An adaptive bionic manipulator with transmission and storage functions and control method

Abstract

The present invention discloses an adaptive bionic manipulator with transmission and storage functions. The manipulator primarily comprises an adjustable gripping mechanism, a circular belt conveyor, a rack and pinion transmission mechanism, and a roller conveyor mechanism. Driven by a servo motor, a diaphragm coupling connects the lead screw for rotation. The rotation of the lead screw drives the slider of the crank slider mechanism to achieve a swinging motion of the crank, thereby adjusting the opening distance of the gripping mechanism. A small servo motor drives the circular belt to rotate and transmit the material. The roller conveyor mechanism allows for subsequent transmission and storage of the material. Ultimately, the gripping, transportation, and storage of materials of varying shapes are achieved. The present invention is powerful, efficient, and highly adaptable.

Description

Technical Field

[0001] The present invention relates to the field of robotic arms, and in particular to an adaptive bionic robotic arm with transmission and storage functions and a control method thereof. Background Art

[0002] Today's highly intelligent factories can achieve fully automated, unmanned operation. This high level of intelligence places extremely high demands on equipment. Furthermore, some smart factories produce different products on a single production line, employing different processes for each product. This flexible processing method is no longer constrained by product structure, shape, size, or processing requirements, allowing for the adoption of the appropriate processing path. This provides an optimal processing method for each product and reduces manufacturing costs for the factory.

[0003] After a series of evolutions, flexible manipulators have gradually come into view. Compared to rigid manipulators, flexible manipulators have a more flexible movement pattern, similar to an elephant's trunk, an octopus's tentacles, and a snake's body. They are a manipulator with an infinite number of joints stacked together. Rigid manipulators, on the other hand, are similar to human arms, consisting of rigid joints. Their movement is restricted by the joints, requiring programming to achieve relevant movements. The engineering process also requires consideration of whether there will be interference between the joints. They also have poor autonomy, requiring reprogramming if the shape of the grasped object changes.

[0004] Furthermore, rigid manipulators are typically used to perform alternating grasping movements, a time-consuming operation. Since only one material can be conveyed at a time, the manipulator must swing back and forth, which wears out both the time and the machine. Furthermore, traditional manipulators lack a memory function, requiring repeated operations to convey multiple materials or grasp materials from multiple locations, which is complex and time-consuming.

[0005] The currently published patent number is "CN202021326312.9", and the utility model patent named "A Bionic Mechanical Claw" discloses a bionic mechanical claw, including a lower mounting plate and multiple lever structure fulcrums arranged at the edge of its upper surface. A mechanical gripper is rotatably connected at the lever structure fulcrum, and a motor is installed at the center of the upper surface of the lower mounting plate. The output end of the motor is connected to a screw. The motor can drive the rotation of the screw to achieve the mating of the screw with the internal thread of the internal thread structure. When the screw rotates, it will drive the motor and the lower mounting plate to move upward as a whole, thereby controlling the mechanical gripper to tighten and grasp the object; similarly, when the screw rotates, it will drive the motor and the lower mounting plate to move downward as a whole, thereby controlling the mechanical gripper to loosen and put down the object. However, this mechanical claw is a rigid mechanical claw. For objects of different shapes, it cannot autonomously change its shape to match the grasped object, and the grasping stability is insufficient.

[0006] The patent number currently published, CN103753524A, is titled "An Adaptive Octopus-like Grasping Soft Robotic Arm and Grasping Method Thereof." The robot primarily comprises tentacles, air pipes, an electrical proportional valve, a strain gauge, and a solenoid valve. The tentacles mimic the shape of octopus tentacles, forming irregular, elongated conical strips with larger diameter protrusions at the ends. Groups of ellipsoidal pressure-regulating cavities are evenly distributed within the tentacles, and a main air path runs along the axial direction of the tentacles. Through feedback from the strain gauge signals and coordination with the solenoid valve and electrical proportional valve, the spherical pressure-regulating cavities are shaped differently, thereby controlling the bending of the tentacles. By controlling multiple groups of pressure-regulating cavities, objects can be wrapped around. This invention features a simple structure, is easy to manufacture, and offers high adaptability, enabling it to grasp objects of various shapes. However, since this invention can only grasp items one by one and cannot transport multiple items at once, its transport efficiency is low, its operation is cumbersome, and it requires reciprocating motion to transport materials, resulting in inefficient transport. Summary of the Invention

[0007] Purpose of the Invention: To address the gripping, transport, and storage of materials of varying shapes, as well as their transport between different production lines, this invention proposes an adaptive bionic manipulator with transport and storage functions and a control method. Furthermore, addressing the low transport efficiency of existing manipulators, this invention proposes an adaptive bionic manipulator with transport and storage functions, significantly improving transport efficiency.

[0008] Technical solution: The present invention proposes an adaptive bionic manipulator with transmission and storage functions, comprising a servo motor, a trapezoidal lead screw, a plurality of curved jaw connecting rods, a plurality of parallelogram mechanism brackets, a mechanical claw mounting plate, a plurality of claw connecting rods, and a plurality of claw plates; the servo motor output shaft is coaxially connected to the trapezoidal lead screw, and a sliding connecting plate is connected to the lead screw nut. The rotation of the servo motor drives the lead screw nut and the sliding connecting plate to move up and down along the lead screw. The sliding connecting plate is hinged to one end of the curved jaw connecting rod, and the other end of the curved jaw connecting rod is hinged to the middle of the claw connecting rod;

[0009] The parallelogram mechanism bracket is fixed to the bottom of the mechanical claw mounting plate, the upper end of the clamping claw connecting rod is connected to the bottom of the parallelogram mechanism bracket via a rotating shaft, and the lower end of the clamping claw connecting rod is connected to the upper end of the clamping claw plate via a rotating shaft; an opening is provided in the middle of the mechanical claw mounting plate, and a plurality of roller storage and transmission plates extending downward from the opening are provided in the opening, and the plurality of roller storage and transmission plates together form a roller storage and transmission mechanism with a cylindrical cavity in the middle, and a roller storage and transmission drive device for driving the roller storage and transmission plates to move inward or outward is provided on the mechanical claw mounting plate;

[0010] A round belt is arranged inside the clamping claw plate, and the round belt protrudes from the inner edge of the clamping claw plate to contact the object to be clamped.

[0011] Preferably, the servo motor is mounted on a motor bracket via screws, the motor bracket is connected to the lead screw nut, and the motor bracket is connected to a mechanical claw mounting plate via screws.

[0012] Preferably, the trapezoidal screw is connected to a screw support plate, and the screw support plate and the mechanical claw mounting plate are connected via the guide shaft.

[0013] Preferably, a small servo motor and supporting reinforcement ribs are provided on the clamping jaw plate, and the supporting reinforcement ribs are located below the small servo motor.

[0014] Preferably, a waist hole is opened on one side of the clamping plate to install the tensioning wheel, and a driving wheel, a driven wheel and a round belt are provided between the two clamping plates, and the round belt is installed on the driving wheel, the driven wheel and the tensioning wheel.

[0015] Preferably, the roller storage transmission drive device includes a spur gear, a spur rack and a small reduction motor, the supporting sheet metal is installed on the inner end of the spur rack by screw connection, and the small reduction motor is installed on the outer end of the spur rack.

[0016] Preferably, the rollers of the roller storage and transmission plate are installed on the supporting sheet metal in a spring-pressed manner, and the roller storage and transmission plate is driven to operate by the small reduction motor.

[0017] Preferably, each roller of the roller storage and transmission plate is wrapped with a layer of silica gel.

[0018] Preferably, an axial retaining ring is installed at the shaft end of the rotating shaft.

[0019] The present invention also provides a technical solution for the control method of the above-mentioned adaptive bionic manipulator with transmission and storage functions: first, the servo motor drives the sliding connecting plate up and down through the trapezoidal screw to drive the arc-shaped connecting rod of the clamping claw to swing to control the opening and closing of the clamping claw plate; then the small servo motor on the clamping claw plate drives the circular belt to operate; finally, the small reduction motor drives the roller storage transmission plate to move inward or outward to a size suitable for material transmission; when the material is transmitted, the roller continues to roll and transmit the material; when the material is stored, the roller stops rotating after the material is transported to the top of the manipulator.

[0020] Beneficial effects: (1) The present invention can be used for materials of different diameters. The manipulator of the present invention includes a servo motor, a trapezoidal screw, a guide shaft, a parallelogram mechanism, a crank slider mechanism, and a circular belt conveyor mechanism. The trapezoidal screw can produce self-locking to ensure the accuracy and stability of the claw adjustment. The parallelogram mechanism and the crank slider mechanism are pin-connected, and the trapezoidal screw converts the rotational motion of the servo motor into linear motion. The crank slider mechanism and the guide plate are connected by a pin, and the swing of the parallelogram realizes the up and down movement of the slider to drive the movement of the guide plate, thereby realizing the adjustability of the claw. The opening distance of the gripping mechanism is adjusted to grasp canned materials of various diameters, and has high adaptability.

[0021] (2) The transmission and storage functions of the manipulator of the present invention are achieved by driving the gear rack mechanism with a small reduction motor to move to meet the size of the transmission material. When the material is transported to the storage location, the operation of the roller can be used to determine whether it is to be transported or stored. When it is decided to transport, the roller continues to roll and transport the material. When it is decided to store, the material is transported as far as possible to the top of the manipulator, and then the roller is stopped. If there is no material transmission at the manipulator's circular belt, the manipulator is tightened to prevent the material from falling. If there is material transmission at the circular belt, the tightening of the manipulator and the material itself can also prevent the material from falling. In addition, the outer side of the roller transmission mechanism can be wrapped with silicone to reduce the impact caused by material transmission and increase friction.

[0022] (3) The circular belt conveyor mechanism described in the manipulator of the present invention is driven by a servo motor to drive the drive wheel to move the entire gear train. The circular belt can provide a large friction force, is easy to install, and ensures the transportation of materials. The entire belt mechanism is a flexible transmission mechanism. The tension of the entire gear train is adjusted by the tensioning pulley under the action of the tensioning head. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1Schematic diagram of the structure of an adaptive bionic manipulator with transmission and storage functions according to the present invention;

[0024] Figure 2 This is a structural schematic diagram of the parallelogram mechanism and crank rocker mechanism of an adjustable belt conveyor robot module of an adaptive bionic robot with transmission and storage functions of the present invention. DETAILED DESCRIPTION

[0025] In order to further understand the content of the present invention, the present invention is described in detail with reference to the accompanying drawings and embodiments.

[0026] Combine Figure 1 and Figure 2 In this embodiment, a bionic flexible manipulator with an internal conveying function has an adjustable belt conveyor manipulator module. The servo motor 5 is mounted on the motor bracket 1-1 through screw connection. The servo motor 5 and the trapezoidal lead screw 1-4 are connected through a diaphragm coupling 1-2. The sliding connecting plate 1-9 is connected to the lead screw nut 1-3. Figure 2 The sliding connecting plate 1-9 and guide shaft 1-8 are connected via linear bearings 8-5. The sliding connecting plate 1-9, the curved clamping link 8, and the clamping link 8-3 are connected via pins. The servo motor 5 rotates, driving the screw nut 1-3, causing the sliding connecting plate 1-9 to move up and down. The screw support plate 1-5 and the mechanical claw mounting plate 6 are connected via guide shaft 1-8. The parallelogram mechanism bracket 8-1 is connected to the mechanical claw mounting plate 6 via screws. The clamping link 8-3 and the parallelogram mechanism bracket 8-1 are connected via rotating shaft 8-2. The clamping plate 7 and the clamping link 8-3 are connected via rotating shaft 8-2. An axial retaining ring is installed at the end of rotating shaft 8-2 to limit axial movement. The small servo motor 13, the clamping plate 7, and the support reinforcement rib 1-6 are all connected via screws. The support reinforcement rib 1-6 ensures the installation strength of the small servo motor 13. The round belt 1-7 is installed on the drive pulley, driven pulley, and tensioning pulley, and clamped between the two clamping plates 7. Drive the gear train by small servo motor 13 and realize transmission. Open waist hole and install tensioning wheel on clamping jaw plate 7 one side, regulate the position of tensioning wheel by tensioning head and realize the tensioning of gear train.

[0027] Combine Figure 1The upward and downward movement of the sliding connecting plate 1-9 causes the curved connecting rod 8 of the gripper to swing. The entire movement is a combination of a crank slider mechanism and a parallelogram mechanism. The swinging of the parallelogram mechanism enables the mechanical claw to grasp materials of various diameters, and the high friction provided by the round belt 1-7 delivers the material to the roller storage and transmission mechanism. The spur gear 10 and spur rack 11 are both mounted on the mechanical claw mounting plate 6. The spur gear 10 and the small reduction motor 12 work together. The rotation of the small reduction motor 12 causes the spur rack 11 to move. The support sheet metal 8-4 is mounted on the spur rack 11 via screws. Each roller of the roller storage and transmission plate 9 is coated with a layer of silicone to reduce friction and mitigate the impact caused by transmission. The roller storage and transmission plate 9 is mounted on the support sheet metal 8-4. The small reduction motor 12 drives the spur gear 10 and spur rack 11 to operate, causing the roller storage and transmission plate 9 to move left and right.

[0028] The roller storage and transmission mechanism can be equipped with a motor to provide transmission power, or it can be equipped with no motor. When the motor is installed, the material is simply transferred to the roller storage and transmission plate 9 via the round belt 1-7, where the motor drives the rollers for corresponding storage and transmission. When the motor is not installed, the round belt 1-7 can continuously operate to continuously transport the material to the roller storage and transmission plate 9. When the previous material has been transferred and separated from the round belt 1-7, the next material is also blocked by the round belt 1-7 to prevent it from falling. If it is the last piece of material, it can be directly grabbed at the round belt 1-7, or it can be separated from the round belt 1-7 and transferred to the roller storage and transmission plate 9, where the clamping claws are tightened to prevent the material from falling.

[0029] Installation method of the robot:

[0030] S1. The small servo motor 13, the clamping plate 7, and the supporting reinforcement ribs 1-6 are all connected with screws. The small servo motor 13 and the pulley are connected via a coupling. The round belt 1-7 is installed on the driving pulley, the driven pulley, and the tensioning pulley, and is clamped between the two clamping plates 7. A hole is drilled in one side of the clamping plate 7 to install the tensioning pulley. The tensioning head adjusts the tensioning pulley's position to achieve tensioning of the gear train.

[0031] S2. The jaw plate 7 and the jaw link 8-3 are connected via the rotating shaft 8-2. The jaw link 8-3 and the parallelogram mechanism bracket 8-1 are connected via the rotating shaft 8-2. An axial retaining ring is installed at the end of the rotating shaft 8-2 to limit axial movement. The sliding connecting plate 1-9, the jaw arc link 8, and the jaw link 8-3 are connected via pins. The screw support plate 1-5, the mechanical claw mounting plate 6, and the sliding connecting plate 1-9 are connected via the trapezoidal screw 1-4. The trapezoidal screw 1-4 cooperates with the screw nut 1-3, and the screw nut 1-3 is assembled on the sliding connecting plate 1-9. The servo motor 5 is installed on the motor bracket 1-1 via screw connection; the servo motor 5 and the trapezoidal screw 1-4 are connected via the diaphragm coupling 1-2, and the motor bracket 1-1 and the mechanical claw mounting plate 6 are connected via screws.

[0032] S3. Both spur gear 10 and spur rack 11 are mounted on claw mounting plate 6. Spur gear 10 works in conjunction with small reduction motor 12, rotating spur rack 11. Support sheet metal 8-4 is screwed to spur rack 11. Each roller of roller storage and transport plate 9 is coated with a layer of silicone to reduce friction and shock during transmission. The rollers of roller storage and transport plate 9 are spring-loaded and mounted on support sheet metal 8-4. The small reduction motor 12 drives roller storage and transport plate 9.

[0033] A method for grasping materials by an adaptive bionic manipulator with transmission and storage functions according to an embodiment:

[0034] The servo motor 5 in the adjustable belt conveyor module, via trapezoidal screws 1-4, moves the sliding connecting plate up and down, driving the curved connecting rod 8 of the gripper to swing the gripper plate 7, enabling the gripping of materials of varying sizes. The servo motor 13 in the gripper plate 7 drives the circular belt 1-7, conveying the material to the roller storage conveyor plate 9. A small reduction motor 12 adjusts the roller storage conveyor plate 9, mounted on the supporting sheet metal 8-4, to the appropriate size for the material being conveyed. The rotation of the rollers determines whether to convey or store the material. When conveying, the rollers continue rolling. When storing, visual sensors control the material to be conveyed as far as possible above the manipulator to ensure full storage space, after which the rollers stop. If the manipulator is not conveying material along the circular belt 1-7, the manipulator tightens to prevent material from falling. If material is being conveyed along the circular belt 1-7, the tightening of the manipulator and the material itself can also prevent material from falling.

[0035] The adaptive bionic manipulator with transmission and storage functions of the present invention has the advantages of simple structure, high efficiency, powerful functions, and can realize the transportation, grasping and storage of materials of different shapes with high efficiency and high adaptability.

[0036] The above is a schematic description of the present invention and its embodiments, which is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by this and, without departing from the purpose of the present invention, designs a structure and embodiment similar to this technical solution without inventiveness, they shall fall within the scope of protection of the present invention.

