CN101284380A - Large multi-sensor integration electric claw - Google Patents

Large multi-sensor integration electric claw Download PDF

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Publication number
CN101284380A
CN101284380A CNA2008100378344A CN200810037834A CN101284380A CN 101284380 A CN101284380 A CN 101284380A CN A2008100378344 A CNA2008100378344 A CN A2008100378344A CN 200810037834 A CN200810037834 A CN 200810037834A CN 101284380 A CN101284380 A CN 101284380A
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CN
China
Prior art keywords
gear
finger assembly
paw
hand finger
sensor
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Granted
Application number
CNA2008100378344A
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Chinese (zh)
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CN100595041C (en
Inventor
袁建军
张伟军
胡斌
徐琰
薛林
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Shanghai Jiaotong University
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Shanghai Jiaotong University
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Priority to CN200810037834A priority Critical patent/CN100595041C/en
Publication of CN101284380A publication Critical patent/CN101284380A/en
Application granted granted Critical
Publication of CN100595041C publication Critical patent/CN100595041C/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

A large multi-sensor integrated electric gripper belongs to the technology field of machinery. A motor support, a joint part and a video camera are clamped between a lower plate and an upper plate, and the joint part is positioned on the geometrical center axis of the gripper; a first gear shaft, a second gear shaft and a third gear shaft are all connected between the lower plate and the upper plate; a decelerating motor is fixed on the motor support, a small bevel gear is arranged on the reduction motor, a big bevel gear and a pinion are coaxially fixed on the first gear shaft, a rack wheel and a first contra-rotating gear are coaxially fixed on the second gear shaft and a second contra-rotating gear is fixed on the third gear shaft. A right finger component and a left finger component are connected between the lower plate and the upper plate; the gripper is covered by an outer covering at the periphery outside; a multi-sensor system is integrated in the gripper mechanism. The gripper is capable of providing a positive pressure of 1685N at the finger tip of the gripper, a relative switching speed of the two finger tips at 74mm/s and a switching range of 300mm, and is widely applied to various industrial fields.

Description

Large multi-sensor integration electric claw
Technical field
What the present invention relates to is a kind of device of field of mechanical technique, specifically, is the integrated paw of a kind of large multi-sensor.
Background technology
Paw is the especially very important tool terminal of industrial machinery arm technical field of robot.Mechanical arm grasps different objects by using the different demand of various types of paw replies, finishes corresponding operation.The electric claw of folding mode can continuous control, the kinematic accuracy height, has widely and uses.Be the complex job under the reply uncertain environment, paw is required to carry or be equipped with corresponding sensor-based system again with the perception external environmental information.Therefore, the indexs such as integrated level of load capacity, mechanism and sensor-based system are to judging paw performance quality, determining that the paw application space is extremely important.
Through the literature search of prior art is found, the Granted publication of Mei Tao etc. number is rotated the paw that cooperates for proposing a kind of reverse-flighted screw that adopts in the Chinese invention patent of CN1170659C " a kind of multiple sensor robot claw " with the pair of finger of being with nut.The nut-screw that this paw uses the special pitch of M8 changes the rotation of DC servo motor the relative straight line opening and closing movement of pair of finger into, and its mechanism design parameter is that maximum is stepped up power 854N, and finger folding speed is 21mm/s.The narration multisensor is by integrated design and be integrated among the paw in this invention.The weak point of this invention is: (1) though the mechanism that uses nut-screw to cooperate provides the mechanical self-latching ability, the big efficient that rubs is low; (2) finger structure is short, can only grasp special objects such as similar I-steel, and versatility is poor; If design longer structure finger, then integral rigidity reduces rapidly; (3) only the narration explanation is equipped with multisensor, does not point out concrete installing space and information such as installment state, numbering, can't explain how to carry out integrated design and integrated.(4) only rely on the displacement transducer of increment type traying principle, the absolute location information that can't obtain to point, can't measuring workpieces in the size of clamping direction.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, propose a kind of large multi-sensor integration electric claw.The present invention has that compact conformation, efficient height, mechanism and sensor-based system integrated level height, load capacity are big, finger tips folding speed height, folding scope are big, grasp advantages such as applicability is strong, can be applied to various industrial circles widely, be particluarly suitable under the catastrophe risk environment human inaccessible article such as for example explosive, chemical substance etc. being carried out grasping manipulation.
