CN108214535B

CN108214535B - Synchronous control manipulator

Info

Publication number: CN108214535B
Application number: CN201711482088.5A
Authority: CN
Inventors: 武凯; 孙宇; 王强; 倪俊
Original assignee: Nanjing University of Science and Technology
Current assignee: Nanjing University of Science and Technology
Priority date: 2017-12-29
Filing date: 2017-12-29
Publication date: 2020-12-04
Anticipated expiration: 2037-12-29
Also published as: CN108214535A

Abstract

The invention discloses a synchronous control manipulator which comprises a base, a rotating platform, a large arm, a first small arm, a second small arm, a wrist and a mechanical grabbing device, wherein the rotating platform is arranged on the base; the base is fixedly arranged on the workbench in a positioning mode through four uniformly distributed bolt holes; the rotary table is arranged on the base through a screw and rotates around a central rotating shaft of the base; the large arm is connected with the front end of the rotating platform through a joint; the first small arm is connected with the front end of the big arm through a joint; the second small arm is connected with the front end of the first small arm through a joint; the wrist is connected with the front end of the second forearm through a joint; the mechanical grabbing device is fixedly arranged at the front end of the wrist through screws. The mechanical grabbing device is simple in structure, the motor is used for driving the rotating cams which are vertically arranged to synchronously control the four claws, and people can be replaced to grab bagged and boxed articles, so that the working strength of workers is reduced, and the working efficiency is greatly improved.

Description

Synchronous control manipulator

Technical Field

The invention relates to an industrial robot, in particular to a synchronous control manipulator.

Background

At present, along with industrial automation and intelligent level are continuously improved, an enterprise tends to adopt an industrial robot to replace manual operation in order to improve working efficiency, and compared with a traditional manual operation mode, the industrial robot is high in automation degree, can replace a person to carry out dangerous and complex work, greatly improves working efficiency and ensures safety of production and processing.

At present, robots are generally used in various industries, such as vehicle body welding, various workpiece carrying, production line article sorting and the like in the automobile manufacturing industry. However, the robot hand is driven by gears and cylinders, the size of the components is large, and the motors or the cylinders are required to drive the components, the motors can realize the grabbing and releasing of the paw through forward and reverse rotation, so that the service life of the motors is damaged, and the paw pressing mechanism is not provided with a pressure sensor to measure the pressure applied by the paw pressing mechanism, so that the surface of an object, particularly some boxed and vacuum packaged objects, is easily crushed by the robot hand in the working process, and unnecessary loss is caused.

Disclosure of Invention

The technical problem to be solved by the invention is to provide a synchronous control manipulator, wherein a single motor synchronously controls four grippers so as to solve the problems of large component size, large occupied space and complex control caused by the fact that the conventional mechanical gripper is driven by a plurality of motors or cylinders.

The technical solution for realizing the purpose of the invention is as follows:

a synchronous control manipulator comprises a base, a rotary table, a large arm, a first small arm, a second small arm, a wrist and a mechanical grabbing device; the mechanical grabbing device is fixed at the lower end of the wrist;

the mechanical grabbing device comprises a driving mechanism, a connecting rod mechanism and a mechanical paw; the driving mechanism is fixed at the lower end of the wrist; the driving mechanism is fixed at the upper end of the connecting platform through a supporting frame; the driving mechanism is connected with the connecting rod mechanism and is used for driving the connecting rod mechanism to swing; the four directions of the upper end of the connecting platform are respectively provided with a connecting rod mechanism, and the four connecting rod mechanisms form a cross structure; the connecting rod mechanism comprises a first connecting rod, a connecting head, a sliding block, a second connecting rod and a rotating shaft; the first connecting rod penetrates through a round hole in the supporting frame; the first connecting rod is parallel to the upper plane of the connecting platform; one end of each first connecting rod is connected with a driving mechanism, and the driving mechanisms synchronously drive the four first connecting rods to simultaneously extend and retract in a direction parallel to the connecting platform; the other end of the first connecting rod is connected with the connector; the connector is connected with the sliding block; the upper end of the second connecting rod is provided with a sliding groove, and the sliding block slides in the sliding groove; the lower end of the second connecting rod penetrates through the connecting platform and is fixedly connected with the rotating shaft; the axial direction of the rotating shaft is perpendicular to the telescopic direction of the first connecting rod; the lower end of the connecting platform is provided with a mounting seat, and the rotating shaft is arranged on the mounting seat; the mechanical paw is fixedly connected with the rotating shaft; the four mechanical claws are arranged in four directions of the connecting platform.