Claims

1. An adaptive bionic manipulator with transmission and storage functions, comprising a servo motor (5), a trapezoidal lead screw (1-4), a plurality of gripper arc-shaped connecting rods (8), a plurality of parallelogram mechanism brackets (8-1), a mechanical claw mounting plate (6), a plurality of gripper connecting rods (8-3), and a plurality of gripper plates (7); the output shaft of the servo motor (5) is coaxially connected to the trapezoidal lead screw (1-4), a sliding connecting plate (1-9) is connected to the lead screw nut (1-3), the servo motor (5) rotates to drive the lead screw nut (1-3) and the sliding connecting plate (1-9) to move up and down along the lead screw, the sliding connecting plate (1-9) is hinged to one end of the gripper arc-shaped connecting rod (8), and the other end of the gripper arc-shaped connecting rod (8) is hinged to the middle of the gripper connecting rod (8-3); The parallelogram mechanism bracket (8-1) is fixed to the bottom of the mechanical claw mounting plate (6), the upper end of the clamping claw connecting rod (8-3) is connected to the bottom of the parallelogram mechanism bracket (8-1) via a rotating shaft (8-2), and the lower end of the clamping claw connecting rod (8-3) is connected to the upper end of the clamping claw plate (7) via a rotating shaft (8-2); an opening is provided in the middle of the mechanical claw mounting plate (6), and a plurality of roller storage and transmission plates (9) extending downward from the opening are provided in the opening, and the plurality of roller storage and transmission plates (9) together form a roller storage and transmission mechanism with a cylindrical cavity in the middle, and a roller storage and transmission driving device for driving the roller storage and transmission plates (9) to move inward or outward is provided on the mechanical claw mounting plate (6); A round belt (1-7) is arranged inside the clamping claw plate (7), and the round belt (1-7) protrudes from the inner edge of the clamping claw plate (7) to contact the object to be grasped.

2. The adaptive bionic manipulator with transmission and storage functions according to claim 1, characterized in that: The servo motor (5) is mounted on the motor bracket (1-1) via screw connection, the motor bracket (1-1) is connected to the screw nut (1-3), and the motor bracket (1-1) is connected to the mechanical claw mounting plate (6) via screws.

3. The adaptive bionic manipulator with transmission and storage functions according to claim 1, characterized in that: The trapezoidal lead screw (1-4) is connected to a lead screw support plate (1-5), and the lead screw support plate (1-5) and a mechanical claw mounting plate (6) are connected via a guide shaft (1-8).

4. The adaptive bionic manipulator with transmission and storage functions according to claim 1, characterized in that: A small servo motor (13) and supporting reinforcement ribs (1-6) are provided on the clamping jaw plate (7), and the supporting reinforcement ribs (1-6) are located below the small servo motor (13).

5. The adaptive bionic manipulator with transmission and storage functions according to claim 4, characterized in that: A waist hole is opened on one side of the clamping jaw plate (7) to install a tensioning wheel. A driving wheel, a driven wheel and a round belt (1-7) are provided between the two clamping jaw plates (7). The round belt (1-7) is installed on the driving wheel, the driven wheel and the tensioning wheel.

6. The adaptive bionic manipulator with transmission and storage functions according to claim 1, characterized in that: The roller storage transmission drive device comprises a spur gear (10), a spur rack (11) and a small reduction motor (12); a supporting sheet metal (8-4) is mounted on an inner end of the spur rack (11) by screw connection; and the small reduction motor (12) is mounted on an outer end of the spur rack (11).

7. The adaptive bionic manipulator with transmission and storage functions according to claim 6, characterized in that: The rollers of the roller storage transmission plate (9) are installed on the supporting sheet metal (8-4) in a spring-pressed manner, and the roller storage transmission plate (9) is driven to operate by the small reduction motor (12).

8. The adaptive bionic manipulator with transmission and storage functions according to claim 7, characterized in that: Each roller of the roller storage transmission plate (9) is wrapped with a layer of silica gel.

9. The adaptive bionic manipulator with transmission and storage functions according to claim 8, characterized in that: An axial retaining ring is installed at the shaft end of the rotating shaft (8-2).

10. A control method for the adaptive bionic manipulator with transmission and storage functions according to any one of claims 7 to 9, characterized in that: First, the servo motor (5) drives the sliding connecting plate (1-9) to move up and down through the trapezoidal screw (1-4), driving the clamping claw arc connecting rod (8) to swing to control the opening and closing of the clamping claw plate (7); then the small servo motor (13) on the clamping claw plate (7) drives the round belt (1-7) to operate; finally, the small reduction motor (12) drives the roller storage transmission plate (9) to move inward or outward to a size suitable for material transmission; when the material is being transmitted, the roller continues to roll and transmit the material; when the material is being stored, the roller stops rotating after the material is transported to the top of the manipulator.

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