CN107283396A - A kind of adjustable manipulator of force and its robot of use - Google Patents
A kind of adjustable manipulator of force and its robot of use Download PDFInfo
- Publication number
- CN107283396A CN107283396A CN201610210482.2A CN201610210482A CN107283396A CN 107283396 A CN107283396 A CN 107283396A CN 201610210482 A CN201610210482 A CN 201610210482A CN 107283396 A CN107283396 A CN 107283396A
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- CN
- China
- Prior art keywords
- force
- wrist
- mechanical
- wrist axis
- adjustable manipulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of adjustable manipulator of force and its robot of use, including mechanical arm and mechanical wrist, the mechanical wrist includes wrist axis and grasping device, the grasping device is installed on one end of the wrist axis, the other end of the wrist axis is flexibly connected with one end of the mechanical arm, the mechanical arm includes triggering baffle plate, and the side of the triggering baffle plate is connected with one end of the mechanical arm；The mechanical wrist also includes trigger sensor, sensor installation seat, force application spring and force adjusting nut.The adjustable manipulator of force and its robot of use can pass through the force application spring and the force adjusting nut, adjust pressure of the grasping device to contact subject, so as to the pressure requirements according to different contact subject, the force allowed band of the mechanical wrist is adjusted.
Description
Technical field
The present invention relates to field in intelligent robotics, more particularly to it is a kind of exert a force adjustable manipulator and using its
Robot.
Background technology
With the continuous progress of science and technology, robot technology is quickly grown in recent years, in China's industrial robot
Increasingly pursued by people, support is provided for the transition and upgrade of enterprise.But existing industrial robot exists
It is rigid contact object when capturing object, therefore is that impulsive force is excessive when avoiding contact with object, it is necessary to which reduction is grabbed
Speed is taken, so as to influence to capture efficiency.Particularly with the robot with sucked type grasping device, in crawl
Need sucked type grasping device to press to contact subject with quantitative force value, vacuum could be set up and suck contact subject.
Therefore the robot with sucked type grasping device requires very high to contact force, and contact force too small inhale does not live contactant
Part, contact force is excessive and easily contact subject is caused to damage.And the existing machine with sucked type grasping device
Device people to contact force can not hardware regulation and control, it is necessary to which software regulates and controls, complex operation is not easy to direct labor and uses.
The content of the invention
It is an object of the invention to propose a kind of to be adjusted according to the pressure requirements of different contact subject, hardware type
Control the adjustable manipulator of force of contact force and use its robot.
For up to this purpose, the present invention uses following technical scheme：
The adjustable manipulator of one kind force, including mechanical arm and mechanical wrist, the mechanical wrist include hand
Wrist axis and grasping device, the grasping device are installed on one end of the wrist axis, the other end of the wrist axis with
One end of the mechanical arm is flexibly connected；
The mechanical arm includes triggering baffle plate, the side of the triggering baffle plate and one end of the mechanical arm
Connection；
The mechanical wrist also includes trigger sensor, sensor installation seat, force application spring and force adjustment spiral shell
It is female；The wrist axis include installation portion, and the installation portion is arranged at one end of the wrist axis, the grasping
Device is arranged at one end of the installation portion, and the side of the sensor installation seat and the side of the installation portion connect
Connect, the trigger sensor is installed on one end of the direction triggering baffle plate of the sensor installation seat；Institute
Stating trigger sensor includes contact, and the contact is installed towards the triggering baffle plate；
The force adjusting nut is nested in the wrist axis and is arranged at the triggering baffle plate and the installation portion
Between；The force application spring is placed on the wrist axis, and one end of the force application spring is pressed against the triggering baffle plate,
The other end of the force application spring is pressed against the force adjusting nut.
Preferably, control processor, the mechanical arm, the grasping device and triggering sensing are additionally provided with
Device is electrically connected with the control processor.
Preferably, the mechanical wrist is additionally provided with position adjustment nut, and the position adjustment nut is nested in institute
State the close end of the other end of wrist axis.
Preferably, the mechanical wrist is additionally provided with force adjustment graduation apparatus, and the force adjustment graduation apparatus is set
Close end in one end of the wrist axis, close to the installation portion.
Preferably, the adjusting range of the force adjustment graduation apparatus is 0mm-25mm.
Preferably, the mechanical wrist is additionally provided with position adjustment graduation apparatus, and the position adjustment graduation apparatus is set
In the other end of the wrist axis.
