Under-actuated manipulator capable of being synchronously controlled

Abstract

The invention provides an under-actuated manipulator capable of being synchronously controlled. The under-actuated manipulator comprises a mounting mechanism; the three groups of executing mechanisms comprise a first executing mechanism arranged on the mounting mechanism; the two groups of second actuating mechanisms are rotatably arranged on the mounting mechanism around the axis of the first direction, and comprise a first state facing each other and a second state parallel to each other; and the driving mechanism is arranged on the mounting mechanism and is configured to adjust the poses of the three groups of executing mechanisms, so that the executing mechanisms are adjusted to a grabbing state for grabbing the articles or a releasing state for releasing the articles.

Description

Technical Field

[0001] At least one embodiment of the present disclosure relates to the technical field of robotic arms, and in particular to an under-actuated robotic arm that can be synchronously controlled. Background Art

[0002] With the rapid development of robots, they have played a vital role in working environments with high labor intensity and harsh conditions.

[0003] A single-degree-of-freedom gripper can grasp objects of regular shapes. However, when faced with objects of complex shapes or long strips, the surface condition of the objects will affect the gripping stability of the single-degree-of-freedom gripper, making it difficult to complete the gripping action or causing the object to separate from the gripper. Therefore, the shape of the objects grasped by the single-degree-of-freedom gripper is limited, and the gripping stability is poor. Summary of the invention

[0004] In view of this, the present disclosure provides a synchronously controllable under-actuated manipulator, which is used to at least partially solve the above technical problems and improve the stability and applicability of the synchronously controllable under-actuated manipulator.

[0005] An embodiment of the present disclosure provides a synchronously controllable under-actuated manipulator, comprising: a mounting mechanism; three groups of actuators, including: a first actuator, disposed on the mounting mechanism; two groups of second actuators, rotatably disposed on the mounting mechanism around an axis in a first direction, including a first state facing each other and a second state parallel to each other; a driving mechanism, disposed on the mounting mechanism, and configured to adjust the posture of the three groups of actuators so that the actuators are adjusted to a grasping state for grasping an object or a releasing state for releasing an object.

[0006] According to an embodiment of the present disclosure, the three groups of the actuators are evenly spaced and distributed, and the two groups of the second actuators further include a third state that is symmetrical with the first actuator around the axis of the first direction.

[0007] According to an embodiment of the present disclosure, the mounting mechanism includes: a mounting component, on which the second actuator is rotatably disposed; a locking component, which is disposed on the mounting component and is configured to have a locking state that prevents the second actuator from rotating relative to the mounting component and an unlocking state that allows the second actuator to rotate.

[0008] According to an embodiment of the present disclosure, the mounting assembly includes: a first position limiting member, configured such that when in the first state, the second actuator abuts against the first position limiting member; and a second position limiting member, configured such that when in the second state, the second actuator abuts against the first position limiting member.

[0009] According to an embodiment of the present disclosure, the driving mechanism includes: a connecting component; three groups of driving arms, which are rotatably arranged on the connecting component around an axis in the first direction, and the three groups of driving arms are respectively hinged to the three groups of actuators; a driving component, which is configured to drive the connecting component to reciprocate in the first direction to drive the three groups of actuators to adjust to the grasping state or the releasing state.

[0010] According to an embodiment of the present disclosure, the driving assembly includes: a driving member, which is arranged on the mounting mechanism; a screw rod, which is threadedly matched with the connecting assembly and is configured to rotate under the drive of the driving member to drive the connecting assembly to reciprocate in the first direction.

[0011] According to an embodiment of the present disclosure, the actuator mechanism includes: an actuator arm, which is rotatably mounted on the mounting mechanism around an axis in the first direction, the actuator arm includes a plurality of articulated arms hinged to each other end to end and extending in the first direction; a connecting mechanism, movably connected to the actuator arm and hinged to the driving arm to drive the plurality of articulated arms to rotate; a restraining mechanism, connected to the actuator arm, and configured to restrain the actuator arm so that the actuator arm rotates to the grasping state or the releasing state under the drive of the connecting mechanism.

[0012] According to an embodiment of the present disclosure, the multiple articulated arms include a first arm, a second arm, a third arm and a fourth arm which are hinged end to end in sequence through three hinge axes, the hinge axes are perpendicular to the first direction, and the three hinge axes include a first hinge axis, a second hinge axis and a third hinge axis; the constraint mechanism includes: two constraint arms, including a first constraint arm parallel to the second arm and a second constraint arm parallel to the third arm; three connecting arms parallel to each other, including: a first connecting arm, hinged to the first hinge axis and the first end of the first constraint arm; a second connecting arm, hinged to the second hinge axis and the second end of the first constraint arm, and the first end of the second constraint arm is hinged to the middle part of the second connecting arm; a third connecting arm, hinged to the third hinge axis and the second end of the second constraint arm; two elastic members, which can be elastically arranged on the side of the execution arm away from the article, the two elastic members include a first elastic member arranged between the first arm and the second arm, and a second elastic member arranged between the fourth arm and the third connecting arm.

