CN208663853U - A kind of adaptive mechanical gripper - Google Patents
A kind of adaptive mechanical gripper Download PDFInfo
- Publication number
- CN208663853U CN208663853U CN201821182722.3U CN201821182722U CN208663853U CN 208663853 U CN208663853 U CN 208663853U CN 201821182722 U CN201821182722 U CN 201821182722U CN 208663853 U CN208663853 U CN 208663853U
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- CN
- China
- Prior art keywords
- connecting rod
- slide bar
- actuator
- pedestal
- mechanical gripper
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Abstract
The utility model discloses a kind of adaptive mechanical gripper, including pedestal, pedestal is equipped with the driver with drive shaft, it further include driving assembly, the driving component include transmission connection the first actuator together, along drive shaft axial movement the second actuator, be laid with several pawl finger assemblies around drive shaft annular on pedestal；The pawl finger assembly: further including the displacement sensor for incuding relative displacement between first connecting rod and slide bar including elastomeric element, first connecting rod, slide bar, second connecting rod component；Drive shaft is connect with the first actuator, and the second actuator is connect with second connecting rod component with shaft.When clamping, slide bar can move on first connecting rod, can thus allow the physical length of different pawl finger assemblies different, this can the irregular workpiece of clamping shape well.The utility model is for the grasping body in robot industry application scenarios, in the flexible crawl scene in robot human-computer interaction.
Description
Technical field
The utility model relates to robot field, in particular to a kind of adaptive mechanical gripper.
Background technique
Due to the raising of human cost, more and more factories all replace manpower with robot, realize the transhipment of workpiece, outside
The workpiece grabbing of shape rule is easy, but workpiece irregular for some shapes, needs expensive multi-finger clever hand, together
When need the feedback of complicated crawl path planning and power and visual information to grab to realize.For the robot for thering is closed loop to constrain
Crawl task, for example, both hands closed loop grab hard objects, due to the presence of operation precision error, gripper be easy to generate it is stuck,
Machinery is damaged, or even burns out the motor of robot.Under the background of this application, a kind of cheap, structure is simple, Ke Yishi
Workpiece complaisant grasping is answered, and allows the mechanical paw of workpiece Adaptive Attitude to have very actual application value when crawl,
Good realization rate is provided for both hands crawl and work piece operations.
Utility model content
Technical problem to be solved by the utility model is: providing a kind of mechanical paw of adaptive shape of product of energy.
The solution that the utility model solves its technical problem is:
A kind of adaptive mechanical gripper, including pedestal, pedestal are equipped with the driver with drive shaft, further include driving group
Part, the driving component include transmission connection the first actuator together, along drive shaft axial movement the second actuator,
Several pawl finger assemblies are laid with around drive shaft annular on pedestal；
The pawl finger assembly:
Including elastomeric element, from top to bottom the first connecting rod being connected in turn, the cunning being slidably connected with first connecting rod
Bar and the hinged second connecting rod component of slide bar, slide bar is arranged in parallel with first connecting rod, and pedestal is hinged with first connecting rod, bullet
The both ends of property component are connect with first connecting rod, slide bar respectively, further include for incuding relative displacement between first connecting rod and slide bar
Displacement sensor, displacement sensor is fixedly connected with first connecting rod or slide bar；
Drive shaft is connect with the first actuator, and the second actuator is connect with second connecting rod component with shaft.
As a further improvement of the foregoing solution, linear guide is equipped between first connecting rod and slide bar.
As a further improvement of the foregoing solution, pawl finger assembly: including two elastomeric elements, described two elastomeric element phases
Mutually it is arranged in a crossed manner.
As a further improvement of the foregoing solution, pawl finger assembly: including four elastomeric elements, every two elastomeric element is known as
One elastic force group, two elastomeric elements in the same elastic force group are mutually arranged in a crossed manner, and four elastomeric elements form two bullets
Power group, described two elastic force groups are symmetrically disposed in the two sides of slide bar respectively.
As a further improvement of the foregoing solution, the elastomeric element is spring.
As a further improvement of the foregoing solution, the driver is motor, and the first actuator is screw rod, the second driving
Part is feed screw nut, and the outside of the second actuator is connect with second connecting rod component with the shaft.
As a further improvement of the foregoing solution, second connecting rod component is fixed including the second connecting rod, with the second connecting rod
The finger bar of connection extended down, upside, the downside of the second connecting rod are connect with the downside of slide bar, the second actuator respectively；Refer to
The medial surface of bar is equipped with clamp area, and the clamp area is equipped with the flexible hand finger tip of the arch bridge shape made of soft material, soft
Property finger end in be equipped between strain bore or flexible hand finger tip and clamp area be equipped with strain bore, flexible hand finger tip be equipped with pressure biography
Sensor.
