CN104128927B - A kind of robotic gripping device - Google Patents
A kind of robotic gripping device Download PDFInfo
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- CN104128927B CN104128927B CN201410167841.1A CN201410167841A CN104128927B CN 104128927 B CN104128927 B CN 104128927B CN 201410167841 A CN201410167841 A CN 201410167841A CN 104128927 B CN104128927 B CN 104128927B
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Abstract
The invention discloses a kind of robotic gripping device, comprise paw frame, the clamping connection rod set hinged with paw frame and moving linearly and be connected to drive it to make the power input part of oscillating motion with cotter way with clamping connection rod set, clamping connection rod set is formed by three rod members are hinged successively, and clamping connection rod set is at least provided with three groups and is uniformly distributed circumferentially in the outside of power input part.Robotic gripping device of the present invention, match by arranging multiple clamping connection rod set in paw frame, clamping connection rod set inwardly can be shunk grip objects or outwards open release object under the driving effect of power input part, thus the space object that can meet having special-shaped geometry captures requirement; This grabbing device compact conformation, can realize 3 clampings, more firm than 2 clampings, is particluarly suitable for the occasion that negative-pressure adsorption grasping means is difficult to implement.
Description
Technical field
The invention belongs to robotics, specifically, the present invention relates to a kind of robotic gripping device.
Background technology
At present, along with the development with Electromechanical Control technology is learned by space mechanism, in industrial automation, extensive use is obtained with all kinds of robots that series, parallel machine artificially represents; Meanwhile, along with the continuous extension in mankind's activity space, the Robotics towards unsafe conditions and extreme environment also becomes study hotspot.
In industrial automation and the robot that uses at unsafe conditions and extreme environment, general palpus is according to Method of Calculation of Robotic Movements or inverse solution, pass through software algorithm, control driven by servomotor driving link, realize the orbiting motion of end effector according to expection, finally arrive its operating position point with the attitude determined, and then complete its functional task by the specialized organization that its end effector is equipped with, here, the specialized organization that end effector is equipped with is different according to task difference, there is the feature of nonstandardized technique, such as, publication number is the patent document disclosed " packaging parallel robot grabbing device " of CN203380886U, " robot grabbing jig " disclosed in the patent document of publication number to be the patent document of CN203471793U disclosed " automatically insert and get sheet robot workstation " and publication number be CN102528813A etc., the specialized organization that these end effector of robot are equipped with---capturing executive system is adopt negative pressure sucker assembly in essence, and for example, Automobile final assembly line captures the grasping mechanism that the robot of windshield is equipped with and be also based on negative-pressure adsorption principle for capturing the ad hoc grasping mechanism etc. that the robot of punching press plate is equipped with on vehicle cladding element punching line.But, the occasion implemented is difficult in negative-pressure adsorption grasping means, such as need to use robot to implement to capture with when placing to the space object with special-shaped geometry, or when unsafe conditions and extreme environment negative pressure fetching are difficult to implement, how to design and be equipped with robot and capture executive system, current finding is then very few.
Summary of the invention
In order to solve when negative-pressure adsorption grasping means is difficult to implement, robot captures the design of executive system and the problem of outfit, the invention provides a kind of space symmetr 11 bar robotic gripping device based on planar five-bar mechanism.
To achieve these goals, the technical scheme that the present invention takes is: a kind of robotic gripping device, comprise paw frame, the clamping connection rod set hinged with paw frame and moving linearly and be connected to drive it to make the power input part of oscillating motion with clamping connection rod set, clamping connection rod set is formed by three rod members are hinged successively, and clamping connection rod set is at least provided with three groups and is uniformly distributed circumferentially in the outside of power input part.
Described power input part comprises the slipping base that is connected with described paw housing slide and is connected with slipping base and the multiple drive links circumferentially evenly arranged, and drive link is connected with described clamping connection rod set respectively.
Described drive link is provided with chute, one of them rod member hinged with described paw frame of described clamping connection rod set is provided with the trundle embedded in chute, and the plane that the plane residing when moving linearly with the drive link that each clamping connection rod set connects is residing when doing oscillating motion with clamping connection rod set is parallel.
Described slipping base comprises discoidal slippage base plate and the pull bar be connected with slippage base plate in the center of slippage base plate, pull bar is coaxial with slippage base plate, described drive link is connected with slippage base plate and line is uniformly distributed circumferentially centered by the axis of slippage base plate, and each drive link is also inclined towards clamping the extension of connection rod set place described in each.
