CN115194776B - Method for simultaneously realizing object grabbing and control - Google Patents
Method for simultaneously realizing object grabbing and control Download PDFInfo
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- CN115194776B CN115194776B CN202211133601.0A CN202211133601A CN115194776B CN 115194776 B CN115194776 B CN 115194776B CN 202211133601 A CN202211133601 A CN 202211133601A CN 115194776 B CN115194776 B CN 115194776B
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- locking
- rod
- main body
- motion block
- frame
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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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
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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
- B25J15/08—Gripping heads and other end effectors having finger members
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
The invention provides a method for simultaneously realizing object grabbing and control, which comprises the steps of controlling moving fingers of a manipulator to move in opposite directions so as to drive a locking mechanism to move in a locking manner, wherein the manipulator comprises a locking piece and moving fingers, at least two moving fingers are arranged on the locking piece, and the two moving fingers can move in opposite directions and back to back so as to realize grabbing and releasing; when the locking mechanisms move in opposite directions under the driving of moving fingers, a first locking rod and a second locking rod in the locking mechanisms extend out of the locking mechanisms to be matched with corresponding locking holes, so that the locking between the manipulator and the locking mechanisms is realized; and continuously controlling the moving fingers to move towards each other, and driving the trigger end in the clamping control mechanism to move towards the center direction of the executing mechanism, and driving the executing tail end to move towards the center direction of the executing mechanism so as to trigger and control the target equipment. The invention can simultaneously realize the automatic installation and the on-off control of the robot on the hand-held tool.
Description
Technical Field
The invention relates to a manipulator, in particular to a method for simultaneously grabbing and controlling an object.
Background
An intelligent robot is one of intelligent electrical appliances, and can automatically complete floor cleaning, desktop cleaning, sundries storage, video monitoring and other works in a room by means of certain artificial intelligence. If intelligence robot of sweeping floor can absorb earlier ground debris and get into self rubbish receiver to accomplish the function of ground clearance.
At present, the intelligent robot technology on the market is a single functional main body, if the floor sweeping robot can only clean hair, dust, small-particle garbage and the like, the function is single, and the intelligent robot has few other functions except the basic functions. The function of the intelligent robot is simplified, the function diversification of the intelligent robot is limited, and the intelligent robot is difficult to be suitable for other use scenes.
The intelligent robot in the prior art is often limited by the single function of the manipulator, and cannot clamp and manipulate tools at the same time, so that extra power elements are often added to assist in completing clamping or manipulation, the complexity and cost of the manipulator are greatly increased, and the use scene of the intelligent robot is limited.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method for simultaneously realizing the grabbing and controlling of an object.
The method for simultaneously grabbing and controlling the object provided by the invention comprises the following steps:
the mechanical arm comprises a locking piece and moving fingers, at least two moving fingers are arranged on the locking piece, the two moving fingers can move in opposite directions and in opposite directions to realize clamping and releasing, a locking cavity is formed in one side face of the locking piece, and locking holes are formed in two opposite side faces in the locking cavity;
when the locking mechanisms move in opposite directions under the driving of the moving fingers, a first locking rod and a second locking rod in the locking mechanisms extend out of the locking mechanisms to be matched with the corresponding locking holes, so that the locking between the manipulator and the locking mechanisms is realized, the locking mechanisms comprise main body frames, first moving blocks and second moving blocks are arranged in the main body frames, the first moving blocks are movably connected with one side frame of the main body frame through the first locking rods, and the second moving blocks are movably connected with the other side frame of the main body frame through the second locking rods;
and continuously controlling the moving fingers to move in opposite directions, driving the trigger end in the clamping control mechanism to move towards the center direction of the execution mechanism, and further driving the execution tail end in the execution mechanism to move towards the center direction of the execution mechanism so as to perform triggering control on the target equipment, wherein the clamping control mechanism comprises a fixed bayonet and an execution mechanism, the fixed bayonet and the execution mechanism are arranged on the front side surface of the main body frame, and the execution mechanism is provided with the trigger end and the execution tail end which are connected.
Preferably, when the moving fingers of the manipulator are controlled to move back and forth, the first locking rod and the second locking rod are retracted from the locking hole, and unlocking between the manipulator and the locking mechanism is achieved.
Preferably, when the main body frame is fitted in the locking cavity, the first locking lever and the second locking lever are located in the locking cavity, and the first locking lever is aligned with the locking hole on one side surface of the locking cavity, and the second locking lever is aligned with the locking hole on the other side surface of the locking cavity.
