CN113084790B - Translation clamp manipulator for converting and amplifying displacement and angular displacement and drive control method - Google Patents
Translation clamp manipulator for converting and amplifying displacement and angular displacement and drive control method Download PDFInfo
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- CN113084790B CN113084790B CN202110475624.9A CN202110475624A CN113084790B CN 113084790 B CN113084790 B CN 113084790B CN 202110475624 A CN202110475624 A CN 202110475624A CN 113084790 B CN113084790 B CN 113084790B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
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Abstract
The invention discloses a translational clamp manipulator for converting and amplifying displacement and angular displacement, wherein a palm part comprises a mounting disc, a movable push plate and a driving source, the driving source is arranged on the mounting disc, and the movable push plate is arranged at the free end of the driving source; the finger part comprises a displacement conversion mechanism capable of converting linear small displacement into angular displacement, an angular displacement amplification mechanism capable of amplifying the angular displacement and a parallelogram link mechanism capable of converting the angular displacement into translational motion, which are sequentially connected, wherein the displacement conversion mechanism is hinged on the movable push plate, and the parallelogram link mechanism comprises a finger plate positioned on one side of the finger plate; the plurality of groups of finger parts are rotatably arranged on the palm part. A driving control method calculates driving force according to clamping contact force required by reliable grabbing and different driving source types. The device can obtain a large grabbing range with a small driving stroke, and is accurate in control, uniform in grabbing force, quick in action and high in universality.
Description
Technical Field
The invention relates to the technical field of robots and automation application, in particular to a translation clamp manipulator for converting and amplifying displacement and angular displacement, which can be used in the industries of agricultural product picking, food sorting and conveying, industrial product feeding and discharging grabbing, commodity logistics packaging and the like. The driving control method of the translational clamp manipulator for converting and amplifying displacement and angular displacement is also related.
Background
The manipulator is an actuator mounted at the end of the robot body, also known as an end gripper. At present, the common manipulator is a rotary clamp type manipulator. The finger tip is driven to rotate by the rotation of the gear, and when the finger tips are close to each other, the finger tips can be clamped on an object to be grabbed. At the moment, only two contact points with the object to be grabbed are provided, and the clamping force only acts on the two contact points, so that the distribution is extremely uneven. Such manipulators also typically do not have clamping force feedback capability or require complex sensor mounting to obtain such feedback capability. If the object to be grabbed is heavy or the clamping force is too large, the object to be grabbed is easily damaged; if the clamping force is too small, the object to be grabbed cannot be clamped, which brings inconvenience to the user. And if the two clamp plates are driven in parallel, a larger stroke is required for a larger object to be grabbed, and the space around the object to be grabbed is occupied.
Disclosure of Invention
The invention aims to solve the technical problem of providing a translation clamp manipulator for converting and amplifying displacement and angular displacement and a driving control method.
In order to solve the technical problem, the invention provides a translational clamp manipulator for converting and amplifying displacement and angular displacement, which comprises a palm part and a finger part; the palm part comprises a mounting disc, a movable push plate and a driving source, the driving source is arranged on the movable push plate, and the movable push plate is arranged at the free end of the driving source; the finger part comprises a displacement conversion mechanism capable of converting linear small displacement into angular displacement, an angular displacement amplification mechanism capable of amplifying the angular displacement and a parallelogram link mechanism capable of converting the angular displacement into translational motion, which are sequentially connected, wherein the displacement conversion mechanism is hinged on the movable push plate, and the parallelogram link mechanism comprises a finger plate positioned on one side of the finger plate; at least two sets of finger portion sets up on palm portion, just finger portion and palm portion can rotate relatively and adjust and fix.
In a preferred embodiment of the present invention, the parallelogram linkage mechanism further comprises a finger plate, a long chain plate, a large lever and a hinge base fixing shaft; the hinge base fixed axle sets up on the bottom plate on a parallel with the moving direction who removes the push pedal, the middle part of big lever articulates on the hinge base fixed axle, and the hinge point falls into two tip that differ in length with big lever, the both ends of displacement conversion mechanism articulate respectively on the short tip of removal push pedal and big lever, the longer tip of big lever articulates on the fingerboard, the both ends of long link joint articulate respectively on hinge base fixed axle and fingerboard, four pin joints of fingerboard, long link joint, big lever and hinge base fixed axle fall on four summits of parallelogram.