As a further improvement of the foregoing solution, institute's displacement sensors are slide rheostat, and slide rheostat is fixed on
On first connecting rod/slide bar, the mobile terminal of slide rheostat is accordingly connect with slide bar/first connecting rod.
As a further improvement of the foregoing solution, the utility model further includes pedestal, and the pedestal is connect with pedestal.
The beneficial effects of the utility model are: a kind of adaptive mechanical gripper, including pedestal, pedestal, which is equipped with, has driving
The driver of axis, further includes driving assembly, and the driving component includes transmission connection the first actuator together, along drive shaft
Axial movement the second actuator, be laid with several pawl finger assemblies around drive shaft annular on pedestal；The pawl finger assembly: packet
It includes elastomeric element, the first connecting rod that is connected in turn from top to bottom, the slide bar being slidably connected with first connecting rod, cut with scissors with slide bar
The second connecting rod component connect, slide bar is arranged in parallel with first connecting rod, and pedestal is hinged with first connecting rod, the both ends of elastomeric element
It is connect respectively with first connecting rod, slide bar, further includes the displacement sensor for incuding relative displacement between first connecting rod and slide bar,
Displacement sensor is fixedly connected with first connecting rod or slide bar；Drive shaft is connect with the first actuator, and the second actuator and second connects
Bar assembly is connected with shaft.When clamping, slide bar can move on first connecting rod, can thus allow the reality of different pawl finger assemblies
Length is different, this can the irregular workpiece of clamping shape well, and displacement sensor can obtain first connecting rod and slide bar it
Between displacement, and known to the elasticity modulus of elastomeric element, it is possible to calculate the big of chucking power by displacement well
It is small, and clip position can be accurately understood according to displacement, posture that workpiece is pressed from both sides it is whether correct, also can know that by folder work
The specific weight of part.The utility model is for the grasping body in robot industry application scenarios, in robot human-computer interaction
In flexible crawl scene.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described.Obviously, described attached drawing is a part of the embodiment of the utility model, rather than complete
Portion's embodiment, those skilled in the art without creative efforts, can also be obtained according to these attached drawings it
His design scheme and attached drawing.
Fig. 1 is the structural upright schematic diagram of the utility model embodiment；
Fig. 2 is the control system electric control principle schematic diagram of the utility model embodiment.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to the design of the utility model, specific structure and generation
It clearly and completely describes, to be completely understood by the purpose of this utility model, feature and effect.Obviously, described embodiment
It is a part of the embodiment of the utility model, rather than whole embodiments, it is based on the embodiments of the present invention, the skill of this field
Art personnel other embodiments obtained without creative efforts belong to the model of the utility model protection
It encloses.In addition, all connection/connection relationships being previously mentioned in text, not singly refer to that component directly connects, and referring to can be according to specific reality
Situation is applied, by adding or reducing couple auxiliary, Lai Zucheng more preferably coupling structure.Each technology in the utility model is special
Sign, can be with combination of interactions under the premise of not conflicting conflict.
Referring to Figures 1 and 2, this is the embodiments of the present invention, specifically:
A kind of adaptive mechanical gripper, including pedestal 2, pedestal 2 are equipped with the driver with drive shaft, further include driving
Component, the driving component include transmission connection the first actuator 41 together, second drive along the axial movement of drive shaft
Moving part 42 is laid with several pawl finger assemblies around drive shaft annular on pedestal 2；The pawl finger assembly: including elastomeric element, from upper
The first connecting rod 31 that is connected in turn under, the slide bar 32 being slidably connected with first connecting rod 31, hinged with slide bar second
Link assembly, slide bar 32 and first connecting rod 31 are arranged in parallel, and pedestal 2 and first connecting rod 31 are hinged, the both ends of elastomeric element
It is connect respectively with first connecting rod 31, slide bar 32, further includes the position for incuding relative displacement between first connecting rod 31 and slide bar 32
Displacement sensor, displacement sensor are fixedly connected with first connecting rod 31 or slide bar 32；Drive shaft is connect with the first actuator 41, and second
Actuator 42 is connect with second connecting rod component with shaft.When clamping, slide bar can move on first connecting rod, can thus allow difference
Pawl finger assembly physical length it is different, this can the irregular workpiece of clamping shape well, and displacement sensor can obtain
Displacement between first connecting rod and slide bar, and known to the elasticity modulus of elastomeric element, it is possible to pass through displacement well
Calculate the size of chucking power, and clip position can be accurately understood according to displacement, posture that workpiece is pressed from both sides whether just
Really, it also can know that the specific weight of caught workpiece.When clamping, slide bar can move on first connecting rod, can clamp shape well
The irregular workpiece of shape, and opposite sliding distance is gone out by displacement sensor, and then can push away by pawl finger assembly configuration
Grip force is grabbed in calculating.