Described paw frame comprises the fixed base plate parallel with described slippage base plate, and fixed base plate is provided with the pilot hole allowing described pull bar pass, described clamping connection rod set and fixed base plate hinged.
Described pilot hole is circular hole, and the inwall of pilot hole is provided with multiple gathering sill, and the surface of described pull bar is provided with and embeds in gathering sill and the projection slided along gathering sill.
The end face of described fixed base plate is provided with the sleeve pipe be enclosed within described pull bar.
Three rod members of described clamping connection rod set are outer link, inboard Sinks and middle connecting rod, one end and the described fixed base plate of outer link and inboard Sinks are hinged, the other end and middle rod hinge connection, outer link is positioned at the outside of inboard Sinks, and described trundle is located on outer link or inboard Sinks.
Described outer link parallels with described inboard Sinks and length is equal, and described middle connecting rod parallels with described fixed base plate.
Described clamping connection rod set is provided with three groups altogether.
Robotic gripping device of the present invention, match by arranging multiple clamping connection rod set in paw frame, clamping connection rod set inwardly can be shunk grip objects or outwards open release object under the driving effect of power input part, thus the space object that can meet having special-shaped geometry captures requirement; This grabbing device compact conformation, can realize 3 clampings, more firm than 2 clampings, is particluarly suitable for the occasion that negative-pressure adsorption grasping means is difficult to implement.
Accompanying drawing explanation
This description comprises the following drawings, shown content respectively:
Fig. 1 is the structural representation of robotic gripping device;
Fig. 2 is the structural representation of paw frame;
Fig. 3 is the structural representation of power input part;
Fig. 4 is the structural representation of inboard Sinks;
Fig. 5 is the structural representation of outer link;
Fig. 6 is the structural representation of middle connecting rod;
Fig. 7 is the bottom view of robotic gripping device;
Be labeled as in figure:
1, paw frame; 11, fixed base plate; 12, sleeve pipe; 13, pilot hole; 14, gathering sill; 15, outer hinge seat; 16, inner hinge seat;
2, power input part; 21, slippage base plate; 22, pull bar; 23, drive link; 24, chute; 25, projection;
3, connection rod set is clamped; 31, outer link; 32, inboard Sinks; 33, middle connecting rod; 34, trundle.
Detailed description of the invention
Contrast accompanying drawing below, by the description to embodiment, be described in further detail the specific embodiment of the present invention, object helps those skilled in the art to have more complete, accurate and deep understanding to design of the present invention, technical scheme, and contribute to its enforcement.
As shown in Figures 1 to 7, a kind of robotic gripping device of the present invention, comprise paw frame 1, the clamping connection rod set 3 hinged with paw frame 1 and moving linearly and be connected with clamping connection rod set 3 power input part 2 that drives it to do oscillating motion, clamping connection rod set 3 is formed by three rod members are hinged successively, rod member and the paw frame 1 at clamping connection rod set 3 two ends are hinged, thus each clamping connection rod set 3 paw frame 1 can form quadric chain, clamping connection rod set 3 is at least provided with three groups and is uniformly distributed circumferentially in the outside of power input part 2.Multiple clamping connection rod set 3 of robot grabbing device match, and under the driving of power input part 2, clamping connection rod set 3 can do oscillating traverse motion, thus multiple clamping connection rod set 3 can be made inwardly to shrink grip objects or outwards open release object.
Specifically, paw frame 1 is as the basic component installing other parts, and it comprises a fixed base plate 11 and the sleeve pipe 12 be located on fixed base plate 11.As preferably, fixed base plate 11 is discoidal component, and its both ends of the surface are plane.
