[0034] figure 1 Is a schematic diagram of the structure of the present invention, figure 2 Is a schematic diagram of the wrist assembly structure, image 3 Is a schematic diagram of the driving part of the flexible manipulator finger, Figure 4 Is a schematic diagram of the structure of the knuckle joint of the flexible mechanical finger, Figure 5 It is a schematic diagram of an automatic control system, as shown in the figure: the precision heavy-duty manipulator capable of positioning compensation in this embodiment includes a power unit 1, a base 2, an arm assembly, a wrist assembly 3, a flexible hand, and an automatic control system. The arm assembly includes the lower arm assembly, the middle arm assembly and the upper arm assembly;
[0035] Such as figure 2 As shown, the wrist assembly includes a wrist input shaft 31, a driving bevel gear 32, a driven bevel gear 32a, a first swing hydraulic cylinder 33, a second swing hydraulic cylinder 33a, and a wrist joint assembly. The driven bevel gear 32a It meshes and cooperates with the driving bevel gear 32, the cylinder body of the first swing hydraulic cylinder 33 is in transmission coordination with the output end of the wrist input shaft 31, and the power of the cylinder body of the second swing hydraulic cylinder 33a and the driven bevel gear 32a The wrist joint assembly includes a first linkage mechanism 34, a second linkage mechanism 34a, and a wrist output shaft 31a. The first linkage mechanism 34 and the second linkage mechanism 34a are both compatible with the The wrist output shaft 31a is hinged, and the power output shaft 35 of the first swing hydraulic cylinder 33 and the power output shaft 35a of the second swing hydraulic cylinder 33a correspond one-to-one with the first link mechanism 34 and the second link mechanism 34a Are connected to form a plane connecting rod structure, the power output shaft 35 of the first swing hydraulic cylinder and the power output shaft 35a of the second swing hydraulic cylinder are both electric spindles; the output end of the wrist input shaft 31 and the first swing hydraulic The cylinder block and the power shaft of the driven bevel gear and the cylinder block of the second swing hydraulic cylinder are all connected by a coupling (the coupling 36 and the coupling 36a in the figure). The power output end of the first swing hydraulic cylinder is connected with The power output end of the second swing hydraulic cylinder is connected with the first linkage mechanism and the second linkage mechanism through spline shafts (spline shaft 37 and spline shaft 37a in the figure);
[0036] Such as figure 1 with image 3 As shown, the flexible hand includes a finger holder 4 connected to the wrist assembly, at least two flexible mechanical fingers, and a driving part for driving the mechanical flexible fingers to grasp and release. The flexible mechanical fingers (the flexible mechanical fingers 5 in the figure) And the flexible mechanical finger 5a) includes at least three knuckles 51 that are hinged in sequence, and each knuckle is driven by a driving part and rotates around the hinge joint with the adjacent knuckle; the driving part is arranged inside the finger holder, and the wrist outputs The output end of the shaft is connected to the finger holder. In this embodiment, two flexible mechanical fingers are provided. Each flexible mechanical finger includes six knuckles that are hinged in sequence. The first knuckle and the finger holder are arranged close to the finger holder 4. 4Fixed connection;
[0037] Such as Figure 5 As shown, the automatic control system includes:
[0038] The position sensor 42 is arranged inside the middle arm assembly and the upper arm assembly, and is used to detect the pitch angle of the middle arm assembly and the upper arm assembly;
[0039] The visual sensor 43 is arranged above the wrist assembly to detect the spatial position and posture of the object and monitor the working state of the manipulator;
[0040] The tactile sensor 44 is arranged on the inner surface of the flexible manipulator finger to actively obtain more complete information of the object and monitor the working state of the manipulator;
[0041] The force sensor 45 is arranged inside the clamping surface of the knuckles of the flexible mechanical finger, and is used to detect the clamping pressure of each knuckle and monitor the working state of the manipulator;
[0042] The central controller 46 receives and comprehensively processes the feedback information of the position sensor, the visual sensor, the tactile sensor, and the force sensor, and sends command signals to the control system 47 to which they belong.
