CN109760084B - Modularization capture manipulator based on kinematic pair metamorphism - Google Patents
Modularization capture manipulator based on kinematic pair metamorphism Download PDFInfo
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- CN109760084B CN109760084B CN201910106104.3A CN201910106104A CN109760084B CN 109760084 B CN109760084 B CN 109760084B CN 201910106104 A CN201910106104 A CN 201910106104A CN 109760084 B CN109760084 B CN 109760084B
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Abstract
The invention provides a modular capturing manipulator based on kinematic pair metamorphism, which comprises a base and a plurality of mechanical grippers arranged on the base, wherein the mechanical grippers are arranged on the base in a circumferential array or in a relative arrangement mode, each mechanical gripper comprises N (N is more than or equal to 2) folding and unfolding units which are sequentially connected, each folding and unfolding unit comprises two connecting seats, a scissor type capturing surface mechanism arranged between the two connecting seats, four metamorphism mechanisms used for connecting the connecting seats with the capturing surface mechanism, and a driving device; wherein, the metamorphic mechanism is formed based on the conversion from the moving pair to the rotating pair. The invention has simple structure, light weight, larger folding-unfolding ratio, higher structural strength and favorable capturing performance, and is particularly suitable for capturing space non-cooperative targets.
Description
Technical Field
The invention belongs to the technical field of space capture robots, and particularly relates to a modular capture manipulator based on kinematic pair metamorphic.
Background
The space mechanism control technology is a technology for operating a specific on-orbit target by using a space platform under the condition that a space is occupied or unoccupied, such as space garbage recovery, debris cleaning, space attack and defense implementation, large-range space observation, remote detection, non-cooperative target tracking and capturing, auxiliary orbit transfer, fault maintenance, assembly and construction, on-orbit rescue and other related operations. However, the existing space truss type mechanism has the following problems: although the space deployable mechanism can achieve the purpose of constructing a large structure with dozens of meters or even hundreds of meters through deployment, the space deployable mechanism cannot be operated on the track because of less activity; the variable geometry truss mechanism can realize more activity, but the driving is complex; the rigid-flexible hybrid mechanism is difficult to realize complex shape control; the modular spacecraft can obtain different configurations through the recombination of modules, but does not have diversified controllable activity, and the reconstruction process is often realized by an auxiliary robot.
Chinese patent document 201410056414.6 discloses an expandable under-actuated cable bar truss type gripper, which relates to a modular gripper that can be used for gripping objects of different shapes in space, and solves the problems of large weight, complex structure, poor shape adaptability to the gripped object, small gripping force and difficult expansion of the conventional under-actuated mechanism and the SARAH gripper, and comprises a front end connecting device, an inter-rod corner limiting mechanism, a tail end cable bar truss, a rope, a plurality of positioning columns and a plurality of expandable modular cable bar trusses; the front end connecting device comprises a connecting plate, two rope shafts, two limiting columns, two mounting plates, two transition plates and four support plates, the two support plates positioned on the same side in the vertical direction are penetrated with the rope shafts, and the output shaft of the motor is vertically arranged and connected with the corresponding rope shafts; each of the expandable modular cable-strut trusses includes two cable-wound axles, twelve friction damping metal plates, and six connecting rods. The manipulator in the prior art does not have the folding and unfolding functions, so that the manipulator occupies a large amount of space, and the transportation difficulty is improved; the stability of the parallelogram structure is poor, and the rigidity is difficult to control; the driving part is complex in control and heavy in structure due to the use of a servo motor, and the arrangement of the servo motor needs to be designed in an independent structure; and the technology does not consider the light weight design, so that the mechanical arm catching force is not large, and the operation control on a large-mass target is difficult.
Based on the situation, the invention provides a modular capturing manipulator based on kinematic pair metamorphic, and aims to solve the problem of capturing a large-space and high-quality non-cooperative target.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a modular capturing manipulator based on kinematic pair metamorphism, which has the characteristics of simple structure, light weight, larger folding-unfolding ratio and high structural rigidity.
