CN111702748A - A flexible parallel mechanism suitable for grasping in special environments - Google Patents

Abstract

The invention discloses a flexible parallel mechanism suitable for grasping in a special environment. The flexible parallel mechanism controls the length and deformation of the upper and lower flexible rods respectively through a servo motor, and further drives the movement of the end effector. At the same time, the end effector It can rotate freely 360° to be suitable for grasping objects of different shapes. The flexible rod in the flexible parallel mechanism is highly flexible and can undergo large nonlinear deformation, so it has strong adaptability to narrow spaces and unstructured spaces. At the same time, the mechanism also has the advantages of simple structure, convenient operation and large working space. Etc.

Description

A flexible parallel mechanism suitable for grasping in special environments

technical field

The invention relates to the field of grabbing mechanisms, in particular to a flexible parallel mechanism suitable for grabbing in special environments.

Background technique

With the continuous development of science and technology, robot technology continues to mature, corresponding applications are also increasing, and the performance requirements of robots in various fields are also very different. In production and life, there is widespread use of robots to replace humans to complete mechanical repetitive work, and in specific complex environments, higher requirements are placed on robotics.

The technology of the traditional rigid parallel robot has been very mature. Due to its advantages of good rigidity, high speed and low vibration, it is widely used in the field of fast grasping and machining. However, the length of the components of rigid parallel robots is often small, which leads to limited working space. The rigidity of the components is large and cannot be deformed. The motion of the rigid parallel robot mainly depends on the motion of the kinematic pair. Execute grabbing tasks in special spaces. The motion of the moving platform of the flexible parallel robot mainly depends on the large deformation of the flexible components in the robot. Its structure is flexible and flexible, so it has strong adaptability to narrow spaces and unstructured spaces, and the flexible components are directly connected to the moving platform without kinematic pairs. , so it has the advantages of compact structure, light weight, high precision, low cost and no friction.

SUMMARY OF THE INVENTION

In view of the above-mentioned technical deficiencies, the purpose of the present invention is to provide a flexible parallel mechanism suitable for grasping in a special environment, which can realize the operation in a narrow space and an unstructured environment through the nonlinear large deformation of its flexible rod. Execute a fetch task.

In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions:

The invention provides a flexible parallel mechanism suitable for grasping in special environments, comprising a base, wherein two bottom plate profiles are arranged in the base, and a slider panel is slidably connected to the bottom plate profiles. The profile is also provided with a screw nut transmission mechanism for controlling the lateral sliding of the slider panel, the slider panel is fixed with a slider and one end of the slider along its sliding direction is clamped with a flexible rod through a clamp One end of the base is provided with two sets of upper and lower sets of rollers that are respectively adapted to two flexible rods, and the other ends of the two flexible rods away from the clamp extend out of the base and are fixedly connected through the moving platform Together, the moving platform is provided with an end effector, the roller group limits the deformation of the flexible rod between it and the clamp, and ensures that the length of the flexible rod between it and the moving platform is an effective deformation length, It is ensured that the position of the end effector can be accurately calculated by the method of mathematical modeling.

Preferably, a linear guide rail is provided on the bottom plate profile, and a small slider slidably connected to the linear guide rail is provided on the slider panel.

Preferably, the lead screw nut transmission mechanism includes a servo motor, the servo motor is fixed on the end of the base away from the roller group through a flange sheet, the output end of the servo motor is fixed with a lead screw through a coupling, the Two bearing seats which are respectively rotatably connected with the screw rod are fixed at both ends of the bottom plate profile, and a screw nut seat which is threadedly connected with the screw rod is fixed on the sliding block panel.

Preferably, the upper and lower slider panels are slidably connected to the upper and lower end surfaces of the upper and lower bottom plate profiles, respectively.

Preferably, the slider is fixed on the slider panel by bolts for easy disassembly and replacement.

Preferably, the set of rollers includes two sets of upper and lower sets of four rollers in total.

Preferably, the size parameters of the flexible rod are replaced according to the on-site working environment, so as to be suitable for different working environments.

The beneficial effects of the present invention are: the present invention can realize the grasping task in a narrow space and an unstructured environment through the nonlinear large deformation of its flexible rod; the end effector can freely rotate 360° to be suitable for objects of different shapes Because the flexible rod is highly flexible and adjustable in length, it has a large working space and strong adaptability to various complex environments; at the same time, it also has the advantages of light weight, low cost and simple structure. advantage.

Description of drawings

In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that are used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative efforts.

1 is a schematic structural diagram of a flexible parallel mechanism suitable for grasping in a special environment provided by an embodiment of the present invention;

2 is a schematic structural diagram (side view) of a flexible parallel mechanism suitable for grasping in a special environment provided by an embodiment of the present invention;

3 is a schematic structural diagram (top view) of a flexible parallel mechanism suitable for grasping in a special environment according to an embodiment of the present invention.