Compared with the prior art, the invention has the following remarkable advantages:

(1) the manipulator synchronously controls the four paws through a single motor, so that the control difficulty is greatly reduced, and the size and the production cost of components are reduced.

(2) The manipulator driving mechanism adopts a rotary cam mechanism, can realize the grabbing and releasing of the paw through the rotation of the output shaft of the servo motor in one direction, does not need the intermittent positive and negative rotation of the motor, is beneficial to prolonging the service life of the motor and simplifies the motor circuit.

(3) The mechanical gripper provided by the invention consists of four grippers, so that the gripper is stable and reliable in gripping articles, and the articles cannot fall off from two sides in the process of high-speed movement.

(4) The manipulator is also provided with a pressing mechanism which is driven by a cylinder of the pressing mechanism, and the tail end of the pressing mechanism is provided with a pressure sensor which can sense the pressure applied to the surface of an object by the cylinder, so that the object is prevented from being damaged; meanwhile, due to the pressing mechanism, the object cannot deviate in the transferring process, and accurate positioning can be realized.

(5) The adjustable lath of the pressing mechanism of the manipulator part can be adjusted through the nut and the opening groove on the lath, and the pressing area of the surface of an object can be changed to adapt to different objects.

(6) The tail end of the pressing mechanism of the manipulator part adopts the rubber disc, has certain elasticity and plays a certain anti-skidding role.

The present invention is described in further detail below with reference to the attached drawing figures.

Drawings

FIG. 1 is a perspective view of a synchronous control robot according to the present invention

FIG. 2 is a front view of a portion of the mechanical gripping apparatus of the present invention

FIG. 3 is an isometric view of a portion of the mechanical gripping apparatus of the present invention

FIG. 4 is a perspective view of the internal shaft of the mechanical gripper of the present invention

FIG. 5 is a front view of the connection of the inner shaft coupling, the transmission shaft and the first rotating cam of the mechanical grabbing device of the invention

FIG. 6 is a front view of the connection of the inner shaft coupling, the transmission shaft and the second rotating cam of the mechanical grabbing device of the present invention

FIG. 7 is a side view of the mechanical gripper keys, the transmission shaft, the rotary cam, the roller, the first link connecting shaft of the present invention

FIG. 8 is a perspective view of another connection (rotating cam, gear connection) of the mechanical gripper of the present invention

FIG. 9 is a side view of the slide block and the second link connecting shaft of the mechanical grabbing device of the present invention

FIG. 10 is a view showing the pressing mechanism, the cylinder and the connecting shaft of the pressure sensor of the mechanical gripper of the present invention

Detailed Description

For the purpose of illustrating the technical solutions and technical objects of the present invention, the present invention will be further described with reference to the accompanying drawings and specific embodiments.

With reference to fig. 1, 2 and 9, the synchronous control manipulator of the present invention includes a base 1, a rotary table 2, a large arm 3, a first small arm 4, a second small arm 5, a wrist 6, and a mechanical gripping device; the mechanical gripping device is fixed at the lower end of the wrist 6 through screws;

the mechanical grabbing device comprises a driving mechanism, a connecting rod mechanism and a mechanical paw; the driving mechanism is fixed at the lower end of the wrist 6; the driving mechanism is fixed at the upper end of the connecting platform 14 through a supporting frame 9; the driving mechanism is connected with the connecting rod mechanism and is used for driving the connecting rod mechanism to swing; the upper end of the connecting platform 14 is provided with a connecting rod mechanism in four directions respectively, and the four connecting rod mechanisms form a cross structure; the link mechanism comprises a first link 10, a connector 11, a slider 12, a second link 13 and a rotating shaft 35; the first connecting rod 10 passes through a round hole on the support frame 9; the round hole plays a role in guiding the motion direction of the first connecting rod; the first connecting rod 10 is parallel to the upper plane of the connecting platform 14; one end of each first connecting rod 10 is connected with a driving mechanism, and the driving mechanism synchronously drives the four first connecting rods 10 to extend and retract simultaneously in a direction parallel to the connecting platform 14; the other end of the first connecting rod 10 is connected with a connector 11; the connector 11 is connected with the sliding block 12; the upper end of the second connecting rod 13 is provided with a sliding groove, and the sliding block 12 slides in the sliding groove; the lower end of the second connecting rod 13 penetrates through the connecting platform 14 and is fixedly connected with the rotating shaft 35; the axial direction of the rotating shaft 35 is perpendicular to the telescopic direction of the first connecting rod 10; the lower end of the connecting platform 14 is provided with a mounting seat 14-1, and the rotating shaft 35 is arranged on the mounting seat 14-1; the mechanical paw is fixedly connected with the rotating shaft 35; four mechanical claws are arranged in four directions of the connecting platform 14 and synchronously grab the articles.