The present invention is achieved through the following technical solutions, the present invention includes: reducing motor, electric machine support, flat board, upper flat plate, adapter piece, cone pinion, large bevel gear, pinion, gear wheel, first pair change gear, the second pair of commentaries on classics gear, first gear shaft, second gear shaft, the 3rd gear shaft, right hand finger assembly, left hand finger assembly, enclosing cover, many sensor-based systems down.The camera support of following flat board, upper flat plate, electric machine support, adapter piece, many sensor-based systems is fixed together, electric machine support, adapter piece and camera support are clipped in down in the middle of flat board and the upper flat plate, adapter piece is on how much axis of paw, is the element that paw is connected with external equipment.First gear shaft, second gear shaft, the 3rd gear shaft all adopt the pin mode to be connected down between flat board and the upper flat plate, and be free to rotate.Reducing motor is fixed on the electric machine support.Cone pinion is installed on the output shaft of reducing motor, and large bevel gear and pinion are coaxial to be fixed on first gear shaft, and gear wheel and first pair change that gear is coaxial to be fixed on second gear shaft, and second pair is changeed gear and be fixed on the 3rd gear shaft.Right hand finger assembly and left hand finger assembly adopt the pin mode to be connected down between flat board and the upper flat plate.Outside enclosing cover covered on around the paw, the anti-foreign matter that is used for preventing dust entered.Many sensor-based systems utilize the inner space of paw mechanism, are integrated in the paw mechanism.
Described right hand finger assembly adopts identical with the left hand finger assembly but symmetrical structure comprises: non-complete gear wheel, finger framework, pin axle, finger tip.The finger framework adopts the pin mode to connect the pin axle, can rotate relatively freely.Because the paw folding is the crankmotion mode that is limited in scope, therefore non-complete gear wheel is got the fan-shaped processing acquisition of a part of complete gear, and non-complete gear wheel is fixed on the finger framework, and its axis is coaxial with the pin axle.Finger tip adopts the pin mode to be connected on the finger framework, can adjust angle according to the shape passivity self adaptation of being grabbed object.
The large bevel gear number of teeth is greater than the cone pinion number of teeth, keep external toothing each other, the gear wheel number of teeth is greater than the pinion number of teeth, keep external toothing each other, first pair of commentaries on classics gear and second pair of commentaries on classics gear are identical, keep external toothing each other, first pair of non-complete gear wheel of changeing gear and right hand finger assembly keeps external toothing, and second pair of non-complete gear wheel of changeing gear and left hand finger assembly keeps external toothing.The course of action of paw folding is: reducing motor rotates and drives cone pinion and large bevel gear engagement rotation, pinion and large bevel gear rotate synchronously and drive the gear wheel rotation, first pair is changeed gear and gear wheel and rotates synchronously and drive second pair and change the gear rotation, but second pair of rotational angular velocity that changes gear is opposite with first pair of identical direction of commentaries on classics gear, first pair of commentaries on classics gear and second pair of commentaries on classics gear drive right hand finger assembly and the rotation of left hand finger assembly respectively, thereby realize symmetrical opening and closing movement.