In order to reduce friction of motion, linear guide 33 is equipped between first connecting rod 31 and slide bar 32.
Pawl finger assembly: including two elastomeric elements, described two elastomeric elements are mutually arranged in a crossed manner.Such setting,
The variable quantity fluctuation of the elastic force being subject between first connecting rod 31 and slide bar 32 can be allowed smaller, reduce trigonometric function to elastic force
It influences, and the both direction between first connecting rod 31 and slide bar 32 can be allowed to move all enough elastic force.
In order to allow the two sides uniform force of pawl finger assembly, pawl finger assembly: including four elastomeric elements, every two elastomeric element
A referred to as elastic force group, two elastomeric elements in the same elastic force group are mutually arranged in a crossed manner, and four elastomeric elements form two
A elastic force group, described two elastic force groups are symmetrically disposed in the two sides of slide bar 32 respectively.
Elastomeric element described in the present embodiment is spring.
The embodiment of the present invention driver is stepping motor, and the first actuator 41 is screw rod, and the second actuator 42 is silk
The outside of stem nut, the second actuator 42 is connect with second connecting rod component with the shaft.Such stable drive, accurate positioning,
Grasp force is big.Certainly, the driver further includes the driving component that cylinder, hydraulic cylinder etc. have telescopic shaft, at this time telescopic shaft
For drive shaft, the first actuator is the secure component for connecting telescopic shaft and the second actuator.
The finger bar 35 extended down that second connecting rod component includes the second connecting rod 34, is fixedly connected with the second connecting rod,
Upside, the downside of second connecting rod 34 are connect with the downside of slide bar 32, the second actuator 42 respectively；Refer to and is set on the medial surface of bar 35
Have a clamp area, the clamp area be equipped with the arch bridge shape made of soft material flexible hand finger tip 5 or flexible hand finger tip 5 with
Strain bore 51 is equipped between clamp area, flexible hand finger tip 5 is equipped with pressure sensor.The setting of flexible hand finger tip 5, can be preferably
Workpiece of different shapes is adapted to, can be according to the difference with object contact point, adaptive generation deformation, finger tip generates stable
Grab posture.
For the ease of perceiving the present embodiment to the positive pressure of workpiece, refer to that the medial surface of bar 35 is equipped with clamp area, it is described
Clamp area is equipped with pressure sensor.
Displacement sensor includes tangent displacement sensor, further includes non-contact displacement transducer, described in the present embodiment
Displacement sensor is slide rheostat.Slide rheostat is fixed on first connecting rod/slide bar, and the mobile terminal of slide rheostat is corresponding
Ground is connect with slide bar/first connecting rod.
For the ease of connecting with robot, the present embodiment further includes pedestal 1, and the pedestal 1 is connect with pedestal 2.
The present embodiment further includes data processing system, and the downside of the second actuator 42 is equipped with palm of the hand camera 6, data processing
System is connect with palm of the hand camera 6, displacement sensor, pressure sensor, the monitoring range of palm of the hand camera 6 covering strain bore or
Flexible hand finger tip, the data processing system is based on referring to the deformation pattern data of bar 35, displacement sensor according to displacement calculation
The grip data of crawl force data, pressure sensor out, judgement are crawled profile, the shape, the information of pose of object.
Specifically, data processing system includes upper layer computer, single-chip microcontroller, controller, and mechanical paw passes through single-chip microcontroller and machine
The controller communication of the driving element of tool hand controls the movement of mechanical paw.It is collected simultaneously the location information of displacement sensor, and
The force information of fingertip force sensor.And these information are sent to last time computer, upper layer computer to these sensor informations at
Reason, analyzes the current configuration and finger tip stress condition of gripper.Meanwhile according to the image information of palm of the hand camera, it can be determined that
It is crawled the information such as profile, shape, the pose of object.
The better embodiment of the utility model is illustrated above, but the utility model be not limited to it is described
Embodiment, those skilled in the art can also make various equivalent changes without departing from the spirit of the present invention
Type or replacement, these equivalent variation or replacement are all included in the scope defined by the claims of the present application.
