CN104029210A - Two-finger mechanical claw and control method - Google Patents
Two-finger mechanical claw and control method Download PDFInfo
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- CN104029210A CN104029210A CN201410244103.2A CN201410244103A CN104029210A CN 104029210 A CN104029210 A CN 104029210A CN 201410244103 A CN201410244103 A CN 201410244103A CN 104029210 A CN104029210 A CN 104029210A
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Abstract
The invention relates to a two-finger mechanical claw device and a control method. A sliding groove-type two-finger clamping mechanism is connected with a linear motor through a connecting sleeve; the connecting sleeve is connected with a tight holding device; the tight holding device and the linear motor are respectively and fixedly connected with a supporting fixing frame; a pressure sensor is arranged on a claw of the two-finger clamping mechanism and is connected with a control device; the control device is connected with the clamping device and the linear motor, and is used for controlling the start and the stop of the linear motor. The two-finger mechanical claw is simple in structure and low in cost, and can meet the requirements of most ordinary enterprises. According to the control device of the claw, pressure signals are discontinuously transmitted to a controller by the finger end pressure sensor according to the set weight of a gripped object; when gripping force reaches a set value, the controller controls the linear motor to stop moving; meanwhile, the controller starts the tight holding device to prevent the claw from loosening and prevent the gripped object from falling. When the gripped object reaches a specified position, the controller triggers the tight holding device to be stopped, and meanwhile, the linear motor moves to drive the claw to loosen the clamping mechanism.
Description
Technical field
The present invention relates to a kind of manipulator, especially a kind of two finger gripper of manipulator device and control methods.
Background technology
The departments such as machine-building at present,, metallurgy, electronics, light industry and atomic energy need a kind of gripper of manipulator device.Can imitate some holding function of staff, in order to capture by setup program, to carry the automatic pilot of object or operation tool.Gripper of manipulator is for replacing people's heavy, repeated labor to realize mechanization and the automation of producing, and under hostile environment, operation is with protection personal safety.The present invention is a kind of simple in structure, and two finger gripper of manipulator devices with low cost, can meet the requirement of most ordinary enterprises.
Summary of the invention
The present invention will provide a kind of two finger gripper of manipulator device and control methods, and this apparatus structure is simple, and two finger gripper of manipulator devices with low cost, can meet the requirement of most ordinary enterprises.
For achieving the above object, technical scheme of the present invention is: a kind of two finger gripper of manipulator devices, comprise that chute-type two fingers step up mechanism, branch sleeve, enclasp device, linear electric motors, supporting and mounting bracket, control device, be characterized in: chute-type two fingers step up mechanism and connect linear electric motors by branch sleeve, branch sleeve is connected with enclasp device, enclasp device and linear electric motors are fixedly connected on respectively supporting and mounting bracket, the hand that slot type two fingers step up mechanism is grabbed and is provided with pressure sensor, pressure sensor is connected with control device, the pressure signal that captures object for hand is transferred to control device continuously, control device is connected with enclasp device, for controller, triggering enclasp device closes, control device is connected with linear electric motors, for controlling linear electric motors starting, stopping.
Chute-type two fingers step up between mechanism and supporting and mounting bracket by rotatable chain connection; Branch sleeve steps up mechanism with chute-type two fingers and is connected by the pin that can slide in chute.The hand that slot type two fingers step up mechanism is grabbed with crawled object touching position and is provided with the friction decorative pattern for increasing friction force.
The control method of two finger gripper of manipulator devices: when chute-type two fingers step up the hand crawl object of mechanism, pressure sensor is transferred to control device by the pressure signal obtaining continuously; When grasp force arrival setting value being detected, control device is controlled linear electric motors stop motion, with timed unit, starts enclasp device, makes to drive chute-type to step up mechanism's branch sleeve and keeps inactive state, prevent linear electric motors fault, the hand that power-off etc. bring is grabbed object loosening and that cause and is fallen; When capturing object, arrive assigned address, control device triggers enclasp device and cuts out, and linear electric motors drive chute-type two fingers to step up mechanism action simultaneously, and crawled object is put into assigned address.
The invention has the beneficial effects as follows: the present invention is simple in structure, with low cost, can meet the requirement of most ordinary enterprises.Hand is grabbed control device according to the weight of the crawl object setting, by finger tip pressure sensor, constantly pressure signal is transferred to controller, when grasp force arrival setting value being detected, controller is controlled linear electric motors stop motion, starts enclasp device prevent that hand from grabbing the loosening object that captures and falling with Time Controller.When crawl object arrives assigned address controller triggering enclasp device, close, the driving of linear electric motors motion simultaneously hand is grabbed to unclamp and is stepped up mechanism.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the top view of Fig. 1.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
As Fig. 1, shown in 2, a kind of two finger gripper of manipulator devices, comprise that chute-type two fingers step up mechanism 1, branch sleeve 2, enclasp device 3, linear electric motors 4, supporting and mounting bracket 5, pressure sensor 6, control device.