Described many sensor-based systems comprise: range sensor, close position limit switch, open position limit switch, encoder, current sensor, six proximity transducers, camera support, camera, electronics audiphone.Range sensor adopts laser mode, is installed between two parties on the following flat board in the headspace between right hand finger assembly and the left hand finger assembly, can detect the distance of paw dead ahead object distance paw, and range is 1 meter.Close the position limit switch and the open position limit switch all uses Hall element, be installed in down on the flat board respectively, detect the extreme angles position of right hand finger assembly or left hand finger assembly opening and closing movement by the noncontact mode, because the paw folding be symmetry action, so to close the action effect that the position limit switch is used for detecting the action of right hand finger assembly with the open position limit switch or is used for detecting the left hand finger assembly be identical.Encoder is coaxial to be installed on the reducing motor, uses the cooperation of relative value coded system to close the distance of position limit switch or the folding of open position limit switch measurement finger.Encoder can certainly use the absolute value mode directly to measure the distance of finger folding.Current sensor is for joining element outward, and the extracting of calculating on the finger by the current value of measuring reducing motor steps up power, provides possibility for carrying out power control.Six proximity transducers be distributed in paw up and down, right hand finger assembly, left hand finger assembly place, whether have object from the up and down all directions of paw close, perhaps close from the outside of right hand finger assembly and left hand finger assembly if detecting respectively.Camera, electronics audiphone all are fixed on the camera support for joining element outward, are used for collecting paw image and acoustic information on every side.
Described reducing motor adopts AC servo motor or DC servo motor.
The present invention uses the exposed gear design, compact mechanical structure, transmission efficiency height, train of mechanism integrated level height, big, the finger tips folding speed height of load capacity.If use nominal torque to be 69Nm, rated speed is the reducing motor of 25 commentaries on classics/per minutes, further slows down through exposed gear, is delivered to right hand finger assembly and left hand finger assembly place, can provide the normal pressure of 1685N at the finger tip place, the relative folding speed of two finger tips of 74mm/s.Right hand finger assembly and left hand finger assembly use long structural design, can realize the folding scope of 300mm.Therefore has very strong applicability.Another one characteristics of the present invention are to be integrated in the mechanical system carrying out many sensor-based systems that need use when catastrophe risk is operated, and provide concrete design and installation site, compact conformation, and rationally distributed, outward appearance is clean and tidy, designs complete.
Description of drawings
Fig. 1 is an internal structure schematic diagram of the present invention
Fig. 2 is structural framing figure of the present invention
Fig. 3 is an outside drawing of the present invention
Fig. 4 is right hand finger assembly and left hand finger assembly structural representation
Fig. 5 is many sensor-based systems of the present invention distribution schematic diagram
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is to be to implement under the prerequisite with the technical solution of the present invention; provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As Fig. 1, Fig. 2 and shown in Figure 3, present embodiment comprises: reducing motor 1, electric machine support 2, down dull and stereotyped 3, upper flat plate 4, adapter piece 5, cone pinion 6, large bevel gear 7, pinion 9, gear wheel 10, first pair change gear 11, second pair and change gear 14, first gear shaft 8, second gear shaft 12, the 3rd gear shaft 13, right hand finger assembly 15, left hand finger assembly 16, enclosing cover 17, many sensor-based systems 18.
Each parts interconnected relationship is: the camera support 38 of flat board 3, upper flat plate 4, electric machine support 2, adapter piece 5, many sensor-based systems 18 is fixed together down, electric machine support 2, adapter piece 5 and camera support 38 are clipped in down in the middle of flat board 3 and the upper flat plate 4, adapter piece 5 is on how much axis of paw, is the element that paw is connected with other machines people or mechanical arm.First gear shaft 8, second gear shaft 12, the 3rd gear shaft 13 all adopt the pin mode to be connected down between flat board 3 and the upper flat plate 4, and be free to rotate.Reducing motor 1 is fixed on the electric machine support 2.Cone pinion 6 is installed on the output shaft of reducing motor 1, large bevel gear 7 and pinion 9 coaxial being fixed on first gear shaft 8, gear wheel 10 and first pair of commentaries on classics gear 11 coaxial being fixed on second gear shaft 12, second pair is changeed gear 14 and is fixed on the 3rd gear shaft 13.Right hand finger assembly 15 and left hand finger assembly 16 adopt the pin mode to be connected down between flat board 3 and the upper flat plate 4.Outside enclosing cover 17 covered on around the paw, the anti-foreign matter that is used for preventing dust entered.Many sensor-based systems 18 utilize the inner space of paw mechanism, are integrated in the paw mechanism.