In a preferred embodiment of the present invention, the angular displacement amplifying mechanism further comprises at least one stage of small lever hinged between the displacement converting mechanism and the parallelogram linkage mechanism in sequence, and the arm of force of the end part hinged to the displacement converting mechanism direction of the small lever is smaller than the arm of force of the end part hinged to the parallelogram linkage mechanism direction.
In a preferred embodiment of the present invention, the displacement conversion mechanism further comprises a two-force rod, a flat hinge seat and a rotation adjusting fixing shaft, the flat hinge seat is fastened on the moving push plate through the rotation adjusting fixing shaft and a nut, the cylindrical part of the rotation adjusting fixing shaft and the holes of the flat hinge seat and the moving push plate are in clearance fit, and the end part of the two-force rod is hinged on the flat hinge seat.
In a preferred embodiment of the invention, the cylindrical part of the rotation adjusting fixed shaft and the holes of the flat hinge seat and the movable push plate are in clearance fit; the installation disc is provided with a bottom plate, the angular displacement amplifying mechanism and the parallelogram connecting rod mechanism are rotationally arranged on the bottom plate, the rotating center line of the angular displacement amplifying mechanism and the parallelogram connecting rod mechanism is superposed with the central axis of the rotation adjusting fixed shaft, and the bottom plate is provided with fan-shaped through holes with the same number as the finger parts; is used for adjusting and fixing the relative rotation of the finger part and the palm part.
In a preferred embodiment of the present invention, the number of the finger parts is four, and the central angle of the four fan-shaped through holes is 45 °; or the number of the finger parts is three, wherein two of the finger parts rotate reversely and are adjusted, the central angles of the two corresponding fan-shaped through holes are 60 degrees, and the other finger part is not changed.
In a preferred embodiment of the present invention, the robot further comprises a mounting plate connected to the robot body, wherein at least two stud guide rods are disposed on the mounting plate, a bottom plate is disposed at the ends of the stud guide rods, and cylindrical portions at two ends of the stud guide rods are in clearance fit with holes on the bottom plate and the mounting plate; the driving source sets up on the bottom plate, be provided with linear bearing on the removal push pedal, linear bearing sliding sleeve establishes on the stud guide arm, angle displacement mechanism of amplification and parallelogram link mechanism all set up on the hinge seat fixed axle.
A driving control method of a translational clamp manipulator for converting and amplifying displacement and angular displacement comprises the translational clamp manipulator, wherein a driving source is an air cylinder, and the method comprises the following steps: and calculating the gas pressure in the inching cylinder according to the clamping contact force required by reliable grabbing, and controlling the driving force of the inching cylinder by adopting pressure feedback and a high-speed switch valve.
A driving control method of a translational clamp manipulator for converting and amplifying displacement and angular displacement is characterized by comprising the translational clamp manipulator, wherein a driving source is a self-holding analogized pull-type long-stroke electromagnet, and the method comprises the following steps: the driving force of the self-holding analogizing pull type large-stroke electromagnet is calculated according to the clamping contact force required by reliable grabbing, and the driving force of the self-holding analogizing pull type large-stroke electromagnet is controlled by adopting current feedback and current or voltage feedback and voltage within a rated voltage range.
A drive control method of a translational clamp manipulator for converting and amplifying displacement and angular displacement is characterized by comprising the translational clamp manipulator, wherein a drive source is a screw shaft motor, and the drive control method comprises the following steps: and calculating to obtain the output torque of the screw shaft motor according to the required clamping contact force for reliable grabbing, and controlling the output torque of the screw shaft motor by adopting torque feedback and pulse width modulation.
