技术领域technical field
本发明涉及一种双虎克铰对接装置，具体涉及一种机械臂柔顺对接装置。The invention relates to a double Hookee hinge docking device, in particular to a compliant docking device for a mechanical arm.
背景技术Background technique
机械臂在工作过程中，不可避免地会涉及到不同机构的对接问题。对接机构不仅在地面上有着广泛的应用，在航天失重环境下也起着重要作用。刚性对接技术对机械臂的精度要求很高，且由于接触力等原因，极易造成对接机构的损伤。现有的对接装置要求机械臂精度高，对接功能通过对机械臂采取主动控制实现，控制复杂且机构接触力较大，不易保护对接装置。During the working process of the robotic arm, it will inevitably involve the docking problem of different mechanisms. The docking mechanism not only has a wide range of applications on the ground, but also plays an important role in the weightless environment of spaceflight. The rigid docking technology requires high precision of the robotic arm, and due to contact force and other reasons, it is easy to cause damage to the docking mechanism. The existing docking device requires high precision of the robotic arm, and the docking function is realized by actively controlling the robotic arm. The control is complex and the contact force of the mechanism is relatively large, so it is difficult to protect the docking device.
发明内容Contents of the invention
本发明的目的是为了解决现有的对接装置存在控制复杂且机构接触力较大，不易保护对接装置的问题，进而提供一种基于双虎克铰机构的机械臂柔顺对接装置。The purpose of the present invention is to solve the problem that the existing docking device has complex control and large mechanism contact force, which makes it difficult to protect the docking device, and further provides a compliant docking device for mechanical arms based on a double Hooke hinge mechanism.
本发明的技术方案是：一种基于双虎克铰机构的机械臂柔顺对接装置包括机械臂末端执行器和末端执行器存放装置，机械臂末端执行器安装在末端执行器存放装置的上端，The technical solution of the present invention is: a compliant docking device for a mechanical arm based on a double Hooke hinge mechanism includes an end effector of the mechanical arm and an end effector storage device, the end effector of the mechanical arm is installed on the upper end of the end effector storage device,
机械臂末端执行器包括第一连接件、第一十字轴、内环、外环和工具接头，第一连接件的上端通过连接孔与外置机械臂连接，第一十字轴安装在工具接头的上部，内环安装在工具接头的上端内侧壁，外环安装在工具接头的上端外侧壁，第一连接件的下端通过外环与工具接头连接；The end effector of the mechanical arm includes a first connecting piece, a first cross shaft, an inner ring, an outer ring and a tool joint. The upper end of the first connecting piece is connected to the external mechanical arm through a connecting hole, and the first cross shaft is installed on the In the upper part, the inner ring is installed on the upper inner side wall of the tool joint, the outer ring is installed on the upper outer side wall of the tool joint, and the lower end of the first connector is connected to the tool joint through the outer ring;
末端执行器存放装置包括虎克铰机构和缓冲复位机构，虎克铰机构安装在缓冲复位机构上，The end effector storage device includes a Hooke hinge mechanism and a buffer reset mechanism, the Hooke hinge mechanism is installed on the buffer reset mechanism,
虎克铰机构包括连接座、第二十字轴、两个第一销钉和十字轴座，连接座与工具接头的下端连接，十字轴座安装在连接座的下端，第二十字轴通过两个第一销钉安装在十字轴座的上端，The Hooke hinge mechanism includes a connecting seat, a second cross shaft, two first pins and a cross shaft seat. A pin is installed on the upper end of the cross shaft seat,
缓冲复位机构包括缓冲弹簧、复位弹簧和连接底座，连接底座的外侧壁上开设多个移动槽，连接底座通过安装在多个移动槽内的第二连接件与十字轴座的下部连接，缓冲弹簧安装在连接底座内，且缓冲弹簧的上端与十字轴座的下端相抵，复位弹簧套装在十字轴座的外侧壁和连接底座的外侧壁上。The buffer reset mechanism includes a buffer spring, a return spring and a connecting base. A plurality of moving slots are provided on the outer wall of the connecting base. The connecting base is connected to the lower part of the cross shaft seat through the second connecting piece installed in the plurality of moving slots. The buffer spring It is installed in the connection base, and the upper end of the buffer spring is against the lower end of the cross shaft seat, and the return spring is sleeved on the outer side wall of the cross shaft seat and the outer side wall of the connection base.