Description of reference numbers:

1. Flange sheet; 2. Fixture; 3. Flexible rod; 4. Roller; 5. Moving platform; 7. Screw rod; 8. Base; 9. Guide rail; 10. Bottom plate profile; 11. Servo motor; 12 , slider; 13, slide panel; 14, end effector; 15, coupling; 16, bearing seat.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

As shown in FIG. 1 to FIG. 3 , a flexible parallel mechanism suitable for grasping in a special environment includes a base 8 , and two bottom plate profiles 10 are arranged in the base 8 , and the bottom plate profiles 10 slide upward. The slider panel 13 is connected, and the bottom plate section 10 is also provided with a screw nut transmission mechanism for controlling the lateral sliding of the slider panel 13. The slider panel 13 is fixed with the slider 12 by bolts and the slider is One end of the block 12 along its sliding direction is clamped with the flexible rod 3 by the clamp 2, and the upper and lower slider panels 13 are slidably connected to the upper and lower end surfaces of the upper and lower bottom plate profiles 10 respectively;

One end of the base 8 is provided with two upper and lower sets of roller groups 4 that are respectively adapted to the two flexible rods 3. The other ends of the two flexible rods 3 are far away from the clamp 2 and protrude out of the base 8. The movable platform 5 is fixedly connected together, and the movable platform 5 is provided with an end effector 14 . The roller group 4 limits the deformation of the flexible rod 3 between the movable platform 5 and the clamp 2 and ensures the connection between the flexible rod 3 and the movable platform 5 . The length of the flexible rod 3 between them is the effective deformation length, which ensures that the position of the end effector 14 can be accurately calculated by means of mathematical modeling.

The bottom plate profile 10 is provided with a linear guide rail 9 , and the slider panel 13 is provided with a small slider slidably connected with the linear guide rail 9 .

The screw nut transmission mechanism includes a servo motor 11 , the servo motor 11 is fixed on the end of the base 8 away from the roller group 4 through the flange sheet 1 , and the output end of the servo motor 11 is fixed with a wire through the coupling 15 . Rod 7 , two bearing seats 16 rotatably connected with the screw rod 7 are fixed at both ends of the bottom plate profile 10 , and a screw nut seat threadedly connected with the screw rod 7 is fixed on the slider panel 13 .

The roller group 4 includes a total of four rollers in the upper and lower groups.

When in use, the servo motor 11 drives the screw 7 to rotate through the coupling 15, and the screw 7 drives the slider panel 13 and the slider 12 to move linearly along the linear guide 9 through the screw nut seat on the slider panel 13, and the slider 12 The effective deformation length of the flexible rod 6 between the roller group 4 and the movable platform 5 is changed by pushing and pulling. When the lengths of the two flexible rods 6 are different, the flexible rod 6 will deform and drive the movable platform 5 and the end effector 14 move.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention. Thus, provided that these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims (7)

1. A flexible parallel mechanism suitable for grabbing in a special environment, characterized in that it comprises a base (8), and the base (8) is provided with upper and lower bottom plate profiles (10), the bottom plate profiles A slider panel (13) is slidably connected to the (10), and a screw nut transmission mechanism for controlling the lateral sliding of the slider panel (13) is also provided on the bottom plate profile (10), and the slider panel (13) ) is fixed with a slider (12) and one end of the slider (12) along its sliding direction is clamped with a flexible rod (3) through a clamp (2), and one end of the base (8) There are two sets of upper and lower sets of rollers (4) respectively adapted to the two flexible rods (3), the other ends of the two flexible rods (3) extending away from the base (8) from the other end of the clamp (2) outside and are fixedly connected together by a moving platform (5), the moving platform (5) is provided with an end effector (14), and the roller group (4) restricts the flexible rod between it and the clamp (2). The deformation of (3) also ensures that the length of the flexible rod (3) between it and the moving platform (5) is the effective deformation length, which ensures that the end effector (14) can be accurately calculated by the method of mathematical modeling. s position. 2. A flexible parallel mechanism suitable for grasping in special environments as claimed in claim 1, characterized in that a linear guide rail (9) is provided on the bottom plate profile (10), and the slider panel (13) ) is provided with a small sliding block slidingly connected with the linear guide rail (9). 3. The flexible parallel mechanism suitable for grasping in special environments according to claim 1, wherein the screw nut transmission mechanism comprises a servo motor (11), and the servo motor (11) passes through a method The blue sheet (1) is fixed on the end of the base 8 away from the roller group (4), the output end of the servo motor (11) is fixed with a screw (7) through a coupling (15), and the bottom plate profile (10) ) are fixed with two bearing seats (16) rotatably connected with the screw rod (7) respectively, and a screw nut seat threadedly connected with the screw rod (7) is fixed on the slider panel (13). 4. A flexible parallel mechanism suitable for grabbing under special circumstances as claimed in claim 1, characterized in that the upper and lower slider panels (13) are slidably connected to the upper and lower bottom plate profiles (10) respectively. end face and lower end face. 5. A flexible parallel mechanism suitable for grasping in special environments according to claim 1, characterized in that the slider (12) is fixed on the slider panel (13) by bolts for easy disassembly and replacement. 6 . The flexible parallel mechanism suitable for grasping in special environments according to claim 1 , wherein the roller group ( 4 ) comprises two sets of upper and lower sets of four rollers in total. 7 . 7 . The flexible parallel mechanism suitable for grasping in a special environment according to claim 1 , wherein the size parameters of the flexible rod ( 3 ) are replaced according to the on-site working environment. 8 .

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