Preferably, the adjusting range of the position adjustment graduation apparatus is 0mm-5mm.
Preferably, the mechanical arm also includes wrist installation cavity, and the wrist installation cavity is arranged at the machine
The inside of tool arm, the other end of the wrist axis passes through one end of the mechanical arm, and extends to described
In wrist installation cavity.
Preferably, the grasping device is sucked type grasping device, and the wrist axis and the installation portion are communicated with
Negative pressure straw, the wrist axis the other end connection getter device.
Preferably, using the robot of the adjustable manipulator of the force, including robot body and described apply
The adjustable manipulator of power, the adjustable manipulator of force and robot body connection.
Crawl pressure of the adjustable manipulator of force according to needed for different contact subject is different, and regulation is described
The decrement of force application spring, both ensure that enough pressure sucked described connect by the grasping device of sucked type
Object is touched, prevents from not sucking the operating irregularity that the contact subject is caused, turn avoid pressure excessive to described
Contact subject causes to damage.Meanwhile, the force application spring plays cushioning effect, weakens the contact subject
Influence of the impulsive force to the mechanical wrist.And using the trigger sensor of contact formula, sensing is more
It is sensitive accurate.
It can be adjusted using the robot of the adjustable manipulator of the force according to the pressure requirements of different contact subject
The force allowed band of the section adjustable manipulator of force, it is wide using scope, better adapt to different lifes
Production demand.
Brief description of the drawings
The present invention will be further described for accompanying drawing, but the content in accompanying drawing does not constitute any limit to the present invention
System.
Fig. 1 is the manipulator cross-sectional view of one of embodiment of the invention；
Fig. 2 is the wrist axis structural representation of one of embodiment of the invention.
Wherein：Mechanical arm 1；Mechanical wrist 2；Wrist installation cavity 11；Trigger baffle plate 12；Wrist axis 21；
Grasping device 22；Trigger sensor 23；Sensor installation seat 24；Force application spring 25；Exert a force adjusting nut 26；
Installation portion 211；Contact 231；Position adjustment nut 27；Force adjustment graduation apparatus 28；Position adjustment scale
Table 29.
Embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
The adjustable manipulator of force of the present embodiment, as shown in figure 1, including mechanical arm 1 and mechanical wrist 2,
The mechanical wrist 2 includes wrist axis 21 and grasping device 22, and the grasping device 22 is installed on the wrist axis
21 one end, the other end of the wrist axis 21 is flexibly connected with one end of the mechanical arm 1；
The mechanical arm 1 includes triggering baffle plate 12, the side of the triggering baffle plate 12 and the mechanical arm
1 one end connection；The mechanical wrist 2 also includes trigger sensor 23, sensor installation seat 24, force
Spring 25 and force adjusting nut 26；The wrist axis 21 include installation portion 211, the installation portion 211
One end of the wrist axis 21 is arranged at, the grasping device 22 is arranged at one end of the installation portion 211,
The side of the sensor installation seat 24 is connected with the side of the installation portion 211, the trigger sensor 23
It is installed on one end of the direction triggering baffle plate 12 of the sensor installation seat 24；The trigger sensor
23 include contact 231, and the contact 231 is installed towards the triggering baffle plate 12；
The force adjusting nut 26 is nested in the wrist axis 21 and is arranged at the triggering baffle plate 12 and institute
State between installation portion 211；The force application spring 25 is placed on the wrist axis 21, the force application spring 25
One end is pressed against the force adjusting nut against the triggering baffle plate 12, the other end of the force application spring 25
26。
Preferably, control processor, the mechanical arm 1, the grasping device 22 and the triggering are additionally provided with
Sensor 23 is electrically connected with the control processor.
The adjustable manipulator of force can be adjusted by the force application spring 25 and the force adjusting nut 26
Pressure of the grasping device 22 to contact subject is saved, so as to the pressure requirements according to different contact subject, is adjusted
Save the force allowed band of the mechanical wrist 2.
During operation, the control processor drives the mechanical arm 1 to be moved to the contact subject, works as institute
The grasping device 22 for stating mechanical wrist 2 presses to the contact subject, will produce reverse impulsive force, make with
The stress and deformation of the wrist axis 21 that the grasping device 22 is connected, so that being installed on the wrist axis 21
The trigger sensor 23 to it is described triggering baffle plate 12 move, connect until when the grasping device 22 with described
Pressure is when reaching pressure preset between touching object, the contact 231 of the trigger sensor 23 with it is described
Triggering baffle plate 12 is contacted, so that the trigger sensor 23 is produced and transmitted at trigger signal to the control
Manage device；The control processor drives the mechanical arm 1 to stop movement, and drives the described of sucked type to grab
Vacuum is set up in the inside of holder 22, sucks the contact subject, and the mechanical arm is then driven again toward return
It is dynamic, so that the adjustable manipulator of force completes the action of a crawl contact subject.