The invention has the beneficial effects that:
according to the translational clamp manipulator for converting and amplifying displacement and angular displacement and the driving control method, a driving source is designed to drive a movable push plate to reciprocate; the displacement conversion mechanism converts the linear displacement of the movable push plate into angular displacement, the angular displacement amplification mechanism amplifies the angular displacement of the displacement conversion mechanism, and then the parallelogram connecting rod mechanism converts the amplified angular displacement into translational motion again so as to better grab an object. The invention has the greatest advantages that the small linear displacement of the driving source is converted into the large-range translational motion of the finger clamping contact surface, the uniform grabbing in a large-range can be realized by the extremely short linear driving, the action is quick, the finger part can be integrally turned, and the invention is suitable for grabbing cuboids, cylinders, spheres, ellipsoids and the like and has strong universality. And the accurate control of the movement amount can be realized, the feedback of the grabbing force is obtained, and the object to be grabbed is prevented from being damaged.
Drawings
FIG. 1 is a schematic cross-sectional view taken in the direction A-A of a translating gripper robot with the scale up of the translation and angular displacement conversion in accordance with a preferred embodiment of the present invention;
FIG. 2 is a schematic view in partial cross-section of the B-B direction of a translating gripper robot with magnification of the translation and angular displacement conversion in accordance with a preferred embodiment of the present invention;
FIG. 3 is a schematic view in partial cross-section of the C-C direction of a translating gripper robot with amplified translation and angular displacement conversion in accordance with a preferred embodiment of the present invention;
FIG. 4 is a schematic cross-sectional view in the D-D direction of a translating gripper robot with magnification of the translation and angular displacement conversion in accordance with a preferred embodiment of the present invention;
FIG. 5 is a schematic cross-sectional view in the E-E direction of a translating gripper robot with the scale on translation and angular displacement conversion in accordance with a preferred embodiment of the present invention;
FIG. 6 is a schematic cross-sectional view of a fingerboard of the translating gripper robot with magnification of translation and angular displacement conversion in accordance with a preferred embodiment of the present invention;
FIG. 7 is a schematic left side view of a fingerboard of the translating gripper robot with translation and angular displacement conversion magnification in accordance with the preferred embodiment of the present invention;
FIG. 8 is a schematic cross-sectional view of a long link plate of a translating gripper robot with magnification of translation and angular displacement conversion in accordance with a preferred embodiment of the present invention;
FIG. 9 is a schematic left side view of a long chain plate of the translating gripper robot with translation and angular displacement conversion magnification in accordance with the preferred embodiment of the present invention;
FIG. 10 is a schematic cross-sectional view of the hinge mount securing shaft of the translating gripper robot with translation and angular displacement conversion magnification in accordance with the preferred embodiment of the present invention;
FIG. 11 is a schematic left side view of a hinge mount securing shaft of a translating gripper robot with translation and angular displacement conversion magnification in accordance with a preferred embodiment of the present invention;
FIG. 12 is a schematic cross-sectional view of the flat hinge mount of the translating gripper robot with magnification of translation and angular displacement conversion in accordance with the preferred embodiment of the present invention;
FIG. 13 is a schematic top view of the flat hinge mount of the translating gripper robot with translation and angular displacement conversion magnification in accordance with the preferred embodiment of the present invention;
FIG. 14 is a schematic front view of a two-force rod of a translating gripper robot with translation and angular displacement conversion magnification in accordance with a preferred embodiment of the present invention;
FIG. 15 is a schematic left side view of the two force rod of the translating gripper robot with translation and angular displacement conversion magnification in accordance with the preferred embodiment of the present invention;
FIG. 16 is a schematic cross-sectional view of a square of a translating gripper robot with magnification of translation and angular displacement conversion in accordance with a preferred embodiment of the present invention;
FIG. 17 is a schematic top view of a right angle plate of a translating gripper robot with magnification of translation and angular displacement conversion in accordance with a preferred embodiment of the present invention;
FIG. 18 is a schematic diagram of the mechanism for translating gripper robot to grip objects of different sizes with the translating gripper robot translating to an enlarged displacement and angular displacement in accordance with the preferred embodiment of the present invention;
FIG. 19 is a schematic cross-sectional view of a translating gripper robot with an enlarged translation and angular displacement conversion in accordance with another preferred embodiment of the present invention;
figure 20 is a schematic cross-sectional view of a translating gripper robot with translation and angular displacement conversion magnification in accordance with another preferred embodiment of the present invention.