[0043] Such as image 3 with Figure 4 As shown, in this embodiment, the driving part includes fingers gripping the driving cable (the fingers gripping the driving cable 6 and the fingers gripping the driving cable 6a), the fingers relaxing the driving cable (the fingers in the figure Release drive cable 7 and finger release drive cable 7a) and drive motor I8 and drive motor II9 for driving the finger grip drive cable and finger release drive cable respectively, the fingers grip the drive cable and the The finger-relaxed driving cable is provided with two flexible mechanical fingers each, and the finger-clamping driving cable sequentially bypasses the finger-clamping driving cable winding wheel arranged at the hinge joints of adjacent knuckles and is used to drive the flexible mechanical fingers Clenched, the finger relaxation drive cable bypasses the finger relaxation drive cable winding wheel 11 arranged at the hinge joints of adjacent knuckles and is used to drive the flexible mechanical fingers to relax, the fingers grip the drive cable winding wheel and the The winding wheel of the finger relaxation drive cable is arranged coaxially; the finger relaxation drive cable 7 and the finger relaxation drive cable 7a are merged at the transmission end of the drive motor Ⅱ9 to be driven by the drive motor Ⅱ9, and the fingers hold the drive cable 6 and the finger grip. The tight drive cable 6a is assembled at the transmission end of the drive motor I8 to be driven by the drive motor I8, where the finger release drive cable 7 bypasses the first fixed pulley 10 and the second fixed pulley 10a arranged in the finger seat and the flexible machinery The finger on the finger 5 relaxes the winding setting of the driving cable winding wheel.
[0044] Such as Figure 4 As shown, in this embodiment, the finger grip driving cable winding wheel includes a driving wheel 12 and a driven wheel 12a. The diameter of the driving wheel 12 is smaller than the diameter of the driven wheel 12a. The wheel 12 drives the passive wheel 12a, the passive wheel 12a is provided with a spiral groove, and the finger grips the driving cable and is arranged in a multi-turn winding manner in the spiral groove of the passive wheel.
[0045] Such as image 3 As shown, in this embodiment, the finger grip drive cable (the finger grip drive cable 6 and the finger grip drive cable 6a in the figure) are driven by the pulley I13 connected to the power output end of the drive motor I8. The loosening drive cable (the finger loosening drive cable 7 and the finger loosening drive cable 7a in the figure) are driven by the pulley Ⅱ13a connected to the power output end of the drive motor Ⅱ9, the finger loosening the drive cable and the finger grip The disc spring tensioning device (the disc spring tensioning device 14 and the disc spring tensioning device 14a in the figure) are arranged on the tightening drive cable; the disc spring tensioning device is composed of disc springs arranged on the driving cable, To keep the elasticity tight and provide a strong stress buffer, in addition, a clutch 15 is provided for coaxial transmission with the output shaft of the drive motor Ⅰ8, and a clutch 16 is provided for coaxial transmission with the output shaft of the drive motor Ⅱ9.
[0046] In this embodiment, the drive motor I8 is provided with a self-locking contactor for making the drive motor I continue to run, tighten the fingers and grip the drive cable; the self-locking contactor is an existing AC self-locking contactor, Press the start button, the contactor coil is energized, and the auxiliary normally open contact in parallel with the start switch is closed to ensure that after the button is released, the contactor coil continues to be energized, and the main contact of the contactor in series in the motor circuit continues to close, driving the motor Ⅰ Continuous operation, so as to realize the continuous operation of the drive motor Ⅰ, thereby ensuring that the manipulator is continuously in a gripping state after the object is gripped, preventing it from loosening, and improving safety. The self-locking contactor is equipped with a self-locking circuit, which is all existing The technology will not be repeated here.
[0047] In this embodiment, the electric spindle includes a shellless motor, a spindle, a bearing, a spindle unit housing, a spindle drive module, a cooling device, an encoder, and a displacement sensor placed at the back of the spindle. The rotor and the spindle of the shellless motor The main shaft is supported by front and rear bearings to rotate around its own axis. The stator of the shellless motor is installed in the main shaft unit housing through a cooling jacket. The speed change of the main shaft is controlled by the main shaft drive module. The temperature rise is limited by the cooling device, and the displacement sensor is used to detect the speed and angular displacement; the structure of the electric spindle is the existing technology, among which the variable frequency speed regulation of the electric spindle can be controlled by the existing ordinary variable frequency drive and control, vector control drive The drive and control and direct torque control can be realized by any of the three control methods. The cooling device is used to pass a circulating coolant to the outer wall of the electric spindle. The function of the cooling device is to maintain the temperature of the coolant, which are all existing technologies. I won’t repeat them here; the electric spindle has the advantages of compact structure, light weight, low inertia, low vibration, low noise, fast response, etc., which reduces the transmission error of the transmission chain, improves the transmission accuracy, and realizes the wrist assembly and flexible machinery. Precise movement of fingers and safety guarantee.