Power input part 2 comprises the slipping base that is slidably connected with paw frame 1 and is connected with slipping base and the multiple drive links 23 circumferentially evenly arranged, drive link 23 respectively with clamp connection rod set 3 and be connected.Slipping base comprises discoidal slippage base plate 21 and the pull bar 22 be fixedly connected with slippage base plate 21 in the end face center of slippage base plate 21, slippage base plate 21 is the centers being positioned at multiple clamping connection rod set 3, slippage base plate 21 parallels with fixed underpan and coaxial, the diameter of slippage base plate 21 and less than the diameter of fixed base plate 11.Pull bar 22 is as the power intake be connected with the power source of peripheral hardware, and it is microscler rod member, pull bar 22 and coaxial with slippage base plate 21.In order to realize being slidably connected of paw frame 1, as preferably, fixed base plate 11 is provided with the pilot hole 13 allowing pull bar 22 pass, this pilot hole 13 is the through hole run through vertically in the center of fixed base plate 11, slippage base plate 21 is positioned at the side of fixed base plate 11, pull bar 22 stretches out from the opposite side of fixed base plate 11, and pull bar 22 can slide along pilot hole 13 and drive slippage base plate 21 to move as reciprocating linear.Can not rotate when moving as reciprocating linear in order to ensure slipping base, the pilot hole 13 of fixed base plate 11 is circular hole, the inwall of pilot hole 13 is provided with multiple gathering sill 14, this gathering sill 14 is the groove along pilot hole 13 radial direction towards fixed base plate 11 internal recess, and gathering sill 14 extends to other end from an end face of fixed base plate 11, corresponding being provided with on the surface of columniform pull bar 22 embeds in gathering sill 14 and the projection 25 slided along gathering sill 14, projection 25 protrudes along the radial direction of pull bar 22 towards the outside of pull bar 22, and the axis being parallel of the length of projection 25 and pull bar 22.The projection 25 on pull bar 22 surface forms matched in clearance with the gathering sill 14 on fixed base plate 11, can realizing the relative movement of slipping base relative to paw frame 1, guaranteeing that slipping base can not rotate when moving as reciprocating linear.In the present embodiment, gathering sill 14 on fixed base plate 11 is provided with three altogether, and three gathering sills 14 are uniformly distributed circumferentially at the inwall of pilot hole 13, be also provided with three projections 25 altogether on the surface of pull bar 22 accordingly, and three projections 25 are also for being uniformly distributed circumferentially.
Pull bar 22 is for being connected with the power source of peripheral hardware, and slipping base will do reciprocating linear motion, and the power source of peripheral hardware can be cylinder or hydraulic cylinder, and pull bar 22 can be connected with the piston rod of cylinder or hydraulic cylinder.As deformation program, also screw rod can be used to replace pull bar 22, the screwed hole that screw rod is arranged through the center of fixed base plate 11 and slippage base plate 21 are rotationally connected, screw nut driving mechanism is formed by screw rod and fixed base plate 11, the other end of screw rod is connected with servomotor, thus slippage base plate 21 also can be driven to do reciprocating linear motion.
As depicted in figs. 1 and 2, a sleeve pipe 12 be enclosed within pull bar 22 is also provided with in the end face center of fixed base plate 11, sleeve pipe 12 and slippage base plate 21 lay respectively at the both sides of fixed base plate 11, sleeve pipe 12 has certain length, its length is larger than the thickness of fixed base plate 11, sleeve pipe 12 center is provided with and is communicated with and coaxial through hole with the pilot hole 13 on fixed base plate 11, and be also provided with the groove identical with gathering sill 14 shape on pilot hole 13 inwall at the inwall of this through hole, concrete, the number of this groove is equal with gathering sill 14 number and each groove lays respectively on the extended line of a gathering sill 14, same, projection 25 on pull bar 22 also to embed in the groove of sleeve pipe 12 inwall and to slide along groove.Fixed base plate 11 arranges the sleeve pipe 12 of said structure, and sleeve pipe 12 inwall is also provided with the groove with projection 25 matched in clearance, thus guide effect can be played to the movement of slipping base further, better effects if.
The drive link 23 of slipping base is fixedly connected with slippage base plate 21 on the end face of slippage base plate 21, and pull bar 22 and drive link 23 lay respectively at the both sides of slippage base plate 21.Drive link 23 is provided with multiple altogether, and line is uniformly distributed circumferentially centered by the axis of slippage base plate 21.As preferably, clamping connection rod set 3 is provided with three groups altogether, and accordingly, drive link 23 is also provided with three, and each drive link 23 is also inclined to be extended towards each clamping connection rod set 3 place, clamps connection rod set 3 be connected with each.Like this, the bar line of three drive links 23 and the end face of slippage base plate 21 all become size to be the plane angle of α, and the bar line of three drive links 23 is in and is mutually on the element of cone of hexagonal angle.