In the figure: 1. a fingerboard; 2. a long chain plate; 3. a large lever; 4. a hinge base fixing shaft; 5. a long double-ended hinge pin; 6. a wear-resistant washer; 7. a single-ended hinge pin; 8. a short link plate; 9. a small lever; 10. a short double-ended hinge pin; 11. a second force lever; 12. a base plate; 13. a flat hinge base; 14. rotating the adjusting fixed shaft; 15. mounting a disc; 16. a stud guide rod; 17. a linear bearing; 18. moving the push plate; 19. a right-angle plate; 20. a drive source; 21. a counter bore moving push plate; 22. a vertical plate; 23. self-holding pull-type long-stroke electromagnet; 24. the push plate is moved by the through hole; 25. a lead screw nut; 26. a motor fixing plate; 27. a screw shaft motor; 28. a rubber V-shaped block.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Example one
The embodiment discloses a translational clamp manipulator for converting displacement and angular displacement into magnification, which is shown in figure 1 and comprises a palm part and a finger part. The palm portion includes a mounting plate 15, a moving pusher plate 18, and a drive source 20. The driving source 20 is provided on the moving push plate 18. The moving push plate 18 is disposed at the free end of the drive source 20. The finger part comprises a displacement conversion mechanism capable of converting linear small displacement into angular displacement, an angular displacement amplification mechanism capable of amplifying the angular displacement and a parallelogram link mechanism capable of converting the angular displacement into translational motion, which are sequentially connected. The displacement conversion mechanism is hinged to the moving push plate 18. The parallelogram linkage comprises a finger plate 1 on one side thereof. At least two sets of finger portions set up on palm portion, just finger portion and palm portion can rotate relatively and adjust and fix. With the above optimized design, the driving source 20 can drive the movable push plate 18 to reciprocate; the displacement conversion mechanism converts the linear displacement of the moving push plate 18 into angular displacement, the angular displacement amplification mechanism amplifies the angular displacement of the displacement conversion mechanism, and then the parallelogram link mechanism converts the amplified angular displacement into translational motion again so as to more uniformly grab objects. The small linear displacement of the driving source is converted into large-range translational motion of the finger clamping contact surface, the grabbing in a large-size range can be realized by extremely short linear driving, the action is quick, the finger part can be integrally turned, and the device is suitable for grabbing cuboids, cylinders, spheres, ellipsoids and the like and has strong universality.
Specifically, the finger part includes the following components: the device comprises a fingerboard 1, a long chain plate 2, a large lever 3, a hinge base fixing shaft 4, a long double-head hinge pin shaft 5, a wear-resistant gasket 6, a single-head hinge pin shaft 7, a short chain plate 8, a small lever 9, a short double-head hinge pin shaft 10, a two-force rod 11, a flat hinge base 13 and a rotation adjusting fixing shaft 14.
The displacement conversion mechanism comprises a two-force rod 11, a flat hinge base 13 and a rotation adjusting fixed shaft 14. The flat hinge mount 13 is fastened to the moving push plate 18 by rotating the adjustment fixing shaft 14 and the nut. The cylindrical part of the rotation adjusting fixed shaft 14 is in clearance fit with the holes of the flat hinge seat 13 and the moving push plate 18. The end of the two-force rod 11 is hinged on the flat hinge seat 13.
The angular displacement amplifying mechanism comprises at least one stage of small lever 9 which is sequentially hinged between a two-force rod 11 and a parallelogram link mechanism. The force arm of the end part of the small lever 9 hinged to the direction of the two-force rod 11 is smaller than the force arm of the end part hinged to the direction of the parallelogram link mechanism. So as to realize the gradual amplification of the angular displacement.
In addition, in order to realize the smoothness of the connection between the parallelogram linkage mechanism and the small lever 9 or between two adjacent small levers 9, a short chain plate 8 can be hinged between the parallelogram linkage mechanism and the small lever 9 or between two adjacent small levers 9.