Described reducing motor 1 adopts AC servo motor or DC servo motor.
As shown in Figure 4, described right hand finger assembly 15 adopts identical with left hand finger assembly 16 but symmetrical structure comprises: non-complete gear wheel 19, finger framework 20, pin axle 21, finger tip 22.Finger framework 20 adopts the pin mode to connect pin axle 21, can rotate relatively freely, because the paw folding is the crankmotion mode that is limited in scope, so the fan-shaped processing of a part that non-complete gear wheel 19 is got complete gear obtains, the sixth that non-complete gear wheel 19 is a complete gear wheel in the present embodiment is fan-shaped, promptly 60 spend, and non-complete gear wheel is fixed on the finger framework 20, and its axis is coaxial with pin axle 21.Finger tip 22 adopts the pin mode to be connected on the finger framework 20, can adjust angle according to the shape passivity self adaptation of being grabbed object.
Described right hand finger assembly 15 and left hand finger assembly 16, its folding scope is 300mm.
Large bevel gear 7 numbers of teeth are greater than cone pinion 6 numbers of teeth, keep external toothing each other, gear wheel 10 numbers of teeth are greater than pinion 9 numbers of teeth, keep external toothing each other, first pair of commentaries on classics gear 11 and second pair of commentaries on classics gear 14 are identical, keep external toothing each other, first pair of non-complete gear wheel 19 of changeing gear 11 and right hand finger assembly 15 keeps external toothings, and second pair of non-complete gear wheel 19 of changeing gear 14 and left hand finger assembly 16 keeps external toothing.
As Fig. 3 and shown in Figure 5, described many sensor-based systems 18 comprise: range sensor 31, close position limit switch 32, open position limit switch 33, encoder 34,35, six proximity transducers 36 of current sensor, camera 37, camera support 38, electronics audiphone 39.Range sensor 31 adopts laser mode, is installed between two parties on following dull and stereotyped 3 in the headspace between right hand finger assembly 15 and the left hand finger assembly 16, can detect the distance of paw dead ahead object distance paw, and range is 1 meter.Close position limit switch 32 and open position limit switch 33 all uses Hall element, be installed in down respectively on dull and stereotyped 3, detect the extreme angles position of right hand finger assembly 15 or left hand finger assembly 16 opening and closing movements by the noncontact mode, because the paw folding is the symmetry action, therefore it is identical closing the action effect that position limit switch 32 is used for detecting the action of right hand finger assembly 15 with open position limit switch 33 or is used for detecting left hand finger assembly 16, and present embodiment does not specifically define.Encoder 34 coaxial being installed on the reducing motor 1 use the cooperation of relative value coded system to close position limit switch 32 or open position limit switch 33 is measured the distance of finger foldings.Encoder can certainly use the absolute value mode directly to measure the distance of finger folding.Current sensor 35 is for joining element outward, and the extracting of calculating on the finger by the current value of measuring reducing motor 1 steps up power, provides possibility for carrying out power control.Six proximity transducers 36 be distributed in paw up and down, right hand finger assembly 15, left hand finger assembly 16 places, whether have object from the up and down all directions of paw close, perhaps close from the outside of right hand finger assembly 15 and left hand finger assembly 16 if detecting respectively.Camera 37, electronics audiphone 39 all are fixed on the camera support 38 for joining element outward, are used for collecting paw image and acoustic information on every side.
The use of paw and the course of work are: the various information that many sensor-based systems 18 are collected the paw environment, personnel are controlled in guidance or control system is taked corresponding actions by manual or automated manner.After finding the operand object, make the operand object enter paw by other equipment and grasp scope.Control reducing motor 1 rotates, driving cone pinion 6 rotates with large bevel gear 7 engagements, pinion 9 rotates synchronously with large bevel gear 7 and drives gear wheel 10 rotations, first pair of commentaries on classics gear 11 rotates second pair of commentaries on classics of drive gear 14 synchronously with gear wheel 10 and rotates, but second pair of rotational angular velocity that changes gear 14 is opposite with first pair of commentaries on classics gear 11 identical direction, first pair of commentaries on classics gear 11 and second pair of commentaries on classics gear 14 drive right hand finger assembly 15 and 16 rotations of left hand finger assembly respectively, thereby realize symmetrical folding, finish grasping movement the operand object.The size of grasp force can be measured indirectly by the current sensor 35 of many sensor-based systems 18, guarantees reliable grasping movement.
The present invention adopts the reducing motor of servo mode and exposed gear mechanism to realize transmission, if use nominal torque to be 69Nm, rated speed is the reducing motor of 25 commentaries on classics/per minutes, further slow down through exposed gear, be delivered to right hand finger assembly and left hand finger assembly place, can provide the normal pressure of 1685N at the finger tip place, the relative folding speed of two finger tips of 74mm/s; Right hand finger assembly and the identical left-right symmetry of left hand finger assembly structure adopt long structural design, can realize the folding scope of 300mm; Be integrated in the mechanical system carrying out the many sensor-based systems such as range sensor, proximity transducer, current sensor, camera, electronics audiphone that comprise that need use when catastrophe risk is operated.The present invention has compact conformation, design is complete, rationally distributed, efficient is high, mechanism and sensor-based system integrated level height, load capacity are big, finger tips folding speed height, folding scope are big, grasp advantages such as applicability is strong, can be applied to various industrial circles widely, be particluarly suitable under the catastrophe risk environment human inaccessible article such as for example explosive, chemical substance etc. being carried out grasping manipulation.

Claims (9)

1, a kind of large multi-sensor integration electric claw, comprise: reducing motor, electric machine support, following dull and stereotyped, upper flat plate, adapter piece, cone pinion, large bevel gear, pinion, gear wheel, first pair is changeed gear, second pair is changeed gear, first gear shaft, second gear shaft, the 3rd gear shaft, right hand finger assembly, the left hand finger assembly, enclosing cover, many sensor-based systems, it is characterized in that, following dull and stereotyped, upper flat plate, electric machine support, adapter piece, the camera support of many sensor-based systems is fixed together, electric machine support, adapter piece and camera support are clipped in down in the middle of dull and stereotyped and the upper flat plate, adapter piece is on how much axis of paw, it is the element that paw is connected with external equipment, first gear shaft, second gear shaft, the 3rd gear shaft all adopts the pin mode to be connected down between flat board and the upper flat plate, free to rotate, reducing motor is fixed on the electric machine support, cone pinion is installed on the output shaft of reducing motor, large bevel gear and pinion are coaxial to be fixed on first gear shaft, gear wheel and first pair change that gear is coaxial to be fixed on second gear shaft, second pair is changeed gear and is fixed on the 3rd gear shaft, right hand finger assembly and left hand finger assembly adopt the pin mode to be connected down between flat board and the upper flat plate, outside enclosing cover covers on around the paw, many sensor-based systems utilize the inner space of paw mechanism, are integrated in the paw mechanism.
2, large multi-sensor integration electric claw according to claim 1 is characterized in that, described reducing motor adopts AC servo motor or DC servo motor.
3, large multi-sensor integration electric claw according to claim 1, it is characterized in that, the described large bevel gear number of teeth is greater than the cone pinion number of teeth, keep external toothing each other, the gear wheel number of teeth keeps external toothing each other greater than the pinion number of teeth, first pair of commentaries on classics gear and second pair of commentaries on classics gear are identical, keep external toothing each other, first pair of non-complete gear wheel of changeing gear and right hand finger assembly keeps external toothing, and second pair of non-complete gear wheel of changeing gear and left hand finger assembly keeps external toothing.
4, large multi-sensor integration electric claw according to claim 1, it is characterized in that, described right hand finger assembly adopts identical but symmetrical structure with the left hand finger assembly, comprise: non-complete gear wheel, the finger framework, the pin axle, finger tip, the finger framework adopts the pin mode to connect the pin axle, can rotate relatively freely, non-complete gear wheel is fixed on the finger framework, and its axis is coaxial with the pin axle, finger tip adopts the pin mode to be connected on the finger framework, and finger tip is adjusted angle according to the shape passivity self adaptation of being grabbed object.
5, large multi-sensor integration electric claw according to claim 4 is characterized in that, described non-complete gear wheel is the part of complete gear, determines the fan-shaped angular dimension of non-complete gear wheel according to the size of paw folding scope.
6, large multi-sensor integration electric claw according to claim 1 is characterized in that, described right hand finger assembly and left hand finger assembly, and its folding scope is 300mm.
7, large multi-sensor integration electric claw according to claim 1, it is characterized in that, described many sensor-based systems comprise: range sensor, close the position limit switch, the open position limit switch, encoder, current sensor, six proximity transducers, the camera support, camera, the electronics audiphone, range sensor is installed on the following flat board in the headspace between right hand finger assembly and the left hand finger assembly between two parties, close the position limit switch and the open position limit switch all uses Hall element, be installed in down on the flat board respectively, detect the extreme angles position of right hand finger assembly or left hand finger assembly opening and closing movement by the noncontact mode, the coaxial folding distance of measuring finger on the reducing motor that is installed in of encoder, current sensor is for joining element outward, provide possibility for carrying out the control of paw power, six proximity transducers are distributed in paw up and down, right hand finger assembly, left hand finger assembly place, whether detect respectively has object close from all directions up and down of paw, perhaps close from the outside of right hand finger assembly and left hand finger assembly, camera, the electronics audiphone is for joining element outward, all be fixed on the camera support, be used for collecting paw image and acoustic information on every side.
8, large multi-sensor integration electric claw according to claim 7 is characterized in that, described range sensor is a laser mode, detects the distance of paw dead ahead object distance paw, and range is 1 meter.
9, large multi-sensor integration electric claw according to claim 7, it is characterized in that, described encoder uses the cooperation of relative value coded system to close the position limit switch or the open position limit switch is measured the distance of finger folding, perhaps uses the absolute value mode directly to measure the distance of finger folding.
CN200810037834A 2008-05-22 2008-05-22 Large multi-sensor integrated electric claw Expired - Fee Related CN100595041C (en)

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CN102107432A (en) * 2009-12-25 2011-06-29 索尼公司 Grasping apparatus
CN102366953A (en) * 2011-09-30 2012-03-07 马经纬 Novel shaft measurement mechanical paw
CN102398269A (en) * 2010-09-15 2012-04-04 精工爱普生株式会社 Robot
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Cited By (52)

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Publication number Priority date Publication date Assignee Title
CN102107432A (en) * 2009-12-25 2011-06-29 索尼公司 Grasping apparatus
CN102398269A (en) * 2010-09-15 2012-04-04 精工爱普生株式会社 Robot
CN102398269B (en) * 2010-09-15 2016-01-20 精工爱普生株式会社 Robot
CN102366953A (en) * 2011-09-30 2012-03-07 马经纬 Novel shaft measurement mechanical paw
CN102431037A (en) * 2011-09-30 2012-05-02 孙衡 Bearing classification mechanical paw
CN102490071A (en) * 2011-12-13 2012-06-13 常州鑫鹏工具制造有限公司 Workpiece grasping device
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