Preferably, the first locking lever is capable of reciprocating in a first through hole provided on one side frame of the main body frame, and the second locking lever is capable of reciprocating in a second through hole provided on the other side frame of the main body frame;
the second rod body in the first motion block can move back and forth in a first notch formed in the upper end face of the main body frame; a fourth rod body in the second motion block can move back and forth in a second notch formed in the lower end face of the main body frame, wherein the first motion block comprises a first rod body and a second rod body; one end of the first rod body is connected with one end of the second rod body to form an L-shaped structure; the second motion block comprises a third rod body and a fourth rod body; one end of the third rod body is connected with one end of the fourth rod body to form an L-shaped structure; the first rod body in the first motion block is fixedly connected with a first locking rod, and the third rod body in the second motion block is fixedly connected with a second locking rod.
Preferably, the first motion block can slide along a first slide bar arranged on one side frame of the main body frame through a slide hole arranged on the first motion block;
the second motion block can slide along a second slide rod arranged on the other side frame of the main body frame through a slide hole arranged on the second motion block.
Preferably, when the limiting bayonet in the first motion block moves to be attached to one side frame of the main body frame, a first spring pair arranged between the first motion block and one side frame of the main body frame is in a compressed state, and when the first rod body in the first motion block moves to be attached to one side frame of the main body frame, the first spring pair is in a reset state;
when spacing bayonet socket removes in the second motion piece to with the laminating of another side frame of main part frame, the second motion piece with the second spring that sets up between the another side frame of main part frame is to being the compression state, when third body of rod removes to with in the second motion piece when the laminating of one side frame of main part frame, the second spring is to being the recovering state.
Preferably, when the first rod body in the first motion block moves to be attached to one side frame of the main body frame, the first locking rod is retracted into the main body frame, and when the limit bayonet in the first motion block moves to be attached to one side frame of the main body frame, the first locking rod moves to a limit position in the locking hole on one side surface of the locking cavity;
when a third rod body in the second motion block moves to be attached to the other side frame of the main body frame, the second locking rod is retracted into the main body frame, and when a limiting bayonet in the second motion block moves to be attached to the other side frame of the main body frame, the second locking rod moves to the limiting position in a locking hole on the other side surface of the locking cavity; the limiting bayonet is located at the tail end of the second rod body.
Preferably, the actuating mechanism performs triggering operation on the target device through a clamping bayonet, a triggering end, an adapter, a transmission member and an actuating tail end, and specifically includes the following steps:
receiving the target device through the clamping bayonet;
triggering the triggering end through the moving finger, and driving the transmission part when triggering;
triggering the transmission part through the triggering end, and driving the execution tail end when triggering;
and triggering the execution tail end through the transmission piece, and completing triggering operation of the target equipment when the execution tail end is triggered.
Preferably, the first end of the adaptor is hinged to one side end of the clamping bayonet, and the triggering end is fixedly connected with the second end of the adaptor;
one end of the transmission piece is hinged with the third end of the adapter piece, the other end of the transmission piece is hinged with the rear end part of the execution tail end, and the rear end of the execution tail end is hinged with one side end of the clamping bayonet.
Preferably, when the trigger end moves towards the center direction of the actuator under the driving of the moving finger, the execution end is driven to move towards the center direction of the actuator so as to perform the trigger operation of the target device.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the operation of the locking mechanism is controlled by moving the finger, so that the first locking rod and the second locking rod are matched with the corresponding locking holes after extending out of the main body frame, the mechanical arm and the locking mechanism are locked, the moving fingers are continuously controlled to move oppositely, one end of the trigger end is pushed, the execution tail end moves towards the center direction of the execution mechanism to perform trigger operation and switch control on target equipment, and meanwhile, the automatic installation and switch control of a robot on a handheld tool are realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts. Other features, objects and advantages of the present invention will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, with reference to the accompanying drawings.
Fig. 1 is a flowchart illustrating steps of a method for simultaneously grasping and controlling an object according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a state of the mechanical gripping control device according to the embodiment of the present invention.
Fig. 3 is a schematic view of another state of the mechanical gripping control apparatus according to the embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a robot in an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a locking element in an embodiment of the invention.
FIG. 6 is a schematic diagram of a locking mechanism in an embodiment of the invention.
FIG. 7 is a schematic view of a state of the locking mechanism in an embodiment of the present invention.
FIG. 8 is a schematic view of another state of the locking mechanism in the embodiment of the present invention.