本发明与现有技术相比具有以下效果：1.本发明主体采用缓冲复位机构和虎克铰机构，实现末端执行器存放装置与末端执行器的有容差对接和安全存放。本发明对接两端均为虎克铰机构、零件数目少，同现有装置相比结构简单，装置可以实现有容差对接，对接接触力小，存放过程安全、可靠，装置中没有控制元件，制造成本低。特别适合机械臂末端执行器需频繁更换且不便直接监测的场合，其对接原理同样适用于空间中机械结构的对接。Compared with the prior art, the present invention has the following effects: 1. The main body of the present invention adopts a buffer reset mechanism and a Hooke hinge mechanism to realize tolerance docking and safe storage of the end effector storage device and the end effector. Both ends of the butt joint of the present invention are Hooke hinge mechanisms, the number of parts is small, and the structure is simple compared with the existing device. Low manufacturing cost. It is especially suitable for occasions where the end effector of the robotic arm needs to be replaced frequently and it is inconvenient to monitor directly. Its docking principle is also applicable to the docking of mechanical structures in space.
机械臂末端执行器和其存放装置均由虎克铰机构传递运动，构成双虎克铰对接结构。两者进行对接时，由于虎克铰机构结构的自适应性，对接末端可以小角度转动，顺利完成对接任务，同时减小对接接触力，保护作业装置。The end effector of the mechanical arm and its storage device are both transmitted by the Hooke hinge mechanism, forming a double Hooke hinge docking structure. When the two are docked, due to the adaptability of the structure of the Hooke hinge mechanism, the docking end can be rotated at a small angle to successfully complete the docking task, while reducing the contact force of the docking and protecting the operating device.
附图说明Description of drawings
图1是本发明的整体结构示意图；图2是本发明完成对接后剖面示意图；图3是末端执行器结构示意图；图4是末端执行器去除连接件的结构示意图；图5是末端执行器存放装置结构示意图；图6是末端执行器存放装置剖视图；图7是十字轴的机构示意图。Fig. 1 is a schematic view of the overall structure of the present invention; Fig. 2 is a schematic sectional view of the present invention after docking; Fig. 3 is a schematic view of the structure of the end effector; Fig. 4 is a schematic view of the structure of the end effector removing the connector; Fig. 5 is the storage of the end effector Schematic diagram of the device structure; Figure 6 is a cross-sectional view of the end effector storage device; Figure 7 is a schematic diagram of the mechanism of the cross shaft.
具体实施方式detailed description
具体实施方式一：结合1至图7说明本实施方式，本实施方式的一种基于双虎克铰机构的机械臂柔顺对接装置包括机械臂末端执行器和末端执行器存放装置，机械臂末端执行器安装在末端执行器存放装置的上端，Specific Embodiment 1: This embodiment is described in conjunction with 1 to FIG. 7. A compliant docking device for a robotic arm based on a double Hooke hinge mechanism in this embodiment includes an end effector of the robotic arm and a storage device for the end effector. The device is installed on the upper end of the end effector storage device,
机械臂末端执行器包括第一连接件1、第一十字轴2、内环3、外环4和工具接头5，第一连接件1的上端通过连接孔1-1与外置机械臂连接，第一十字轴2安装在工具接头5的上部，内环3安装在工具接头5的上端内侧壁，外环4安装在工具接头5的上端外侧壁，第一连接件1的下端通过外环4与工具接头5连接；The end effector of the mechanical arm includes a first connecting piece 1, a first cross shaft 2, an inner ring 3, an outer ring 4 and a tool joint 5. The upper end of the first connecting piece 1 is connected to the external mechanical arm through a connecting hole 1-1. The first cross shaft 2 is installed on the upper part of the tool joint 5, the inner ring 3 is installed on the inner side wall of the upper end of the tool joint 5, the outer ring 4 is installed on the upper outer side wall of the tool joint 5, and the lower end of the first connector 1 passes through the outer ring 4 Connect with the tool joint 5;
末端执行器存放装置包括虎克铰机构和缓冲复位机构，虎克铰机构安装在缓冲复位机构上，The end effector storage device includes a Hooke hinge mechanism and a buffer reset mechanism, the Hooke hinge mechanism is installed on the buffer reset mechanism,
虎克铰机构包括连接座8、第二十字轴10、两个第一销钉11和十字轴座12，连接座8与工具接头5的下端连接，十字轴座12安装在连接座8的下端，第二十字轴10通过两个第一销钉11安装在十字轴座12的上端，The Hooke hinge mechanism includes a connecting seat 8, a second cross shaft 10, two first pins 11 and a cross shaft seat 12, the connecting seat 8 is connected to the lower end of the tool joint 5, and the cross shaft seat 12 is installed on the lower end of the connecting seat 8, The second cross shaft 10 is installed on the upper end of the cross shaft seat 12 through two first pins 11,
缓冲复位机构包括缓冲弹簧14、复位弹簧15和连接底座16，连接底座16的外侧壁上开设多个移动槽16-2，连接底座16通过安装在多个移动槽16-2内的第二连接件与十字轴座12的下部连接，缓冲弹簧14安装在连接底座16内，且缓冲弹簧14的上端与十字轴座12的下端相抵，复位弹簧15套装在十字轴座12的外侧壁和连接底座16的外侧壁上。Buffer reset mechanism comprises buffer spring 14, back-moving spring 15 and connecting base 16, offers a plurality of mobile slots 16-2 on the outer wall of connecting base 16, and connecting base 16 is connected by the second connection that is installed in a plurality of moving slots 16-2. The part is connected with the lower part of the cross shaft seat 12, the buffer spring 14 is installed in the connection base 16, and the upper end of the buffer spring 14 is against the lower end of the cross shaft seat 12, and the return spring 15 is set on the outer side wall of the cross shaft seat 12 and the connection base 16 on the outer wall.
