making switch 4-2-1 triggering, and driving mechanism stops.
Specific embodiment 15
The present embodiment is on the basis of specific embodiment 14, and specifically, in the step c, driving mechanism is pulled
When take-up housing 4 is mobile to the center of pedestal 3, each take-up housing 4 is all made of individual driving mechanism and carries out self-movement.
Specific embodiment 16
The present embodiment is on the basis of specific embodiment 14, specifically, in the step a, by holding in joint
2 upper end of storehouse setting reel of receiving is pulled in the receiving storehouse 2 of articulated chain income joint by reel motor driven spool turns.
Above embodiments are exemplary description of this patent, do not limit its protection scope, those skilled in the art
Member can also be changed its part, as long as it does not exceed the essence of this patent, within the protection scope of the present patent.
Claims (5)
1. a kind of software self-locking manipulator localization method, which comprises the following steps:
Step a: being accommodated into joint for articulated chain and accommodate in storehouse (2), and driving mechanism pushes take-up housing (4) band movable joint to accommodate storehouse
(2) one end of slideway far from pedestal (3) center, mobile foundation (3) to terrine tank mouth top are slid into；
Step b: pedestal (3) moves downward, slide bar corresponding with terrine tank mouth in the slide bar (3-1) that pedestal (3) lower surface is exposed
(3-1) is internal by terrine push-in pedestal (3), and the upper end of slide bar (3-1) is exposed from pedestal (3) upper surface, in the upper table of pedestal (3)
Face forms block column corresponding with terrine tank mouth position；
Step c: driving mechanism pulls take-up housing (4) mobile to the center of pedestal (3), and blend stop (4-2) and sliding block are kept when mobile
The movement routine of seat (4) is vertical, and when the both ends of blend stop (4-2) are contacted with block column simultaneously, blend stop (4-2) does not rotate,
When contacting in the both ends difference of blend stop (4-2) with block column, blend stop (4-2) is deflected towards rear one end contacted with block column,
The inner ring of bearing (4-1) rotates, and band movable joint accommodates storehouse (2) rotation, so that joint is accommodated the manipulator joint (1) in storehouse (2) inclined
It is posted and closes terrine side curve；
Step d: bow strip (4-2-2) is pressed towards blend stop (4-2), and contact-making switch (4-2-1) triggering, driving mechanism stops.
2. a kind of software self-locking manipulator localization method according to claim 2, which is characterized in that in the step c, drive
When motivation structure pulls take-up housing (4) mobile to the center of pedestal (3), each take-up housing (4) be all made of individual driving mechanism into
Row self-movement.
3. a kind of software self-locking manipulator localization method according to claim 1, which is characterized in that in the step a, lead to
It crosses and accommodates storehouse (2) upper end setting reel in joint, by reel motor driven spool turns, articulated chain income joint is pulled to accommodate
In storehouse (2).
4. a kind of software self-locking manipulator localization method according to claim 1,2 or 3, which is characterized in that the method
It applies in a kind of software self-locking manipulator fixing seat.
5. a kind of terrine grasping means of manipulator according to claim 4, which is characterized in that a kind of software is self-locking
Manipulator fixing seat includes: that joint accommodates storehouse (2), pedestal (3) and take-up housing (4).
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| CN201811255843.0A CN109048982B (en) | 2018-10-25 | 2018-10-25 | Soft self-locking mechanical arm positioning method |
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| CN201811255843.0A CN109048982B (en) | 2018-10-25 | 2018-10-25 | Soft self-locking mechanical arm positioning method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111941384A (en) * | 2020-08-19 | 2020-11-17 | 六安科亚信息科技有限公司 | Anti-collision high-stability transfer robot |
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|---|---|
| CN109048982B (en) | 2021-11-09 |
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