CN104924319B - A kind of pinching takes and wraps up in the flexible end grasping device that bag captures - Google Patents

A kind of pinching takes and wraps up in the flexible end grasping device that bag captures Download PDF

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Publication number
CN104924319B
CN104924319B CN201510383740.2A CN201510383740A CN104924319B CN 104924319 B CN104924319 B CN 104924319B CN 201510383740 A CN201510383740 A CN 201510383740A CN 104924319 B CN104924319 B CN 104924319B
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China
Prior art keywords
grasping
flexible
plate
spring
rolling bearing
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CN201510383740.2A
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Chinese (zh)
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CN104924319A (en
Inventor
赵子恒
张庆伟
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赵子恒
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Priority to CN201510383740.2A priority Critical patent/CN104924319B/en
Publication of CN104924319A publication Critical patent/CN104924319A/en
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Publication of CN104924319B publication Critical patent/CN104924319B/en

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Abstract

The present invention relates to a kind of pinching and take and wrap up in the flexible end grasping device that bag captures, this end grasping device is made up of a palm and three flexible fingers.Each flexible finger structure is identical, is mainly made up of a guide cylinder, the ribbon of a torsion spring tensioning and a variable cross-section width Abnormal plate spring skeleton;The structural parameters of torsion spring and flat spring optimize design according to the feature of crawled object;End grasping device drives by guide cylinder and produces grasping force.This end grasping device is applied to frangible brittle body, or the grasping of the object of shape, size variation, belongs to the technical field of robot, electromechanical integration;Couple with robot body, be particularly suited for agricultural product, food, the crawl of light industrial goods, sort and the application such as production and logistics such as packaging.