Claims (9)
1. a kind of adaptive mechanical gripper, including pedestal (2), pedestal (2) is equipped with the driver with drive shaft, and feature exists
In: it further include driving assembly, the driving component includes the first actuator (41), the axis along drive shaft of transmission connection together
To mobile the second actuator (42), several pawl finger assemblies are laid with around drive shaft annular on pedestal (2)；
The pawl finger assembly:
Including elastomeric element, from top to bottom the first connecting rod (31) that is connected in turn is slidably connected with first connecting rod (31)
Slide bar (32), with slide bar (32) hinged second connecting rod component, slide bar (32) and first connecting rod (31) are arranged in parallel, bottom
Hingedly, the both ends of elastomeric element are connect with first connecting rod (31), slide bar (32) respectively, further include for seat (2) and first connecting rod (31)
For incuding the displacement sensor of relative displacement between first connecting rod (31) and slide bar (32), displacement sensor and first connecting rod
(31) or slide bar (32) is fixedly connected；
Drive shaft is connect with the first actuator (41), and the second actuator (42) is connect with second connecting rod component with shaft.
2. a kind of adaptive mechanical gripper according to claim 1, it is characterised in that: first connecting rod (31) and slide bar (32)
Between be equipped with linear guide (33).
3. a kind of adaptive mechanical gripper according to claim 1, it is characterised in that: pawl finger assembly: including two elasticity
Component, described two elastomeric elements are mutually arranged in a crossed manner.
4. a kind of adaptive mechanical gripper according to claim 3, it is characterised in that: pawl finger assembly: including four elasticity
Component, every two elastomeric element are known as an elastic force group, and two elastomeric elements in the same elastic force group are mutually arranged in a crossed manner,
Four elastomeric elements form two elastic force groups, and described two elastic force groups are symmetrically disposed in the two sides of slide bar (32) respectively.
5. a kind of adaptive mechanical gripper according to claim 3 or 4, it is characterised in that: the elastomeric element is spring.
6. a kind of adaptive mechanical gripper according to claim 1, it is characterised in that: the driver is motor, the
One actuator (41) is screw rod, and the second actuator (42) is feed screw nut, the outside of the second actuator (42) and second connecting rod group
Part is connected with the shaft.
7. a kind of adaptive mechanical gripper according to claim 1, it is characterised in that: second connecting rod component includes the second company
Extension bar (34), the finger bar (35) extended down being fixedly connected with the second connecting rod (34), the upside of the second connecting rod (34), under
Side is connect with the downside of slide bar (32), the second actuator (42) respectively；Refer to that the medial surface of bar (35) is equipped with clamp area, the folder
The flexible hand finger tip (5) that area is equipped with the arch bridge shape made of soft material is held, is equipped with strain bore (51) in flexible hand finger tip (5)
Or strain bore (51) are equipped between flexible hand finger tip (5) and clamp area, flexible hand finger tip (5) is equipped with pressure sensor.
8. a kind of adaptive mechanical gripper according to claim 1, it is characterised in that: institute's displacement sensors are that sliding becomes
Hinder device, slide rheostat is fixed on first connecting rod (31)/slide bar (32), the mobile terminal of slide rheostat accordingly with slide bar
(32)/first connecting rod (31) connection.
9. a kind of adaptive mechanical gripper according to claim 1, it is characterised in that: further include pedestal (1), the pedestal
(1) it is connect with pedestal (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821182722.3U CN208663853U (en) | 2018-07-24 | 2018-07-24 | A kind of adaptive mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821182722.3U CN208663853U (en) | 2018-07-24 | 2018-07-24 | A kind of adaptive mechanical gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208663853U true CN208663853U (en) | 2019-03-29 |
Family
ID=65829483
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821182722.3U Expired - Fee Related CN208663853U (en) | 2018-07-24 | 2018-07-24 | A kind of adaptive mechanical gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208663853U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108656147A (en) * | 2018-07-24 | 2018-10-16 | 佛山科学技术学院 | A kind of adaptive mechanical paw |
| CN112296994A (en) * | 2020-12-30 | 2021-02-02 | 新乡职业技术学院 | Multi-angle adjusting mechanical gripper |
-
2018
- 2018-07-24 CN CN201821182722.3U patent/CN208663853U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108656147A (en) * | 2018-07-24 | 2018-10-16 | 佛山科学技术学院 | A kind of adaptive mechanical paw |
| CN108656147B (en) * | 2018-07-24 | 2024-03-26 | 佛山科学技术学院 | Self-adaptive mechanical gripper |
| CN112296994A (en) * | 2020-12-30 | 2021-02-02 | 新乡职业技术学院 | Multi-angle adjusting mechanical gripper |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190329 Termination date: 20210724 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |