Multifunctional flexible manipulator

Abstract

The invention relates to a multifunctional flexible manipulator which comprises a shell and two symmetrically-arranged mechanical arm assemblies, each mechanical arm assembly comprises a large arm, a small arm and a first differential mechanism coupled in the shell, a second differential mechanism drives the two first differential mechanisms to rotate, the rear end of each large arm is hinged to the shell through a large arm shaft, and the rear end of each small arm is hinged to the shell through a small arm shaft. The rear end of the small arm is hinged to the front end of the large arm through a small arm shaft, a small arm gear fixedly connected with the small arm is arranged on the small arm shaft, and a large arm gear fixedly connected with the large arm is arranged on the large arm shaft. The clamping force can be adjusted in a targeted mode according to the clamped object, so that the mechanical arm is suitable for clamping operation of various objects, the object does not need to be arranged in the middle position when the mechanical arm is used, the positioning requirement of the mechanical arm is lowered, and the universality of the mechanical arm is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and specifically refers to a multi-functional flexible manipulator. Background Art

[0002] With the rapid development of industrial automation, intelligent manufacturing, and service robot technologies, manipulators, as the core actuators, are widely used in fields such as assembly, handling, precision operation, and medical assistance. Traditional rigid manipulators are solely driven by motors or pneumatically controlled. Although they have high positioning accuracy and load capacity, they have problems of poor adaptability and insufficient flexibility when interacting with complex environments or fragile objects. For example, when grasping irregular objects or performing precision operations, rigid manipulators often require complex force control algorithms and high-precision sensors, increasing the system complexity and cost. Also, for example, when grasping fragile objects, effective clamping cannot be achieved simply by clamping with two robotic arms, easily causing the object to fall off, and increasing the clamping force will damage the object.

[0003] In recent years, flexible manipulators have received extensive attention due to their good environmental adaptability, safety, and low-cost characteristics. The invention patent with the publication number CN104972478A discloses a controllable three-finger manipulator and its control method, which realizes clamping through three arms. Although the clamping effect is good and it is not easy to fall off, the clamping force is not easy to adjust, and the three arms are not suitable for clamping operations in narrow spaces.

[0004] In addition, most existing flexible manipulators have a single function and are difficult to simultaneously meet the requirements of high load, high flexibility, and multi-task adaptation, restricting their wide application in industrial and service fields.

[0005] Therefore, there is an urgent need to develop a flexible manipulator with high adaptability, multi-functional integration, and adjustable clamping force to solve the problem that flexibility, reliability, and functionality are difficult to balance in the prior art and meet the diverse needs of fields such as intelligent manufacturing, medical assistance, and special operations. Summary of the Invention

[0006] The present invention aims at the deficiencies of the prior art and provides a multi-functional flexible manipulator.

[0007] The present invention is achieved through the following technical solutions. A multifunctional flexible manipulator is provided, which includes a housing and two symmetrically arranged robotic arm assemblies. Each robotic arm assembly includes a large arm, a small arm, and a first differential axially connected within the housing. The rear end of the large arm is hinged to the housing through a large arm shaft, and the rear end of the small arm is hinged to the front end of the large arm through a small arm shaft. A small arm gear fixedly connected to the small arm is provided on the small arm shaft. A toothed column gear is axially connected to the large arm shaft, and a toothed column is slidably connected back and forth within the large arm. Both ends of the toothed column are respectively engaged with the toothed column gear and the small arm gear. A large arm gear fixedly connected to the large arm is provided on the large arm shaft. Two output shafts of the first differential are respectively drivingly connected to the large arm gear and the toothed column gear. A toothed column spring is installed within the large arm, and the toothed column spring applies a backward elastic force to the toothed column. It also includes a driving mechanism for driving the two first differentials to rotate.

[0008] As an optimization, when the robotic arm assembly clamps an object, the backward elastic force of the toothed column applies a resistance to the toothed column gear. The first differential first drives the large arm gear to rotate, thereby driving the large arm to swing towards the object. After the large arm contacts the object and stops, the first differential drives the toothed column gear to rotate, and the toothed column moves forward against the elastic force of the toothed column spring, driving the small arm gear to rotate, thereby driving the small arm to swing towards the object.

[0009] As an optimization, the driving mechanism includes a second differential axially connected within the housing and a motor for driving the second differential to rotate. Two output shafts of the second differential are respectively drivingly connected to the two first differentials.

[0010] As an optimization, when the second differential drives the two first differentials to rotate, when the distances between the object and the two large arms are different, the large arm that first contacts the object stops, and the second differential drives the other large arm to continue swinging to clamp the object with the two large arms.

[0011] As an optimization, a first gear and a second gear are respectively fixedly connected to the two output shafts of the first differential. A first intermediate gear and a second intermediate gear are axially connected within the housing. The first gear, the first intermediate gear, and the large arm gear are sequentially engaged, and the second gear, the second intermediate gear, and the toothed column gear are sequentially engaged.

[0012] As an optimization, a spring pressing plate is slidably connected back and forth within the large arm. A protrusion located behind the spring pressing plate is fixedly connected to the toothed column. The toothed column spring is arranged between the spring pressing plate and the protrusion, and the spring pressing plate can be adjusted in its front-back position through a position adjusting mechanism.

[0013] As an optimization, the position adjusting mechanism includes an adjusting rod fixedly connected to the outside of the large arm and an adjusting sleeve sleeved on the adjusting rod. The adjusting sleeve is fixedly connected to the spring pressing plate, and adjusting nuts are threadedly connected to the adjusting rod on both the front and rear sides of the adjusting sleeve.

[0014] As an optimization, a clamping plate slidingly connected to the forearm is installed on the side of the forearm close to the object, a spring is installed in the forearm to push the clamping plate toward the object, and a micro switch adapted to the clamping plate is installed in the forearm.

[0015] As an optimization, a guide column sleeve is fixed in the forearm, a guide column passing through the guide column sleeve is fixed on the positioning clamp, a nut is threadedly connected on the guide column, and the nut is located on the side of the guide column sleeve away from the positioning clamp.

[0016] As an optimization, the side of the small arm away from the positioning clamp is threadedly connected with an adjusting bolt, the end of the adjusting bolt is provided with a socket, and a spring guide shaft inserted into the socket is fixedly connected to the positioning clamp, and the positioning spring is sleeved on the spring guide shaft and is located between the adjusting bolt and the positioning clamp.

[0017] The beneficial effects of the present invention are as follows: a multifunctional flexible manipulator of the present invention can effectively clamp an object through two large arms and two small arms, and can realize flexible clamping of four parts. The clamping force can be adjusted specifically according to the clamped object, so as to adapt to the clamping operation of various objects, and when in use, the manipulator does not need to set the object in the middle position, which reduces the positioning requirements of the manipulator and improves the versatility of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of the present invention without a housing; Figure 2 It is a front view of the present invention without the housing; Figure 3 It is the internal schematic diagram of the back side of the present invention; Figure 4 This is a schematic diagram of the interior of the back side of the present invention when clamped; Figure 5 It is an internal schematic diagram of the back side in another clamping state of the present invention; Figure 6 It is the internal schematic diagram of the big arm of the present invention; Figure 7 It is the internal schematic diagram of the forearm of the present invention; As shown in the figure: 1. Housing, 2. Boom, 3. Arm, 4. Boom shaft, 5. First differential, 6. First gear, 7. First intermediate gear, 8. Boom gear, 9. Second gear, 10. Second intermediate gear, 11. Rack gear, 12. Rack, 13. First differential driven gear, 14. First differential driving gear, 15. Second differential, 16. Second differential driven gear, 17. Drive shaft, 18. Second differential driving gear, 19. Arm shaft, 20. Arm gear, 21. Guide sleeve, 22. Protrusion, 23. Rack spring, 24. Spring pressing plate, 25. Adjusting sleeve, 26. Adjusting rod, 27. In-place clamping plate, 28. Guide post, 29. Guide post sleeve, 30. Fixed sleeve, 31. Adjusting bolt, 32. Spring guide shaft, 33. In-place spring, 34. Microswitch, 35. Shaft lock. Detailed implementation mode

[0019] To clearly illustrate the technical features of this solution, the following will elaborate on this solution through specific implementation modes.

[0020] As Figures 1 to 7 shown, a multifunctional flexible manipulator of the present invention includes a housing 1 and two symmetrically arranged robotic arm assemblies. The housing is a long and hollow structure, and the two robotic arm assemblies are respectively installed at both ends of the housing 1.

[0021] The robotic arm assembly includes a boom 2, an arm 3, and a first differential 5 axially connected in the housing 1. The rear end of the boom 2 is hinged to the housing 1 through a boom shaft 4, and the rear end of the arm 3 is hinged to the front end of the boom 2 through an arm shaft 19. Moreover, the rotation axes of the arm shaft 19, the boom shaft 4, and the first differential 5 are parallel.

[0022] The differential is a prior art. The rotation of the differential drives the rotation of two output shafts. When the loads of the two output shafts are not much different, the two output shafts rotate synchronously. When the load of one output shaft is very small and the load of the other output shaft is very large, the output shaft with the small load is driven to rotate at twice the speed, and at this time, the output shaft with the large load does not rotate.

[0023] The first differential 5 drives the corresponding boom 2 and arm 3 to clamp. The clamping actions of the two booms 2 and the two arms 3 are realized through two first differentials 5. It also includes a driving mechanism for driving the rotation of the two first differentials 5. Thus, the power source for clamping is realized through the driving mechanism.

[0024] The driving mechanism includes a second differential 15 axially connected inside the housing 1 and a motor for driving the second differential 15 to rotate. The rotation axis of the second differential 15 is perpendicular to the rotation axis of the first differential 5. The two output shafts of the second differential 15 are respectively in transmission connection with the two first differentials 5. Specifically, first differential drive gears 14 are fixedly connected to the two output shafts of the second differential 15, and first differential driven gears 13 are fixedly connected to the first differentials 5. The first differential drive gears 14 and the first differential driven gears 13 are both bevel gears and mesh with each other. A second differential driven gear 16 is fixedly connected to the second differential 15, and a second differential drive gear 18 is fixedly connected to the drive shaft 17. The second differential drive gear 18 and the second differential driven gear 16 are both bevel gears and mesh with each other. The second differential 15 is driven to rotate by the drive shaft 17, and the second differential 15 drives the two first differentials 5 to rotate. When the distances between the object and the two large arms 2 are different, the large arm 2 that first contacts the object stops, and the second differential 15 drives the other large arm 2 to continue swinging to clamp the object with the two large arms 2. Therefore, when positioning the manipulator and the object, a particularly high precision is not required.

[0025] The rotating shaft of the motor (not shown in the figure) is connected to the drive shaft 17. The motor can be arranged inside the housing 1 or outside the housing 1.

[0026] Both the large arm 2 and the small arm 3 are long and hollow structures. In order to realize the swinging and clamping of the large arm 2 and the small arm 3, a small arm gear 20 fixedly connected to the small arm 3 is provided on the small arm shaft 19. Therefore, when the small arm gear 20 rotates, the small arm 3 can be driven to swing. In this embodiment, the small arm shaft 19 is fixedly connected to the small arm 3, the small arm shaft 19 is rotatably connected to the front end of the large arm 2, and the small arm gear 20 is coaxially and fixedly connected to the small arm shaft 19.

[0027] A large arm gear 8 fixedly connected to the large arm 2 is provided on the large arm shaft 4. Therefore, when the large arm gear 8 rotates, the large arm 2 can be driven to swing. In this embodiment, the large arm shaft 4 is fixedly connected to the large arm 2, the large arm shaft 4 is rotatably connected to the housing 1, and the large arm gear 8 is coaxially and fixedly connected to the large arm shaft 4. In this embodiment, the large arm gear 8 is arranged outside the large arm 2.

[0028] As Figure 3 、 4 shown, a rack gear 11 is axially connected to the large arm shaft 4. In this embodiment, the rack gear 11 is located inside the large arm 2, and the rack gear 11 can rotate freely on the large arm shaft 4.

[0029] A tooth column 12 is slidably connected to the arm 2. Teeth are arranged on the same side of both ends of the tooth column 12, but no teeth are arranged in the middle. In order to guide the forward and backward sliding movement, two guide sleeves 21 are fixedly connected to the arm 2, and the tooth column 12 is guided inside the guide sleeves 21. The two ends of the tooth column 12 are respectively meshed with the tooth column gear 11 and the small arm gear 20. Therefore, when the tooth column gear 11 rotates, the tooth column 12 is driven to slide, thereby driving the small arm gear 20 to rotate, and realizing the swing of the small arm 3.

[0030] The arm 2 is provided with a tooth column spring 23 , which is kept in a compressed state, so that the tooth column spring 23 applies a backward elastic force to the tooth column 12 .

[0031] The two output shafts of the first differential 5 are respectively connected to the arm gear 8 and the tooth column gear 11; when the mechanical arm assembly clamps the object, the backward elastic force of the tooth column 12 applies resistance to the tooth column gear 11, and the resistance is transmitted to an output shaft of the first differential 5. Since there is no resistance on the other output shaft, it will first drive the other output shaft to rotate. Therefore, the first differential 5 first drives the arm gear 8 to rotate, thereby driving the arm 2 to swing toward the object. After the arm 2 contacts the object and stops, the arm 2 stops. At this time, the clamping force applied by the arm 2 on the object is proportional to the elastic force of the tooth column spring 23. Therefore, adjusting the elastic force of the tooth column spring 23 can adjust the clamping force applied by the arm 2 on the object.

[0032] In order to adjust the elastic force of the tooth column spring 23 so as to adapt to the clamping force requirements of different objects, a spring pressure plate 24 is slidably connected to the upper arm 2 in the front and rear directions, and the tooth column 12 passes through the spring pressure plate 24. A protrusion 22 located behind the spring pressure plate 24 is fixedly connected to the tooth column 12. The tooth column spring 23 is sleeved on the tooth column 12, and the tooth column spring 23 is arranged between the spring pressure plate 24 and the protrusion 22. The spring pressure plate 24 can be adjusted in the front and rear positions through a position adjustment mechanism. By adjusting the front and rear positions of the spring pressure plate 24, the initial clamping force of the tooth column spring 23 can be adjusted.

[0033] like Figure 3 As shown, the position adjustment mechanism includes an adjustment rod 26 fixedly connected to the outer side of the boom 2 and an adjustment sleeve 25 sleeved on the adjustment rod 26. The adjustment rod 26 is a screw rod and is parallel to the length direction of the boom 2. The adjustment sleeve 25 is fixedly connected to the spring pressure plate 24. The adjustment rod 26 is threadedly connected with adjustment nuts located on the front and rear sides of the adjustment sleeve 25. By rotating the positions of the two adjustment nuts, the front and rear positions of the adjustment sleeve 25 can be changed, thereby adjusting the front and rear positions of the spring pressure plate 24.

[0034] During clamping, the protrusion 22 in this embodiment presses against one of the guide sleeves 21 to limit the initial position of the tooth column 12 .

[0035] After the boom 2 stops, the resistance of the boom 2 is greater than the elastic force generated by the tooth column spring 23. Therefore, the first differential 5 drives the tooth column gear 11 to rotate, and the tooth column 12 moves forward against the elastic force of the tooth column spring 23, driving the forearm gear 20 to rotate, thereby driving the forearm 3 to swing towards the object until the forearm 3 clamps the object and then stops.

[0036] As Figure 7 shown, on the side of the forearm 3 close to the object, there is a in-place clamping plate 27 slidably connected to the forearm 3. In order to guide the in-place clamping plate 27, two guide post sleeves 29 are fixedly connected inside the forearm 3, and two guide posts 28 respectively passing through the guide post sleeves 29 are fixedly connected to the in-place clamping plate 27. Nuts are threadedly connected to the guide posts 28, and the nuts are located on the side of the guide post sleeves 29 away from the in-place clamping plate 27. By rotating the nuts, the initial position of the in-place clamping plate 27 can be adjusted.

[0037] When the forearm 3 clamps the object, it contacts the object through the in-place clamping plate 27, and a microswitch 34 adapted to the in-place clamping plate 27 is installed inside the forearm 3. During clamping, the relative position between the in-place clamping plate 27 and the forearm 3 changes, causing the in-place clamping plate 27 to trigger the microswitch 34. The microswitch 34 feeds back to the system, indicating that the forearm 3 has been clamped. When both microswitches 34 feed back that it has been clamped, the clamping action is completed and the motor stops working.

[0038] As Figure 7 shown, an in-place spring 33 that pushes the in-place clamping plate 27 towards the object is installed inside the forearm 3. A fixed sleeve 30 is fixedly connected to the side of the forearm 3 away from the in-place clamping plate 27. An adjusting bolt 31 is threadedly connected inside the fixed sleeve 30. A jack is opened at the end of the adjusting bolt 31. A spring guide shaft 32 inserted into the jack is fixedly connected to the in-place clamping plate 27. The in-place spring 33 is sleeved on the spring guide shaft 32 and is located between the adjusting bolt 31 and the in-place clamping plate 27. By rotating the adjusting bolt 31, the initial elastic force of the in-place spring 33 can be adjusted.

[0039] As Figure 1 shown, in order to realize the transmission connection between the two output shafts of the first differential 5 and the boom gear 8 and the tooth column gear 11 respectively, in this embodiment, a first gear 6 and a second gear 9 are respectively fixedly connected to the two output shafts of the first differential 5. A first intermediate gear 7 and a second intermediate gear 10 are axially connected inside the housing 1. The first gear 6, the first intermediate gear 7, and the boom gear 8 are sequentially meshed, and the second gear 9, the second intermediate gear 10, and the tooth column gear 11 are sequentially meshed.

[0040] In order to maintain the clamped state, an axial lock 35 sleeved on the tooth column 12 can be installed inside any one of the large arms 2. The axial lock 35 can lock the tooth column 12 at any position during its axial movement. After clamping, the axial lock 35 works to prevent the tooth column 12 from moving axially. Since all the large arms and the small arms are interlinked, neither the left and right large arms nor the small arms can move, thus maintaining the clamped state.

[0041] The usage method of the present invention: Figure 4 Before clamping, Figure 5 is the clamping state diagram with the object located between the two large arms, Figure 6 is the clamping state diagram when the object is eccentric.

[0042] Taking the eccentric object as an example, during clamping, the motor rotates, driving the second differential 15 to rotate through the drive shaft 17. The second differential 15 drives the two first differentials 5 to rotate simultaneously. At this time, the two large arms 2 swing towards the object direction simultaneously. Figure 6 Among them, the right large arm 2 on the right contacts the object first and then stops, and the left large arm 2 continues to swing until it contacts the object.

[0043] After both large arms 2 clamp the object, the resistance of the large arms 2 is greater than the elastic force generated by the tooth column spring 23. Therefore, the first differential 5 drives the tooth column gear 11 to rotate, and the tooth column 12 moves forward against the elastic force of the tooth column spring 23, driving the small arm gear 20 to rotate, thereby driving the small arm 3 to swing towards the object direction until the small arm 3 clamps the object and stops, thus realizing the clamping of the object by the two large arms 2 and the two small arms 3.

[0044] Of course, the above description is not limited to the above examples. The technical features not described in the present invention can be realized by or adopted from the prior art, and will not be elaborated here; the above embodiments and the drawings are only used to illustrate the technical solution of the present invention and are not a limitation to the present invention. The present invention has been described in detail with reference to the preferred embodiments. Those of ordinary skill in the art should understand that any changes, modifications, additions, or substitutions made by those of ordinary skill in the technical field within the essence of the present invention do not depart from the purpose of the present invention and should also fall within the protection scope of the claims of the present invention.

Claims

1. A multi-functional flexible manipulator, characterized in that: The invention comprises a housing (1) and two symmetrically arranged mechanical arm assemblies, wherein the mechanical arm assembly comprises a large arm (2), a small arm (3) and a first differential (5) axially connected to the housing (1); the rear end of the large arm (2) is hinged to the housing (1) via a large arm shaft (4); the rear end of the small arm (3) is hinged to the front end of the large arm (2) via a small arm shaft (19); the small arm shaft (19) is provided with a small arm gear (20) fixedly connected to the small arm (3); the large arm shaft (4) is axially connected to a toothed column gear (11); 1), a gear column (12) is slidably connected in front and back of the upper arm (2), and the two ends of the gear column (12) are respectively meshed with the gear column gear (11) and the small arm gear (20), and the upper arm shaft (4) is provided with an upper arm gear (8) fixed to the upper arm (2), and the two output shafts of the first differential (5) are respectively connected to the upper arm gear (8) and the gear column gear (11); a gear column spring (23) is installed in the upper arm (2), and the gear column spring (23) applies a backward elastic force to the gear column (12); It also includes a driving mechanism for driving the two first differentials (5) to rotate.

2. The multifunctional flexible manipulator according to claim 1, characterized in that: When the mechanical arm assembly clamps an object, the backward elastic force of the tooth column (12) exerts resistance on the tooth column gear (11), and the first differential (5) first drives the upper arm gear (8) to rotate, thereby driving the upper arm (2) to swing in the direction of the object. After the upper arm (2) contacts the object and stops, the first differential (5) drives the tooth column gear (11) to rotate, and the tooth column (12) overcomes the elastic force of the tooth column spring (23) and moves forward, driving the small arm gear (20) to rotate, thereby driving the small arm (3) to swing in the direction of the object.

3. A multifunctional flexible manipulator according to claim 1, characterized in that: The driving mechanism comprises a second differential (15) axially connected in the housing (1) and a motor driving the second differential (15) to rotate, wherein two output shafts of the second differential (15) are respectively drivingly connected to the two first differentials (5).

4. The multifunctional flexible manipulator according to claim 3, wherein: The second differential (15) drives the two first differentials (5) to rotate, and when the distances between the object and the two arms (2) are different, the arm (2) that first contacts the object stops, and the second differential (15) drives the other arm (2) to continue swinging, so that the two arms (2) clamp the object.

5. A multifunctional flexible manipulator according to claim 1, characterized in that: The first gear (6) and the second gear (9) are respectively fixedly connected to the two output shafts of the first differential (5); the first intermediate gear (7) and the second intermediate gear (10) are connected to the inner shaft of the housing (1); the first gear (6), the first intermediate gear (7) and the arm gear (8) are meshed in sequence; the second gear (9), the second intermediate gear (10) and the column gear (11) are meshed in sequence.

6. The multifunctional flexible manipulator according to claim 1, wherein: A spring pressure plate (24) is slidably connected in the front and rear of the upper arm (2); a protrusion (22) located behind the spring pressure plate (24) is fixedly connected to the tooth column (12); the tooth column spring (23) is arranged between the spring pressure plate (24) and the protrusion (22); and the front and rear position of the spring pressure plate (24) is adjustable through a position adjustment mechanism.

7. A multifunctional flexible manipulator according to claim 6, characterized in that: The position adjusting mechanism includes an adjusting rod (26) fixedly connected to the outer side of the boom (2) and an adjusting sleeve (25) sleeved on the adjusting rod (26). The adjusting sleeve (25) is fixedly connected to the spring pressing plate (24). Adjusting nuts are threadedly connected to the adjusting rod (26) on both the front and rear sides of the adjusting sleeve (25).

8. A multifunctional flexible manipulator according to claim 1, characterized in that: A positioning clamping plate (27) slidably connected to the forearm (3) is installed on the side of the forearm (3) close to the object. A positioning spring (33) for pushing the positioning clamping plate (27) towards the object is installed in the forearm (3). A microswitch (34) adapted to the positioning clamping plate (27) is installed in the forearm (3).

9. The multifunctional flexible manipulator according to claim 8, wherein: A guide post sleeve (29) is fixedly connected inside the forearm (3). A guide post (28) fixedly connected to the positioning clamping plate (27) passes through the guide post sleeve (29). A nut is threadedly connected to the guide post (28), and the nut is located on the side of the guide post sleeve (29) away from the positioning clamping plate (27).

10. A multifunctional flexible manipulator according to claim 8, characterized in that: An adjusting bolt (31) is threadedly connected to the side of the forearm (3) away from the positioning clamping plate (27). A jack is formed at the end of the adjusting bolt (31). A spring guide shaft (32) inserted into the jack is fixedly connected to the positioning clamping plate (27). The positioning spring (33) is sleeved on the spring guide shaft (32) and is located between the adjusting bolt (31) and the positioning clamping plate (27).

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