[0013] According to an embodiment of the present disclosure, the connecting mechanism includes: a first arm, the first end of the first arm is hinged to the first hinge axis and forms an acute angle with the second arm, and the driving arm is hinged to the middle part of the first arm to drive the first arm to rotate; a second arm, the first end of the second arm is hinged to the second end of the first arm and forms an acute angle; a third arm, the first end of the third arm is hinged to the second hinge axis and forms an acute angle with the third arm, and the second end of the second arm is hinged to the middle part of the third arm and forms an acute angle; a fourth arm, the first end of the fourth arm is hinged to the second end of the third arm, and the second end of the fourth arm is hinged to the first arm through a rotating axis, so that a line connecting the rotating axis and the third hinge axis forms an acute angle with the fourth arm.

[0014] According to an embodiment of the present disclosure, the synchronously controllable under-actuated manipulator further includes a position sensor, which is disposed on the mounting mechanism and is configured to detect the position of the connecting component to obtain the posture of the actuator.

[0015] According to the synchronously controllable underactuated manipulator provided by the present disclosure, when in use, the driving mechanism adjusts the postures of the three groups of actuators so that the actuators are adjusted to a grasping state to grasp an object, or adjusted to a releasing state to release an object. According to the shape of the object to be grasped, the two groups of second actuators are rotated around the axis of the first direction so that the two groups of second actuators are adjusted to a first state facing each other to grasp some objects with width; or adjusted to a second state parallel to each other to grasp some strip-shaped objects, thereby improving the stability and applicability of the synchronously controllable underactuated manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0017] Figure 1 A three-dimensional schematic diagram of an under-actuated manipulator capable of synchronous control according to an embodiment of the present disclosure is schematically shown;

[0018] Figure 2 A side view of a synchronously controllable underactuated manipulator according to an embodiment of the present disclosure is schematically shown, wherein two groups of second actuators are in a first state;

[0019] Figure 3 A side view of a synchronously controllable underactuated manipulator according to an embodiment of the present disclosure is schematically shown, wherein two groups of second actuators are in a second state;

[0020] Figure 4A side view of a synchronously controllable underactuated manipulator according to an embodiment of the present disclosure is schematically shown, wherein two groups of second actuators are in a third state;

[0021] Figure 5 A three-dimensional schematic diagram of an actuator according to an embodiment of the present disclosure is schematically shown;

[0022] Figure 6 schematically shows a side view of an actuator according to an embodiment of the present disclosure; and

[0023] Figure 7 Another side view of the actuator according to an embodiment of the present disclosure is schematically shown.

[0024] Reference numerals

[0025] 1. Mounting mechanism; 11. Mounting assembly; 111. First mounting plate; 1111. First stopper; 1112. Second stopper; 112. Second mounting plate; 113. Mounting rod; 114. Rotating shaft; 12. Guide rod; 13. Base; 2. Actuator; 21. First actuator; 22. Second actuator; 3. Driving mechanism; 31. Connecting assembly; 32. Driving arm; 33. Driving assembly; 331. Driving member; 332. Screw rod; 4. Actuator arm; 41. First arm; 4 2. Second arm; 43. Third arm; 44. Fourth arm; 45. First hinge axis; 46. Second hinge axis; 47. Third hinge axis; 5. Connecting mechanism; 51. First support arm; 52. Second support arm; 53. Third support arm; 54. Fourth support arm; 55. Rotating axis; 6. Constraint mechanism; 61. First constraint arm; 62. Second constraint arm; 63. First connecting arm; 64. Second connecting arm; 65. Third connecting arm; 66. First elastic member; 67. Second elastic member; 7. Position sensor. DETAILED DESCRIPTION

[0026] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0027] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0028] All terms used herein, including technical and scientific terms, have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0029] When using expressions such as "at least one of A, B, and C, etc.", it should generally be interpreted as the meaning of the expression generally understood by those skilled in the art. For example, "a system having at least one of A, B, and C" should include but not be limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc. When using expressions such as "at least one of A, B, or C, etc.", it should generally be interpreted as the meaning of the expression generally understood by those skilled in the art. For example, "a system having at least one of A, B, or C" should include but not be limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.

[0030] It should also be noted that the directional terms mentioned in the embodiments, such as "upper", "lower", "front", "back", "left", "right", etc., are only reference directions of the drawings and are not intended to limit the scope of protection of the present disclosure. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or configurations will be omitted when they may cause confusion in the understanding of the present disclosure.

