Palm manipulator combined by cross guide rod mechanism and dual-drive five-rod sliding block parallel mechanism

Abstract

The invention relates to a palm manipulator combined by a cross guide rod mechanism and a dual-drive five-rod sliding block parallel mechanism, belongs to the technical field of robots and automation,and can be applied to the industries of agricultural product picking, food sorting and conveying, industrial product feed and discharge grabbing, commodity logistics packaging and the like. The palmmanipulator consists of a driving dual-drive five-rod sliding block parallel mechanism and a driven dual-drive five-rod sliding block parallel mechanism; a small motor worm gear reducer integrated machine drives a driving crank to rotate; a large motor worm gear reducer integrated machine drives a driving rocker to rotate; a rocker hinge base linearly moves on a guide rod; a crank and a rocker ofa driven parallel mechanism are transmitted by gears; two fingers are installed on two connecting rods or the two rockers, respectively; grabbing poses and movement paths of three fingers are cooperatively controlled by two motors of the parallel mechanism; a cross guide rod mechanism enables the rocker hinge base and a single finger to move linearly in opposite directions; and therefore the threefingers move towards an object at the same time to clamp an object. Rubber with a flat oval cross section is adhered to finger contact surfaces, so that the contact characteristic is good, and the reliability is high.

Description

technical field [0001] The invention relates to the technical fields of robots and automation, in particular to a palm manipulator combined with a cross guide rod mechanism and a double-drive five-bar slider parallel mechanism. Background technique [0002] Grasping manipulators, also known as end effectors and end grippers, are operating tools for robots to grab objects. Due to the complexity of grasping objects, except for some humanoid dexterous manipulators with high cost and complex devices, the rest of the end effectors cannot universally and reliably grasp different types of objects. As far as the contact state is concerned, in order to adapt to the different shapes of grasped objects such as cuboids, cylinders, and spheres, the root of the finger needs to be transposed so that the finger contact surface can better adapt to grasped objects of different shapes. It is the basic function of the palm. [0003] For the grasping objects such as agricultural products and f...

AI Technical Summary

Problems solved by technology

[0005] After algorithm testing, prototyping, grasping test and performance analysis, it is concluded that the defects of the manipulator are: ① A single fixed finger is used to locate and grasp objects, the references of the manipulator and the manipulator arm do not coincide, the origin of the manipulator coordinates and the size of objects The offset of the center of mass of the body is large, and the eccentric force distance of the manipulator is relatively large; ②A single finger is used to position and grasp the object. Due to the positioning accuracy of the robotic arm, the grasped object moves a little during the grasping process; ③Two moving fingers instead of three Fingers move towards the grasped object at the same time, and the efficiency of the clamping process is low; ④The double-drive five-bar slider parallel mechanism drives the displacement of the two fingers, because the angle of displacement at the position determined by the x and y coordinates is determined, and is used Fingers with a flat cross-section are used to grasp the curved surface of the object, or fingers with a curved cross-section are used for the plane contact of the grasped object, and the versatility of vertically grasping cylinders and cuboids is not good enough; ⑤ Especially the crank rocker The slider parallel mechanism can form a positive crank rocker mechanism (the angular displacement direction of the crank and the rocker is the same) and a reverse crank rocker mechanism (the angular displacement direction of the crank and the rocker is opposite), which will experience a dead point state during the transition (this In this state, the connecting rod and the rocker are in a straight line), the hinge seat of the rocker (that is, the slider) is driven by the screw motor, and it is more difficult to avoid the dead point by the coordinated control of the screw motor and the crank rotation motor

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