The parallelogram link mechanism comprises a finger plate 1, a long chain plate 2, a large lever 3 and a hinge seat fixing shaft 4. The hinge base fixing shaft 4 is arranged on the bottom plate 12 in parallel to the moving direction of the moving push plate 18. The middle part of the big lever 3 is hinged on the hinge seat fixing shaft 4, and the hinge point divides the big lever 3 into two end parts with different lengths. The two ends of the small lever 9 are respectively hinged on the two-force rod 11 and the shorter end of the large lever 3. The longer end of the large lever 3 is hinged on the fingerboard 1. Two ends of the long chain plate 2 are respectively hinged on the hinge seat fixing shaft 4 and the finger plate 1. The four hinged points of the fingerboard 1, the long chain plate 2, the large lever 3 and the hinge base fixing shaft 4 fall on four vertexes of the parallelogram. At this time, the driving source 20 can drive the movable push plate 18 to reciprocate; the two-force rod 11 can pull the large lever 3 to rotate under the driving of the movable push plate 18, so as to change the position of the fingerboard 1; and under the constraint of the long chain plate 2, the clamping surface of the finger plate 1 is always kept in a state of being parallel to the moving direction of the moving push plate 18, so that the finger plate can better grab articles. Meanwhile, the moment arm of the part of the large lever 3 hinged with the small lever 9 is shorter, and the moment arm of the part hinged with the fingerboard 1 is longer, so that the fingerboard 1 can generate a larger stroke under the condition that the movable push plate 18 generates micro movement.
In some preferred embodiments of the present invention, as shown in fig. 10 and 11, the hinge base fixing shaft 4 has two ears. Three groups of coaxial holes are arranged on the two ears. The cylinder at the top of the hinge base fixing shaft 4 is in clearance fit with the hole on the bottom plate 12 and is fastened on the bottom plate 12 through a nut. Referring to fig. 3, 8 and 9, the long link plate 2 has two; one end of each of the two long chain plates 2 is hinged with the fingerboard 1 through a long double-end hinge pin shaft 5, and the long double-end hinge pin shafts 5 are in interference fit to press the two long chain plates 2 on the two sides of the fingerboard 1; the other ends of the two long chain plates 2 are respectively hinged on a group of coaxial holes at the bottoms of two lugs of the hinge seat fixed shaft 4 through two single-head hinge pin shafts 7; the two single-head hinge pin shafts 7 are in interference fit with the coaxial holes of the hinge seat fixed shaft 4. Referring to fig. 3, 6 and 7, the hinge point in the middle of the large lever 3 is hinged with a group of coaxial holes in the middle of two ears of the hinge base fixing shaft 4 through cylindrical pins; the bottom of the large lever 3 is hinged with a hole on the side wall of the fingerboard 1 through a cylindrical pin; the cylindrical pin is sleeved with a wear-resistant washer 6, the wear-resistant washer 6 is positioned on the outer side of the bottom end of the large lever 3 and the inner side of the side wall of the finger plate 1, therefore, the two long chain plates 2 are positioned on the outer sides of the two lugs of the hinge seat fixing shaft 4, and the large lever 3 cannot interfere with the two lugs of the hinge seat fixing shaft 4 when swinging at large angles on the two inner sides of the hinge seat fixing shaft 4. As shown in fig. 2, the top end of the large lever 3 is hinged with the bottom ends of the two short link plates 8 outside the large lever through cylindrical pins; the top ends of the two short chain plates 8 are hinged with the left end of the small lever 9 through a short double-head hinge pin shaft 10; the two cylindrical pins are in interference fit with the four holes on the two short chain plates 8; the hinge point in the middle of the small lever 9 is hinged with a group of coaxial holes at the tops of two lugs of the hinge seat fixing shaft 4 through cylindrical pins. Referring to fig. 14 and 15, the right end of the small lever 9 is hinged with two ears at the bottom end of the two-force rod 11 through a cylindrical pin. Referring to fig. 12 and 13, a hole in the middle of the flat hinge base 13 is fixed to the moving push plate 18 by the rotation adjustment fixing shaft 14; the hole at the top end of the two-force rod 11 is hinged in the hole at the end part of the flat hinge seat 13 through a cylindrical pin.
Referring to fig. 4 and 5, in some preferred embodiments of the present invention, the cylindrical portion of the rotation-adjusting fixed shaft 14 and the holes of the flat hinge base 13 and the moving push plate 18 are in clearance fit; the central axis of the hinge base fixing shaft 4 is coaxial with the central axis of the rotation adjusting fixing shaft 14. The bottom plate 12 is provided with fan-shaped through holes with the same number as the finger parts. The nuts on the rotation adjusting fixing shaft 14 are loosened, the finger parts can be integrally rotated, then the two nuts are screwed, opposite transposition of the finger parts is realized, and the universality is improved. Preferably, the central angle of the fan-shaped through hole is 45 °. As shown in fig. 5, in the case of four fingers, the gripping spheres, right circular cylinders, are evenly distributed from the circumference; after rotating for 45 degrees, the four finger parts are distributed oppositely (namely the opposite finger plates 1 are parallel to the grabbing surface contacted with the object to be grabbed) to grab a cuboid and a horizontal cylinder; when the rotation is less than 45 degrees, the ellipsoid is grabbed. The universality of the finger parts is greatly improved.
The mounting plate 15 is connected to the robot body. At least two stud guides 16 are provided on the mounting plate 15. The end of the stud guide 16 is provided with the base plate 12. The cylindrical parts at the two ends of the stud guide rod 16 are in clearance fit with the holes in the bottom plate 12 and the mounting plate 15. The base plate 12 and the mounting plate 15 are integrally connected by at least two stud guides 16 and twice as many nuts as the stud guides 16. Referring to fig. 16 and 17, a square plate 19 is provided on the base plate 12. The driving source 20 is arranged on the right-angle plate 19. The moving push plate 18 is provided with a linear bearing 17. The linear bearing 17 is slidably sleeved on the stud guide rod 16. The other side of the bottom plate 12 opposite to the stud guide rod 16 is provided with a hinge base fixing shaft 4. The angular displacement amplifying mechanism and the parallelogram connecting rod mechanism are both arranged on the hinge seat fixing shaft 4. The stud guide 16 can provide guidance to the moving push plate 18 to provide equal drive force to different fingers. The bottom plate 12 isolates the object to be grasped from the driving mechanism, and prevents interference and pollution.
The driving source 20 may be an air cylinder, an electric cylinder, an electromagnet, or a motor.
Referring to fig. 1, when the driving source 20 is a cylinder or an electric cylinder, a free end of the cylinder or the electric cylinder may be directly fastened to the moving push plate 18. The cylinder may be a micro-motion cylinder.
The working principle is as follows: referring to fig. 18, the left side of the vertical chain line is the initial position of the finger plate 1, the right side of the chain line is the final position of the maximum stroke of the finger plate 1, the small displacement of the moving push plate 18 from the bottom to the top is converted into the clamping range from the initial position of the finger plate 1 to the final position of the finger plate 1, that is, when the moving push plate 18 is at the lowermost position, the initial position of the finger plate 1 is the maximum object clamping size (large-sized object shown by the lowermost chain double-dashed line), and when the moving push plate 18 is at the uppermost position, the final position of the finger plate 1 is the minimum object clamping size (small-sized object shown by the next lower chain double-dashed line).
The specific working process is as follows: the driving source 20 stretches out and draws back to enable the movable push plate 18 to move linearly up and down under the guidance of the two linear bearings 17, the movable push plate 18 drives the flat hinge seat 13 to move linearly up and down to enable the two-force rod 11 to move up and down, so that the small lever 9 rotates by taking a middle hinge point as a center, meanwhile, the two-force rod 11 rotates relative to the flat hinge seat 13 and the small lever 9, and the linear movement of the movable push plate 18 is converted into the rotation of the small lever 9; the rotation of the small lever 9 enables the large lever 3 to rotate, the rotation angle of the large lever 3 is larger than that of the small lever 9, and the amplification of the angular displacement of the large lever 3 relative to the angular displacement of the small lever 9 is realized; in the parallelogram link mechanism, the rotation of a rod piece at the lower part of the hinged point of the large lever 3 is converted into the translation of the fingerboard 1, so that the clamping contact surface of the fingerboard 1 clamps an object.
The embodiment also discloses a driving control method of the translational clamp manipulator for converting and amplifying displacement and angular displacement, which comprises the following steps: and calculating the gas pressure in the cylinder according to the clamping contact force required by reliable grabbing, and controlling the driving force of the cylinder by adopting pressure feedback and a high-speed switch valve. The automatic grabbing device can realize accurate control of the moving amount, obtain feedback of grabbing strength and avoid damaging objects to be grabbed.