[0048] Such as figure 1 As shown, in this embodiment, the arm assembly includes a lower arm assembly, a middle arm assembly and an upper arm assembly;
[0049] The lower arm assembly includes a column 17 and a turntable 18, the column 17 is arranged in cooperation with the turntable 18 so as to be rotatable around its own axis, and the output shaft of the power unit 1 is in drive cooperation with the column 17;
[0050] The middle arm assembly includes an elongation hydraulic cylinder I19 and a piston oil cylinder I20. The elongation hydraulic cylinder I19 is connected to the column 17 with a single degree of freedom to rotate along a vertical plane. The piston oil cylinder I20 is located below the extension hydraulic cylinder I19. The cylinder body and piston of the oil cylinder I20 are respectively hinged to the column and the cylinder body of the extension hydraulic cylinder I19 through a connecting rod I (connecting rod I21 and connecting rod I21a in the figure); the front end of the cylinder body of the extension hydraulic cylinder I passes through the shaft The sliding key is fitted with an elongated sliding seat I 19a inside. The front end of the elongated sliding seat I 19a forms an annular flange I that bears on the front end of the cylinder body of the elongated hydraulic cylinder. The piston rod 19b of the elongated hydraulic cylinder I 19 runs from the back to the axis along the axis Pass through the elongated sliding seat Ⅰ19a and be fixedly connected to it
[0051] The upper arm assembly includes an extension hydraulic cylinder II 22, a piston cylinder II 23, and a forearm rotation servo motor 24. The extension hydraulic cylinder II 22 and the forearm rotation servo motor 24 are connected to form a straight rod mechanism. The extension hydraulic cylinder II 22 is vertically Single-degree-of-freedom hinged to the extension hydraulic cylinder Ⅰ19, the forearm rotation servo motor 24 is fixedly connected to the piston of the extension hydraulic cylinder Ⅱ 22, the output shaft 27 of the forearm rotation servo motor 24 and the power input end of the wrist input shaft 31 In transmission coordination, the cylinder body and piston of the piston cylinder II23 are respectively hinged to the cylinder body of the extension hydraulic cylinder I19 and the cylinder body of the extension hydraulic cylinder II22 through a connecting rod II (connecting rod II25 and connecting rod II25a in the figure); The front end of the cylinder body of the extension hydraulic cylinder II is fitted with an extension slide Ⅱ25 through the axial sliding key. The front end of the extension slide Ⅱ25 forms an annular flange Ⅱ that bears on the front end of the extension hydraulic cylinder II. The piston rod of the long hydraulic cylinder II passes through the extension slide Ⅱ25 from back to front along the axis and is fixedly connected to it. The front end of the piston rod of the extension hydraulic cylinder II22 is fixedly provided with a forearm rotation servo motor support 26, and the forearm rotation servo The body of the motor 24 is fixedly arranged on the forearm rotation servo motor support 26, and the front end of the forearm rotation servo motor 24 is provided with a wrist assembly mounting seat 28.
[0052] In this embodiment, the base is a box-type structure, and a gear transmission pair is provided in the base. The power output shaft 29 of the power unit 1 and the driving gear 30 of the gear transmission pair are fixedly matched in the circumferential direction. The driven gear shaft 39 of the gear 38 penetrates the base 2 to cooperate with the upright column 17, and the upright column 17 stands on the base and cooperates with the transmission.
[0053] In this embodiment, the knuckle includes a rigid finger back 40 and a finger pad 41 as a clamping surface, and the finger pad is fixedly connected to the rigid finger back.
[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be implemented Modifications or equivalent replacements without departing from the purpose and scope of the technical solution of the present invention should be covered by the scope of the claims of the present invention.