The specific technical scheme of the invention is as follows:
the utility model provides a manipulator is arrested to modularization based on motion pair metamorphism, includes the base and establishes a plurality of mechanical gripper on the base, and a plurality of mechanical gripper are circumference array or install on the base with setting up relatively, and mechanical gripper includes N (N is greater than or equal to 2) consecutive folding and unfolding unit, and folding and unfolding unit includes:
two connecting seats arranged up and down;
the catching face mechanism is arranged between the two connecting seats and comprises two identical shearing fork rods, and the middle parts of the two shearing fork rods are hinged with each other to form a shearing fork structure;
the four metamorphic mechanisms are used for connecting the connecting seat and the catching surface mechanism and are respectively arranged at the four ends of the two shearing fork rods;
the metamorphic mechanism comprises a first connecting rod and a second connecting rod, a first connecting groove positioned above and a second connecting groove positioned below are arranged in the length direction of the connecting seat, the head end of the first connecting rod extends into the first connecting groove and forms sliding pair connection, wherein the end of one scissor rod in the nth (N is more than or equal to 2 and less than or equal to N) folding and unfolding unit is connected to the tail end of the first connecting rod and forms revolute pair connection; the second connecting rod comprises a sliding section sliding along the length direction of the connecting seat and a rotating section rotating around the length direction of the connecting seat, the second connecting groove comprises an outer groove and an inner groove which are communicated with each other, the sliding section penetrates through the outer groove and extends into the inner groove, a sliding pair connection is formed between the sliding section and the outer groove, a rotating pair connection is formed between the sliding section and the inner groove, the rotating section extends into the outer groove and forms a hole-shaft matched connection, and the end part of one scissor rod in the n-1 folding unit is connected to the rotating section of the second connecting rod and forms a rotating pair connection;
and the driving device is arranged on the connecting seats and drives the two connecting seats to be switched between a furled state, an unfolded state and a catching state.
In the technical scheme of the invention, the folding and unfolding units are independent and can be combined with each other, each folding and unfolding unit is an independent truss structure, and the length of fingers of the capturing manipulator can be controlled by detaching and increasing the number of the folding and unfolding units to adapt to a large-space and large-mass non-cooperative target.
Furthermore, the capturing surface mechanism belongs to a foldable structure and has the characteristics of high modularization degree, strong telescopic performance, good mechanical property, simple structure, high rigidity and the like.
Specifically, two connecting seats and a capturing surface mechanism in the same folding and unfolding unit form a capturing surface of a mechanical gripper, each capturing surface has a folding state (at the moment, the distance between the two connecting seats is the shortest, and two scissor rods in the capturing surface mechanism are folded), an unfolding state (at the moment, the distance between the two connecting seats is gradually increased, the two scissor rods in the capturing surface mechanism are gradually unfolded and the whole capturing preparation posture is presented), a capturing state (a posture that adjacent folding and unfolding units are overturned towards one direction to capture a target object is presented), and the capturing surface is switched between the folding state, the unfolding state and the capturing state under the driving of a driving device.
More specifically, in the process of switching the deployment state to the capture state in the present invention, a metamorphic process is required, and the metamorphic process of the metamorphic mechanism in the above technical solution is: in a furled state, the head end of the first connecting rod extends into the first connecting groove and is positioned close to the opening of the first connecting groove, and the head end of the second connecting rod is positioned in the outer groove of the second connecting groove and is positioned close to the opening of the outer groove; the catching face mechanism is gradually unfolded along with the switching to the unfolding state, wherein the first connecting rod slides towards the center of the connecting seat along the first connecting groove, the second connecting rod slides towards the center of the connecting seat along the second connecting groove, and the first connecting rod and the second connecting rod only slide but do not rotate in the unfolding state of the folding and unfolding unit.
When the folding and unfolding unit is unfolded to the maximum degree, the sliding section of the second connecting rod completely penetrates through the outer groove of the second connecting groove and extends into the inner groove, correspondingly, the groove wall of the inner groove and the sliding section are not in contact with each other, so that the sliding section rotates relative to the inner groove, and at the moment, the rotating section of the second connecting rod extends into the outer groove to form hole-shaft matching.