Description

A kind of pinching takes and wraps up in the flexible end grasping device that bag captures
Technical field
The present invention relates to a kind of pinching and take and wrap up in the flexible end grasping device that bag captures, belong to the technical field of robot, electromechanical integration.
Background technology
For in agricultural byproducts fowl egg, melon and fruit etc. capture object, its be noteworthy characterized by material character, geomery difference bigger.Traditional industry end grasping device is clamp-type or parallel movable structure, can only capture the rigid workpiece that shape size is identical, location status consistent, will not be damaged.Humanoid dextrous hand needs locus and the shape of perception complex object, need accurately to control motion and grasp force, otherwise can damage complex object or can not reliably capture, but humanoid dextrous hand is still in the laboratory research stage, and cost is high, to using environmental requirement height.At present, capturing of these type of article is that adapt to mainly by shape, yielding sucker is drawn, but vacuum power consumption is bigger, relatively costly.
Existing flexible end grasping device is based on the elastic deformation of structural member, meet the adaptability requirement capturing object shapes size, there are two kind structures the wherein MultiChoiceGripper(http of Festo company: //www.festo.com/cms/zh_corp/13706.htm), the a kind of of left figure is that wrapping up in of rubber strip wraps crawl end grasping device, have employed the metal rigidity skeleton of arch, wrap up in bag by rubber strip elastic deformation and capture;The another kind of right figure be finger part be the triangle pawl of full elastomeric material, have employed the flexible back bone (truss structure) of rubber, wrap up in bag by the elastic deformation of rubber flexible skeleton and capture.Operation principle: cylinder promotes finger to rotate, finger and object contact condition are by rubber strip or by the elastic deformation of full rubber finger, realization wrap up in bag capture, it is impossible to finger tip pinch takes mode and captures, and pinch the mode of taking capture to by grabbed object locus state and distribution tightness degree requirement minimum.
Aforesaid end grasping device is all by the elastic deformation realization of rubber, but it not perfectly elastic due to rubber deformation and rubber is the most aging, the elastic modelling quantity making rubber has the feature of nonlinear change, contact force is difficult to accurately calculate, thus controls to would have to use complicated model and control algolithm.The grasping contact force of the triangle pawl of especially full elastomeric material is little, poor stability.
Summary of the invention
The present invention is directed to the above-mentioned deficiency of prior art, provide a kind of pinching and take and wrap up in the flexible end grasping device that bag captures, finger part does not use any elastomeric material, using the ribbon of the torsion spring tensioning of an adjusting torque and grabbed article contacts, contact force makes ribbon overcome the moment of torsion of torsion spring to be drawn out of, wrap up in bag crawl object well;And using a variable cross-section width Abnormal plate spring as skeleton, the deformation of variable cross-section width Abnormal plate spring both can improve the bag of wrapping up in of ribbon and capture adaptability, and can form again that the curvature portion contact of new Grasp Modes backup plate spring finger tip grabbed object pinches the mode of taking.
The primary solutions of the present invention is achieved in that
End grasping device of the present invention is made up of a palm and three flexible fingers, and end grasping device drives by guide cylinder and produces grasping force.Each flexible finger structure is identical, is mainly made up of a guide cylinder, the ribbon of a torsion spring tensioning and a variable cross-section width Abnormal plate spring skeleton.
As illustrated in the accompanying drawings from 1 to 3, three identical flexible fingers of end grasping device are arranged in the gathering sill of palm dish 1 in uniform way, the mesopore centre of location on armrest palm 1 away from.Flexible finger is by referring to that root plate 2, guide cylinder 3, nylon cylinder 4, ribbon 5, torsion spring 6, drum shaft 7, press strip 8, wide pressing plate 9, Abnormal plate spring 10, clamping plate 11, hinge seat 12, push rod 13, hinge head 14, big rolling bearing units 15, angle block of right angle 16, little rolling bearing units 17, cushion block 18 form.The specific features of end grasping device of the present invention is: refer to that root plate 2 guides in the gathering sill of palm dish 1, and finger root plate 2, through the kidney slot referred on root plate 2, is fixed on palm dish 1, refers to that the kidney slot on root plate 2 can regulate the centre-to-centre spacing of flexible finger by screw;The afterbody flange of guide cylinder 3 is screwed on finger root plate 2, ribbon 5 is wound on nylon cylinder 4, the pressured bar in one end 8 of ribbon 5 is fixed in the breach plane of nylon cylinder 4, the other end of ribbon 5 and the planar section of Abnormal plate spring 10 are fixedly clamped on hinge seat 12 by clamping plate 11 jointly, the upper end of Abnormal plate spring 10 is fixed on finger root plate 2 by wide pressing plate 9, and the transverse width of Abnormal plate spring 10 bearing is equal with the longitudinal length of wide pressing plate 9;Nylon cylinder 4 is axially fixed on the flange step surface of drum shaft 7 by sunk screw, and drum shaft 7 two ends have big rolling bearing units 15 and little rolling bearing units 17 to support respectively, and big rolling bearing units 15 and little rolling bearing units 17 are each attached to refer to root plate 2;Torsion spring 6 is had in the middle of nylon cylinder 4 and drum shaft 7, nylon cylinder 4 end face has radial slot, by clamping on drum shaft 7 for the radial spring silk section of stretching out of torsion spring 6 one end, the axle spring silk section of stretching out of torsion spring 6 other end is through the aperture of angle block of right angle 16, angle block of right angle 16 installing hole is in little rolling bearing units 17 installing hole head of screw side, being fixed on finger root plate 2 together with little rolling bearing units 17, little rolling bearing units have cushion block 18 17 times, contour with big rolling bearing units 15 centre of gyration to ensure;Hinge head 14 is threaded in guide cylinder 3 piston rod head, and fastens with nut;The two ends of push rod 13 are hinge, form hinge connection respectively with the hinge head 14 on hinge seat 12 and guide cylinder 3 piston rod.
As shown in accompanying drawing 4,5, palm dish 1 has the gathering sill of three radial directions, uniform according to 120 °, three gathering sills have three screwed holes, the centre-to-centre spacing of three screwed holes is identical.As illustrated in 6,7, one end of torsion spring 6 is the radial spring silk section of stretching out, and torsion spring 6 other end is the axle spring silk section of stretching out, and torsion spring 6 must pretension.As Figure 8,9, with reference to the triangle pawl of Festo company, Abnormal plate spring 10 is wide at the top and narrow at the bottom, and the vertical sectional shape of the bottom of Abnormal plate spring 10 is curved surface, with the contact surface capturing object when taking for pinching.As shown in Figure 10, drum shaft 7 has a flange step section being relatively large in diameter, step section has the countersunk screw hole of fixing nylon cylinder 4.
Compared with the prior art the present invention has the advantage that
(1) being applicable not only to pinching of " finger tip contacts " and take Grasp Modes (the crawl object for light), also can be suitably used for " ribbon contact " wraps up in bag Grasp Modes (for weight or yielding crawl object), and range of application is bigger.
(2) when the rigidity Design of Abnormal plate spring and torsion spring, the torsion spring of ribbon tensioning, the deformation force of flat spring of finger skeleton are prone to accurately calculate, and therefore contact load size the most accurately obtains.
(3) have employed Grazing condition structure, contact external applied load is had good flexible adaptivity and shock-absorbing capacity;Have employed Abnormal plate spring skeleton, grasp force is big, and reliability is high.
Accompanying drawing illustrates:
Fig. 1 is a kind of front view pinched and take the flexible end grasping device captured with envelope
Fig. 2 is that a kind of pinching takes the flexible end grasping device B-B sectional view captured with envelope
Fig. 3 is that a kind of pinching takes the flexible end grasping device A-A sectional view captured with envelope
Fig. 4 is the upward view of a kind of palm dish pinched and take the flexible end grasping device captured with envelope
Fig. 5 is the main sectional view of C-C of a kind of palm dish pinched and take the flexible end grasping device captured with envelope
Fig. 6 is the front view of a kind of torsion spring pinched and take the flexible end grasping device captured with envelope
Fig. 7 is the top view of a kind of torsion spring pinched and take the flexible end grasping device captured with envelope
Fig. 8 is the front view of a kind of Abnormal plate spring pinched and take the flexible end grasping device captured with envelope
Fig. 9 is the left view of a kind of Abnormal plate spring pinched and take the flexible end grasping device captured with envelope
Figure 10 is the front view of a kind of drum shaft pinched and take the flexible end grasping device captured with envelope
Wherein, 1-palm dish;2-refers to root plate;3-guide cylinder;4-nylon cylinder;5-ribbon;6-torsion spring;7-drum shaft;8-press strip;The wide pressing plate of 9-;10-Abnormal plate spring;11-clamping plate;12-hinge seat;13-push rod;14-hinge head;The big rolling bearing units of 15-;16-angle block of right angle;The little rolling bearing units of 17-;18-cushion block.
Detailed description of the invention:
The present invention is described in further detail with reference to the accompanying drawings and in conjunction with the embodiments.
As Figure 1-3, the work process of the present invention: the gas circuit of (1) three guide cylinder 3 is in parallel, gas circuit connects source of the gas, guide cylinder 3 drives push rod 13, through hinge seat 12, making Abnormal plate spring 10 bend, flexible finger can pinch objects such as taking and wrap up in bag snatching cylindrical, spheroidal;(2) when the air pressure in guide cylinder 3 reaches to set pressure, not only against torsion spring 6 and the elastic force of Abnormal plate spring 10, and the grasping contact force required has been reached;(3) when capturing persistent state, it is necessary in keeping guide cylinder 3, pressure is for setting pressure, in order to avoid can not reliably be captured by grasping object;(4) the gas circuit aerofluxus of guide cylinder 3, under the common effect of the elastic force of torsion spring 6 and Abnormal plate spring 10, end grasping device replys original state.This process comprises two kinds of Grasp Modes: a kind of is that the finger tip curvature portion contact of backup plate spring 10 is taken Grasp Modes by the pinching of " finger tip contacts " grabbing object, for light crawl object;Another kind wraps up in bag Grasp Modes by what ribbon 5 wrapped up in that bag contact grabbed object " ribbon contact ", for heavily or yielding crawl object.
The claimed technical scheme of the present invention is not limited only to the above embodiments, the simple conversion made according to the claims in the present invention and description, broadly falls into scope of the present invention.