Chute-type two fingers step up mechanism 1 and connect linear electric motors 4 by branch sleeve 2, branch sleeve 2 is connected with enclasp device 3, enclasp device 3 and linear electric motors 4 are fixedly connected on respectively supporting and mounting bracket 5, the hand that slot type two fingers step up mechanism 1 is grabbed and is provided with pressure sensor, pressure sensor is connected with control device, the pressure signal that captures object for hand is transferred to control device continuously, and control device is connected with enclasp device 3, triggers enclasp device close for controller; Control device is connected with linear electric motors 4, for controlling linear electric motors 4 startings, stopping.
Chute-type two fingers step up between mechanism 1 and supporting and mounting bracket 5 by rotatable chain connection; Branch sleeve 2 steps up mechanism 1 with chute-type two fingers and is connected by the pin that can slide in chute.The hand that slot type two fingers step up mechanism 1 is grabbed with crawled object touching position and is provided with the friction decorative pattern for increasing friction force.
A kind of control method of two finger gripper of manipulator devices: when chute-type two fingers step up the hand crawl object of mechanism, pressure sensor 6 is transferred to control device by the pressure signal obtaining continuously, control device converses safe grasp force by the weight of the crawl object setting and will contrast with the pressure signal of receiving, until both equate; When grasp force arrival setting value being detected, control device is controlled linear electric motors 4 stop motions, with timed unit, start enclasp device 3, make to drive chute-type to step up mechanism's 1 branch sleeve 2 and keep inactive state, prevent linear electric motors 4 faults, the hand that power-off etc. bring is grabbed object loosening and that cause and is fallen.When crawl object arrives assigned address control device triggering enclasp device 3, close, linear electric motors 4 motion driving hands are grabbed to unclamp and are stepped up mechanism simultaneously, and crawled object is put into assigned address.
Claims (4)
1. a finger gripper of manipulator device, comprise that chute-type two fingers step up mechanism (1), branch sleeve (2), enclasp device (3), linear electric motors (4), supporting and mounting bracket (5), control device, it is characterized in that: described chute-type two fingers step up mechanism (1) and connect linear electric motors (4) by branch sleeve (2), branch sleeve (2) is connected with enclasp device (3), enclasp device (3) and linear electric motors (4) are fixedly connected on respectively supporting and mounting bracket (5), the hand that slot type two fingers step up mechanism (1) is grabbed and is provided with pressure sensor, pressure sensor is connected with control device, the pressure signal that captures object for hand is transferred to control device continuously, control device is connected with enclasp device (3), for controller, triggering enclasp device closes, control device is connected with linear electric motors (4), for controlling linear electric motors (4), starts, stops.
2. two finger gripper of manipulator devices according to claim 1, is characterized in that: described chute-type two fingers step up between mechanism 1 and supporting and mounting bracket (5) by rotatable chain connection; Described branch sleeve 2 steps up mechanism 1 with chute-type two fingers and is connected by the pin that can slide in chute.
3. two finger gripper of manipulator devices according to claim 1, is characterized in that: the hand that described slot type two fingers step up mechanism (1) is grabbed with crawled object touching position and is provided with the friction decorative pattern for increasing friction force.
4. a control method for two finger gripper of manipulator devices claimed in claim 1, is characterized in that: when chute-type two fingers step up the hand crawl object of mechanism (1), pressure sensor (6) is transferred to control device by the pressure signal obtaining continuously; When grasp force arrival setting value being detected, control device is controlled linear electric motors (4) stop motion, with timed unit, start enclasp device (3), make to drive chute-type to step up mechanism (1) branch sleeve and keep inactive state, prevent linear electric motors fault, the hand that power-off etc. bring is grabbed object loosening and that cause and is fallen; When capturing object, arrive assigned address, control device triggers enclasp device (3) and cuts out, and linear electric motors (4) drive chute-type two fingers to step up mechanism (1) action simultaneously, and crawled object is put into assigned address.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410244103.2A CN104029210A (en) | 2014-06-05 | 2014-06-05 | Two-finger mechanical claw and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410244103.2A CN104029210A (en) | 2014-06-05 | 2014-06-05 | Two-finger mechanical claw and control method |