Fig. 9 is a schematic structural diagram of a clamping operating mechanism in the embodiment of the invention.
Fig. 10 is a schematic diagram illustrating the matching relationship of the components of the triggering mechanism included in the actuator according to the embodiment of the present invention.
Fig. 11 is a schematic structural diagram of a robot according to an embodiment of the present invention.
In the figure:
100 is a manipulator; 101 is a locking piece; 102 is a first moving finger; 103 is a second moving finger; 104 is a locking cavity; 105 is a first locking hole; 106 is a second locking hole; 200 is a locking mechanism; 201 is a main frame; 202 is a first motion block; 2021 is a first rod; 2022 is a second rod; 203 is a first locking lever; 204 is a first slide bar; 205 is a second motion block; 2051 is a third rod; 2052 is a fourth rod body; 206 is a second locking bar; 207 is a first spring; 208 is a second spring; 300 is a clamping operating mechanism; 301 is an actuating mechanism; 302 is a fixed bayonet; 3011 it is the trigger end; 3012 it is an adapter; 3013 is a first hinge; 3014 it is a driving member; 3015 is a second hinge; 3016 a third hinge; 3017 is an executive end; 3018 is a fourth hinge; 400 is a target device; 401 is an elastic switch; reference numeral 500 denotes a mobile chassis.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. The connection may be for fixation or for circuit connection.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
The invention provides a method for realizing object grabbing and control at the same time, which comprises the following steps:
the manipulator comprises a locking piece and moving fingers, at least two moving fingers are arranged on the locking piece, the moving fingers can move in opposite directions and in opposite directions to realize clamping and releasing, a locking cavity is formed in one side face of the locking piece, and locking holes are formed in two opposite side faces in the locking cavity;
when the locking mechanisms move oppositely under the driving of the moving fingers, a first locking rod and a second locking rod in the locking mechanisms extend out of the locking mechanisms to be matched with the corresponding locking holes, so that the manipulator and the locking mechanisms are locked, the locking mechanisms comprise main body frames, first moving blocks and second moving blocks are arranged in the main body frames, the first moving blocks are movably connected with one side frame of the main body frame through the first locking rods, and the second moving blocks are movably connected with the other side frame of the main body frame through the second locking rods;
and continuously controlling the moving fingers to move in opposite directions, driving the triggering end in the clamping control mechanism to move towards the center direction of the executing mechanism, and driving the executing tail end in the executing mechanism to move towards the center direction of the executing mechanism through a transmission mechanism such as a connecting rod, a gear rack, a lead screw and a cam so as to trigger and control the target equipment. The triggering operation comprises operations of switching, squeezing, spreading, vibrating and the like.
In the embodiment of the invention, the operation of the locking mechanism is controlled by moving fingers, so that the first locking rod and the second locking rod are matched with the corresponding locking holes after extending out of the main body frame, the manipulator is locked with the locking mechanism, and the automatic installation of a handheld tool is realized; and continuously controlling the moving fingers to move oppositely to push the trigger end, and driving the execution tail end to operate the target equipment through the connecting rod mechanism, so that the robot can automatically install and operate the target equipment on the handheld tool at the same time.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, so that the above is the core idea of the present invention, and the above objects, features and advantages of the present invention can be more clearly understood. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart illustrating steps of a method for simultaneously implementing object grabbing and control in an embodiment of the present invention, and as shown in fig. 1, the method for simultaneously implementing object grabbing and control provided by the present invention includes:
controlling the moving fingers of the manipulator 100 to move in opposite directions to drive the locking mechanism 200 to move in a locking manner, wherein the manipulator 100 comprises a locking piece and the moving fingers, at least two moving fingers are arranged on the locking piece, the two moving fingers can move in opposite directions and in opposite directions to realize clamping and releasing, a locking cavity 104 is formed in one side surface of the locking piece, and locking holes are formed in two opposite side surfaces in the locking cavity 104;
when the locking mechanism 200 moves in opposite directions under the driving of the moving finger, a first locking rod 203 and a second locking rod 206 in the locking mechanism 200 extend out from the locking mechanism 200 to be matched with the corresponding locking holes, so as to realize the locking between the manipulator 100 and the locking mechanism 200, the locking mechanism 200 comprises a main body frame, a first moving block and a second moving block are arranged in the main body frame, the first moving block is movably connected with one side frame of the main body frame through the first locking rod 203, and the second moving block is movably connected with the other side frame of the main body frame through the second locking rod 206;
and continuously controlling the moving fingers to move towards each other, and driving the trigger end 3017 of the clamping and operating mechanism 300 to move towards the center direction of the actuator 301 when the trigger end of the clamping and operating mechanism 300 is driven to move towards the center direction of the actuator 301, so as to perform the trigger operation of the target device, wherein the clamping and operating mechanism 300 comprises a fixed bayonet 302 and an actuator 301, the fixed bayonet 302 and the actuator 301 are arranged on the front side surface of the main body frame, and the actuator 301 is provided with the trigger end and the actuator end 3017 which are connected.