In some embodiments, the drive mechanism is four drive motors or four drive cylinders; four motors or four cylinders respectively drive the four first connecting rods 10 to stretch out and draw back synchronously, but the driving mechanism occupies a large space, and the four independent drives increase the difficulty of synchronous driving control.

With reference to fig. 3 to 7, further, the driving mechanism includes a servo motor 7, a connecting disc 8, a coupling 19, a transmission shaft 20, a first rotating cam 22, and a second rotating cam 25; the servo motor 7 is fixed at the lower end of the wrist 6 through a connecting disc 8; the lower end of an output shaft of the servo motor 7 is connected with a transmission shaft 20 through a coupler 19; the first rotating cam 22 and the second rotating cam 25 are both positioned at the lower end of the servo motor 7 and are both connected with the transmission shaft 20; the first rotating cam 22 and the second rotating cam 25 are identical in structure and are arranged vertically to each other; the first cam 22 is connected with two first connecting rods 10 which are parallel to each other; the second rotary cam 25 is connected to two first links 10 which are otherwise parallel to each other. The four first connecting rods 10 can be synchronously driven to do telescopic motion through the rotation of the single servo motor 7, so that the overall occupied space of the equipment is reduced; in addition, the gripper can be grabbed and released through the rotation of the output shaft of the servo motor 7 in one direction, the motor does not need to be interrupted to rotate forwards and backwards, the control difficulty is greatly reduced, the control circuit is simplified, the service life of the motor is prolonged, the cost is saved, and the operation is simpler and more convenient.

Furthermore, the first rotating cam 22 and the second rotating cam 25 are connected with the transmission shaft 20 through a rectangular key 23, so that the assembly and disassembly are convenient.

Preferably, the supporting frame 9 is a cylindrical structure, and the first rotating cam 22 and the second rotating cam 25 are matched along the inner wall thereof, so that the rotating cams are more stable and reliable in operation.

With reference to fig. 4 to 6, further, the upper ends of the first rotating cam 22 and the second rotating cam 25 are provided with annular grooves, and the annular grooves are in accordance with the shape of the rotating cams; one end of the first connecting rod 10 is matched with the annular groove, and the groove rotates along with the first rotating cam 22 or the second rotating cam 25 to drive the first connecting rod 10 to move telescopically.

Referring to fig. 7, in some embodiments, a roller 26 is disposed in the annular groove, and the upper end of the roller 26 is connected to the first link 10; the annular groove rotates with the rotary cam, and the first connecting rod 10 is driven to move telescopically by the roller 26.

With reference to fig. 8, in other embodiments, a gear 36 is provided in the annular groove; a circle of racks is arranged in the annular groove, and the gear 36 is meshed with the racks; the upper end of the gear 36 is connected with the first connecting rod 10; the annular groove rotates along with the rotating cam, and the gear 36 drives the first connecting rod 10 to move telescopically.

With reference to fig. 6, the first rotating cam 22 and the second rotating cam 25 are further fixedly connected to ensure the reliability of the perpendicular arrangement of the two, so that no offset occurs, and further ensure the synchronous driving of the four grippers by the servo motor 7.

Further, a shaft sleeve 24 is arranged between the first rotating cam 22 and the second rotating cam 25, and the shaft sleeve 24 is arranged outside the transmission shaft 20; the upper end of the first rotating cam 22 is provided with a nut 21, and the first rotating cam 22 and the second rotating cam 25 are tightly pressed by the nut 21, so that the fixed connection between the first rotating cam 22 and the second rotating cam 25 and the convenient disassembly and assembly are ensured.

Preferably, the mechanical gripper is of an inward hook-shaped structure, and the mechanical gripper can be tightened by using mechanical arms of other forms.

With reference to fig. 2 and 3, further, the manipulator includes a gripper arm 15, a plurality of gripper forelimbs 16, and a fixing strip 17; the gripper arms 15 are symmetrically fixed at two ends of the rotating shaft 35; the paw forelimb 16 is fixed at the lower end of the paw arm 15; the paw forelimb 16 is a rod-shaped structure which is bent inwards; a plurality of paw forelimbs 16 are connected with a transverse fixing strip 17 through screws; after being connected by the fixing strip 17, the number of the paw forelimbs 16 can be adjusted to change the area size of the paw so as to adapt to different articles.