Because drive link 23 is along with slippage base plate 21 does reciprocating linear motion, and to clamp connection rod set 3 be to do oscillating motion, and the plane parallel that the drive link 23 be connected with each clamping connection rod set 3 plane residing when moving linearly is residing when doing oscillating motion with clamping connection rod set 3.Therefore, drive link 23 is provided with the chute 24 extended along its length, as shown in Figure 3, this chute 24 is kidney slot and runs through drive link 23 on the side of drive link 23, and the plane that this plane residing for chute 24 is residing when doing oscillating motion with clamping connection rod set 3 equally also parallels.The opening that each chute 24 is formed in drive link 23 side is towards each clamping connection rod set 3, one of them rod member hinged with paw frame 1 of each clamping connection rod set 3 is provided with the trundle 34 embedded in chute 24, trundle 34 embeds in chute 24 to be formed with chute 24 and is slidably matched, when drive link 23 does reciprocating linear motion, drive link 23 promotes trundle 34 by chute 24 and makes reciprocally swinging, thus makes clamping connection rod set 3 do oscillating traverse motion.
As shown in Figure 1 and Figure 7, slippage base plate 21 and fixed base plate 11 are coaxial, and both axis are positioned at each clamping connection rod set 3 plane residing when moving linearly.Three rod members of each clamping connection rod set 3 are outer link 31, inboard Sinks 32 and middle connecting rod 33, one end of outer link 31 and inboard Sinks 32 is hinged with the hinge seat arranged at the end face towards slippage base plate 21 of fixed base plate 11, the other end and middle connecting rod 33 hinged, thus form quadric chain with fixed base plate 11.In addition, outer link 31 is the outsides being positioned at inboard Sinks 32, trundle 34 is fixedly mounted on outer link 31 or inboard Sinks 32, makes outer link 31 or inboard Sinks 32 as the driving member of clamping connection rod set 3, swing to drive whole clamping connection rod set 3.
As preferably, outer link 31 parallels with inboard Sinks 32 and both length is equal, and the length of outer link 31 and inboard Sinks 32 is longer, the length of middle connecting rod 33 is shorter, middle connecting rod 33 parallels with fixed base plate 11, thus each clamping connection rod set 3 can form parallelogram four-bar mechanism with fixed base plate 11, and outer link 31 and inboard Sinks 32 do oscillating motion, translational motion done by middle connecting rod 33, and middle connecting rod 33 is the components as gripping objects.
As preferably, as depicted in figs. 1 and 2, the hinge seat for being connected with clamping connection rod set 3 is provided with at the end face of fixed base plate 11, comprise and the outer hinge seat 15 of outer link 31 upper end thereof and the inner hinge seat 16 with inboard Sinks 32 upper end thereof, outer hinge seat 15 on fixed base plate 11 centered by the axis of fixed base plate 11 line be circumferentially evenly equipped with three, inner hinge seat 16 on fixed base plate 11 also centered by the axis of fixed base plate 11 line be circumferentially evenly equipped with three, the diameter of a circle at three outer hinge seat 15 places is larger than the diameter of a circle at three inner hinge seat 16 places, namely outer hinge seat 15 is the outsides being positioned at inner hinge seat 16, and each outer hinge seat 15 is in the in the radial direction same of fixed base plate 11 end face with an inner hinge seat 16 respectively, guarantee that connected outer link 31 and inboard Sinks 32 can swing in same plane, the axis of oscillation of outer link 31 and inboard Sinks 32 and be positioned at the same plane parallel with the end face of fixed base plate 11.
In the present embodiment, trundle 34 is fixedly mounted on inboard Sinks 32, the axis of trundle 34 parallels with the axis of oscillation of inboard Sinks 32, the position of trundle 34 is roughly the middle position being positioned at inboard Sinks 32 length direction, guarantees to have between drive link 23 and middle connecting rod 33 enough for holding by the space of the object clamped.
The robotic gripping device of said structure defines a kind of space symmetr 11 bar robotic gripping device based on planar five-bar mechanism, its principle scheme derives from planar five-bar mechanism, a rod member of parallel-crank mechanism arranges trundle 34, drive link 23 along paw frame 1 movement arranges chute 24, when drive link 23 moves along paw frame 1, the connecting rod of aforementioned parallelogram is driven to do translation by aforementioned chute 24 with the higher pair transmission of trundle 34; Based on aforementioned planar five-bar mechanism, built the clamping connection rod set 3 of three groups of symmetries in space by innovative design, when drive link 23 moves back and forth along paw frame 1, drive three groups to clamp connecting rod 33 in connection rod set 3 by the higher pair transmission of three pairs of chutes 24 and trundle 34 and do translation, clamping can be formed in space and do with loose deactuate.So, space symmetr 11 bar robotic gripping device can be obtained.
The space symmetr 11 bar robotic gripping device course of work based on planar five-bar mechanism of above-mentioned formation is: when slipping base is by the matched in clearance of the projection 25 on pull bar 22 with the gathering sill 14 on fixed base plate 11, when moving back and forth relative to paw frame 1, chute 24 on each drive link 23 forms high auxiliary driving with the upper trundle 34 arranged on each inboard Sinks 32 respectively, and then drive three groups of clamping connection rod set 3 to do flatness and reciprocator swing respectively simultaneously, thus, the middle connecting rod 33 of each clamping connection rod set 3 can complete clamping and move back function with pine in space, realize the clamping to object and release.
The robotic gripping device of said structure is by arranging three groups of clamping connection rod set 3, thus 3 clampings can be realized, the principle of a plane is become based on 3, clamping is more firm compared with 2 clampings, if coordinate the clamping matched design of each middle connecting rod 33 bare terminal end, the location completely of grasping part object can be realized.Robot grabbing device is applicable to the occasion being difficult to enforcement in negative-pressure adsorption grasping means, and the space object that can meet having special-shaped geometry captures, and can complete crawl task reliably smoothly.
Below by reference to the accompanying drawings to invention has been exemplary description.Obviously, specific implementation of the present invention is not subject to the restrictions described above.As long as have employed the improvement of the various unsubstantialities that method of the present invention is conceived and technical scheme is carried out; Or without improvement, above-mentioned design of the present invention and technical scheme directly applied to other occasion, all within protection scope of the present invention.
Claims (8)
1. a robotic gripping device, it is characterized in that: comprise paw frame, the clamping connection rod set hinged with paw frame and moving linearly and be connected to drive it to make the power input part of oscillating motion with clamping connection rod set, clamping connection rod set is formed by three rod members are hinged successively, and clamping connection rod set is at least provided with three groups and is uniformly distributed circumferentially in the outside of power input part;
Described power input part comprises the slipping base that is connected with described paw housing slide and is connected with slipping base and the multiple drive links circumferentially evenly arranged, and drive link is connected with described clamping connection rod set respectively;
Described drive link is provided with chute, chute is the kidney slot extended along drive link length direction, one of them rod member hinged with described paw frame of described clamping connection rod set is provided with the trundle embedded in chute, and the plane that the plane residing when moving linearly with the drive link that each clamping connection rod set connects is residing when doing oscillating motion with clamping connection rod set is parallel.
2. robotic gripping device according to claim 1, it is characterized in that: described slipping base comprises discoidal slippage base plate and the pull bar be connected with slippage base plate in the center of slippage base plate, pull bar is coaxial with slippage base plate, described drive link is connected with slippage base plate and line is uniformly distributed circumferentially centered by the axis of slippage base plate, and each drive link is also inclined towards clamping the extension of connection rod set place described in each.
3. robotic gripping device according to claim 2, it is characterized in that: described paw frame comprises the fixed base plate parallel with described slippage base plate, fixed base plate is provided with the pilot hole allowing described pull bar pass, described clamping connection rod set and fixed base plate hinged.
4. robotic gripping device according to claim 3, is characterized in that: described pilot hole is circular hole, and the inwall of pilot hole is provided with multiple gathering sill, and the surface of described pull bar is provided with and embeds in gathering sill and the projection slided along gathering sill.
5. robotic gripping device according to claim 4, is characterized in that: the end face of described fixed base plate is provided with the sleeve pipe be enclosed within described pull bar.
6. according to the arbitrary described robotic gripping device of claim 3 to 5, it is characterized in that: three rod members of described clamping connection rod set are outer link, inboard Sinks and middle connecting rod, one end and the described fixed base plate of outer link and inboard Sinks are hinged, the other end and middle rod hinge connection, outer link is positioned at the outside of inboard Sinks, and described trundle is located on outer link or inboard Sinks.
7. robotic gripping device according to claim 6, is characterized in that: described outer link parallels with described inboard Sinks and length is equal, and described middle connecting rod parallels with described fixed base plate.
8. robotic gripping device according to claim 7, is characterized in that: described clamping connection rod set is provided with three groups altogether.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410167841.1A CN104128927B (en) | 2014-04-24 | 2014-04-24 | A kind of robotic gripping device |
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| CN201410167841.1A CN104128927B (en) | 2014-04-24 | 2014-04-24 | A kind of robotic gripping device |
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| CN104128927A CN104128927A (en) | 2014-11-05 |
| CN104128927B true CN104128927B (en) | 2015-12-02 |
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