Then, the first connecting rod and the second connecting rod can not continue to slide towards the center of the connecting seat, for example, a limiting part is arranged at the tail end of the first connecting rod and/or the second connecting rod, so that the tail end of the first connecting rod and/or the second connecting rod is propped against the connecting seat body (side wall), the maximum extending position of the folding and unfolding unit is further determined, and the maximum extending position of the folding and unfolding unit is controlled in a groove depth control mode to generate self-locking.
When the metamorphic position is that the folding and unfolding unit is switched to the capturing state from the unfolding state, the rotating section of the second connecting rod is matched with the hole shaft between the outer grooves of the second connecting groove and can only rotate but cannot slide, and capturing of a large-space and high-mass non-cooperative target is completed under the action of the driving device.
In the folding and unfolding process of the plurality of folding and unfolding units, the metamorphic mechanism and the connecting seat only move relatively but not rotate relatively; after the folding and unfolding are completed, when the folding and unfolding device is switched to a catching state, the metamorphic mechanism and the connecting seat only rotate relatively without moving relatively, and all the folding and unfolding units bend towards the same direction to form a certain catching angle.
In the process of unfolding and capturing, the degree of freedom of a single folding and unfolding unit is always unique, two degrees of freedom are only arranged at a metamorphic position, and the folding and unfolding state is switched to the capturing state under the driving action by setting the limitation on a geometric structure, so that the capturing of a large-space and high-quality non-cooperative target is completed.
According to another embodiment of the present invention, the adjacent folding units share a connecting seat to simplify the structure.
According to another embodiment of the invention, a revolute pair connection is formed between the first connecting rod and the second connecting rod, and the revolute pair connection between the first connecting rod and the second connecting rod is coaxially arranged with the revolute pair connection formed between the sliding section and the outer groove.
According to another embodiment of the present invention, the first connecting groove and the second connecting groove are both disposed through the connecting base, and the second connecting groove includes two outer grooves and one inner groove, and the two outer grooves are symmetrically disposed at both sides of the inner groove.
In the invention, the inner groove mainly has the function of providing space for the rotation of the head end of the second connecting rod, and particularly does not contact with the groove wall of the inner groove after the head section (sliding section) of the second connecting rod extends into the inner groove.
According to another embodiment of the present invention, the first connecting groove is a rectangular groove, the inner groove is a circular groove, the outer groove is a combination of a circular groove and a rectangular groove, and the circular groove and the rectangular groove in the outer groove are partially overlapped to satisfy the sliding section of the second connecting rod moving in the outer groove and the rotating section of the second connecting rod rotating in the outer groove.
Accordingly, the shape of the first connecting groove and the second connecting groove may be other shapes such as a hexagon.
According to another embodiment of the invention, the driving device comprises connecting rods respectively arranged on the two connecting seats, and telescopic branched chains respectively rotatably connecting the two connecting rods, wherein the two connecting rods are both arranged perpendicular to the length direction of the connecting seats, and the two connecting rods are parallel to each other. The switching between the states of the catching surfaces is changed by the extension or shortening of the telescopic branched chain.
Preferably, the telescopic branched chain is a loop bar branched chain, the loop bar branched chain comprises a sleeve and a loop bar arranged in the sleeve in a sliding manner, the connecting end of the sleeve is rotatably connected to the connecting rod positioned below, and the connecting end of the loop bar is rotatably connected to the connecting rod positioned above. Specifically, the free end of the sleeve is provided with a loop bar sliding groove, and the free end of the loop bar extends into the loop bar sliding groove and can change the extending length.
Preferably, the driving device is further provided with a push rod branched chain, the push rod branched chain comprises a push rod and a sliding block, a connecting rod located below the push rod branched chain is provided with a sliding groove, the sliding block is arranged in the sliding groove in a sliding mode, one end of the push rod is rotatably connected to the middle of the sleeve, and the other end of the push rod is rotatably connected to the sliding block.
A triangular structure is formed among the sleeve, the push rod and the connecting rod positioned below in the same folding and unfolding unit, and the angle of the sleeve relative to the catching surface (the plane where the two connecting seats are located) is adjusted by changing the position of the push block.
Furthermore, the driving device is also provided with a spring, the spring is released to drive the sliding block to slide in the sliding groove, and then the telescopic branched chain is driven to move, so that the two connecting seats are switched between a furling state, an unfolding state and a catching state.
The single folding and unfolding unit only has one degree of freedom, and in order to further reduce the mass and meet the requirement of light weight design, the driving device in the invention adopts the spring, which has important practical significance for a space manipulator. Each folding and unfolding unit has only one degree of freedom, namely, one spring is arranged, and then the folding and unfolding and the capturing can be completed.
According to another embodiment of the invention, the folding and unfolding unit located at the lowest position is further provided with a positioning rod, one end of the positioning rod is rotatably connected to the hinge joint of the two scissor rods, and the other end of the positioning rod is slidably connected to the connecting seat located at the lower position.
Wherein, two metamorphic mechanism that are located on same connecting seat are symmetrical all the time and are located the both sides of locating lever, avoid arresting the amount of deflection that the in-process produced, are favorable to improving the stability of manipulator at the arresting in-process.
In the invention, the connecting seat in the folding and unfolding unit at the lowest part can be connected with the base in a mode of a plurality of fastening bolts so as to ensure the stability and effectiveness of connection; preferably, the lower connecting rod in the lowermost folding and unfolding unit is also provided with a fastening bolt.
In order to improve the stability of the movement of the gripper, according to another embodiment of the invention, the metamorphic mechanism in the lowermost folding and unfolding unit is provided with an outward convex sliding part, such as a sliding block or a pulley, and the base is provided with a sliding groove, and the sliding part and the sliding groove are mutually matched and connected.
Compared with the prior art, the invention has the advantages that:
the invention adopts the scissor-type catching surface mechanism, so that the manipulator has the advantages of high rigidity, good folding and unfolding performance, sufficient internal space and the like, and the mechanical gripper has good catching performance and is particularly suitable for catching a space non-cooperative target, and of course, the invention can also be used for catching in other occasions; in addition, the method also has the advantage of large folding-unfolding ratio.
The invention has a modular design, and the length of the mechanical gripper can be controlled by increasing or decreasing the number of the folding units so as to adapt to the space, large mass and non-cooperative target.
The invention is designed in a light weight way, the driving device adopts a telescopic follow-up branched chain design, and adopts a spring as a power source for driving, thereby reducing the difficulty of structural design and greatly reducing the overall mass of the structure.
The metamorphic mechanism provided by the invention has a plurality of different metamorphic positions, and can be subjected to adaptive size design according to design requirements so as to meet the catching requirements of different occasions.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an embodiment 1 of a modular capturing manipulator based on kinematic pair metamorphism, which shows a folded state;
FIG. 2 is a schematic view of the extended state of FIG. 1;
FIG. 3 is a schematic diagram of a state of a modular capturing manipulator embodiment 1 based on kinematic pair metamorphism for capturing a spherical target object;
FIG. 4 is a schematic diagram of a state of capturing a cuboid target object of the modular capturing manipulator embodiment 1 based on kinematic pair metamorphic of the invention;
FIG. 5 is a schematic diagram of a state of a modular capturing manipulator embodiment 1 based on kinematic pair metamorphism for capturing a cylindrical target object;
FIG. 6 is a schematic structural diagram of a single folding and unfolding unit of the modular capturing manipulator embodiment 1 based on kinematic pair metamorphic, which shows the unfolding state;
FIG. 7 is an enlarged schematic view of the dovetail slot configuration of FIG. 6;
FIG. 8 is a schematic view of the folding unit of FIG. 6 in a folded state;
FIG. 9 is a schematic view of the capture state of the folding and unfolding unit of FIG. 6;
fig. 10 is a schematic structural diagram of the lowermost folding and unfolding unit in embodiment 1 of the modular capturing manipulator based on kinematic pair metamorphic, which shows a positioning rod;
fig. 11 is a schematic installation diagram of the lowermost folding and unfolding unit in embodiment 1 of the modular capturing manipulator based on kinematic pair metamorphism;
FIG. 12 is an enlarged view at B in FIG. 11;
fig. 13 is a schematic structural diagram of a metamorphic mechanism in the modular capturing manipulator embodiment 1 based on kinematic pair metamorphic, wherein fig. 13a shows an explosive state, fig. 13b shows a folded state, fig. 13c shows a metamorphic position, and fig. 13d shows a capturing state.
Detailed Description
Example 1
The embodiment provides a modular capturing manipulator based on kinematic pair metamorphism, which comprises a base 1 and four mechanical claws 2 as shown in figures 1 to 13.
As shown in fig. 1-2, four gripper bases 11 corresponding to the mechanical gripper 2 are disposed on the base 1, the four gripper bases 11 have mounting surfaces inclined with respect to the base 1, and the four gripper bases 11 are disposed around the base 1 in a circumferential array.
Each gripper base 11 is provided with one gripper 2, preferably, four grippers 2 are identical, each gripper 2 includes N folding units 3 connected in sequence, preferably, the number of folding units 3 is 4-10, and in this embodiment, the number of folding units 3 is 5.
As shown in fig. 6, a specific structure of the folding and unfolding unit 3 is described by taking a single folding and unfolding unit 3 as an example, and the folding and unfolding unit 3 includes:
the catching surface mechanism 33 is arranged between the upper connecting seat 31 and the lower connecting seat 32, the catching surface mechanism 33 comprises two identical shear fork rods 331, and the middle parts of the two shear fork rods 331 are hinged with each other to form a shear fork structure; the four metamorphic mechanisms 34 are disposed on four ends of the two scissor rods 331 and are respectively connected to the upper connecting seat 31 and the lower connecting seat 32.
The driving device 6 is used for driving the two connecting seats to switch between a folded state, an unfolded state and a captured state, wherein fig. 8 shows the folded state of the folding and unfolding unit 3, and fig. 9 shows the captured state of the folding and unfolding unit 3.
Taking the metamorphic mechanism 34 at the lower right corner of fig. 6 as an example, as shown in fig. 13, the metamorphic mechanism 34 includes a first connecting rod 341 and a second connecting rod 342, and a first connecting slot 4 engaged with the first connecting rod 341 and a second connecting slot 5 engaged with the second connecting rod 342 are disposed in the connecting seat along the length direction;
the head end of the first connecting rod 341 extends into the first connecting grooves 4 and forms a sliding pair connection between the first connecting grooves 4, preferably, the first connecting groove 4 is a rectangular groove penetrating through the lower connecting seat 32, and the first connecting rod 341 is a rectangular rod matched with the rectangular groove; the end of the first connecting rod 341 is rotatably connected to the end of one scissor rod 331 in the nth (2 ≦ N) folding unit 3.
The second connecting rod 342 comprises a sliding section 3421 sliding along the length direction of the connecting base and a rotating section 3422 rotating around the length direction of the connecting base, the second connecting groove 5 comprises an outer groove 51 and an inner groove 52 which are communicated with each other, the sliding section 3421 penetrates through the outer groove 51 and extends into the inner groove 52, a sliding pair connection is formed between the sliding section 3421 and the outer groove 51, a rotating pair connection is formed between the sliding section 3421 and the inner groove 52, the rotating section 3422 extends into the outer groove 51 and forms a hole-shaft matching connection, and the end of one scissor rod 331 in the n-1 folding unit 3 is connected to the rotating section 3422 of the second connecting rod 342 and forms a rotating pair connection;
preferably, the outer groove 51 is a combination of a circular groove and a rectangular groove, and the circular groove and the rectangular groove in the outer groove 51 are partially overlapped, so that the sliding section 3421 of the second connecting rod 342 moves in the outer groove 51 and the rotating section 3422 of the second connecting rod 342 rotates in the outer groove 51; the inner groove 52 is a circular groove, and the inner groove 52 has a larger cross-sectional area than the outer groove 51, and has a larger space, specifically, after the leading section (the sliding section 3421) of the second connecting rod 342 extends into the inner groove 52, without contacting the wall of the inner groove 52.
Further, in order to realize the connection between the first connection rod 341 and the second connection rod 342, as shown in fig. 6, in the present embodiment, a revolute pair connection is formed between the first connection rod 341 and the second connection rod 342, and the revolute pair connection between the first connection rod 341 and the second connection rod 342 is coaxially disposed with the revolute pair connection formed between the sliding section 3421 and the outer groove 51.
Specifically, the state switching process of the folding unit 3 in a single cycle of the metamorphic mechanism 34 is as shown in fig. 13, wherein, in order to better show the structure of the metamorphic mechanism 34 in the present embodiment, fig. 13a shows the explosion state, further, fig. 13b shows the folding state, fig. 13c shows the metamorphic position, and fig. 13d shows the capture state.
The specific process is as follows:
in a closed state, the head end of the first connecting rod 341 extends into the first connecting groove 4, and at this time, the head end of the first connecting rod 341 is located near the opening of the first connecting groove 4, and the head end of the second connecting rod 342 is located in the outer groove 51 of the second connecting groove 5, and at this time, is located near the opening of the outer groove 51; as the folding and unfolding unit is switched to the unfolded state, the catching surface mechanism 33 is gradually unfolded, wherein the first connecting rod 341 slides along the first connecting groove 4 toward the center of the connecting seat, the second connecting rod 342 slides along the second connecting groove 5 toward the center of the connecting seat, and in the unfolded state of the folding and unfolding unit 3, only the first connecting rod 341 and the second connecting rod 342 slide without rotating.
Further, when the folding and unfolding unit 3 is unfolded to the maximum extent, the first connecting rod 341 can not extend forwards, the first connecting rod 341 can completely extend into the first connecting groove 4 to form a limit position, the sliding section 3421 of the second connecting rod 342 completely penetrates through the outer groove 51 of the second connecting groove 5 and extends into the inner groove 52, correspondingly, the groove wall of the inner groove 52 and the sliding section 3421 are not in contact, so that the sliding section 3421 rotates relative to the inner groove 52, and at the moment, the rotating section 3422 of the second connecting rod 342 extends into the outer groove 51 to form hole-shaft matching.
In the process of switching the folding and unfolding unit from the folding and unfolding state to the capturing state, the original folding and unfolding function is lost, and the folding and unfolding unit 3 has only one rotational degree of freedom, so that the degree of freedom of the single folding and unfolding unit 3 is always 1 no matter in the folding state, the unfolding state or the capturing state, and the metamorphic position is as shown in fig. 13 c.
When the metamorphic position is changed, that is, the folding and unfolding unit 3 is switched from the unfolding state to the catching state, the hole shaft between the rotating section 3422 of the second connecting rod 342 and the outer groove 51 of the second connecting groove 5 is matched and can only rotate but cannot slide, and under the action of the driving device 6, the rotation between the upper connecting seat 31 and the lower connecting seat 32 is realized, as shown in fig. 13d, the catching process of the folding and unfolding unit 3 is further completed, and the catching of the space, large mass and non-cooperative target is realized.
In order to simplify the structure, in the present embodiment, as shown in fig. 1-2, adjacent folding units 3 share a connecting seat.
As shown in fig. 6-9, the driving device 6 in this embodiment preferably includes an upper connecting rod 61, a lower connecting rod 62, and a telescopic branched chain 63 disposed between the upper connecting rod 61 and the lower connecting rod 62, wherein the upper connecting rod 61 and the lower connecting rod 62 are disposed in parallel and perpendicular to the length direction of the connecting seat, the upper end of the telescopic branched chain 63 is hinged to the upper connecting rod 61, and the lower end of the telescopic branched chain 63 is hinged to the lower connecting rod 62.
Specifically, the telescopic branched chain 63 may be directly driven by a cylinder or by a transmission with other structure, and in order to simplify the power structure, as shown in fig. 6, the embodiment provides a preferable telescopic branched chain 63 and a driving method as follows:
the telescopic branched chain 63 comprises a sleeve 631, a loop bar 632 cooperatively connected with the sleeve 631, a push rod 633, a slider 634 and a spring (not shown in the figure), wherein the connecting end of the sleeve 631 is rotatably connected to the lower connecting rod 62, the connecting end of the loop bar 632 is rotatably connected to the upper connecting rod 61, the free end of the sleeve 631 is provided with a loop bar sliding slot, and the free end of the loop bar 632 extends into the loop bar sliding slot and can change the extending length; a sliding groove 621 is arranged in the length direction of the lower connecting rod 62, a sliding block 634 is slidably arranged in the sliding groove 621, one end of a push rod 633 is rotatably connected to the middle part of the sleeve 631, the other end of the push rod 633 is rotatably connected to the sliding block 634, and preferably, a dovetail groove structure 635 is adopted at the connection part of the sliding block 634 and the push rod 633; the spring is disposed in the sliding slot 621, and is supported by the sliding block 634 to be in a compressed state all the time, the position of the sliding block 634 is adjusted by releasing the spring, and the push rod 633 is further driven to change the matching state of the telescopic branched chain 63, so as to switch between the two connecting bases in a folded state, an unfolded state and a capture state.
In this embodiment, a positioning rod 7 may be further disposed on the folding and unfolding unit 3 located at the lowest position, as shown in fig. 10, an upper end of the positioning rod 7 is rotatably connected to the hinge joint of the two scissor rods 331, and a lower end of the positioning rod 7 is slidably connected to the lower connecting seat (the lower connecting seat 32). Wherein, two metamorphic mechanisms 34 on the same connecting seat are symmetrically arranged on two sides of the positioning rod 7 all the time, thereby avoiding the deflection generated in the capturing process and being beneficial to improving the stability of the manipulator in the capturing process.
Further, as shown in fig. 12, the metamorphic mechanism 34 in the folding and unfolding unit 3 located at the lowest position may further be provided with an outward protruding sliding member 8, such as a sliding block 634 or a pulley, and a sliding groove 9 is provided on the base 1, and the sliding member 8 and the sliding groove 9 are cooperatively connected with each other to further improve the stability of the movement of the gripper 2.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that modifications may be made without departing from the scope of the invention, and that equivalents may be resorted to as falling within the scope of the invention.
Claims (10)
1. The utility model provides a manipulator is arrested to modularization based on motion pair metamorphism, includes the base and establishes a plurality of mechanical gripper on the base, a plurality of mechanical gripper be the circumference array or install relatively setting up on the base, mechanical gripper includes N consecutive folding and unfolding unit, and wherein N is greater than or equal to 2, its characterized in that, folding and unfolding unit includes:
two connecting seats arranged up and down;
the catching face mechanism is arranged between the two connecting seats and comprises two identical shearing fork rods, and the middle parts of the two shearing fork rods are hinged with each other to form a shearing fork structure;
the four metamorphic mechanisms are used for connecting the connecting seat and the catching surface mechanism and are respectively arranged at the four ends of the two shearing fork rods;
the metamorphic mechanism comprises a first connecting rod and a second connecting rod, a first connecting groove located above and a second connecting groove located below are arranged in the length direction of the connecting seat, the head end of the first connecting rod extends into the first connecting groove and forms sliding pair connection, the end of one scissor rod in the nth folding and unfolding unit is connected to the tail end of the first connecting rod and forms revolute pair connection, and N is larger than or equal to 2 and smaller than or equal to N; the second connecting rod comprises a sliding section sliding along the length direction of the connecting seat and a rotating section rotating around the length direction of the connecting seat, the second connecting groove comprises an outer groove and an inner groove which are communicated with each other, the sliding section penetrates through the outer groove and extends into the inner groove, a sliding pair connection is formed between the sliding section and the outer groove, a rotating pair connection is formed between the sliding section and the inner groove, the rotating section extends into the outer groove and forms a hole-shaft matched connection, and the end part of one scissor rod in the n-1 folding unit is connected to the rotating section of the second connecting rod and forms a rotating pair connection;
and the driving device is arranged on the connecting seats and drives the two connecting seats to be switched among a furled state, an unfolded state and a catching state.
2. The modular capturing manipulator based on the kinematic pair metamorphic as set forth in claim 1, wherein one connecting seat is shared between adjacent folding units.
3. The modular manipulator for capturing kinematic pair metamorphic according to claim 1, wherein a revolute pair connection is formed between the first connecting rod and the second connecting rod, and the revolute pair connection between the first connecting rod and the second connecting rod and the revolute pair connection formed between the sliding segment and the outer groove are coaxially disposed.
4. The modular manipulator of claim 1, wherein the first and second connecting slots are disposed through the connecting base, and the second connecting slot comprises two outer slots and one inner slot, and the two outer slots are symmetrically disposed on both sides of the inner slot.
5. The modular robot for catching kinematic pair metamorphic according to claim 4, wherein the first connecting slot is a rectangular slot, the inner slot is a circular slot, the outer slot is a combination of a circular slot and a rectangular slot, and the circular slot and the rectangular slot in the outer slot are partially overlapped.
6. The modular capturing manipulator based on kinematic pair metamorphism as claimed in claim 1, wherein the driving device comprises two connecting rods respectively disposed on the two connecting seats, and a telescopic branch chain for rotatably connecting the two connecting rods, wherein the two connecting rods are disposed perpendicular to the length direction of the connecting seats, and the two connecting rods are parallel to each other.
7. The modular mechanical arm for catching kinematic pair metamorphic as claimed in claim 6, wherein the telescopic branched chain is a loop bar branched chain, the loop bar branched chain comprises a sleeve and a loop bar slidingly disposed in the sleeve, the connecting end of the sleeve is rotatably connected to the connecting rod located below, and the connecting end of the loop bar is rotatably connected to the connecting rod located above.
8. The modular mechanical hand for catching kinematic pair metamorphic as recited in claim 7, wherein the driving device is further provided with a push rod branched chain, the push rod branched chain comprises a push rod and a slide block, the connecting rod located below is provided with a sliding groove, the slide block is slidably arranged in the sliding groove, one end of the push rod is rotatably connected to the middle of the sleeve, and the other end of the push rod is rotatably connected to the slide block.
9. The modular capturing manipulator based on the kinematic pair metamorphic as set forth in claim 8, wherein the driving device is further provided with a spring, and the spring is released to drive the sliding block to slide in the sliding groove, so as to drive the telescopic branched chain to move, thereby switching between the furled state, the unfolded state and the capturing state between the two connecting seats.
10. The modular capturing manipulator based on kinematic pair metamorphism as claimed in claim 1, wherein the lowermost folding and unfolding unit is further provided with a positioning rod, one end of the positioning rod is rotatably connected to the hinge joint of two scissor rods, and the other end of the positioning rod is slidably connected to the connecting base located below.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910106104.3A CN109760084B (en) | 2019-02-01 | 2019-02-01 | Modularization capture manipulator based on kinematic pair metamorphism |
Applications Claiming Priority (1)
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| CN114407053A (en) * | 2022-03-24 | 2022-04-29 | 武汉科技大学 | Folding and unfolding manipulator based on metamorphic principle |
| CN115814300B (en) * | 2022-10-07 | 2023-08-18 | 北京工业大学 | Pliers, scissors and grabbing integrated attachment based on metamorphic mechanism and engineering machinery |
| CN116534292A (en) * | 2023-05-22 | 2023-08-04 | 中国科学院空间应用工程与技术中心 | N (3 RRU) reconfigurable series-parallel type capturing mechanism and capturing method thereof |
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| CN203003896U (en) * | 2012-12-27 | 2013-06-19 | 广西大学 | Stacking machine with metamorphic function |
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