CN105382844A - Multi-degree-of-freedom mechanical arm based on sequential control - Google Patents
Multi-degree-of-freedom mechanical arm based on sequential control Download PDFInfo
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- CN105382844A CN105382844A CN201510981719.2A CN201510981719A CN105382844A CN 105382844 A CN105382844 A CN 105382844A CN 201510981719 A CN201510981719 A CN 201510981719A CN 105382844 A CN105382844 A CN 105382844A
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- support
- steel wire
- finger
- mechanical finger
- mechanical
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
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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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
Abstract
The invention belongs to the technical field of mechanical arms and particularly relates to a multi-degree-of-freedom mechanical arm based on sequential control. The mechanical arm comprises three auxiliary mechanical fingers, a main mechanical finger, a palm plate, a motor driving mechanism, an arm sleeve and the like. The first auxiliary mechanical finger, the second auxiliary mechanical finger, the third auxiliary mechanical finger and the main mechanical finger are installed on the palm plate. The three auxiliary mechanical fingers have three bending degrees of freedom, the first auxiliary mechanical finger has one swing degree of freedom, the main mechanical finger has one bending degree of freedom and one swing degree of freedom, and six degrees of freedom are achieved in total. The motor driving mechanism with single-power sequential control is used for driving, so that the structure of the mechanical arm is greatly simplified, and high practicability is achieved.
Description
Art
The invention belongs to manipulator technical field, particularly relate to a kind of Multi-freedom-degreemanipulator manipulator based on SECO.
Background technology
Type of drive many uses driven by servomotor, steel wire driving, hydraulic-driven etc. of current manipulator, small part uses artificial muscle to drive; Wherein artificial muscle drives, although the mode driven is advanced, manufacturing cost is very high at present, and hydraulic-driven needs powerful power to come to drive hydraulic oil supercharging, will increase the weight of equipment and require technology maturity higher, so cost is also higher; So on simulation manipulator drives, driven by servomotor and steel wire drive comparatively common, driven by servomotor is install a servomotor on each joint, this will cause mechanism on manipulator very unsightly, and the form factor of servomotor will determine the shape and function of manipulator; Current use maximum, cost is minimum is adopt steel wire to drive, servomotor is installed concentratedly at arm place, manipulator and finger mechanism are comparatively simple, and it is comparatively easy to control, but the situations such as mechanical finger location is inaccurate, the swing of finger diastema easily appear in steel wire in driving.
The present invention designs a kind of Multi-freedom-degreemanipulator manipulator based on SECO and solves as above problem.
Summary of the invention
For solving above-mentioned defect of the prior art, the present invention discloses a kind of Multi-freedom-degreemanipulator manipulator based on SECO, and it realizes by the following technical solutions.
A kind of Multi-freedom-degreemanipulator manipulator based on SECO, it is characterized in that: it comprises machinery the 3rd pair and refers to, machinery the second pair refers to, machinery the first pair refers to, palm plate, the main finger of machinery, motor-driven mechanism fixed head, motor-driven mechanism, arm sleeve, main finger side-sway steel wire, main finger side-sway steel wire guide hole supports, main finger side-sway spring, main finger side-sway spring supporting, main finger swinging block supports, main finger swinging block, main finger swing circle pin, first pair refers to side-sway spring, first pair refers to swinging block, first pair refers to side-sway steel wire, first pair refers to that side-sway steel wire guide hole supports, wherein mechanical second pair refers to, machinery the 3rd pair refers to be arranged on palm plate side successively side by side, first pair refers to that swinging block is arranged on mechanical first pair and refers to, first pair refers to that swinging block is arranged on palm plate by straight pin, first pair refers to that side-sway spring one end connects mechanical second pair and refers to side, and the other end connects mechanical first pair and refers to side, first pair refers to that side-sway steel wire guide hole supports and is arranged on palm plate, and the first pair refers to that side-sway steel wire one end connects mechanical first pair and refers to side, the middle circular hole referred to through the first pair in the support of side-sway steel wire guide hole, main finger swinging block is arranged on mechanical main finger, and main finger swinging block supports and is arranged on palm plate, and main finger swinging block is arranged on main finger swinging block by main finger swing circle pin and supports, main finger side-sway spring one end connects mechanical main finger, and the other end connects main finger side-sway spring supporting, and main finger side-sway spring supporting is arranged on palm plate, main finger side-sway steel wire one end is connected to the circular hole supported through main finger side-sway steel wire guide hole in the middle of mechanical main finger side, and main finger side-sway steel wire guide hole supports and is arranged on palm plate, motor-driven mechanism fixed head is arranged on palm plate, and motor-driven mechanism is arranged on motor-driven mechanism fixed head, and arm sleeve is arranged in motor-driven mechanism,
In the present invention, machinery the 3rd pair refers to, mechanical second pair refers to directly be fixed on palm plate, and do not have oscillating motion, can only do bending motion independently of one another, mechanical first pair refers to namely can swing also can independently bend, and namely mechanical main finger can bend and also can swing; Refer to for the main finger of machinery and mechanical first pair, side-sway steel wire and side-sway spring interact and carry out regulating the position of amplitude and the swing swung, and four mechanical fingers can imitate the behavior of whole staff substantially, have good effect.