When the moving fingers of the manipulator 100 are controlled to move back and forth, the first locking rod 203 and the second locking rod 206 are retracted from the locking holes, and the unlocking between the manipulator 100 and the locking mechanism 200 is realized.
In the embodiment of the present invention, the method for simultaneously grabbing and controlling an object provided by the present invention is implemented by the mechanical grabbing control device of the present invention, as shown in fig. 2 and 3, the mechanical grabbing control device provided by the present invention includes a manipulator 100, a locking mechanism 200, and a clamping manipulation mechanism 300;
the manipulator 100 comprises a locking part 101 and moving fingers, at least two moving fingers are arranged on the locking part 101, and the two moving fingers can move towards and away from each other to realize clamping and releasing; a locking cavity 104 is formed in one side surface of the locking piece 101, and locking holes are formed in two opposite side surfaces in the locking cavity 104;
in the embodiment of the present invention, the moving fingers are a first moving finger 102 and a second moving finger 103 that are arranged oppositely, and the first moving finger 102 and the second moving finger 103 can move towards or away from each other under the driving of an air cylinder or a motor; the first moving finger 102 and the second moving finger 103 are provided on the front end face of the lock member 101, the first moving finger 102 moves along a lower rail in the front end face of the lock member 101, the second moving finger 103 moves along an upper rail in the front end face of the lock member 101, and the upper rail and the lower rail are parallel to each other;
the first moving finger 102 and the second moving finger 103 comprise a limiting piece and a clamping piece, one end of the clamping piece is connected with one end of the limiting piece and is perpendicular to the limiting piece, the limiting piece of the first moving finger 102 is arranged in a lower rail, the limiting piece of the second moving finger 103 is arranged in an upper rail, and the clamping piece in the first moving finger 102 is parallel to the clamping piece in the second moving finger 103.
The locking mechanism 200 comprises a main body frame 201, a first motion block 202 and a second motion block 205 are arranged in the main body frame 201, the first motion block 202 is movably connected with one side frame of the main body frame 201 through a first locking rod 203, and the second motion block 205 is movably connected with the other side frame of the main body frame 201 through a second locking rod 206;
when the first motion block 202 and the second motion block 205 move towards each other under the driving of the motion finger, the first locking rod 203 and the second locking rod 206 extend out of the main body frame 201 to be matched with the corresponding locking holes, so that the manipulator 100 and the locking mechanism 200 are locked;
the clamping operating mechanism 300 comprises a fixed bayonet 302 and an actuating mechanism 301; the fixing bayonet 302 and the actuator 301 are arranged on the front side surface of the main body frame 201, and the actuator 301 is provided with a triggering end 3011 and an executing end 3017 which are connected with each other; when the trigger end 3011 moves towards the center direction of the actuator 301 under the driving of the moving finger, the execution end 3017 is driven to move towards the center direction of the actuator 301 to perform clamping of the target device 400.
Fig. 4 is a schematic structural view of a robot in an embodiment of the present invention, and fig. 5 is a schematic structural view of a lock in an embodiment of the present invention, as shown in fig. 4 and 5, the lock is box-shaped, and the lock cavity 104 is cube-shaped; the locking cavity 104 is matched with the outer contour of the main body frame 201;
when the main body frame 201 is assembled in the locking cavity 104, the first locking rod 203 and the second locking rod 206 are located in the locking cavity 104, and the first locking rod 203 is aligned with the locking hole on one side of the locking cavity 104, and the second locking rod 206 is aligned with the locking hole on the other side of the locking cavity 104.
In the embodiment of the present invention, the locking hole on one side of the locking cavity 104 is a first locking hole 105, and the locking hole on the other side of the locking cavity 104 is a second locking hole 106. The second locking hole 106 is located on an upper side of the first locking hole 105. The first locking hole 105 and the second locking hole 106 are both cylindrical holes.
In a modification of the present invention, each of the first locking hole 105 and the second locking hole 106 includes two cylindrical holes disposed oppositely.
Fig. 6 is a schematic structural diagram of a locking mechanism according to an embodiment of the invention, and as shown in fig. 6, the first motion block 202 includes a first rod 2021 and a second rod 2022; one end of the first rod body 2021 is connected with one end of the second rod body 2022 to form an L-shaped structure; the second motion block 205 includes a third rod 2051 and a fourth rod 2052; one end of the third rod 2051 is connected with one end of the fourth rod 2052 to form an L-shaped structure;
the first rod 2021 of the first motion block 202 is fixedly connected with the first locking rod 203, and the third rod 2051 of the second motion block 205 is fixedly connected with the second locking rod 206; a first through hole is formed in one side of the main body frame 201, the first locking rod 203 can reciprocate in the first through hole, a second through hole is formed in the other side of the main body frame 201, and the second locking rod 206 can reciprocate in the second through hole;
a first notch is formed in the upper end surface of the main body frame 201, and the second rod 2022 in the first motion block 202 can reciprocate in the first notch; a second notch is formed in the lower end surface of the main body frame 201, and a fourth rod 2052 in the second motion block 205 can reciprocate in the second notch.
In the embodiment of the present invention, one end of the first rod 2021 is provided with a sliding hole extending from the first rod 2021 to the second rod 2022 and axially extending along the second rod 2022;
a first slide bar 204 is arranged on one side frame of the main body frame 201, the first motion block 202 can slide along the first slide bar 204 through a slide hole arranged on the first motion block, a second slide bar is arranged on the other side frame of the main body frame 201, and the second motion block 205 can slide along the second slide bar through a slide hole arranged on the second motion block.
Fig. 7 is a schematic view of a state of the locking mechanism in the embodiment of the present invention, fig. 8 is a schematic view of another state of the locking mechanism in the embodiment of the present invention, and as shown in fig. 7 and fig. 8, a limiting bayonet is disposed at the end of the second rod 2022;
when the first rod 2021 in the first motion block 202 moves to be engaged with a side frame of the main body frame 201, the first locking rod 203 is retracted into the main body frame 201, and when the limit bayonet in the first motion block 202 moves to be engaged with a side frame of the main body frame 201, the first locking rod 203 moves to an extreme position in the locking hole on one side of the locking cavity 104;
in the embodiment of the present invention, when the first rod 2021 in the first motion block 202 moves to engage with the inner side of the right frame of the main body frame 201, the first locking rod 203 is retracted into the main body frame 201, and when the limit bayonet in the first motion block 202 moves to engage with the outer side of the right frame of the main body frame 201, the first locking rod 203 moves to the limit position in the locking hole on one side of the locking cavity 104.
When the first rod body in the second motion block 205 moves to be engaged with the other side frame of the main body frame 201, the second locking rod 206 is retracted into the main body frame 201, and when the limiting bayonet in the second motion block 205 moves to be engaged with the other side frame of the main body frame 201, the second locking rod 206 moves to the limiting position in the locking hole on the other side surface of the locking cavity 104;
in the embodiment of the present invention, when the first rod body in the second motion block 205 moves to be attached to the inner side surface of the left frame of the main body frame 201, the second lock rod 206 is retracted into the main body frame 201, and when the limit bayonet in the second motion block 205 moves to be attached to the outer side surface of the left frame of the main body frame 201, the second lock rod 206 moves to the limit position in the lock hole on the other side surface of the lock cavity 104.
Fig. 9 is a schematic structural diagram of a clamping operation mechanism in an embodiment of the present invention, and fig. 10 is a schematic diagram illustrating a matching relationship between components of a triggering mechanism included in an actuator in an embodiment of the present invention, as shown in fig. 9 and 10, the actuator 301 includes a clamping bayonet, a triggering end 3011, an adaptor 3012, a transmission component 3014, and an actuating end 3017;
the clamping bayonet is used for accommodating target equipment;
the triggering end 3011 is triggered by the moving finger, and the transmission component 3014 is driven when the triggering end is triggered;
the transmission component 3014 is triggered by the trigger end 3011, and drives the execution terminal 3017 when triggered;
the execution terminal 3017 is triggered by the transmission 3014, and when triggered, the triggering operation of the target device is completed.
More specifically, the first end of adaptor 3012 with a side end of centre gripping bayonet socket is articulated, trigger end 3011 fixed connection adaptor 3012 second end.
In the embodiment of the present invention, the clamping bayonet is disposed on the upper side of the fixing bayonet 302, the fixing bayonet 302 is used for preliminary locking of the target device 400, and the clamping bayonet is used for matching with the fixing bayonet 302 to complete clamping and on-off control of the target device 400.
The trigger end 3011 is located below the execution end 3017, so that the moving finger triggers the trigger end 3011 instead of triggering the execution end 3017.
The target device 400 may be a handle of a vacuum cleaner, a handle of a floor washing machine, a handle of a floor sweeping machine, or the like.
More specifically, one end of the transmission component 3014 is hinged to the third end of the adaptor 3012, the other end of the transmission component 3014 is hinged to the rear end of the execution tail end 3017, and the rear end of the execution tail end 3017 is hinged to one side end of the clamping bayonet.
In the embodiment of the present invention, the transmission component 3014 is hinged to the adaptor component 3012 through a fourth hinge component 3018; the first end of the adaptor 3012 is hinged to one side end of the clamping bayonet through a first hinge 3013, the rear end of the execution tail end 3017 is hinged to one side end of the clamping bayonet through a second hinge 3015, one end of the transmission component 3014 is hinged to the third end of the adaptor 3012 through a fourth hinge 3018, and the other end of the transmission component 3014 is hinged to the rear end of the execution tail end 3017 through a third hinge 3016.
In the embodiment of the present invention, a first spring pair is disposed between the first motion block 202 and one side frame of the main body frame 201, and a second spring pair is disposed between the second motion block 205 and the other side frame of the main body frame 201; the first spring pair comprises a first spring 207 and a second spring 208, the first spring 207 is sleeved on the first locking rod 203, the second spring 208 is sleeved on the first sliding rod 204, the second spring pair comprises a third spring and a fourth spring, the third spring is sleeved on the second locking rod 206, and the fourth spring is sleeved on the second sliding rod;
when the limiting bayonet in the first motion block 202 moves to be attached to one side frame of the main body frame 201, the first spring pair is in a compressed state, and when the first rod 2021 in the first motion block 202 moves to be attached to one side frame of the main body frame 201, the first spring pair is in a reset state;
when the limiting bayonet in the second motion block 205 moves to be attached to the other side frame of the main body frame 201, the second spring pair is in a compressed state, and when the first rod body in the second motion block 205 moves to be attached to one side frame of the main body frame 201, the second spring pair is in a reset state.
When the moving fingers of the manipulator 100 are controlled to move back and forth, the first locking rod 203 is retracted from the locking hole by the pushing force generated when the first spring pair on the first slide bar 204 is changed from the compressed state to the restored state, and the second locking rod 206 is retracted from the locking hole by the pushing force generated when the second spring pair on the second slide bar is changed from the compressed state to the restored state, so that the manipulator 100 and the locking mechanism 200 are unlocked.
When the method for simultaneously grabbing and controlling an object provided by the present invention is used, when the target device 400 is grabbed by the method for simultaneously grabbing and controlling an object, the first moving finger 102 and the second moving finger 103 clamp two sides of the locking mechanism 200 and then move in opposite directions, so that the first moving block 202 and the second moving block 205 move in opposite directions, and the first locking rod 203 and the second locking rod 206 extend from the main body frame 201 to be matched with the corresponding locking holes, so as to lock the manipulator 100 and the locking mechanism 200; when the first moving finger 102 and the second moving finger 103 continue to move towards each other, the trigger end 3011 drives the execution end 3017 to move towards the center direction of the actuator 301 when being driven by one moving finger to move towards the center direction of the actuator 301 so as to clamp the target device 400, an elastic switch 401 is disposed on the target device 400, and when the trigger end 3011 is driven by the moving finger to move towards the center direction of the actuator 301, the execution end 3017 moves towards the center direction of the actuator 301 so as to perform triggering operation on the target device 400, such as pressing the elastic switch 401.
Fig. 11 is a schematic structural diagram of a robot according to an embodiment of the present invention, and as shown in fig. 11, the robot provided in the present invention includes the mechanical grabbing control device, and further includes a moving chassis 500, a controller, a connecting seat, and a robot arm;
the method for simultaneously realizing the grabbing and controlling of the object is arranged at the tail end of the mechanical arm;
the connecting seat is arranged on the movable chassis 500;
the robot arm is detachably connected to the moving chassis 500 through the connecting seat, and is configured to perform gripping and on-off control of the target device 400 by a method of simultaneously gripping and controlling an object;
the mobile chassis 500 is used for moving and positioning according to a pre-constructed map and moving to a position on the map according to a motion signal sent by the controller;
the controller is used for controlling the movement of the mobile chassis and/or controlling the mechanical arm to trigger a manipulation function.
In the embodiment of the invention, the operation of the locking mechanism is controlled by moving fingers, so that the first locking rod and the second locking rod are matched with the corresponding locking holes after extending out of the main body frame, the manipulator and the locking mechanism are locked, the moving fingers are continuously controlled to move oppositely, one end of the trigger end is pushed, the execution tail end moves towards the center direction of the execution mechanism to perform trigger operation and switch control on target equipment, and meanwhile, the automatic installation and switch control of a robot on a handheld tool are realized.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has described specific embodiments of the present invention. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (10)
1. A method for simultaneously realizing object grabbing and control is characterized by comprising the following steps:
the mechanical arm comprises a locking piece and moving fingers, at least two moving fingers are arranged on the locking piece, the two moving fingers can move in opposite directions and in opposite directions to realize clamping and releasing, a locking cavity is formed in one side face of the locking piece, and locking holes are formed in two opposite side faces in the locking cavity;
when the locking mechanisms move oppositely under the driving of the moving fingers, a first locking rod and a second locking rod in the locking mechanisms extend out of the locking mechanisms to be matched with the corresponding locking holes, so that the manipulator and the locking mechanisms are locked, the locking mechanisms comprise main body frames, first moving blocks and second moving blocks are arranged in the main body frames, the first moving blocks are movably connected with one side frame of the main body frame through the first locking rods, and the second moving blocks are movably connected with the other side frame of the main body frame through the second locking rods;
and continuously controlling the moving fingers to move in opposite directions, driving the trigger end in the clamping control mechanism to move towards the center direction of the execution mechanism, and further driving the execution tail end in the execution mechanism to move towards the center direction of the execution mechanism so as to perform triggering control on the target equipment, wherein the clamping control mechanism comprises a fixed bayonet and an execution mechanism, the fixed bayonet and the execution mechanism are arranged on the front side surface of the main body frame, and the execution mechanism is provided with the trigger end and the execution tail end which are connected.
2. The method for simultaneously achieving object grabbing and controlling according to claim 1, wherein when moving fingers of the manipulator are controlled to move back and forth, the first locking rod and the second locking rod are retracted from the locking hole, and unlocking between the manipulator and the locking mechanism is achieved.
3. The method of claim 1, wherein when the body frame is assembled in the locking cavity, the first locking bar and the second locking bar are located in the locking cavity, and the first locking bar is aligned with the locking hole on one side of the locking cavity and the second locking bar is aligned with the locking hole on the other side of the locking cavity.
4. The method for simultaneously realizing the grabbing and controlling of the objects according to claim 1, wherein the first locking rod can reciprocate in a first through hole arranged on one side frame of the main body frame, and the second locking rod can reciprocate in a second through hole arranged on the other side frame of the main body frame;
the second rod body in the first motion block can move back and forth in a first notch formed in the upper end face of the main body frame; a fourth rod body in the second motion block can move back and forth in a second notch formed in the lower end face of the main body frame, wherein the first motion block comprises a first rod body and a second rod body; one end of the first rod body is connected with one end of the second rod body to form an L-shaped structure; the second motion block comprises a third rod body and a fourth rod body; one end of the third rod body is connected with one end of the fourth rod body to form an L-shaped structure; the first rod body in the first motion block is fixedly connected with a first locking rod, and the third rod body in the second motion block is fixedly connected with a second locking rod.
5. The method for simultaneously realizing the grabbing and controlling of the objects according to claim 4, wherein the first motion block can slide along a first slide bar arranged on one side frame of the main body frame through a slide hole arranged on the first motion block;
the second motion block can slide along a second slide bar arranged on the other side frame of the main body frame through a slide hole arranged on the second motion block.
6. The method for simultaneously grabbing and controlling an object according to claim 5, wherein when the limiting bayonet in the first motion block moves to be attached to one side frame of the main body frame, a first spring pair arranged between the first motion block and one side frame of the main body frame is in a compressed state, and when the first rod in the first motion block moves to be attached to one side frame of the main body frame, the first spring pair is in a reset state;
when spacing bayonet socket remove in the second motion piece to with the laminating of another side frame of main part frame, the second motion piece with the second spring that sets up between the another side frame of main part frame is to being the compression state, when third body of rod moves to in the second motion piece with when a side frame laminating of main part frame, the second spring is to being the recovering state.
7. The method for simultaneously achieving grabbing and controlling of an object according to claim 4, wherein when the first rod body in the first motion block moves to be attached to one side frame of the main body frame, the first locking rod is retracted into the main body frame, and when the limit bayonet in the first motion block moves to be attached to one side frame of the main body frame, the first locking rod moves to a limit position in the locking hole on one side surface of the locking cavity;
when a third rod body in the second motion block moves to be attached to the other side frame of the main body frame, the second locking rod is retracted into the main body frame, and when a limiting bayonet in the second motion block moves to be attached to the other side frame of the main body frame, the second locking rod moves to the limiting position in a locking hole on the other side surface of the locking cavity; the limiting bayonet is located at the tail end of the second rod body.
8. The method for simultaneously achieving object grabbing and controlling according to claim 1, wherein the executing mechanism comprises a clamping bayonet, a triggering end, an adapter, a transmission piece and an executing tail end; the first end of the adapter is hinged with one side end of the clamping bayonet, and the trigger end is fixedly connected with the second end of the adapter; the clamping bayonets are arranged on the upper sides of the fixing bayonets; one end of the transmission piece is hinged with the third end of the adapter piece, the other end of the transmission piece is hinged with the rear end part of the execution tail end, and the rear end of the execution tail end is hinged with one side end of the clamping bayonet;
the actuating mechanism carries out the triggering operation of the target equipment through the clamping bayonet, the triggering end, the adapter, the transmission part and the execution tail end, and specifically comprises the following steps:
receiving the target device through the clamping bayonet;
triggering the triggering end through the moving finger, and driving the transmission part when triggering;
triggering the transmission part through the triggering end, and driving the execution tail end when triggering;
and triggering the execution tail end through the transmission piece, and completing triggering operation of the target equipment when the execution tail end is triggered.
9. The method for simultaneously achieving object grabbing and controlling according to claim 8, wherein a first end of the adaptor is hinged to one side end of the clamping bayonet, and the triggering end is fixedly connected with a second end of the adaptor;
one end of the transmission piece is hinged with the third end of the adapter piece, the other end of the transmission piece is hinged with the rear end part of the execution tail end, and the rear end of the execution tail end is hinged with one side end of the clamping bayonet.
10. The method for simultaneously realizing object grabbing and controlling according to claim 1, wherein when the triggering end moves towards the center direction of the actuator under the driving of the moving finger, the actuating end is driven to move towards the center direction of the actuator to perform triggering operation of the target device.
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| CN202211133601.0A CN115194776B (en) | 2022-09-19 | 2022-09-19 | Method for simultaneously realizing object grabbing and control |
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| CN202211133601.0A CN115194776B (en) | 2022-09-19 | 2022-09-19 | Method for simultaneously realizing object grabbing and control |
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| CN115194776B true CN115194776B (en) | 2022-12-23 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0647283U (en) * | 1992-11-30 | 1994-06-28 | 山一産業株式会社 | Heavy object gripping equipment |
| CN107598798A (en) * | 2017-10-20 | 2018-01-19 | 武汉联航机电有限公司 | A kind of clamping device |
| CN108340389A (en) * | 2017-12-26 | 2018-07-31 | 桐乡市杰乐进出口有限公司 | A kind of manipulator for bar to be clamped |
| CN111872950A (en) * | 2020-07-16 | 2020-11-03 | 中国航空工业集团公司北京航空精密机械研究所 | Aeroengine blade clamping device and clamping robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210178609A1 (en) * | 2019-12-11 | 2021-06-17 | Ati Industrial Automation, Inc. | Gripping Device for Use with a Robot |
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2022
- 2022-09-19 CN CN202211133601.0A patent/CN115194776B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0647283U (en) * | 1992-11-30 | 1994-06-28 | 山一産業株式会社 | Heavy object gripping equipment |
| CN107598798A (en) * | 2017-10-20 | 2018-01-19 | 武汉联航机电有限公司 | A kind of clamping device |
| CN108340389A (en) * | 2017-12-26 | 2018-07-31 | 桐乡市杰乐进出口有限公司 | A kind of manipulator for bar to be clamped |
| CN111872950A (en) * | 2020-07-16 | 2020-11-03 | 中国航空工业集团公司北京航空精密机械研究所 | Aeroengine blade clamping device and clamping robot |
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| CN115194776A (en) | 2022-10-18 |
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