The force application spring 25 is placed on the wrist axis 21, one end of the force application spring 25 and the triggering
Baffle plate 12 is connected, and the other end of the force application spring 25 is against the force adjusting nut 26, so that in institute
When stating grasping device 22 and being contacted with the contact subject, the force application spring 25 is that the grasping device 22 provides branch
Holding force, reduces the impulsive force that the contact subject is brought, and reduces the deformation quantity of the wrist axis 21.By institute
State the decrement that force adjusting nut 26 adjusts the force application spring 25, you can the regulation force application spring 25
The holding power size that can be provided, so as to adjust the pressure size of 22 pairs of contact subject of grasping device.
For example, tuning up the decrement of the force application spring 25, the required deformation quantity of the trigger sensor 23 is triggered
It is bigger, so that the pressure of 22 pairs of contact subject of the grasping device is bigger.
Crawl pressure of the adjustable manipulator of force according to needed for different contact subject is different, and regulation is described
The decrement of force application spring 25, both ensure that enough pressure was sucked by the grasping device 22 of sucked type
The contact subject, prevents from not sucking the operating irregularity that the contact subject is caused, turn avoid pressure excessive
The contact subject is caused to damage.Meanwhile, the force application spring 25 plays cushioning effect, weaken described in connect
Touch influence of the impulsive force of object to the mechanical wrist 2.And using the trigger sensor of contact formula
23, sensing is more sensitive accurate.
Preferably, the mechanical wrist 2 is additionally provided with position adjustment nut 27, as shown in figure 1, the position
Adjusting nut 27 is nested in the close end of the other end of the wrist axis 21.The position adjustment nut 27 is used
Relative distance between the contact 231 and the triggering baffle plate 12 for adjusting the trigger sensor 23, so that
Adjust the pressure of 22 pairs of contact subject of grasping device.
Preferably, the mechanical wrist 2 is additionally provided with force adjustment graduation apparatus 28, as shown in Fig. 2 described apply
Power adjustment graduation apparatus 28 is arranged at the close end of one end of the wrist axis 21, close to the installation portion 211.
Because the elastic force of the force application spring 25 is linearly increasing, i.e., described force adjusting nut 26 can be adjusted linearly
Save the decrement of the force application spring 25, thus set the force adjustment graduation apparatus 28 can more it is directly perceived just
Adjust and observe promptly the force situation of the force application spring 25.
Preferably, the mechanical wrist 2 is additionally provided with position adjustment graduation apparatus 29, as shown in Fig. 2 institute's rheme
Put the other end that adjustment graduation apparatus 29 is arranged at the wrist axis 21.Except the decrement of force application spring 25
Outside, the pressure of 22 pairs of contact subject of grasping device is also by the contact 231 and the triggering baffle plate 12
Between relative distance determine, therefore set the position adjustment graduation apparatus 29 to be easy to adjust the position adjustment spiral shell
Mother 27, and then adjust the relative distance between the contact 231 and the triggering baffle plate 12.
Preferably, the adjusting range of the force adjustment graduation apparatus 28 is 0mm-25mm.
Preferably, the adjusting range of the position adjustment graduation apparatus 29 is 0mm-5mm.
The force allowed band of the mechanical wrist 2 is by the decrement of force application spring 25 and the contact
Relative distance between 231 and the triggering baffle plate 12 determines that the pressure requirements of the contact subject are different, then
The force allowed band of the mechanical wrist 2 is just different.If the contact subject is building glass, described to apply
The decrement of power spring 25 is 5mm-15mm, preferably 10mm；The contact 231 and the triggering baffle plate 12
Between relative distance be 1mm-3mm, preferably 2.5mm.If the contact subject is mobile phone screen glass, institute
The decrement of force application spring 25 is stated for 0mm-5mm, preferably 3mm；The contact 231 and the triggering baffle plate
Relative distance between 12 is 0.1mm-1mm, preferably 0.7mm.If the contact subject is aluminium sheet or steel plate,
The decrement of force application spring 25 is 15mm-25mm, preferably 21mm；The contact 231 and the triggering
Relative distance between baffle plate 12 is 3mm-5mm, preferably 4.5mm.The adjustable manipulator of force is not according to
Same contact subject regulation force allowed band, expansion uses scope, better adapts to production requirement.
Preferably, the mechanical arm 1 also includes wrist installation cavity 11, as shown in figure 1, the wrist is pacified
It behave affectedly 11 inside for being arranged at the mechanical arm 1, the other end of the wrist axis 21 passes through the machinery
One end of arm 1, and extend in the wrist installation cavity 11.The wrist installation cavity 11, and institute are set
The other end for stating wrist axis 21 is extended in the wrist installation cavity 11, so as to be played to the wrist axis 21
The protective effect of dustproof anticorrosive erosion, increases the service life of the wrist axis 21.
Preferably, the grasping device 22 is sucked type grasping device, the wrist axis 21 and the installation portion 211
The negative pressure straw being communicated with, the other end connection getter device of the wrist axis 21.The grasping device 22
For sucked type grasping device, set up vacuum to suck the contact subject by pressure and suction cup interior, it is adaptable to
Carry template contact subject, such as glass, steel plate.
The robot of the adjustable manipulator of force described in the use of the present embodiment, including robot body and described
Exert a force adjustable manipulator, the adjustable manipulator of force and robot body connection.Using described
Exerting a force the robot of adjustable manipulator can be according to the pressure requirements of different contact subject, and adjusting the force can
The force allowed band of the manipulator of tune, it is wide using scope, better adapt to different production requirements.
The adjustable manipulator of force described in the present embodiment has the advantages that：1. can be according to different contacts
Crawl pressure needed for object is different, adjusts the decrement of the force application spring 25, both ensure that enough
Pressure sucks the contact subject by the grasping device 22 of sucked type, prevents that not sucking the contact subject makes
Into operating irregularity, turn avoid pressure it is excessive to the contact subject cause damage；2. using contact formula
The trigger sensor 23, sensing is more sensitive accurate；3. the force adjustment graduation apparatus 28 is set and described
Position adjustment graduation apparatus 29, the force situation more directly perceived for easily adjusting and observing the mechanical wrist 2.
The technical principle of the present invention is described above in association with specific embodiment.These descriptions are intended merely to explain this
The principle of invention, and limiting the scope of the invention can not be construed in any way.Based on herein
Explain, those skilled in the art, which would not require any inventive effort, can associate other tools of the present invention
Body embodiment, these modes are fallen within protection scope of the present invention.
Claims (10)
1. the adjustable manipulator of one kind force, including mechanical arm and mechanical wrist, the mechanical wrist include
Wrist axis and grasping device, the grasping device are installed on one end of the wrist axis, the other end of the wrist axis
It is flexibly connected with one end of the mechanical arm, it is characterised in that：
The mechanical arm includes triggering baffle plate, the side of the triggering baffle plate and one end of the mechanical arm
Connection；
The mechanical wrist also includes trigger sensor, sensor installation seat, force application spring and force adjustment spiral shell
It is female；The wrist axis include installation portion, and the installation portion is arranged at one end of the wrist axis, the grasping
Device is arranged at one end of the installation portion, and the side of the sensor installation seat and the side of the installation portion connect
Connect, the trigger sensor is installed on one end of the direction triggering baffle plate of the sensor installation seat；Institute
Stating trigger sensor includes contact, and the contact is installed towards the triggering baffle plate；
The force adjusting nut is nested in the wrist axis and is arranged at the triggering baffle plate and the installation portion
Between；The force application spring is placed on the wrist axis, and one end of the force application spring is pressed against the triggering baffle plate,
The other end of the force application spring is pressed against the force adjusting nut.
2. the adjustable manipulator of force according to claim 1, it is characterised in that：It is additionally provided with control
Device is managed, the mechanical arm, the grasping device and the trigger sensor are electrically connected with the control processor
Connect.
3. the adjustable manipulator of force according to claim 1, it is characterised in that：The mechanical wrist
Position adjustment nut is additionally provided with, the position adjustment nut is nested in the close end of the other end of the wrist axis.
4. the adjustable manipulator of force according to claim 1, it is characterised in that：The mechanical wrist
Force adjustment graduation apparatus is additionally provided with, the force adjustment graduation apparatus is arranged at the near-end of one end of the wrist axis
Portion, close to the installation portion.
5. the adjustable manipulator of force according to claim 4, it is characterised in that：The force adjustment
The adjusting range of graduation apparatus is 0mm-25mm.
6. the adjustable manipulator of force according to claim 1, it is characterised in that：The mechanical wrist
Position adjustment graduation apparatus is additionally provided with, the position adjustment graduation apparatus is arranged at the other end of the wrist axis.
7. the adjustable manipulator of force according to claim 6, it is characterised in that：The position adjustment
The adjusting range of graduation apparatus is 0mm-5mm.
8. the adjustable manipulator of force according to claim 1, it is characterised in that：The mechanical arm
Also include wrist installation cavity, the wrist installation cavity is arranged at the inside of the mechanical arm, the wrist axis
The other end pass through one end of the mechanical arm, and extend in the wrist installation cavity.
9. the adjustable manipulator of force according to claim 1, it is characterised in that：The grasping device is
The negative pressure straw that sucked type grasping device, the wrist axis and the installation portion are communicated with, the wrist axis
The other end connects getter device.
10. usage right requires the robot of the adjustable manipulator of force described in 1 to 9 any one, it is special
Levy and be：Including robot body and the adjustable manipulator of the force, the adjustable manipulator of force and
The robot body connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610210482.2A CN107283396B (en) | 2016-04-05 | 2016-04-05 | Force application adjustable manipulator and use its robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610210482.2A CN107283396B (en) | 2016-04-05 | 2016-04-05 | Force application adjustable manipulator and use its robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107283396A true CN107283396A (en) | 2017-10-24 |
| CN107283396B CN107283396B (en) | 2020-06-02 |
Family
ID=60093031
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610210482.2A Active CN107283396B (en) | 2016-04-05 | 2016-04-05 | Force application adjustable manipulator and use its robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107283396B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561474A (en) * | 2018-06-05 | 2019-12-13 | 大族激光科技产业集团股份有限公司 | Suction device, robot arm, and robot |
| CN111283671A (en) * | 2020-04-28 | 2020-06-16 | 佛山隆深机器人有限公司 | Negative pressure type mechanical arm for carrying light objects |
| CN111604937A (en) * | 2020-07-23 | 2020-09-01 | 佛山居坤智能科技有限公司 | Mechanical arm for ceramic glaze spraying |
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| EP0585924A1 (en) * | 1992-09-03 | 1994-03-09 | Komori Corporation | Paper feed suction apparatus |
| JP2001212786A (en) * | 2000-01-31 | 2001-08-07 | Yokogawa Electric Corp | Pick-up device for handler |
| CN203697016U (en) * | 2013-12-03 | 2014-07-09 | 安徽精一机械设备有限公司 | Pressing device for manipulator suction disk |
| CN203752154U (en) * | 2014-03-18 | 2014-08-06 | 苏州赛腾精密电子有限公司 | Battery adsorption mechanism |
| CN203865565U (en) * | 2014-05-20 | 2014-10-08 | 珠海镇东有限公司 | Automatic vacuum suction plate device |
| CN105345829A (en) * | 2015-12-02 | 2016-02-24 | 北京中电科电子装备有限公司 | Sheet transportation paw device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0585924A1 (en) * | 1992-09-03 | 1994-03-09 | Komori Corporation | Paper feed suction apparatus |
| JP2001212786A (en) * | 2000-01-31 | 2001-08-07 | Yokogawa Electric Corp | Pick-up device for handler |
| CN203697016U (en) * | 2013-12-03 | 2014-07-09 | 安徽精一机械设备有限公司 | Pressing device for manipulator suction disk |
| CN203752154U (en) * | 2014-03-18 | 2014-08-06 | 苏州赛腾精密电子有限公司 | Battery adsorption mechanism |
| CN203865565U (en) * | 2014-05-20 | 2014-10-08 | 珠海镇东有限公司 | Automatic vacuum suction plate device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561474A (en) * | 2018-06-05 | 2019-12-13 | 大族激光科技产业集团股份有限公司 | Suction device, robot arm, and robot |
| CN111283671A (en) * | 2020-04-28 | 2020-06-16 | 佛山隆深机器人有限公司 | Negative pressure type mechanical arm for carrying light objects |
| CN111604937A (en) * | 2020-07-23 | 2020-09-01 | 佛山居坤智能科技有限公司 | Mechanical arm for ceramic glaze spraying |
| CN111604937B (en) * | 2020-07-23 | 2020-11-10 | 佛山居坤智能科技有限公司 | Mechanical arm for ceramic glaze spraying |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107283396B (en) | 2020-06-02 |
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