Above-mentioned mechanical first pair refers to, machinery the second pair refers to, the type of drive of the finger body that machinery the 3rd pair refers to is identical, and refer to for any one mechanical pair, it comprises mechanical finger the 4th support, mechanical finger the 3rd support, steel wire guide plate, steel wire, mechanical finger second support, mechanical finger first support, mechanical finger first support threaded hole of steel, the extension spring of mechanical finger support, mechanical finger second back-moving spring, mechanical finger the 3rd back-moving spring, back-moving spring fixed head, steel wire guiding groove, mechanical finger arm-tie, mechanical finger first back-moving spring, mechanical finger support limiting plate, wherein mechanical finger second support is arranged on mechanical finger first support by straight pin, mechanical finger the 3rd support is arranged on mechanical finger second support by straight pin, mechanical finger the 4th support is arranged on mechanical finger the 3rd support by straight pin, two steel wire guide plates are arranged on on mechanical finger second support and close mechanical finger the 3rd support place and mechanical finger the 3rd support and close mechanical finger the 4th support place respectively, and two steel wire guide plates are installed in mechanical finger and bend side, three mechanical finger arm-ties are arranged on on on mechanical finger the 4th support and close mechanical finger the 3rd support place, mechanical finger the 3rd support and close mechanical finger second support place and mechanical finger second support and close mechanical finger first support place respectively, and three mechanical finger arm-ties are installed in mechanical finger and bend side, steel wire one end is through the threaded hole of steel on mechanical finger first support, and be provided with the extension spring of three mechanical finger supports in the middle of steel wire, three mechanical finger support extension spring one end are arranged on three mechanical finger arm-ties respectively, three back-moving spring fixed heads are arranged on on on mechanical finger the 4th support and close mechanical finger the 3rd support place, mechanical finger the 3rd support and close mechanical finger second support place and mechanical finger second support and close mechanical finger first support place respectively, three mechanical finger support limiting plates are arranged on mechanical finger the 3rd stent ends, mechanical finger second stent ends and mechanical finger first stent ends respectively, three back-moving spring fixed heads and three mechanical finger support limiting plates are installed in the back side that mechanical finger bends side, mechanical finger first back-moving spring one end is arranged on the mechanical finger support limiting plate on mechanical finger first support, and the other end is arranged on the back-moving spring fixed head on mechanical finger second support, mechanical finger second back-moving spring one end is arranged on the mechanical finger support limiting plate on mechanical finger second support, and the other end is arranged on the back-moving spring fixed head on mechanical finger the 3rd support, mechanical finger the 3rd back-moving spring one end is arranged on the mechanical finger support limiting plate on mechanical finger the 3rd support, and the other end is arranged on the back-moving spring fixed head on mechanical finger the 4th support,
Steel wire guiding groove is had in the middle of above-mentioned steel wire guide plate; In order to prevent flip-flop position in the stressed drawing process of steel wire, and cause unexpected the trembling of mechanical finger.
The extension spring of above-mentioned three mechanical finger supports is identical spring, mechanical finger captures object, when some mechanical finger supports are subject to object resistance, the extension spring amount of tension that the support not being subject to object resistance than other connects by the extension spring amount of tension connecting this support is large, and the support extension spring amount of tension being subject to object resistance is large, when tension spring tension and object resistance balance, the support not being subject to object resistance continues motion under the little amount of tension of extension spring, until when being subject to object resistance and balancing with tension spring tension, and then when making mechanical finger capture object support by under being in respective resistance and spring tension overall balance state, can be good at the shape adapting to object.Above-mentioned mechanical finger second back-moving spring coefficient of elasticity, mechanical finger the 3rd back-moving spring coefficient of elasticity, mechanical finger first back-moving spring coefficient of elasticity increase 2 times successively.When imitating staff substantially completely and not capturing object, the motion of finger natural torsion, the design of back-moving spring coefficient of elasticity as above.
Above-mentioned mechanical second pair refers to and machinery the 3rd pair refers to all directly be fixed on palm plate by mechanical finger first support, and the first pair refers to swing and is fixed on mechanical finger first support that mechanical first pair refers to soon;
Above-mentioned motor-driven mechanism comprises annular distance cover plate, sheave support wheel, annular distance cover plate support, driver plate, sheave drive motors, rocking arm, mechanism's support plate, hexagonal plate pillar, threaded hole of steel, hexagonal plate, steel wire runner, steel wire runner supports, steel wire runner cone tooth, travelling gear cone tooth, travelling gear, the rotating shaft of steel wire runner, transmission gear rotational shaft, rocking arm straight pin, steel wire drive motors, sheave, sheave rotating shaft, steel wire drive motors gear, wherein sheave drive motors is arranged on mechanism's support plate, driver plate is arranged in the rotating shaft of sheave drive motors, rocking arm is arranged on driver plate, rocking arm straight pin is arranged on one end, sheave is arranged on sheave support wheel, and sheave and sheave support wheel are arranged on mechanism's support plate by sheave rotating shaft, and steel wire drive motors is arranged on the eccentric position of sheave support wheel side, and steel wire drive motors gear is arranged on steel wire drive motors, annular distance cover plate is arranged on mechanism's support plate by two annular distance cover plate support, and annular distance cover plate has threaded hole of steel, and hexagonal plate pillar one end is fixed on annular distance cover plate central, and the other end is fixed on hexagonal plate center, and six angles all have circular hole to hexagonal plate, each angle of above-mentioned hexagonal plate is provided with identical structure, each angle on hexagonal plate: steel wire runner supports and is arranged on hexagonal plate angle, the rotating shaft of steel wire runner is arranged on steel wire runner and supports, steel wire runner is arranged on steel wire runner rotating shaft one end, steel wire runner cone tooth is arranged on the steel wire runner rotating shaft other end, transmission gear rotational shaft is arranged in the circular hole on hexagonal plate angle, travelling gear cone tooth is arranged on transmission gear rotational shaft one end, travelling gear is arranged on the transmission gear rotational shaft other end, and travelling gear cone tooth is bored tooth with steel wire runner and engaged, above-mentioned steel wire drive motors gear alternately engages with each travelling gear.