[0031] A single-degree-of-freedom gripper can grasp objects of regular shapes. However, when faced with objects of complex shapes or long strips, the surface condition of the objects will affect the gripping stability of the single-degree-of-freedom gripper, making it difficult to complete the gripping action or causing the object to separate from the gripper.

[0032] Figure 1 A three-dimensional schematic diagram of an under-actuated manipulator that can be synchronously controlled according to an embodiment of the present disclosure is schematically shown.

[0033] The embodiment of the present disclosure provides an underactuated manipulator capable of synchronous control, such as Figure 1 As shown, the synchronously controllable underactuated manipulator includes a mounting mechanism 1, three groups of actuators 2 and a driving mechanism 3. The three groups of actuators 2 include a first actuator 21 and two groups of second actuators 22. The first actuator 21 is arranged on the mounting mechanism 1. The two groups of second actuators 22 are rotatably arranged on the mounting mechanism 1 around an axis in a first direction, including a first state facing each other and a second state parallel to each other. The driving mechanism 3 is arranged on the mounting mechanism 1, and is configured to adjust the posture of the three groups of actuators 2 so that the actuators 2 are adjusted to a grasping state for grasping an object or a releasing state for releasing an object.

[0034] It should be noted that the synchronously controllable underactuated manipulator can grasp or release an object. The mounting mechanism 1 of the synchronously controllable underactuated manipulator can be mounted on a multi-degree-of-freedom manipulator to achieve movement under the drive of the manipulator. Specifically, the synchronously controllable underactuated manipulator can grasp an object at a first designated position, and then move to a second designated position under the drive of the manipulator to place the object at the second designated position to achieve object transfer.

[0035] In detail, Figure 1 As shown, the first direction can be Figure 1 The second actuator 22 includes but is not limited to being rotatably mounted on the mounting mechanism 1 around a vertical axis by a pivot, a bearing, a motor drive, a gear train drive or any other mounting method.

[0036] Figure 2 A side view of a synchronously controllable under-actuated manipulator according to an embodiment of the present disclosure is schematically shown, wherein two groups of second actuators are in a first state.

[0037] like Figure 2 As shown, the two groups of second actuators 22 rotate around the axis of the first direction to a first state facing each other. The two groups of second actuators 22 are arranged opposite to each other, and there is a space for accommodating items between the two groups of second actuators 22, so that the items with width are placed between the two groups of second actuators 22. The two groups of second actuators 22 grab the items with width, and the first actuator 21 further grabs the items, realizing three-point stable grabbing to improve the stability of grabbing the items with width.

[0038] Figure 3 A side view of a synchronously controllable under-actuated manipulator according to an embodiment of the present disclosure is schematically shown, wherein two groups of second actuators are in the second state.

[0039] like Figure 3 As shown, the two groups of second actuators 22 rotate around the axis of the first direction to a second state parallel to each other. The two groups of second actuators 22 are arranged in parallel and opposite to the first actuator 21. There is a space for accommodating items between the two groups of second actuators 22 and the first actuator 21, so that the strip-shaped items are placed between the first actuator 21 and the two groups of second actuators 22, allowing the two ends of the strip-shaped items to extend outward, thereby achieving three-point stable grasping to improve the stability of grasping the strip-shaped items.

[0040] The driving mechanism 3 drives the three sets of actuators 2 simultaneously to adjust the postures of the three sets of actuators 2 so that the three sets of actuators 2 are adjusted to the grasping state or the releasing state at the same time. The grasping state represents the state in which the three sets of actuators 2 move toward the direction of approaching the mounting mechanism 1 and approaching each other to grasp the object, so that the object is clamped between the three sets of actuators 2 and the mounting mechanism 1. The releasing state represents the state in which the three sets of actuators 2 move toward the direction of moving away from the mounting mechanism 1 and away from each other to release the object, so that the object is separated from the three sets of actuators 2 and the mounting mechanism 1.

[0041] In such an embodiment, when in use, the driving mechanism 3 adjusts the postures of the three groups of actuators 2, so that the actuators 2 are adjusted to a grasping state to grasp an object, or adjusted to a releasing state to release an object. According to the shape of the object to be grasped, the two groups of second actuators 22 are rotated around the axis of the first direction, so that the two groups of second actuators 22 are adjusted to a first state facing each other to grasp some objects with width; or adjusted to a second state parallel to each other to grasp some strip-shaped objects, thereby grasping objects of different shapes, and improving the stability and applicability of the use of the synchronously controllable under-actuated manipulator.

[0042] Figure 4 A side view of a synchronously controllable under-actuated manipulator according to an embodiment of the present disclosure is schematically shown, wherein two groups of second actuators are in a third state.

[0043] In an exemplary embodiment, Figure 1 and Figure 4 As shown, the three groups of actuators 2 are evenly spaced and distributed, and the two groups of second actuators 22 also include a third state that is symmetrical with the first actuator 21 around the axis of the first direction.

