CN105500341A - Four-freedom-degree 3SPRR and SP type hybrid flexible hands for robots - Google Patents

Four-freedom-degree 3SPRR and SP type hybrid flexible hands for robots Download PDF

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Publication number
CN105500341A
CN105500341A CN201610019037.8A CN201610019037A CN105500341A CN 105500341 A CN105500341 A CN 105500341A CN 201610019037 A CN201610019037 A CN 201610019037A CN 105500341 A CN105500341 A CN 105500341A
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China
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type
finger
freedom
moving platform
linear
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CN201610019037.8A
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CN105500341B (en
Inventor
路懿
叶妮佳
路扬
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Yanshan University
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Yanshan University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
    • B25J9/0042—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base with kinematics chains of the type prismatic-universal-universal
    • 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
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • 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 provides a four-freedom-degree 3SPRR and SP type hybrid flexible hand for robots, which comprises a machine base, a movable platform, connecting rods, an SP type middle linear drive branch and three SPRR type flexible finger-containing drive branches which are of the same structure; the SP type branch is arranged in the center of the movable platform and the machine base, the lower ends of swing rods in the SPRR type branches and the movable platform are connected with first through holes formed in the inner sides of lower frames of arm rests, and linear electric cylinders are connected with second through holes formed in the outer sides of the lower frames of the arm rests and the machine base in a ball pair mode; the upper ends of the swing rods are connected with the lower ends of the fingers, the upper ends of the fingers serve as freedom ends, one end of each guide column is perpendicularly and fixedly connected with the middle of the corresponding swing rod, and the other end of each guide column penetrates through the frame of the corresponding arm rest to serve as a freedom end; the guide columns are sleeved with springs, and the two ends of springs abut against the middles of the swing rods and the inner walls of the frames of the arm rests respectively. The four-freedom-degree 3SPRR and SP type hybrid flexible hand for robots is simple in structure, large in finger posture work space, good in flexibility and capable of flexibly operating gripping and being used in space and deep-sea exploration, forging operation, rescue, medical operations and massage.

Description

Four-degree-of-freedom 3SPRR+SP type series-parallel robot flexible hand
Technical field
The present invention relates to robot field, particularly a kind of series-parallel robot flexible hand.
Background technology
It is large that parallel institution has mechanism's rigidity relatively, and bearing capacity is strong, and end mass is light, and inertia is little, and site error such as not to accumulate at the feature, in application and serial manipulator have complementary advantages.For many years, six-degree-of-freedom parallel connection mechanism has become the principal organ constructing multiple parallel robot/lathe.Compared with six-degree-of-freedom parallel connection mechanism, four-freedom parallel mechanism has structure and more simply, more holds manageable advantage, enjoys showing great attention to of brainstrust in recent years.For ease of illustrating, represent a point number with n, represent respectively with (S, U, P, R) (ball is secondary, universal pair, moving sets, revolute pair) in sub-chain, their combination represents sub-chain structure.In four-freedom parallel mechanism, publication number is that 3UPS+1RPU four-freedom parallel mechanism is moved in patent proposition three rotation one of CN101508110; Publication number is that the patent of CN101966507A proposes space 2UPS+2RPU four-freedom parallel mechanism and spray robot; Publication number is patent proposition three, the four-freedom parallel mechanism of CN103231364A, and the basis of Three Degree Of Freedom adds a rotary freedom.Publication number is that the patent of CN1958228 proposes a kind of 2UPR+2UPS four-freedom parallel mechanism; Publication number is the four-freedom parallel mechanism that the patent of CN2484153 proposes to realize 2 D rotation and 2 D translation; .Huang Zhen etc. propose 4UPU type four-freedom parallel mechanism, Zhao Tieshis etc. propose 4PUU type four-freedom parallel mechanism, the virtuous proposition in road has passive bound branch four-degree-of-freedom 4SPS+SP type parallel robot mechanism (patent No. 200510052260.4), 2SPS+2SPR type, 3SPS+SP type, three leg 2SPS+RRPR type four-freedom parallel mechanisms.In finger mechanism, publication number be CN102922532B patent discloses link-type coordinated drive robot finger apparatus.Publication number be CN103358315B patent discloses full cradle head link-type under-driving robot finger mechanism.Publication number be CN102935642B patent discloses connecting rod key slot type coupling drive lacking doublejointed robot finger apparatus.Publication number be CN102717394B patent discloses bevel gear coupling type dexterous robot finger device.Publication number be CN102717393B patent discloses connecting rod coupling type dexterous robot finger device.Above-mentioned finger apparatus mainly simulates that 5 finger motion characteristics of people are configured to, structure relative complex.In fact, the coordinated movement of various economic factors of three fingers can meet the crawl object of which movement requirement in many engineerings, and particularly counterweight object carrier captures the requirement of motion.It is simpler that obvious three finger coordination capture motion, easily realizes.Guaranteeing under parallel robot advantage prerequisite, how to construct four-degree-of-freedom 3SPRR+SP type series-parallel robot flexible hand, realize finger flexible operation and capture object, and ensure larger position working space and automaticity, there is not been reported.Therefore the target of robot research domain experts unremitting effort is become by 4DOF parallel institution structure series-parallel robot flexible hand.
Summary of the invention
The object of the present invention is to provide that a kind of structure is simple, finger pose working space is large, flexibility good, the four-degree-of-freedom 3SPRR+SP type series-parallel robot flexible hand of flexible operation.
The present invention includes support, moving platform, connecting rod, linear drives branch is identical with 3 structures in the middle of SP type SPRR type drive branch containing flexible finger, wherein, in the middle of SP type, linear drives branch is located at the center of moving platform and support, and 3 SPRR types drive branch's circumference uniform distribution between moving platform and support containing flexible finger; Support is provided with the secondary bearing of ball and 1 secondary bearing of astrosphere of 3 circumference uniform distributions; Moving platform is provided with 1 central vertical through hole;
SP type drives branch to be made up of Linear-electric-cylinder, and the central vertical through hole of its upper end and moving platform is connected, and its lower end and support center ball seat ball duplicate invoice connect; SPRR type drives branch to comprise jib, Linear-electric-cylinder, fork, spring, guide pillar and finger containing flexible finger, described jib is rectangular box, the lower frame both sides of this jib are respectively equipped with first and second parallel through holes, the lower end of fork and moving platform rotate with the first through hole in the inner part and connect, circle on this first through hole center line and moving platform is tangent, Linear-electric-cylinder upper end is rotated with the second through hole in the outer part and is connected, and this Linear-electric-cylinder lower end and support ball duplicate invoice connect; Above-mentioned fork upper end is fixedly connected with the lower end of finger, the upper end of this finger is free end, one end of guide pillar is vertical with in the middle part of fork to be connected, the other end of this guide pillar is free end through the frame of jib, spring housing is on guide pillar, one end of this spring is against in the middle part of fork, and the other end of this spring is against on the inwall of jib frame, utilizes spring to realize fork end flexible contact and captures object.
The present invention compared with prior art tool has the following advantages:
1, structure is simple, and the free degree is few, controls easily.
2, utilize jib and fork point between spring, realize finger tips flexible contact object.
3, four-freedom parallel mechanism and the coordinated movement of various economic factors of three flexible finger mechanisms, the flexible coordinated manipulation of Four-degree-of-freedhybrid hybrid robot flexible hand in large pose working space can be realized, flexible crawl object, can be used for space and deep-sea detecting, forging operation, rescue, medical operating and massage etc.
Accompanying drawing explanation
Fig. 1 is schematic front view of the present invention.
Fig. 2 is the top view of Fig. 1.
In figure: 1-support, 2-moving platform, 3-SP type drive branch, 4-Linear-electric-cylinder, 5-jib, 6 guide pillars, 7-spring, 8-fork, 9-finger.
Detailed description of the invention
In the four-degree-of-freedom 3SPRR+SP type series-parallel robot flexible hand schematic diagram shown in Fig. 1 and Fig. 2, in the middle of SP type, linear drives branch 3 is located at the center of moving platform 2 and support 1, and 3 SPRR types drive branch's circumference uniform distribution between moving platform and support containing flexible finger; Support is provided with the secondary bearing of ball and 1 secondary bearing of astrosphere of 3 circumference uniform distributions; Moving platform is provided with 1 central vertical through hole;
SP type drives branch to be made up of Linear-electric-cylinder 4, and the central vertical through hole of its upper end and moving platform is connected, and its lower end and support center ball seat ball duplicate invoice connect; SPRR type drives the jib 5 in branch to be rectangular box containing flexible finger, the lower frame both sides of this jib are respectively equipped with first and second parallel through holes, the lower end of fork 8 and moving platform rotate with the first through hole in the inner part and connect, circle on this first through hole center line and moving platform is tangent, Linear-electric-cylinder upper end is rotated with the second through hole in the outer part and is connected, and this Linear-electric-cylinder lower end and support ball duplicate invoice connect; Above-mentioned fork upper end is fixedly connected with the lower end of finger 9, the upper end of this finger is free end, one end of guide pillar 6 is vertical with in the middle part of fork to be connected, the other end of this guide pillar is free end through the frame of jib, spring 7 is enclosed within guide pillar, one end of this spring is against in the middle part of fork, and the other end of this spring is against on the inwall of jib frame, utilizes spring to realize fork end flexible contact and captures object.

Claims (1)

1. a four-degree-of-freedom 3SPRR+SP type series-parallel robot flexible hand, it comprises support, moving platform, connecting rod, linear drives branch is identical with 3 structures in the middle of SP type SPRR type drive branch containing flexible finger, it is characterized in that: in the middle of described SP type, linear drives branch is located at the center of moving platform and support, 3 SPRR types drive branch's circumference uniform distribution between moving platform and support containing flexible finger; Support is provided with the secondary bearing of ball and 1 secondary bearing of astrosphere of 3 circumference uniform distributions; Moving platform is provided with 1 central vertical through hole;
Described SP type drives branch to be made up of Linear-electric-cylinder, and the central vertical through hole of its upper end and moving platform is connected, and its lower end and support center ball seat ball duplicate invoice connect; SPRR type drives branch to comprise jib, Linear-electric-cylinder, fork, spring, guide pillar and finger containing flexible finger, described jib is rectangular box, the lower frame both sides of this jib are respectively equipped with first and second parallel through holes, the lower end of fork and moving platform rotate with the first through hole in the inner part and connect, circle on this first through hole center line and moving platform is tangent, Linear-electric-cylinder upper end is rotated with the second through hole in the outer part and is connected, and this Linear-electric-cylinder lower end and support ball duplicate invoice connect; Above-mentioned fork upper end is fixedly connected with the lower end of finger, the upper end of this finger is free end, one end of guide pillar is vertical with in the middle part of fork to be connected, the other end of this guide pillar is free end through the frame of jib, spring housing is on guide pillar, one end of this spring is against in the middle part of fork, and the other end of this spring is against on the inwall of jib frame.
CN201610019037.8A 2016-01-13 2016-01-13 Four-degree-of-freedom 3SPRR+SP type series-parallel robot flexible hands Expired - Fee Related CN105500341B (en)

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CN106424503A (en) * 2016-10-17 2017-02-22 燕山大学 Four-freedom-degree in-parallel forging machine
CN108555957A (en) * 2018-02-02 2018-09-21 浙江工业大学 A kind of four-jaw type grabs clamping manipulator
CN109176492A (en) * 2018-11-08 2019-01-11 山东大学 A kind of manipulator based on restructural parallel institution
CN109834701A (en) * 2019-03-08 2019-06-04 燕山大学 A kind of mixed connection manipulator's device containing seven bar flexible force sense finger mechanisms
CN110625580A (en) * 2019-09-30 2019-12-31 上海工程技术大学 Fulcrum dynamic combination parallel mechanism for realizing high-precision positioning of circular ring track platform
CN113510685A (en) * 2021-06-18 2021-10-19 东南大学 Heavy-load 4UPS-PU parallel clamping robot

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106424503A (en) * 2016-10-17 2017-02-22 燕山大学 Four-freedom-degree in-parallel forging machine
CN106424503B (en) * 2016-10-17 2018-01-23 燕山大学 A kind of four-degree-of-freedom parallel connection forging press
CN108555957A (en) * 2018-02-02 2018-09-21 浙江工业大学 A kind of four-jaw type grabs clamping manipulator
CN109176492A (en) * 2018-11-08 2019-01-11 山东大学 A kind of manipulator based on restructural parallel institution
CN109834701A (en) * 2019-03-08 2019-06-04 燕山大学 A kind of mixed connection manipulator's device containing seven bar flexible force sense finger mechanisms
CN109834701B (en) * 2019-03-08 2020-10-02 燕山大学 Hybrid operation manipulator device containing seven-rod flexible force sensing finger mechanism
CN110625580A (en) * 2019-09-30 2019-12-31 上海工程技术大学 Fulcrum dynamic combination parallel mechanism for realizing high-precision positioning of circular ring track platform
CN110625580B (en) * 2019-09-30 2022-08-02 上海工程技术大学 Fulcrum dynamic combination parallel mechanism for realizing high-precision positioning of circular ring track platform
CN113510685A (en) * 2021-06-18 2021-10-19 东南大学 Heavy-load 4UPS-PU parallel clamping robot
CN113510685B (en) * 2021-06-18 2022-07-15 东南大学 Heavy-load 4UPS-PU parallel clamping robot

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