Employ the feature of sheave intermittent motion in the present invention's design, the steel wire drive motors entirety be arranged on sheave support wheel is done gap and is stopped circular motion.The sheave groove number designed in invention is 6, and in operation one week, steel wire drive motors stays for some time on 6 stop places, and on six stop places, corresponding design six travelling gears coordinate with steel wire drive motors gear.Have in the same time and only have a travelling gear to be driven.By steel wire one ends wound on steel wire runner, the other end of steel wire is connected with each support of mechanical finger or side-sway steel wire connects, and the rotation of steel wire runner can pull steel wire to move, and then the motion of driving device finger.
The motion of steel wire runner has self-locking performance in addition, when travelling gear just can move by during cone tooth group transmission, during not transmission, is in self-locking state, ensures that manipulator can maintain specific seized condition.
Above-mentioned annulus cover plate and mechanism's support plate are arranged on motor-driven mechanism fixed head, and arm sleeve is arranged on mechanism's support plate.Manipulator can be fixed on human arm by arm sleeve.
As the further improvement of this technology, above-mentioned sheave groove number can be 3-10, can do corresponding design according to the free degree quantity of the mechanical finger of required driving or the finger number of manipulator, can drive the free degree of 3-10.Groove number or the number of degrees of freedom, scope driven are determined according to following aspect, first the groove number that sheave clearance mechanism is minimum is 3, secondly when sheave groove number is a lot, rotate one week within the identical time, the time of staying each time will shorten, this reliability impact driven and controllability, so provide the span of groove number in design.
As the further improvement of this technology, above-mentioned sheave support wheel is provided with balance columns, balance columns axis, steel wire drive motors axis and sheave support wheel axis co-planar.Design balance post does to offset steel wire drive motors entirety the vibrations produced mechanism when centrifugal gap is rotated.
As the further improvement of this technology, in above-mentioned steel wire runner, be wound with steel wire, the corresponding steel wire runner of each threaded hole of steel, and the steel wire on each steel wire runner is through threaded hole of steel corresponding on annular distance cover plate.Design the threaded hole of steel corresponding with steel wire runner not occur between steel wire being mutually wound around and interfering to ensure.
As the further improvement of this technology, the angle number of above-mentioned hexagonal plate is consistent with sheave groove number, can be 3-10.
Relative to traditional manipulator technology, in the present invention, mechanical first pair refers to, mechanical second pair refers to, machinery the 3rd pair refers to, mechanical main finger is arranged on palm plate, three mechanical pairs refer to have three bending frees degree, machinery the first pair refers to that having one swings the free degree, the main finger of machinery has a bending free degree and the swing free degree, altogether a six-freedom degree, drives by using the motor-driven mechanism of single-power SECO, its structure simplifies greatly, has stronger practicality.
Body technique is referred to relative to traditional mechanical finger, in the present invention, each support of mechanical finger to be linked together composition mechanical finger by straight pin, the original vertical state of mechanical finger is ensured by installing back-moving spring at each back side, bracket bent side, be connected by extension spring with each support at each bracket bent side steel wire, pull each support of mechanical finger to be pulled by extension spring and occur mutually to rotate, realize the bending of mechanical finger.The coefficient of elasticity difference of three back-moving springs designed by the present invention makes each arthrogryposis resistance of mechanical finger different, when steel wire drives and manipulator does not have an external drag, according to back-moving spring elasticity, mechanical finger shows the state of the degree of crook identical with the finger of people, each support pulls extension spring to drive by steel wire in addition, and extension spring can ensure that manipulator changes the degree of crook of each manipulator joint along with the shape of object when capturing object.Every root mechanical finger in the present invention uses single-power to drive, and has and captures the strong and simple advantage of structure of object adaptive faculty.
Relative to traditional manipulator motor-driven mechanism, in the present invention, sheave is arranged on mechanism's support plate, sheave drive motors is arranged on mechanism's support plate, sheave drive motors drives sheave to do the motion of six gap rotations in a circumference by rocking arm, and the steel wire drive motors be arranged on sheave support wheel does gap equally and rotates; Six groups of travelling gears, cone tooth, the combinations of steel wire runner are arranged on six angles of hexagonal plate respectively, steel wire drive motors has six stops according to sheave groove number, stop place place engages with the travelling gear of any a group in six groups each time, the travelling gear of this group drives the steel wire runner of this group to rotate by the combination of cone tooth, and then drives the dilatory of the steel wire on this group steel wire runner; Move in one week at sheave, six steel wire runners are driven once all successively, and by driving time, the moment of torsion of motor and rotating speed is regulated independently to control corner and the rotating speed of each steel wire runner, and then use little motor to drive multiple steel wire runner to move by SECO, and then drive the dilatory of multiple steel wire, thus the multivariant mechanical finger driven based on steel wire can be controlled.Present invention uses SECO, greatly reduce the complexity of structure, there is good practical function.