[0044] In detail, the two groups of second actuators 22 rotate to a third state that is symmetrical with the first actuator 21 around the axis of the first direction, that is, the two groups of second actuators 22 and the first actuator 21 are symmetrically arranged around the central symmetry axis. The angle between the line connecting the two adjacent groups of second actuators 22 and the central symmetry axis and the angle between the line connecting the adjacent first actuator 21 and the second actuator 22 and the central symmetry axis are 120 degrees.

[0045] According to an embodiment of the present disclosure, in the third state, the two groups of second actuators 22 and the first actuator 21 are symmetrically arranged around the central axis of symmetry, so that the object is located at the position of the central axis of symmetry, so as to grasp curved objects or irregular objects, so that the objects are subjected to uniform force, thereby achieving three-point stable grasping, so as to improve the stability of grasping curved objects or irregular objects, and can realize the grasping of objects of different shapes and sizes, further improving the applicability of the synchronously controllable under-actuated manipulator.

[0046] In an exemplary embodiment, Figure 1 As shown, the mounting mechanism 1 includes a mounting assembly 11 and a locking assembly (not shown in the figure). The mounting assembly 11 includes a first mounting plate 111, a second mounting plate 112 and a mounting rod 113. The first mounting plate 111 and the second mounting plate 112 are arranged in parallel and spaced apart, and are both perpendicular to the axis of the first direction. The mounting rod 113 is connected between the first mounting plate 111 and the second mounting plate 112.

[0047] Figure 5 A three-dimensional schematic diagram of an actuator according to an embodiment of the present disclosure is schematically shown. Figure 6 A side view of an actuator according to an embodiment of the present disclosure is schematically shown.

[0048] In an exemplary embodiment, Figure 1 , Figure 5 and Figure 6 As shown, the second actuator 22 is mounted on the mounting assembly 11 via a rotating shaft 114. Specifically, the rotating shaft 114 extends in the first direction and is disposed between the first mounting plate 111 and the second mounting plate 112. The second actuator 22 is rotatably connected to the rotating shaft 114 to rotate relative to the mounting assembly 11 around an axis in the first direction.

[0049] The locking assembly is disposed on the mounting assembly 11 and is configured to have a locking state that prevents the second actuator 22 from rotating relative to the mounting assembly 11 and an unlocking state that allows the second actuator 22 to rotate.

[0050] In an exemplary embodiment, the locking assembly can be a bolt, which passes through the second mounting plate 112 and is threadedly engaged with the second mounting plate 112. Specifically, when the bolt is pressed against the second actuator 22, the bolt is in a locked state to prevent the second mounting mechanism 1 from rotating relative to the mounting assembly 11. When the bolt is separated from the second actuator 22, the bolt is in an unlocked state to allow the second actuator 22 to rotate. In this way, by rotating the bolt, it is adjusted to a locked state or an unlocked state to control the rotation of the second actuator 22, and the operation is convenient. It can be understood that the locking assembly can also be a snap assembly, an electromagnetic locking assembly, a pneumatic locking assembly, etc., which is not limited here.

[0051] According to an embodiment of the present disclosure, the adjustment locking assembly is in an unlocked state. According to the shape of the object to be grasped, the second actuator 22 is rotated so that the second actuator 22 is adjusted to the first state, the second state or the third state to be suitable for the shape of the object. After the second actuator 22 is adjusted, the adjustment locking assembly is in a locked state to prevent the second actuator 22 from rotating relative to the mounting assembly 11, which is convenient to operate, thereby improving the convenience of adjusting the second actuator 22.

[0052] In an exemplary embodiment, Figure 2 , Figure 3 and Figure 4 As shown, the mounting assembly 11 includes a first stopper 1111 and a second stopper 1112. The first stopper 1111 is configured such that when in the first state, the second actuator 22 abuts against the first stopper 1111. The second stopper 1112 is configured such that when in the second state, the second actuator 22 abuts against the first stopper 1111.

[0053] In an exemplary embodiment, Figure 4 As shown, the first mounting plate 111 is machined by milling, cutting or other machining methods to generate grooves to form the first limiting member 1111 and the second limiting member 1112 .

[0054] Specifically, each group of second actuators 22 is provided with a corresponding first stopper 1111 and a second stopper 1112. Figure 4 In the embodiment, the left side wall of the groove corresponding to the second actuator 22 located at the lower left is the first stopper 1111. The first stopper 1111 is located on the left side of the second actuator 22 and is Figure 4 The two groups of second actuators 22 and the two first stoppers 1111 are symmetrical with respect to the plane where the first actuator 21 is located. When the two groups of second actuators 22 are adjusted to the first state, the two groups of second actuators 22 are respectively in contact with the corresponding first stoppers 1111, so that the two groups of second actuators 22 face each other. The first stoppers 1111 prevent the second actuators 22 from continuing to rotate, so as to limit the second actuators 22, thereby determining the positions of the two groups of second actuators 22, and the operation is convenient.

[0055] exist Figure 4 In the embodiment, the right side wall of the groove corresponding to the second actuator 22 located at the lower left is the second stopper 1112. The second stopper 1112 is located on the right side of the second actuator 22 and is Figure 4 The two groups of second actuators 22 and the two second stoppers 1112 are symmetrical with respect to the plane where the first actuator 21 is located. When the two groups of second actuators 22 are adjusted to the second state, the two groups of second actuators 22 are respectively in contact with the corresponding second stoppers 1112, so that the two groups of second actuators 22 are parallel to each other. The second stoppers 1112 prevent the second actuators 22 from continuing to rotate, so as to limit the second actuators 22, thereby determining the positions of the two groups of second actuators 22, and the operation is convenient.

[0056] It is understandable that the first limit member 1111 and the second limit member 1112 may also be baffles, bosses, etc. extending outside the first mounting plate 111, so as to abut against the second actuator 22 in the first state or the second state to prevent the second actuator 22 from continuing to rotate.

[0057] According to the embodiments of the present disclosure, the first limit member 1111 and the second limit member 1112 limit the second mechanism in the first state and the second state respectively, so as to determine the position of the second actuator 22 to serve as a reminder to avoid excessive or inadequate rotation of the second actuator 22. The operation is convenient and the convenience of use is improved.

[0058] In an exemplary embodiment, Figure 1 and Figure 5 As shown, the mounting mechanism 1 further includes a guide rod 12 and a base 13. The guide rod 12 extends in a first direction, and the guide rod 12 is connected to the bottom of the second mounting plate 112. The base 13 is mounted on the bottom of the guide rod 12.

[0059] like Figure 1 and Figure 5 As shown, the driving mechanism 3 includes a connecting assembly 31, three sets of driving arms 32 and a driving assembly 33. The three sets of driving arms 32 are rotatably arranged on the connecting assembly 31 around axes in the first direction. The three sets of driving arms 32 are respectively hinged to the three sets of actuators 2. The driving assembly 33 is configured to drive the connecting assembly 31 to reciprocate in the first direction to drive the three sets of actuators 2 to adjust to a grasping state or a releasing state.

[0060] In detail, Figure 5 As shown, the connecting assembly 31 can be a plate-like structure. The guide rod 12 passes through the connecting assembly 31 and is in sliding contact with the connecting assembly 31 to guide the connecting assembly 31 to slide relative to the guide rod 12, reduce the degree of shaking of the connecting assembly 31, and improve the smoothness of the sliding of the connecting assembly 31.

[0061] The three groups of driving arms 32 are rotatably mounted on the connecting assembly 31 around the axis of the first direction through, but not limited to, a pivot, a bearing or any other mounting method. The three groups of driving arms 32 are hinged to the three groups of driving mechanisms 3 respectively.

[0062] The driving assembly 33 is not limited to driving the connecting assembly 31 in the first direction ( Figure 1 reciprocating in the vertical direction).

[0063] According to an embodiment of the present disclosure, the driving assembly 33 drives the connecting assembly 31 to move back and forth in the first direction, and drives the three groups of driving arms 32 to move back and forth in the first direction at the same time. When the driving assembly 33 drives the connecting assembly 31 to move upward, the three groups of driving arms 32 move upward at the same time, and simultaneously transmit the upward force to the three groups of actuators 2, respectively, so that the three groups of actuators 2 are gathered upward and in a direction close to each other, so as to be adjusted to a grasping state. Conversely, when the driving assembly 33 drives the connecting assembly 31 to move downward, the three groups of driving arms 32 move downward at the same time, and simultaneously transmit the downward force to the three groups of actuators 2, respectively, so that the three groups of actuators 2 are opened downward and in a direction away from each other, so as to be adjusted to a released state.

[0064] In such an embodiment, the driving component 33 drives the connecting component 31 to move back and forth in a first direction, thereby driving the three groups of driving arms 32 to move synchronously at the same time, and then synchronously adjusting the positions of the three groups of actuators 2 to adjust to a grasping state or a release state, that is, one driving component 33 can realize synchronous driving of the three groups of actuators 2 to optimize the layout and movement mode of the synchronously controllable under-actuated manipulator, thereby reducing the manufacturing cost and maintenance cost of the synchronously controllable under-actuated manipulator.

[0065] In an exemplary embodiment, Figure 1 and Figure 5 As shown, the driving assembly 33 includes a driving member 331 and a screw rod 332. The driving member 331 is disposed on the mounting mechanism 1. The screw rod 332 is threadedly matched with the connecting assembly 31 and is configured to rotate under the drive of the driving member 331 to drive the connecting assembly 31 to reciprocate in the first direction.

[0066] In an exemplary embodiment, the driving member 331 may be a motor. The screw rod 332 extends in the first direction, is connected to the output shaft of the driving member 331, and is threadedly matched with the connecting assembly 31, so as to rotate under the drive of the driving member 331, and drive the connecting assembly 31 to reciprocate in the first direction. In this way, under the drive of the driving member 331, the connecting assembly 31 reciprocates in the first direction, and simultaneously drives the three sets of driving arms 32 to reciprocate, so as to simultaneously drive the three sets of actuators 2 to adjust to the grasping state or the releasing state.

[0067] In an exemplary embodiment, Figure 1 , Figure 5 and Figure 6As shown, the actuator 2 includes an actuator arm 4, a connecting mechanism 5 and a restraining mechanism 6. The actuator arm 4 is rotatably mounted on the mounting mechanism 1 around an axis in a first direction, and the actuator arm 4 includes a plurality of articulated arms that are hinged to each other end to end and extend in the first direction. The connecting mechanism 5 is movably connected to the actuator arm 4 and is hinged to the driving arm 32 to drive the plurality of articulated arms to rotate. The restraining mechanism 6 is connected to the actuator arm 4 and is configured to restrain the actuator arm 4 so that the actuator arm 4 rotates to a grasping state or a releasing state under the drive of the connecting mechanism 5.

[0068] According to an embodiment of the present disclosure, the driving assembly 33 drives the connecting assembly 31 to reciprocate in the first direction, and drives the driving arm 32 to reciprocate in the first direction. The connecting mechanism 5 is movably connected to the execution arm 4 and is hinged to the driving arm 32, so that the connecting mechanism 5 transmits the force of the driving arm 32 to the execution arm 4. The execution arm 4 rotates under the restraining action of the restraining mechanism 6 and the driving action of the connecting mechanism 5 to adjust to the grasping state to grasp the object, or adjust to the releasing state to release the object.

[0069] In an exemplary embodiment, Figure 1 , Figure 5 and Figure 6 As shown, the multiple articulated arms include a first arm 41, a second arm 42, a third arm 43 and a fourth arm 44 which are articulated end to end from bottom to top through three articulated axes. The articulated axes are perpendicular to the first direction, that is, the articulated axes are located in a second direction ( Figure 5 The three hinge axes include a first hinge axis 45, a second hinge axis 46 and a third hinge axis 47.

[0070] Specifically, the first arm 41 is rotatably connected between the first mounting plate 111 and the second mounting plate 112 via the rotating shaft 114. Figure 5 The bottom end of the second arm 42) is hinged to the top end of the first arm 41 through the first hinge shaft 45. The first end of the third arm 43 ( Figure 5 The bottom end of the third arm 43) is connected to the second end of the second arm 42 ( Figure 5 The first end of the fourth arm 44 ( Figure 5 The bottom end of the fourth arm 44) is connected to the second end of the third arm 43 ( Figure 5 The top end of the third arm 43 is hinged.

[0071] In an exemplary embodiment, Figure 1 , Figure 5 and Figure 6 As shown, the constraint mechanism 6 includes two constraint arms and three parallel connecting arms. The two constraint arms include a first constraint arm 61 parallel to the second arm 42 and a second constraint arm 62 parallel to the third arm 43 .

[0072] The three parallel connecting arms include a first connecting arm 63, a second connecting arm 64, a third connecting arm 65 and two elastic members. The first connecting arm 63 is hinged to the first hinge shaft 45 and the first end of the first restraining arm 61 ( Figure 6 The second connecting arm 64 is hinged to the second hinge shaft 46 and the second end of the first restraining arm 61 ( Figure 6 The top end of the first restraining arm 61), the first end of the second restraining arm 62 ( Figure 6 The bottom end of the second restraining arm 62 is hinged to the middle of the second connecting arm 64. The third connecting arm 65 is hinged to the third hinge shaft 47 and the second end of the second restraining arm 62 ( Figure 6 The two elastic members can be elastically arranged on the side of the execution arm 4 away from the object ( Figure 6 The two elastic members may be springs. The two elastic members include but are not limited to a first elastic member 66 installed between the first arm 41 and the second arm 42 through a mounting member, and a second elastic member 67 installed between the fourth arm 44 and the third connecting arm 65.

[0073] According to an embodiment of the present disclosure, the first connecting arm 63, the first constraining arm 61, the second connecting arm 64 and the second arm 42 form a parallelogram structure. The second connecting arm 64, the second constraining arm 62, the third connecting arm 65 and the third arm 43 form a parallelogram structure. At the same time, the first elastic member 66 is connected between the first arm 41 and the second arm 42, and the second elastic member 67 is connected between the fourth arm 44 and the third connecting arm 65. In this way, the parallelogram structure and the two elastic members constrain the actuator arm 4, providing a guarantee for the force transmission between the connecting mechanism 5 and the actuator arm 4.