Further, the mechanical gripper also comprises a baffle 18; the baffle 18 is connected in the fixing strip 17 through screws, and the paw forelimb 16 is prevented from impressing on the periphery of an object.

With reference to fig. 2 and 10, further, the synchronous control manipulator of the present invention further includes a pressing mechanism, where the pressing mechanism includes a cylinder 29, a connecting plate 30, and a plurality of connecting rods 32;

the upper end of the cylinder 29 is fixedly connected with the connecting platform 14; a piston rod at the lower end of the cylinder 29 is connected with a connecting plate 30; the connecting plate 30 is connected with a connecting frame 31; the connecting frame 31 is provided with a sliding groove, the connecting rods 32 are arranged in the sliding groove and fastened through nuts, and the relative distance between the connecting rods 32 can be adjusted through the sliding groove, so that the pressing area of the surface of an object is changed to adapt to different objects.

Furthermore, the connecting rod 32 is a rubber disc 33 connected to the lower end thereof, has a certain elasticity, and plays a certain anti-slip role.

Further, a pressure sensor 34 is arranged in the rubber disc 33 and can sense the pressure applied to the surface of the object by the cylinder, so that the object is prevented from being damaged, and unnecessary loss is avoided.

The base 1, the rotary table 2, the large arm 3, the first small arm 4, the second small arm 5 and the wrist 6 of the present invention are prior art, and other prior arm structures can be adopted to achieve the technical purpose of the present invention, and are not limited to the above-mentioned embodiments of the present invention.

The working process of the manipulator of the invention is as follows:

the rotary table 2 arranged on the base 1 rotates around a central rotating shaft of the base 1, a central shaft is driven by a sun gear of a planetary gear reducer, the sun gear is connected with a servo motor arranged in the base 1 through a rectangular key, and meanwhile, the servo motors at the positions of the large arm 3, the first small arm 4, the second small arm 5 and the wrist 6 drive the large arm 3, the first small arm 4, the second small arm 5 and the wrist 6 to rotate around respective rotating shafts; a servo motor output shaft 20 at the front end of the wrist 6 is connected with a transmission shaft through a key and a coupler, the servo motor output shaft rotates to drive a first rotating cam 22 and a second rotating cam 25 which are connected with the transmission shaft 20 to rotate, the first rotating cam 22 and the second rotating cam 25 drive four first connecting rods 10 to do telescopic motion, the four first connecting rods 10 drive four second connecting rods 13 to swing, and meanwhile, the second connecting rods 13 drive a mechanical gripper to do motion, so that the object can be grabbed; meanwhile, the air valve of the air cylinder 29 is opened, the rubber disc 33 presses the surface of the object, the pressure sensor 34 measures the pressure applied to the surface of the object by the air cylinder 29, and the pressure applied to the surface of the object is further adjusted, so that the surface of the object is prevented from being damaged.

According to the synchronous control manipulator, the servo motor drives the rotary cams which are vertically arranged to synchronously control the four mechanical claws, the claws can be grabbed and released through the rotation of the output shaft of the servo motor in one direction, the motor does not need to rotate in the positive and negative directions discontinuously, the control difficulty is greatly reduced, the control circuit is simplified, the service life of the motor is prolonged, the cost is saved, and the operation is simpler and more convenient; meanwhile, the mechanical paw is composed of four paws, so that articles can be stably and reliably grabbed; in addition, the pressing mechanism with the pressure sensor can sense the pressure applied to the surface of the object by the air cylinder, so that the object is prevented from being damaged; meanwhile, due to the pressing mechanism, the object cannot deviate in the transferring process, and accurate positioning can be realized.

Claims

1. A synchronous control manipulator comprises a base (1), a rotating table (2), a large arm (3), a first small arm (4), a second small arm (5), a wrist (6) and a mechanical grabbing device; the mechanical gripping device is fixed at the lower end of the wrist (6); the method is characterized in that:

the mechanical grabbing device comprises a driving mechanism, a connecting rod mechanism and a mechanical paw; the driving mechanism is fixed at the lower end of the wrist (6); the driving mechanism is fixed at the upper end of the connecting platform (14) through a supporting frame (9); the driving mechanism is connected with the connecting rod mechanism and is used for driving the connecting rod mechanism to swing; the four directions of the upper end of the connecting platform (14) are respectively provided with a connecting rod mechanism, and the four connecting rod mechanisms form a cross structure; the connecting rod mechanism comprises a first connecting rod (10), a connecting head (11), a sliding block (12), a second connecting rod (13) and a rotating shaft (35); the first connecting rod (10) penetrates through a round hole in the supporting frame (9); the first connecting rod (10) is parallel to the upper plane of the connecting platform (14); one end of each first connecting rod (10) is connected with a driving mechanism, and the driving mechanisms synchronously drive the four first connecting rods (10) to simultaneously extend and retract in a direction parallel to the connecting platform (14); the other end of the first connecting rod (10) is connected with a connector (11); the connector (11) is connected with the sliding block (12); the upper end of the second connecting rod (13) is provided with a sliding groove, and the sliding block (12) slides in the sliding groove; the lower end of the second connecting rod (13) penetrates through the connecting platform (14) and is fixedly connected with the rotating shaft (35); the axial direction of the rotating shaft (35) is perpendicular to the telescopic direction of the first connecting rod (10); the lower end of the connecting platform (14) is provided with a mounting seat (14-1), and the rotating shaft (35) is arranged on the mounting seat (14-1); the mechanical paw is fixedly connected with the rotating shaft (35); the four mechanical claws are arranged in four directions of the connecting platform (14);

the driving mechanism comprises a servo motor (7), a connecting disc (8), a coupling (19), a transmission shaft (20), a first rotating cam (22) and a second rotating cam (25); the servo motor (7) is fixed at the lower end of the wrist (6) through a connecting disc (8); the lower end of an output shaft of the servo motor (7) is connected with a transmission shaft (20); the first rotating cam (22) and the second rotating cam (25) are both positioned at the lower end of the servo motor (7) and are both connected with the transmission shaft (20); the first rotating cam (22) and the second rotating cam (25) are identical in structure and are arranged vertically to each other; the first rotating cam (22) is connected with two first connecting rods (10) which are parallel to each other; the second rotary cam (25) is connected to two further first connecting rods (10) which are parallel to each other.

2. The synchronous control manipulator according to claim 1, wherein the driving mechanism is four driving motors or four driving cylinders, and the four motors or four driving cylinders respectively drive the four first connecting rods (10) to synchronously extend and retract.

3. A manipulator according to claim 1, wherein the support frame (9) is a cylindrical structure, and the first rotating cam (22) and the second rotating cam (25) are engaged along the inner wall thereof.

4. The synchronous control manipulator as claimed in claim 1, wherein the supporting frame (9) is a cylinder structure, and the upper ends of the first rotating cam (22) and the second rotating cam (25) are provided with annular grooves, and the annular grooves are consistent with the shape of the rotating cams; one end of the first connecting rod (10) is matched with the annular groove, and the annular groove rotates along with the first rotating cam (22) or the second rotating cam (25) to drive the first connecting rod (10) to move telescopically.

5. A synchronous control manipulator according to claim 4, characterized in that a roller (26) is arranged in the annular groove, and the upper end of the roller (26) is connected with the first connecting rod (10); the annular groove rotates along with the first rotating cam (22) or the second rotating cam (25), and the first connecting rod (10) is driven to do telescopic motion through the roller (26).

6. A robot as claimed in claim 4, characterised in that the annular recess is provided with a gear (36); a circle of racks is arranged in the annular groove, and the gear (36) is meshed with the racks; the upper end of the gear (36) is connected with the first connecting rod (10); the annular groove rotates along with the first rotating cam (22) or the second rotating cam (25), and the first connecting rod (10) is driven to do telescopic motion through the gear (36).

7. A synchronous control manipulator according to claim 1, characterized in that the first rotary cam (22) and the second rotary cam (25) are fixedly connected.

8. A synchronous control manipulator according to claim 1, characterized in that the manipulator claw is an inward hook structure comprising a claw arm (15), a plurality of claw forelimbs (16), a fixing strip (17); the paw arms (15) are symmetrically fixed at two ends of the rotating shaft (35); the paw forelimb (16) is fixed at the lower end of the paw arm (15); the paw forelimb (16) is of an inward bent rod-shaped structure; a plurality of paw forelimbs (16) are connected with a transverse fixing strip (17).

9. The synchronous control manipulator according to claim 8, further comprising a pressing mechanism, wherein the pressing mechanism comprises a cylinder (29), a connecting plate (30), a plurality of connecting rods (32);

the upper end of the air cylinder (29) is fixedly connected with the connecting platform (14); a piston rod at the lower end of the air cylinder (29) is connected with a connecting plate (30); the connecting plate (30) is connected with the connecting frame (31); the connecting frame (31) is provided with a sliding groove, and the connecting rod (32) is arranged in the sliding groove and fastened through a nut.