Accompanying drawing explanation
Fig. 1 is global facility distribution schematic diagram.
Fig. 2 is global facility side view.
Fig. 3 removes overall structure schematic diagram after annular distance cover plate.
Fig. 4 is annular distance cover plate support scheme of installation.
Fig. 5 is hexagonal plate pillar scheme of installation.
Fig. 6 is hexagonal plate installation side view.
Fig. 7 is structural representation on any one angle of hexagonal plate.
Fig. 8 is structure side view on any one angle of hexagonal plate.
Fig. 9 is driver plate and sheave drive motors scheme of installation.
Figure 10 is that rocking arm coordinates schematic diagram with sheave.
Figure 11 is steel wire drive motors scheme of installation.
Figure 12 is balance columns scheme of installation.
Figure 13 is that steel wire drive motors gear coordinates schematic diagram with travelling gear.
Figure 14 is steel wire drive motors gear movement track schematic diagram.
Figure 15 is that mechanical finger bends side structural representation.
Figure 16 is that mechanical finger bends side structure schematic diagram.
Figure 17 is extension spring and steel wire connection diagram.
Figure 18 is steel wire guide plate structure schematic diagram.
Figure 19 is manipulator overall structure schematic diagram.
Figure 20 is mechanical main finger scheme of installation 1.
Figure 21 is mechanical main finger scheme of installation 2.
Figure 22 is that mechanical main finger swinging block supports with swinging block and coordinates schematic diagram.
Figure 23 is that mechanical pair refers to scheme of installation.
Number in the figure title: 1, annular distance cover plate, 2, sheave support wheel, 4, annular distance cover plate support, 5, driver plate, 6, sheave drive motors, 7, rocking arm, 8, mechanism's support plate, 9, hexagonal plate pillar, 10, threaded hole of steel, 11, hexagonal plate, 12, steel wire runner, 13, steel wire runner supports, and 14, steel wire runner cone tooth, 15, travelling gear cone tooth, 16, travelling gear, 17, the rotating shaft of steel wire runner, 18, transmission gear rotational shaft, 19, rocking arm straight pin, 20, steel wire drive motors, 21, sheave, 22, sheave rotating shaft, 23, steel wire drive motors gear, 24, balance columns, 31, mechanical finger the 4th support, 32, mechanical finger the 3rd support, 33, steel wire guide plate, 34, steel wire, 35, mechanical finger second support, 36, mechanical finger first support, 37, mechanical finger first support threaded hole of steel, 38, the extension spring of mechanical finger support, 39, mechanical finger second back-moving spring, 40, mechanical finger the 3rd back-moving spring, 41, back-moving spring fixed head, 42, steel wire guiding groove, 43, mechanical finger arm-tie, 44, mechanical finger first back-moving spring, 45, mechanical finger support limiting plate, 50, machinery the 3rd pair refers to, 51, machinery the second pair refers to, 52, machinery the first pair refers to, 53, palm plate, 54, the main finger of machinery, 55, motor-driven mechanism fixed head, 56, motor-driven mechanism, 57, arm sleeve, 58, main finger side-sway steel wire, 59, main finger side-sway steel wire guide hole supports, and 60, main finger side-sway spring, 61, main finger side-sway spring supporting, 62, main finger swinging block supports, and 63, main finger swinging block, 64, main finger swing circle pin, 65, first pair refers to side-sway spring, 66, first pair refers to swinging block, 67, first pair refers to side-sway steel wire, 68, first pair refers to that side-sway steel wire guide hole supports.
Detailed description of the invention
As shown in figure 19, it comprises machinery the 3rd pair and refers to, machinery the second pair refers to, machinery the first pair refers to, palm plate, the main finger of machinery, motor-driven mechanism fixed head, motor-driven mechanism, arm sleeve, main finger side-sway steel wire, main finger side-sway steel wire guide hole supports, main finger side-sway spring, main finger side-sway spring supporting, main finger swinging block supports, main finger swinging block, main finger swing circle pin, first pair refers to side-sway spring, first pair refers to swinging block, first pair refers to side-sway steel wire, first pair refers to that side-sway steel wire guide hole supports, wherein mechanical second pair refers to, machinery the 3rd pair refers to be arranged on palm plate side successively side by side, as shown in figure 23, first pair refers to that swinging block is arranged on mechanical first pair and refers to, first pair refers to that swinging block is arranged on palm plate by straight pin, first pair refers to that side-sway spring one end connects mechanical second pair and refers to side, and the other end connects mechanical first pair and refers to side, first pair refers to that side-sway steel wire guide hole supports and is arranged on palm plate, and the first pair refers to that side-sway steel wire one end connects mechanical first pair and refers to side, the middle circular hole referred to through the first pair in the support of side-sway steel wire guide hole, as shown in Figure 20,21,22, main finger swinging block is arranged on mechanical main finger, and main finger swinging block supports and is arranged on palm plate, and main finger swinging block is arranged on main finger swinging block by main finger swing circle pin and supports, main finger side-sway spring one end connects mechanical main finger, and the other end connects main finger side-sway spring supporting, and main finger side-sway spring supporting is arranged on palm plate, main finger side-sway steel wire one end is connected to the circular hole supported through main finger side-sway steel wire guide hole in the middle of mechanical main finger side, and main finger side-sway steel wire guide hole supports and is arranged on palm plate, as shown in figure 19, motor-driven mechanism fixed head is arranged on palm plate, and motor-driven mechanism is arranged on motor-driven mechanism fixed head, and arm sleeve is arranged in motor-driven mechanism,
In the present invention, machinery the 3rd pair refers to, mechanical second pair refers to directly be fixed on palm plate, and do not have oscillating motion, can only do bending motion independently of one another, mechanical first pair refers to namely can swing also can independently bend, and namely mechanical main finger can bend and also can swing; Refer to for the main finger of machinery and mechanical first pair, side-sway steel wire and side-sway spring interact and carry out regulating the position of amplitude and the swing swung, and four mechanical fingers can imitate the behavior of whole staff substantially, have good effect.
As Figure 15, shown in 16, above-mentioned mechanical first pair refers to, machinery the second pair refers to, the type of drive of the finger body that machinery the 3rd pair refers to is identical, and refer to for any one mechanical pair, it comprises mechanical finger the 4th support, mechanical finger the 3rd support, steel wire guide plate, steel wire, mechanical finger second support, mechanical finger first support, mechanical finger first support threaded hole of steel, the extension spring of mechanical finger support, mechanical finger second back-moving spring, mechanical finger the 3rd back-moving spring, back-moving spring fixed head, steel wire guiding groove, mechanical finger arm-tie, mechanical finger first back-moving spring, mechanical finger support limiting plate, wherein mechanical finger second support is arranged on mechanical finger first support by straight pin, mechanical finger the 3rd support is arranged on mechanical finger second support by straight pin, mechanical finger the 4th support is arranged on mechanical finger the 3rd support by straight pin, two steel wire guide plates are arranged on on mechanical finger second support and close mechanical finger the 3rd support place and mechanical finger the 3rd support and close mechanical finger the 4th support place respectively, and two steel wire guide plates are installed in mechanical finger and bend side, three mechanical finger arm-ties are arranged on on on mechanical finger the 4th support and close mechanical finger the 3rd support place, mechanical finger the 3rd support and close mechanical finger second support place and mechanical finger second support and close mechanical finger first support place respectively, and three mechanical finger arm-ties are installed in mechanical finger and bend side, steel wire one end is through the threaded hole of steel on mechanical finger first support, and as shown in Figure 17,15, be provided with the extension spring of three mechanical finger supports in the middle of steel wire, three mechanical finger support extension spring one end are arranged on three mechanical finger arm-ties respectively, three back-moving spring fixed heads are arranged on on on mechanical finger the 4th support and close mechanical finger the 3rd support place, mechanical finger the 3rd support and close mechanical finger second support place and mechanical finger second support and close mechanical finger first support place respectively, three mechanical finger support limiting plates are arranged on mechanical finger the 3rd stent ends, mechanical finger second stent ends and mechanical finger first stent ends respectively, three back-moving spring fixed heads and three mechanical finger support limiting plates are installed in the back side that mechanical finger bends side, mechanical finger first back-moving spring one end is arranged on the mechanical finger support limiting plate on mechanical finger first support, and the other end is arranged on the back-moving spring fixed head on mechanical finger second support, mechanical finger second back-moving spring one end is arranged on the mechanical finger support limiting plate on mechanical finger second support, and the other end is arranged on the back-moving spring fixed head on mechanical finger the 3rd support, mechanical finger the 3rd back-moving spring one end is arranged on the mechanical finger support limiting plate on mechanical finger the 3rd support, and the other end is arranged on the back-moving spring fixed head on mechanical finger the 4th support,
As shown in figure 18, steel wire guiding groove is had in the middle of above-mentioned steel wire guide plate; In order to prevent flip-flop position in the stressed drawing process of steel wire, and cause unexpected the trembling of mechanical finger.
The extension spring of above-mentioned three mechanical finger supports is identical spring, mechanical finger captures object, when some mechanical finger supports are subject to object resistance, the extension spring amount of tension that the support not being subject to object resistance than other connects by the extension spring amount of tension connecting this support is large, and the support extension spring amount of tension being subject to object resistance is large, when tension spring tension and object resistance balance, the support not being subject to object resistance continues motion under the little amount of tension of extension spring, until when being subject to object resistance and balancing with tension spring tension, and then when making mechanical finger capture object support by under being in respective resistance and spring tension overall balance state, can be good at the shape adapting to object.
Above-mentioned mechanical finger second back-moving spring coefficient of elasticity, mechanical finger the 3rd back-moving spring coefficient of elasticity, mechanical finger first back-moving spring coefficient of elasticity increase 2 times successively.When imitating staff substantially completely and not capturing object, the motion of finger natural torsion, the design of back-moving spring coefficient of elasticity as above.
Above-mentioned steel wire is driven through motor-driven mechanism and drives.