[0074] Figure 7 Another side view of the actuator according to an embodiment of the present disclosure is schematically shown.

[0075] In an exemplary embodiment, Figure 1 , Figure 5 and Figure 7 As shown, the connecting mechanism 5 includes a first arm 51, a second arm 52, a third arm 53 and a fourth arm 54. The first end ( Figure 7 The bottom end of the first arm 51 is hinged to the first hinge shaft 45 and forms an acute angle with the second arm 42. The driving arm 32 is hinged to the middle of the first arm 51 to drive the first arm 51 to rotate. The first end ( Figure 7 The bottom end of the second arm 52 is hinged to the second end of the first arm 51 ( Figure 7 The top of the first arm 51 in the middle) and forms an acute angle The first end of the third arm 53 ( Figure 7 The bottom end of the third arm 53 is hinged to the second hinge shaft 46 and forms an acute angle with the third arm 43. The second end of the second arm 52 ( Figure 7 The top of the second arm 52 is hinged to the middle of the third arm 53 to form an acute angle. The first end of the fourth arm 54 ( Figure 7 The bottom end of the fourth arm 54 is hinged to the second end of the third arm 53 ( Figure 7 The top end of the third arm 53). The second end of the fourth arm 54 ( Figure 7 The top of the fourth arm 54 is hinged to the first arm 41 through the rotating shaft 55, so that the connecting line of the rotating shaft 55 and the third hinge shaft 47 forms an acute angle with the fourth arm 54. .

[0076] According to an embodiment of the present disclosure, when the driving component 33 drives the connecting component 31 to move upward, the driving arm 32 moves upward with the connecting component 31, so that the driving arm 32 provides an upward force to the first arm 51, thereby driving the first arm 51 to rotate upward around the first hinge shaft 45. Then, the second arm 52 rotates upward and rightward relative to the first arm 51, and then the third arm 53 rotates upward and rightward relative to the second arm 52. The fourth arm 54 rotates upward and rightward relative to the third arm 53. During the movement of the connecting mechanism 5, the forces of the two elastic members are counteracted, and the three groups of actuator arms 4 are driven to move toward each other so as to be adjusted to a grasping state to grasp objects. Conversely, the connecting mechanism 5 drives the three groups of actuator arms 4 to move toward a direction away from each other so as to be adjusted to a released state to release objects.

[0077] In an exemplary embodiment, Figure 1 As shown, the synchronously controllable underactuated manipulator further includes a position sensor 7, which is arranged on the mounting mechanism 1. The position sensor 7 is configured to detect the position of the connecting component 31 to obtain the position and posture of the actuator 2.

[0078] In detail, the position sensor 7 obtains the position of the connection component 31 moving in the first direction. Since there is a corresponding relationship between the position of the connection component 31 and the posture of the actuator 2, by detecting the position of the connection component 31, the posture of the actuator 2 can be obtained and monitored to ensure the accuracy and stability of the synchronously controllable underactuated manipulator during the grasping process, and to achieve safe operation in the case of grasping different objects.

[0079] According to the synchronously controllable underactuated manipulator provided in this embodiment, when in use, the driving mechanism 3 adjusts the posture of the three groups of actuators 2, so that the actuators 2 are adjusted to the grasping state to grasp the object, or adjusted to the releasing state to release the object. According to the shape of the object to be grasped, the two groups of second actuators 22 are rotated around the axis of the first direction, so that the two groups of second actuators 22 are adjusted to the first state facing each other to grasp some objects with width; or adjusted to the second state parallel to each other to grasp some strip-shaped objects, thereby grasping objects of different shapes, and improving the stability and applicability of the synchronously controllable underactuated manipulator.

[0080] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The scope of the present disclosure is defined by the attached claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A synchronously controllable underactuated manipulator, characterized in that: include: Mounting mechanism (1); Three sets of actuators (2), including: A first actuator (21), arranged on the mounting mechanism (1); Two sets of second actuators (22) are rotatably arranged on the mounting mechanism (1) around an axis in a first direction, including a first state in which they face each other and a second state in which they are parallel to each other; The driving mechanism (3) is arranged on the mounting mechanism (1) and is configured to adjust the posture of the three groups of the actuators (2) so that the actuators (2) are adjusted to a grasping state for grasping an object or a releasing state for releasing an object.

2. The synchronously controllable underactuated manipulator according to claim 1, characterized in that: The three groups of the actuators (2) are evenly spaced and distributed, and the two groups of the second actuators (22) further include a third state that is symmetrical with the first actuator (21) around the axis of the first direction.