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| Publication Number | Publication Date |
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| CN104029210A true CN104029210A (en) | 2014-09-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201410244103.2A Pending CN104029210A (en) | 2014-06-05 | 2014-06-05 | Two-finger mechanical claw and control method |
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| CN (1) | CN104029210A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105292635A (en) * | 2015-10-21 | 2016-02-03 | 武汉鹏翼达科技有限公司 | Rotary bag unloading device |
| CN105710892A (en) * | 2016-03-24 | 2016-06-29 | 青岛黄海学院 | Mechanical arm device of automatic device |
| CN106141963A (en) * | 2016-08-08 | 2016-11-23 | 上海大学 | A kind of mechanical grip for laser collimator lens gripping |
| CN106426121A (en) * | 2016-11-30 | 2017-02-22 | 绵阳图致信息科技有限公司 | Material taking mechanical arm control system and method |
| CN106737771A (en) * | 2016-11-30 | 2017-05-31 | 绵阳图致信息科技有限公司 | Suitable for the reclaimer robot control system of yielding material |
| CN107152963A (en) * | 2017-07-01 | 2017-09-12 | 岭南师范学院 | A kind of fruit surveys production device and method |
| CN107351076A (en) * | 2017-06-15 | 2017-11-17 | 东南大学 | A kind of self-locking intelligent machine handgrip for high-throughput nucleic acid sample liquor removing workstation |
| CN109048950A (en) * | 2018-08-17 | 2018-12-21 | 成都跟驰科技有限公司 | The safety control system of automobile with mechanical arm |
| CN110950060A (en) * | 2019-11-29 | 2020-04-03 | 嘉善盛立服饰辅料厂(普通合伙) | Mechanical hand for zinc alloy die-casting device |
| CN111664147A (en) * | 2020-06-10 | 2020-09-15 | 广东博智林机器人有限公司 | Clamping device, control method, electronic equipment and storage medium |
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| GB1456703A (en) * | 1973-03-26 | 1976-11-24 | Dresser Ind | Gripper for pipe handling apparatus machine for spi |
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| CN102950600A (en) * | 2012-11-20 | 2013-03-06 | 内蒙古伊利实业集团股份有限公司 | Manipulator |
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| GB1456703A (en) * | 1973-03-26 | 1976-11-24 | Dresser Ind | Gripper for pipe handling apparatus machine for spi |
| JPH0911175A (en) * | 1995-06-26 | 1997-01-14 | Plus Eng:Kk | Hand device of industrial robot |
| CN2830012Y (en) * | 2005-07-08 | 2006-10-25 | 邹四奇 | Multifunction manipulator |
| JP2008272867A (en) * | 2007-04-27 | 2008-11-13 | Kondo Seisakusho:Kk | Parallel hands with lock mechanism |
| JP2009172735A (en) * | 2008-01-28 | 2009-08-06 | Nachi Fujikoshi Corp | Hand device of industrial robot |
| CN202097733U (en) * | 2011-02-28 | 2012-01-04 | 俞甫 | Dangerous article collecting manipulator device driven by pneumatic muscle |
| CN102717389A (en) * | 2012-06-27 | 2012-10-10 | 中国石油大学(华东) | Design of replaceable simple-joint robot flexible hand |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105292635A (en) * | 2015-10-21 | 2016-02-03 | 武汉鹏翼达科技有限公司 | Rotary bag unloading device |
| CN105710892A (en) * | 2016-03-24 | 2016-06-29 | 青岛黄海学院 | Mechanical arm device of automatic device |
| CN106141963A (en) * | 2016-08-08 | 2016-11-23 | 上海大学 | A kind of mechanical grip for laser collimator lens gripping |
| CN106426121A (en) * | 2016-11-30 | 2017-02-22 | 绵阳图致信息科技有限公司 | Material taking mechanical arm control system and method |
| CN106737771A (en) * | 2016-11-30 | 2017-05-31 | 绵阳图致信息科技有限公司 | Suitable for the reclaimer robot control system of yielding material |
| CN107351076A (en) * | 2017-06-15 | 2017-11-17 | 东南大学 | A kind of self-locking intelligent machine handgrip for high-throughput nucleic acid sample liquor removing workstation |
| CN107152963A (en) * | 2017-07-01 | 2017-09-12 | 岭南师范学院 | A kind of fruit surveys production device and method |
| CN109048950A (en) * | 2018-08-17 | 2018-12-21 | 成都跟驰科技有限公司 | The safety control system of automobile with mechanical arm |
| CN110950060A (en) * | 2019-11-29 | 2020-04-03 | 嘉善盛立服饰辅料厂(普通合伙) | Mechanical hand for zinc alloy die-casting device |
| CN111664147A (en) * | 2020-06-10 | 2020-09-15 | 广东博智林机器人有限公司 | Clamping device, control method, electronic equipment and storage medium |
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| C06 | Publication | ||
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| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C53 | Correction of patent of invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhang Xiaoliang Inventor after: Zhang Zhikai Inventor after: Li Yingkang Inventor before: Zhang Xiaoliang Inventor before: Zhang Zhikai |
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| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: ZHANG XIAOLIANG ZHANG ZHIKAI TO: ZHANG XIAOLIANG ZHANG ZHIKAI LI YINGKANG |
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140910 |