所述机械臂末端执行器的第一连接件1一端通过连接孔1-1与机械臂连接，另一端利用螺钉通过通孔4-1与十字轴外环4连接。One end of the first connecting piece 1 of the end effector of the mechanical arm is connected to the mechanical arm through the connecting hole 1-1, and the other end is connected to the outer ring 4 of the cross shaft through the through hole 4-1 by screws.
具体实施方式二：结合图1至图4说明本实施方式，本实施方式的工具接头5包括立柱和三个连接臂，连接臂中可以放置不同的工具，实现不同功能。三个连接臂均布连接在立柱的下端，三个连接臂交汇处的底端中心位置处设有球面凹槽5-2，每个连接臂的两侧端面上均设有一个凹槽5-1。凹槽5-2可以实现与连接座8顶部半球凸起8-1的配合，实现末端执行器的定位；机械臂与末端执行器脱离时，凹槽5-1可以实现与锁紧套6的卡紧，方便机械臂与末端执行器脱离。其它组成和连接关系与具体实施方式一相同。Specific Embodiment 2: This embodiment will be described with reference to FIG. 1 to FIG. 4 . The tool joint 5 of this embodiment includes a column and three connecting arms, and different tools can be placed in the connecting arms to realize different functions. The three connecting arms are evenly connected to the lower end of the column, a spherical groove 5-2 is provided at the center of the bottom end where the three connecting arms meet, and a groove 5-2 is provided on both sides of each connecting arm. 1. The groove 5-2 can realize the cooperation with the hemispherical protrusion 8-1 on the top of the connecting seat 8 to realize the positioning of the end effector; Clamp tightly to facilitate the disengagement of the robotic arm from the end effector. Other compositions and connections are the same as in the first embodiment.
具体实施方式三：结合图5说明本实施方式，本实施方式的虎克铰机构还包括3个锁紧套6和3个第一螺钉7，3个第一螺钉7安装在连接座8上，每个第一螺钉7上套装有一个锁紧套6。第一螺钉7将与之连接的锁紧套6紧固在连接座8上。机械臂与末端执行器脱离时，锁紧套6可以实现与凹槽5-1的卡紧，方便机械臂与末端执行器脱离。其它组成和连接关系与具体实施方式二相同。Specific Embodiment Three: This embodiment is described in conjunction with FIG. 5. The Hooke hinge mechanism of this embodiment also includes three locking sleeves 6 and three first screws 7, and the three first screws 7 are installed on the connecting seat 8. A locking sleeve 6 is sleeved on each first screw 7 . The first screw 7 fastens the locking sleeve 6 connected thereto on the connecting base 8 . When the mechanical arm is disengaged from the end effector, the locking sleeve 6 can be clamped to the groove 5-1 to facilitate the disengagement of the mechanical arm from the end effector. Other compositions and connections are the same as those in the second embodiment.
具体实施方式四：结合图5说明本实施方式，本实施方式的虎克铰机构还包括两个第二螺钉9，两个第二螺钉9安装在第二十字轴10上，起着连接连接座8和第二十字轴10的作用。其它组成和连接关系与具体实施方式二或三相同。Specific Embodiment 4: This embodiment is described in conjunction with FIG. 5 . The Hooke hinge mechanism of this embodiment also includes two second screws 9, and the two second screws 9 are installed on the second cross shaft 10 to serve as a connecting seat. 8 and the role of the second cross shaft 10. Other compositions and connections are the same as those in Embodiment 2 or 3.
具体实施方式五：结合图5说明本实施方式，本实施方式的移动槽16-2为长方形移动槽。其它组成和连接关系与具体实施方式四相同。Embodiment 5: This embodiment is described with reference to FIG. 5 . The moving groove 16 - 2 of this embodiment is a rectangular moving groove. Other compositions and connections are the same as in Embodiment 4.
具体实施方式六：结合图6说明本实施方式，本实施方式的连接座8的上端带有半球形凸起8-1。半球凸起8-1可以与凹槽5-2实现球面配合，实现末端执行器的轴向定位。其它组成和连接关系与具体实施方式五相同。Embodiment 6: This embodiment is described with reference to FIG. 6 . The upper end of the connection seat 8 of this embodiment has a hemispherical protrusion 8 - 1 . The hemispherical protrusion 8-1 can realize spherical cooperation with the groove 5-2, so as to realize the axial positioning of the end effector. Other compositions and connections are the same as those in Embodiment 5.
所述虎克铰机构的连接座8上端有3个圆孔，分别安装3个内六角圆柱头第一螺钉7，3个内六角圆柱头第一螺钉7外部分别套有锁紧套6。连接座8顶部半球凸起8-1与工具接口5的底部球面凹槽5-2构成球面副。实现工具接口5接触工具连接座8继而顺时针旋转时，锁紧套6与工具接口5的侧面凹槽5-1卡紧。There are 3 round holes at the upper end of the connecting seat 8 of the Hooke hinge mechanism, and 3 first hexagon socket head screws 7 are respectively installed, and the outsides of the 3 hexagon socket head first screws 7 are respectively covered with locking sleeves 6 . The hemispherical protrusion 8-1 on the top of the connection seat 8 and the bottom spherical groove 5-2 of the tool interface 5 form a spherical pair. When the tool interface 5 contacts the tool connecting seat 8 and then rotates clockwise, the locking sleeve 6 is locked with the side groove 5 - 1 of the tool interface 5 .
所述缓冲复位机构的连接底座16侧面均匀分布4个槽16-2，通过内六角圆柱头螺钉将连接底座16与十字轴座12固定。工具连接底座16通过螺钉固定于地面，实现虎克铰机构只能浮动而不会圆周转动。Four grooves 16-2 are evenly distributed on the side of the connection base 16 of the buffer reset mechanism, and the connection base 16 and the cross shaft seat 12 are fixed by hexagon socket head screws. The tool connection base 16 is fixed on the ground by screws, so that the Hooke hinge mechanism can only float and not rotate in a circle.
所述末端执行器内的十字轴2两端通过两个内六角圆柱头螺钉实现与十字轴外环4的配合，另外两端插入销钉与十字轴内环3相配合，构成虎克铰机构。The two ends of the cross shaft 2 in the end effector cooperate with the cross shaft outer ring 4 through two hexagon socket head screws, and the other two ends insert pins to cooperate with the cross shaft inner ring 3 to form a Hooke hinge mechanism.
所述末端执行器存放装置内部的虎克铰机构是十字轴10两端通过两个内六角圆柱头螺钉9实现其与工具连接座的配合。另外两端插入销钉11，实现其与十字轴座12的配合，构成虎克铰机构。The Hooke hinge mechanism inside the end effector storage device is that the two ends of the cross shaft 10 realize the cooperation with the tool connecting seat through two hexagon socket head cap screws 9 . In addition, the two ends are inserted into the pin 11 to realize its cooperation with the cross shaft seat 12 to form a Hooke hinge mechanism.
所述缓冲复位机构的缓冲弹簧14上端与十字轴座12接触，下端与工具连接底座16接触，实现十字轴座的上下浮动，保护末端执行器不受损伤。所述复位弹簧15上端与工具连接座8接触，下端与工具连接底座16接触，实现当末端执行器离开时，对工具连接座的复位，方便末端执行器下次的存放。所述工具连接底座底部外围有8和圆孔16-1，使其方便安装、定位于地面上。The upper end of the buffer spring 14 of the buffer reset mechanism is in contact with the cross shaft seat 12, and the lower end is in contact with the tool connection base 16, so as to realize the up and down floating of the cross shaft seat and protect the end effector from damage. The upper end of the return spring 15 is in contact with the tool connection seat 8, and the lower end is in contact with the tool connection base 16, so as to realize the reset of the tool connection seat when the end effector leaves, and facilitate the next storage of the end effector. There are 8 and round holes 16-1 on the bottom periphery of the tool connection base, making it easy to install and locate on the ground.