3. The synchronously controllable underactuated manipulator according to claim 1, characterized in that: The mounting mechanism (1) comprises: A mounting assembly (11), wherein the second actuator (22) is rotatably disposed on the mounting assembly (11); A locking assembly is arranged on the mounting assembly (11) and is configured to have a locking state preventing the second actuator (22) from rotating relative to the mounting assembly (11) and an unlocking state allowing the second actuator (22) to rotate.

4. The synchronously controllable underactuated manipulator according to claim 3, characterized in that: The installation component (11) comprises: a first limiting member (1111) configured such that, in the first state, the second actuator (22) abuts against the first limiting member (1111); The second limiting member (1112) is configured such that, in the second state, the second actuator (22) abuts against the first limiting member (1111).

5. The synchronously controllable underactuated manipulator according to claim 1, characterized in that: The driving mechanism (3) comprises: Connecting component (31); Three groups of driving arms (32) are rotatably arranged on the connecting assembly (31) around an axis in the first direction, and the three groups of driving arms (32) are respectively hinged to the three groups of actuators (2); The driving assembly (33) is configured to drive the connecting assembly (31) to reciprocate in the first direction, so as to drive the three groups of the actuators (2) to adjust to the grasping state or the releasing state.

6. The synchronously controllable underactuated manipulator according to claim 5, characterized in that: The driving assembly (33) comprises: A driving member (331) is arranged on the mounting mechanism (1); The screw rod (332) is threadably matched with the connecting assembly (31) and is configured to rotate under the drive of the driving member (331) to drive the connecting assembly (31) to reciprocate in the first direction.

7. The synchronously controllable underactuated manipulator according to claim 5, characterized in that: The actuator (2) comprises: An actuator arm (4) is rotatably mounted on the mounting mechanism (1) around an axis in the first direction, the actuator arm (4) comprising a plurality of articulated arms hinged to each other end to end, and extending in the first direction; A connecting mechanism (5) is movably connected to the execution arm (4) and is hinged to the driving arm (32) to drive the plurality of articulated arms to rotate; The restraining mechanism (6) is connected to the actuator arm (4) and is configured to restrain the actuator arm (4) so ​​that the actuator arm (4) rotates to the grasping state or the releasing state under the drive of the connecting mechanism (5).

8. The synchronously controllable underactuated manipulator according to claim 7, characterized in that: The plurality of articulated arms include a first arm (41), a second arm (42), a third arm (43) and a fourth arm (44) which are sequentially articulated end to end via three articulated axes, wherein the articulated axes are perpendicular to the first direction, and the three articulated axes include a first articulated axis (45), a second articulated axis (46) and a third articulated axis (47); The restraining mechanism (6) comprises: Two restraining arms, including a first restraining arm (61) parallel to the second arm (42) and a second restraining arm (62) parallel to the third arm (43); Three parallel connecting arms, including: A first connecting arm (63) is hinged to the first hinge shaft (45) and the first end of the first restraining arm (61); A second connecting arm (64) is hinged to the second hinge shaft (46) and the second end of the first restraining arm (61), and a first end of the second restraining arm (62) is hinged to the middle part of the second connecting arm (64); A third connecting arm (65) is hinged to the third hinge shaft (47) and the second end of the second restraining arm (62); Two elastic members can be elastically arranged on the side of the execution arm (4) facing away from the object, and the two elastic members include a first elastic member (66) arranged between the first arm (41) and the second arm (42), and a second elastic member (67) arranged between the fourth arm (44) and the third connecting arm (65).

9. The synchronously controllable underactuated manipulator according to claim 8, characterized in that: The connecting mechanism (5) comprises: a first support arm (51), wherein a first end of the first support arm (51) is hinged to the first hinge shaft (45) and forms an acute angle with the second arm (42); and the driving arm (32) is hinged to the middle of the first support arm (51) to drive the first support arm (51) to rotate; A second support arm (52), wherein a first end of the second support arm (52) is hinged to a second end of the first support arm (51) to form an acute angle; a third support arm (53), wherein a first end of the third support arm (53) is hinged to the second hinge shaft (46) and forms an acute angle with the third arm (43), and a second end of the second support arm (52) is hinged to the middle of the third support arm (53) and forms an acute angle; A fourth arm (54), wherein a first end of the fourth arm (54) is hinged to a second end of the third arm (53), and a second end of the fourth arm (54) is hinged to the first arm (41) via a rotation axis (55), such that a line connecting the rotation axis (55) and the third hinge axis (47) forms an acute angle with the fourth arm (54).

10. The synchronously controllable underactuated manipulator according to any one of claims 5 to 9, characterized in that: It also includes a position sensor (7) which is arranged on the mounting mechanism (1) and is configured to detect the position of the connecting component (31) to obtain the position and posture of the actuator (2).

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