Example two
The embodiment discloses a translational clamp manipulator for converting and amplifying displacement and angular displacement, and as shown in fig. 19, the structure of a finger part is the same as that of the finger part in the first embodiment, in a palm part structure, a movable push plate 18 and a right-angle plate 19 are respectively replaced by a counter bore movable push plate 21 and a vertical plate 22, and a driving source 20 is a self-holding pull-type long-stroke electromagnet 23; the vertical plate 22 is fixed on the bottom plate 12, the self-holding pull-by-analogy type long-stroke electromagnet 23 is fixed on the vertical plate 22, and the driving rod of the self-holding pull-by-analogy type long-stroke electromagnet 23 is fixed on the counter bore moving push plate 21.
The embodiment also discloses a driving control method of the translational clamp manipulator for converting and amplifying displacement and angular displacement, which comprises the following steps: the driving force of the self-holding analogizing pull-type large-stroke electromagnet 23 is calculated according to the clamping contact force required by reliable grabbing, and the driving force of the self-holding analogizing pull-type large-stroke electromagnet 23 controlled by current feedback and current or voltage feedback and voltage within a rated voltage range is adopted.
EXAMPLE III
The embodiment discloses a translational clamp manipulator for converting and amplifying displacement and angular displacement, as shown in fig. 20, the structure of the finger part is the same as that of the finger part in the first embodiment, in the palm part structure, a moving push plate 18 and a right-angle plate 19 are respectively replaced by a through hole moving push plate 24 and a motor fixing plate 26, a driving source 20 is a screw shaft motor 27, and a screw nut 25 is added; the screw nut 25 is installed on the through hole moving push plate 24, the screw nut 25 is screwed into a screw of a screw shaft motor 27, and the screw shaft motor 27 is fixed on a motor fixing plate 26.
The embodiment also discloses a driving control method of the translational clamp manipulator for converting and amplifying displacement and angular displacement, which comprises the following steps: and calculating to obtain the output torque of the screw shaft motor 27 according to the clamping contact force required by reliable grabbing, and controlling the output torque of the screw shaft motor 27 by adopting torque feedback and pulse width modulation.
Example four
As shown in fig. 20, for the first embodiment, the second embodiment and the third embodiment, for a horizontal cylinder, a sphere and an ellipsoid, for more reliable gripping, rubber V-shaped blocks 28 with different shapes, different sizes and different hardness degrees can be arranged on the contact surface of the fingerboard 1. Preferably, a rubber V-block 28 is affixed to the fingerboard 1.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (7)
1. The utility model provides a translation clamp manipulator that displacement and angle displacement conversion are enlargied which characterized in that: comprises a palm part and a finger part; the palm part comprises a mounting disc, a movable push plate and a driving source, the driving source is arranged on the movable push plate, and the movable push plate is arranged at the free end of the driving source; the finger part comprises a displacement conversion mechanism capable of converting linear small displacement into angular displacement, an angular displacement amplification mechanism capable of amplifying the angular displacement and a parallelogram link mechanism capable of converting the angular displacement into translational motion, which are sequentially connected, wherein the displacement conversion mechanism is hinged on the movable push plate, and the parallelogram link mechanism comprises a finger plate positioned on one side of the finger plate; the finger parts and the palm part can rotate relatively, be adjusted and fixed;
the parallelogram link mechanism comprises a finger plate, a long chain plate, a large lever and a hinge seat fixing shaft; the hinge seat fixing shaft is arranged on the bottom plate in parallel to the moving direction of the movable push plate, the middle part of the large lever is hinged to the hinge seat fixing shaft, the hinged point divides the large lever into two end parts with different lengths, two ends of the angular displacement amplifying mechanism are respectively hinged to the displacement conversion mechanism and the shorter end part of the large lever, the longer end part of the large lever is hinged to the finger plate, two ends of the long chain plate are respectively hinged to the hinge seat fixing shaft and the finger plate, and four hinged points of the finger plate, the long chain plate, the large lever and the hinge seat fixing shaft fall on four vertexes of a parallelogram;
the angular displacement amplifying mechanism comprises at least one stage of small lever which is sequentially hinged between the displacement conversion mechanism and the parallelogram link mechanism, and the arm of force of the end part hinged to the displacement conversion mechanism in the direction of the small lever is smaller than the arm of force of the end part hinged to the parallelogram link mechanism in the direction of the small lever;
the displacement conversion mechanism comprises a two-force rod, a flat hinge seat and a rotation adjusting fixed shaft, the flat hinge seat is fastened on the movable push plate through the rotation adjusting fixed shaft and a nut, the cylindrical part of the rotation adjusting fixed shaft is in clearance fit with holes of the flat hinge seat and the movable push plate, and the end part of the two-force rod is hinged to the flat hinge seat.
2. The translating gripper robot for translating and amplifying displacements and angular displacements according to claim 1, further comprising: the cylindrical part of the rotation adjusting fixed shaft is in clearance fit with the flat hinge seat and the hole of the movable push plate; the installation disc is provided with a bottom plate, the angular displacement amplifying mechanism and the parallelogram connecting rod mechanism are rotationally arranged on the bottom plate, the rotating center line of the angular displacement amplifying mechanism and the parallelogram connecting rod mechanism is superposed with the central axis of the rotation adjusting fixed shaft, and the bottom plate is provided with fan-shaped through holes with the same number as the finger parts; is used for adjusting and fixing the relative rotation of the finger part and the palm part.
3. The translating gripper robot for translating and amplifying displacements and angular displacements according to claim 2, wherein: the number of the finger parts is four, and the central angles of the four fan-shaped through holes are 45 degrees; or the number of the finger parts is three, wherein two of the finger parts rotate reversely and are adjusted, the central angles of the two corresponding fan-shaped through holes are 60 degrees, and the other finger part is not changed.
4. The translating gripper robot for translating and amplifying displacements and angular displacements according to claim 1, further comprising: the mounting disc is connected with the robot body, at least two stud guide rods are arranged on the mounting disc, a bottom plate is arranged at the tail ends of the stud guide rods, and cylindrical parts at two ends of the stud guide rods are in clearance fit with the bottom plate and holes in the mounting disc; the driving source sets up on the bottom plate, be provided with linear bearing on the removal push pedal, linear bearing sliding sleeve establishes on the stud guide arm, angle displacement mechanism of amplification and parallelogram link mechanism all set up on the hinge seat fixed axle.
5. A driving control method of a translational clamp manipulator for converting and amplifying displacement and angular displacement, which is characterized by comprising the translational clamp manipulator as claimed in any one of claims 1-4, wherein the driving source is an air cylinder, and the method comprises the following steps: and calculating the gas pressure in the inching cylinder according to the clamping contact force required by reliable grabbing, and controlling the driving force of the inching cylinder by adopting pressure feedback and a high-speed switch valve.
6. A driving control method of a translational clamp manipulator for converting and amplifying displacement and angular displacement, which is characterized by comprising the translational clamp manipulator as claimed in any one of claims 1 to 4, wherein the driving source is a self-holding pull-type long-stroke electromagnet, and the method comprises the following steps: the driving force of the self-holding analogizing pull type large-stroke electromagnet is calculated according to the clamping contact force required by reliable grabbing, and the driving force of the self-holding analogizing pull type large-stroke electromagnet is controlled by adopting current feedback and current or voltage feedback and voltage within a rated voltage range.
7. A driving control method of a translational clamp manipulator for converting and amplifying displacement and angular displacement, which is characterized by comprising the translational clamp manipulator as claimed in any one of claims 1 to 4, wherein the driving source is a screw shaft motor, and the method comprises the following steps: and calculating to obtain the output torque of the screw shaft motor according to the required clamping contact force for reliable grabbing, and controlling the output torque of the screw shaft motor by adopting torque feedback and pulse width modulation.
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| CN115416014B (en) * | 2022-09-16 | 2023-06-16 | 江南大学 | Underactuated type separation grabbing manipulator embedded in stacking empty tray |
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Effective date of registration: 20230106 Address after: 214028 Area F2, No. 15-9, Hanjiang Road, Xinwu District, Wuxi City, Jiangsu Province (second floor) Patentee after: WUXI STIAL TECHNOLOGIES Co.,Ltd. Address before: 1800 No. 214122 Jiangsu city of Wuxi Province Li Lake Avenue Patentee before: Jiangnan University |