Above-mentioned mechanical second pair refers to and machinery the 3rd pair refers to all directly be fixed on palm plate by mechanical finger first support, and the first pair refers to swing and is fixed on mechanical finger first support that mechanical first pair refers to soon;
As Fig. 1, 2, shown in 3, above-mentioned motor-driven mechanism comprises annular distance cover plate, sheave support wheel, annular distance cover plate support, driver plate, sheave drive motors, rocking arm, mechanism's support plate, hexagonal plate pillar, threaded hole of steel, hexagonal plate, steel wire runner, steel wire runner supports, steel wire runner cone tooth, travelling gear cone tooth, travelling gear, the rotating shaft of steel wire runner, transmission gear rotational shaft, rocking arm straight pin, steel wire drive motors, sheave, sheave rotating shaft, steel wire drive motors gear, wherein, as shown in Figure 9, sheave drive motors is arranged on mechanism's support plate, driver plate is arranged in the rotating shaft of sheave drive motors, rocking arm is arranged on driver plate, rocking arm straight pin is arranged on one end, as shown in Figure 10, sheave is arranged on sheave support wheel, and sheave and sheave support wheel are arranged on mechanism's support plate by sheave rotating shaft, as shown in figure 11, steel wire drive motors is arranged on the eccentric position of sheave support wheel side, and steel wire drive motors gear is arranged on steel wire drive motors, as shown in Figure 4, annular distance cover plate is arranged on mechanism's support plate by two annular distance cover plate support, and annular distance cover plate has threaded hole of steel, as shown in Figure 5,6, hexagonal plate pillar one end is fixed on annular distance cover plate central, and the other end is fixed on hexagonal plate center, and six angles all have circular hole to hexagonal plate,
As shown in Figure 3, each angle of above-mentioned hexagonal plate is provided with identical structure, each angle on hexagonal plate: as Fig. 7, shown in 8, steel wire runner supports and is arranged on hexagonal plate angle, the rotating shaft of steel wire runner is arranged on steel wire runner and supports, steel wire runner is arranged on steel wire runner rotating shaft one end, steel wire runner cone tooth is arranged on the steel wire runner rotating shaft other end, transmission gear rotational shaft is arranged in the circular hole on hexagonal plate angle, travelling gear cone tooth is arranged on transmission gear rotational shaft one end, travelling gear is arranged on the transmission gear rotational shaft other end, travelling gear cone tooth is bored tooth with steel wire runner and is engaged,
As shown in figure 13, above-mentioned steel wire drive motors gear alternately engages with each travelling gear, and as shown in figure 14, steel wire drive motors gear moves in a circle along with steel wire drive motors entirety, engages successively in motion process with each travelling gear.
Be employed herein the feature of sheave intermittent motion, the steel wire drive motors entirety be arranged on sheave support wheel is done gap and is stopped circular motion.The sheave groove number designed in invention is 6, and in operation one week, steel wire drive motors stays for some time on 6 stop places, and on six stop places, corresponding design six travelling gears coordinate with steel wire drive motors gear.Have in the same time and only have a travelling gear to be driven.By steel wire one ends wound on steel wire runner, the other end of steel wire is connected with the support of mechanical finger, and the rotation of steel wire runner can pull steel wire to move, and then the motion of driving device finger.
The motion of steel wire runner has self-locking performance in addition, when travelling gear just can move by during cone tooth group transmission, during not transmission, is in self-locking state, ensures that manipulator can maintain specific seized condition.
Above-mentioned annulus cover plate and mechanism's support plate are arranged on motor-driven mechanism fixed head, and arm sleeve is arranged on mechanism's support plate.Manipulator can be fixed on human arm by arm sleeve.
Above-mentioned sheave groove number can be 3-10, can do corresponding design according to the free degree quantity of the mechanical finger of required driving or the finger number of manipulator, can drive the free degree of 3-10.Groove number or the number of degrees of freedom, scope driven are determined according to following aspect, first the groove number that sheave clearance mechanism is minimum is 3, secondly when sheave groove number is a lot, rotate one week within the identical time, the time of staying each time will shorten, this reliability impact driven and controllability, so provide the span of groove number in design.
As shown in figure 12, above-mentioned sheave support wheel is provided with balance columns, balance columns axis, steel wire drive motors axis and sheave support wheel axis co-planar.Design balance post does to offset steel wire drive motors entirety the vibrations produced mechanism when centrifugal gap is rotated.
Be wound with steel wire in above-mentioned steel wire runner, as shown in Figure 2, and the steel wire on each steel wire runner is through threaded hole of steel corresponding on annular distance cover plate for the corresponding steel wire runner of each threaded hole of steel.Design the threaded hole of steel corresponding with steel wire runner not occur between steel wire being mutually wound around and interfering to ensure.
The angle number of above-mentioned hexagonal plate is consistent with sheave groove number, can be 3-10.
In sum, manipulator of the present invention has that mechanical first pair refers to, mechanical second pair refers to, machinery the 3rd pair refers to, mechanical main finger is arranged on palm plate, three mechanical pairs refer to have three bending frees degree, machinery the first pair refers to that having one swings the free degree, the main finger of machinery has a bending free degree and the swing free degree, altogether a six-freedom degree, drives by using the motor-driven mechanism of single-power SECO, its structure simplifies greatly, has stronger practicality.
Secondly, each support of mechanical finger to be linked together composition mechanical finger by straight pin, the original vertical state of mechanical finger is ensured by installing back-moving spring at each back side, bracket bent side, be connected by extension spring with each support at each bracket bent side steel wire, pull each support of mechanical finger to be pulled by extension spring and occur mutually to rotate, realize the bending of mechanical finger.The coefficient of elasticity difference of three back-moving springs designed by the present invention makes each arthrogryposis resistance of mechanical finger different, when steel wire drives and manipulator does not have an external drag, according to back-moving spring elasticity, mechanical finger shows the state of the degree of crook identical with the finger of people, each support pulls extension spring to drive by steel wire in addition, and extension spring can ensure that manipulator changes the degree of crook of each manipulator joint along with the shape of object when capturing object.Every root mechanical finger in the present invention uses single-power to drive, and has and captures the strong and simple advantage of structure of object adaptive faculty.
In addition, in motor-driven mechanism, sheave is arranged on mechanism's support plate, sheave drive motors is arranged on mechanism's support plate, and sheave drive motors drives sheave to do the motion of six gap rotations in a circumference by rocking arm, and the steel wire drive motors be arranged on sheave support wheel does gap equally and rotates; Six groups of travelling gears, cone tooth, the combinations of steel wire runner are arranged on six angles of hexagonal plate respectively, steel wire drive motors has six stops according to sheave groove number, stop place place engages with the travelling gear of any a group in six groups each time, the travelling gear of this group drives the steel wire runner of this group to rotate by the combination of cone tooth, and then drives the dilatory of the steel wire on this group steel wire runner; Move in one week at sheave, six steel wire runners are driven once all successively, and by driving time, the moment of torsion of motor and rotating speed is regulated independently to control corner and the rotating speed of each steel wire runner, and then use little motor to drive multiple steel wire runner to move by SECO, and then drive the dilatory of multiple steel wire, thus the multivariant mechanical finger driven based on steel wire can be controlled.Present invention uses SECO, greatly reduce the complexity of structure, there is good practical function.
Claims (5)
1. the Multi-freedom-degreemanipulator manipulator based on SECO, it is characterized in that: it comprises machinery the 3rd pair and refers to, machinery the second pair refers to, machinery the first pair refers to, palm plate, the main finger of machinery, motor-driven mechanism fixed head, motor-driven mechanism, arm sleeve, main finger side-sway steel wire, main finger side-sway steel wire guide hole supports, main finger side-sway spring, main finger side-sway spring supporting, main finger swinging block supports, main finger swinging block, main finger swing circle pin, first pair refers to side-sway spring, first pair refers to swinging block, first pair refers to side-sway steel wire, first pair refers to that side-sway steel wire guide hole supports, wherein mechanical second pair refers to, machinery the 3rd pair refers to be arranged on palm plate side successively side by side, first pair refers to that swinging block is arranged on mechanical first pair and refers to, first pair refers to that swinging block is arranged on palm plate by straight pin, first pair refers to that side-sway spring one end connects mechanical second pair and refers to side, and the other end connects mechanical first pair and refers to side, first pair refers to that side-sway steel wire guide hole supports and is arranged on palm plate, and the first pair refers to that side-sway steel wire one end connects mechanical first pair and refers to side, the middle circular hole referred to through the first pair in the support of side-sway steel wire guide hole, main finger swinging block is arranged on mechanical main finger, and main finger swinging block supports and is arranged on palm plate, and main finger swinging block is arranged on main finger swinging block by main finger swing circle pin and supports, main finger side-sway spring one end connects mechanical main finger, and the other end connects main finger side-sway spring supporting, and main finger side-sway spring supporting is arranged on palm plate, main finger side-sway steel wire one end is connected to the circular hole supported through main finger side-sway steel wire guide hole in the middle of mechanical main finger side, and main finger side-sway steel wire guide hole supports and is arranged on palm plate, motor-driven mechanism fixed head is arranged on palm plate, and motor-driven mechanism is arranged on motor-driven mechanism fixed head, and arm sleeve is arranged in motor-driven mechanism,
Above-mentioned mechanical first pair refers to, machinery the second pair refers to, the type of drive of the finger body that machinery the 3rd pair refers to is identical, and refer to for any one mechanical pair, it comprises mechanical finger the 4th support, mechanical finger the 3rd support, steel wire guide plate, steel wire, mechanical finger second support, mechanical finger first support, mechanical finger first support threaded hole of steel, the extension spring of mechanical finger support, mechanical finger second back-moving spring, mechanical finger the 3rd back-moving spring, back-moving spring fixed head, steel wire guiding groove, mechanical finger arm-tie, mechanical finger first back-moving spring, mechanical finger support limiting plate, wherein mechanical finger second support is arranged on mechanical finger first support by straight pin, mechanical finger the 3rd support is arranged on mechanical finger second support by straight pin, mechanical finger the 4th support is arranged on mechanical finger the 3rd support by straight pin, two steel wire guide plates are arranged on on mechanical finger second support and close mechanical finger the 3rd support place and mechanical finger the 3rd support and close mechanical finger the 4th support place respectively, and two steel wire guide plates are installed in mechanical finger and bend side, three mechanical finger arm-ties are arranged on on on mechanical finger the 4th support and close mechanical finger the 3rd support place, mechanical finger the 3rd support and close mechanical finger second support place and mechanical finger second support and close mechanical finger first support place respectively, and three mechanical finger arm-ties are installed in mechanical finger and bend side, steel wire one end is through the threaded hole of steel on mechanical finger first support, and be provided with the extension spring of three mechanical finger supports in the middle of steel wire, three mechanical finger support extension spring one end are arranged on three mechanical finger arm-ties respectively, three back-moving spring fixed heads are arranged on on on mechanical finger the 4th support and close mechanical finger the 3rd support place, mechanical finger the 3rd support and close mechanical finger second support place and mechanical finger second support and close mechanical finger first support place respectively, three mechanical finger support limiting plates are arranged on mechanical finger the 3rd stent ends, mechanical finger second stent ends and mechanical finger first stent ends respectively, three back-moving spring fixed heads and three mechanical finger support limiting plates are installed in the back side that mechanical finger bends side, mechanical finger first back-moving spring one end is arranged on the mechanical finger support limiting plate on mechanical finger first support, and the other end is arranged on the back-moving spring fixed head on mechanical finger second support, mechanical finger second back-moving spring one end is arranged on the mechanical finger support limiting plate on mechanical finger second support, and the other end is arranged on the back-moving spring fixed head on mechanical finger the 3rd support, mechanical finger the 3rd back-moving spring one end is arranged on the mechanical finger support limiting plate on mechanical finger the 3rd support, and the other end is arranged on the back-moving spring fixed head on mechanical finger the 4th support, steel wire guiding groove is had in the middle of steel wire guide plate, the extension spring of three mechanical finger supports is identical spring, mechanical finger second back-moving spring coefficient of elasticity, mechanical finger the 3rd back-moving spring coefficient of elasticity, mechanical finger first back-moving spring coefficient of elasticity increase 2 times successively,
Above-mentioned mechanical second pair refers to and machinery the 3rd pair refers to all directly be fixed on palm plate by mechanical finger first support, and the first pair refers to swing and is fixed on mechanical finger first support that mechanical first pair refers to soon;
Above-mentioned motor-driven mechanism comprises annular distance cover plate, sheave support wheel, annular distance cover plate support, driver plate, sheave drive motors, rocking arm, mechanism's support plate, hexagonal plate pillar, threaded hole of steel, hexagonal plate, steel wire runner, steel wire runner supports, steel wire runner cone tooth, travelling gear cone tooth, travelling gear, the rotating shaft of steel wire runner, transmission gear rotational shaft, rocking arm straight pin, steel wire drive motors, sheave, sheave rotating shaft, steel wire drive motors gear, wherein sheave drive motors is arranged on mechanism's support plate, driver plate is arranged in the rotating shaft of sheave drive motors, rocking arm is arranged on driver plate, rocking arm straight pin is arranged on one end, sheave is arranged on sheave support wheel, and sheave and sheave support wheel are arranged on mechanism's support plate by sheave rotating shaft, and steel wire drive motors is arranged on the eccentric position of sheave support wheel side, and steel wire drive motors gear is arranged on steel wire drive motors, annular distance cover plate is arranged on mechanism's support plate by two annular distance cover plate support, and annular distance cover plate has threaded hole of steel, and hexagonal plate pillar one end is fixed on annular distance cover plate central, and the other end is fixed on hexagonal plate center, and six angles all have circular hole to hexagonal plate, each angle of above-mentioned hexagonal plate is provided with identical structure, each angle on hexagonal plate: steel wire runner supports and is arranged on hexagonal plate angle, the rotating shaft of steel wire runner is arranged on steel wire runner and supports, steel wire runner is arranged on steel wire runner rotating shaft one end, steel wire runner cone tooth is arranged on the steel wire runner rotating shaft other end, transmission gear rotational shaft is arranged in the circular hole on hexagonal plate angle, travelling gear cone tooth is arranged on transmission gear rotational shaft one end, travelling gear is arranged on the transmission gear rotational shaft other end, and travelling gear cone tooth is bored tooth with steel wire runner and engaged, above-mentioned steel wire drive motors gear alternately engages with each travelling gear,
Above-mentioned annulus cover plate and mechanism's support plate are arranged on motor-driven mechanism fixed head, and arm sleeve is arranged on mechanism's support plate.
2. a kind of Multi-freedom-degreemanipulator manipulator based on SECO according to claim 1, is characterized in that: above-mentioned sheave groove number can be 3-10.
3. a kind of Multi-freedom-degreemanipulator manipulator based on SECO according to claim 1, is characterized in that: above-mentioned sheave support wheel is provided with balance columns, balance columns axis, steel wire drive motors axis and sheave support wheel axis co-planar.
4. a kind of Multi-freedom-degreemanipulator manipulator based on SECO according to claim 1, it is characterized in that: in above-mentioned steel wire runner, be wound with steel wire, the corresponding steel wire runner of each threaded hole of steel, and the steel wire on each steel wire runner is through threaded hole of steel corresponding on annular distance cover plate.
5. a kind of Multi-freedom-degreemanipulator manipulator based on SECO according to claim 1,2, is characterized in that: the angle number of above-mentioned hexagonal plate is consistent with sheave groove number, can be 3-10.
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| CN105382844B (en) | 2017-03-22 |
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