本发明是一种利用双虎克铰机构为主，辅以双弹簧机构，可以对机械臂末端执行器实现大容差接收并平稳存放的装置，适合机械臂末端执行器需频繁更换且不便直接监测的场合，其对接原理同样适用于空间中机械结构的对接。The present invention is a device that mainly utilizes a double Hookee hinge mechanism, supplemented by a double spring mechanism, and can receive and store the end effector of the mechanical arm with a large tolerance. It is suitable for frequent replacement of the end effector of the mechanical arm and is inconvenient. In the case of monitoring, the docking principle is also applicable to the docking of mechanical structures in space.
末端执行器存放装置内部有虎克铰机构、复位缓冲机构。其中的虎克铰机构和末端执行器中虎克铰机构构成双虎克铰对接装置，复位缓冲机构中，缓冲弹簧实现存放装置的浮动，减小对接接触力；复位弹簧实现末端执行器轴线竖直，便于机械臂下次抓取该执行器。The end effector storage device has a Hooke hinge mechanism and a reset buffer mechanism inside. Among them, the Hooke hinge mechanism and the Hooke hinge mechanism in the end effector constitute a double Hooke hinge docking device. In the reset buffer mechanism, the buffer spring realizes the floating of the storage device and reduces the butt contact force; the return spring realizes the vertical axis of the end effector. Straight, so that the robot arm can grab the actuator next time.
结合图1、图2、图3、图4、图5、图6和图7说明本发明的原理。存放末端执行器时，当机械臂末端执行器送至工具连接座8的上方并与工具连接座8发生接触时，由于两个虎克铰机构的存在，工具连接座8将自适应性调整位姿，以方便机械臂末端执行器中工具接口5的侧面凹槽5-1与工具连接座8上的内六角圆柱头螺钉卡紧。工具连接底座16的4个槽16-2使得十字轴座12只能上下浮动，防止机械臂末端执行器水平方向的转动引起十字轴座12的水平转动。复位弹簧15可调整工具连接座8的形态，缓冲弹簧14上下浮动，实现对于机械臂末端执行器的缓冲，避免机械臂末端执行器因受到冲击而产生损伤。十字轴10两端与工具连接座8相配合，另外两端插入销钉，构成虎克铰机构，实现存放装置小角度自适应偏转。当机械臂末端执行器离开时，复位弹簧15可以扶正工具连接座8，使末端执行器轴线竖直，方便机械臂再次抓取该执行器。The principle of the present invention is described in conjunction with FIG. 1 , FIG. 2 , FIG. 3 , FIG. 4 , FIG. 5 , FIG. 6 and FIG. 7 . When storing the end effector, when the end effector of the mechanical arm is sent to the top of the tool connecting seat 8 and comes into contact with the tool connecting seat 8, due to the existence of the two Hooke hinge mechanisms, the tool connecting seat 8 will adaptively adjust its position. position, so that the side groove 5-1 of the tool interface 5 in the end effector of the manipulator is clamped with the hexagon socket head screw on the tool connection seat 8. The four grooves 16-2 of the tool connection base 16 make the cross shaft base 12 only float up and down, preventing the horizontal rotation of the end effector of the mechanical arm from causing the cross shaft base 12 to rotate horizontally. The return spring 15 can adjust the shape of the tool connecting seat 8, and the buffer spring 14 floats up and down to realize buffering for the end effector of the mechanical arm and avoid damage to the end effector of the mechanical arm due to impact. The two ends of the cross shaft 10 cooperate with the tool connecting seat 8, and the other two ends are inserted with pins to form a Hooke hinge mechanism to realize the small-angle self-adaptive deflection of the storage device. When the end effector of the mechanical arm leaves, the return spring 15 can straighten the tool connection seat 8 to make the axis of the end effector vertical, so that the mechanical arm can grab the actuator again.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510563632.3ACN105058373B (en) | 2015-09-07 | 2015-09-07 | A Compliant Docking Device for Robotic Arm Based on Double Hooke Hinge Mechanism |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510563632.3ACN105058373B (en) | 2015-09-07 | 2015-09-07 | A Compliant Docking Device for Robotic Arm Based on Double Hooke Hinge Mechanism |
| Publication Number | Publication Date |
|---|---|
| CN105058373A CN105058373A (en) | 2015-11-18 |
| CN105058373Btrue CN105058373B (en) | 2016-10-19 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510563632.3AActiveCN105058373B (en) | 2015-09-07 | 2015-09-07 | A Compliant Docking Device for Robotic Arm Based on Double Hooke Hinge Mechanism |
| Country | Link |
|---|---|
| CN (1) | CN105058373B (en) |
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| CN105058373B (en) | A Compliant Docking Device for Robotic Arm Based on Double Hooke Hinge Mechanism | |
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