Claims (5)

1. can pinch take and wrap up in bag capture a flexible end grasping device, it is characterized in that: three identical flexible fingers of end grasping device are arranged in the gathering sill of palm dish (1) in uniform way, the mesopore centre of location on armrest palm (1) away from;Described flexible finger is by referring to root plate (2), guide cylinder (3), nylon cylinder (4), ribbon (5), torsion spring (6), drum shaft (7), press strip (8), wide pressing plate (9), Abnormal plate spring (10), clamping plate (11), hinge seat (12), push rod (13), hinge head (14), big rolling bearing units (15), angle block of right angle (16), little rolling bearing units (17), cushion block (18) forms, that is: refer to that root plate (2) guides in the gathering sill of palm dish (1), screw is through the kidney slot referred on root plate (2), to refer to that root plate (2) is fixed on palm dish (1), refer to that the kidney slot on root plate (2) can regulate the centre-to-centre spacing of flexible finger;The afterbody flange of guide cylinder (3) is screwed on finger root plate (2), ribbon (5) is wound on nylon cylinder (4), the pressured bar in one end (8) of ribbon (5) is fixed in the breach plane of nylon cylinder (4), the other end of ribbon (5) and the planar section of Abnormal plate spring (10) are fixedly clamped on hinge seat (12) by clamping plate (11) jointly, the upper end of Abnormal plate spring (10) is fixed on finger root plate (2) by wide pressing plate (9), and the transverse width of Abnormal plate spring (10) bearing is equal with the longitudinal length of wide pressing plate (9);Nylon cylinder (4) is axially fixed on the flange step surface of drum shaft (7) by sunk screw, drum shaft (7) two ends have big rolling bearing units (15) and little rolling bearing units (17) to support respectively, and big rolling bearing units (15) and little rolling bearing units (17) are each attached to refer to root plate (2);Torsion spring (6) is had in the middle of nylon cylinder (4) and drum shaft (7), nylon cylinder (4) end face has radial slot, by clamping for the radial spring silk section of stretching out of torsion spring (6) one end on drum shaft (7), the axle spring silk section of stretching out of torsion spring (6) other end is through the aperture of angle block of right angle (16), angle block of right angle (16) installing hole is in little rolling bearing units (17) installing hole head of screw side, finger root plate (2) it is fixed on together with little rolling bearing units (17), cushion block (18) is had under little rolling bearing units (17), contour with big rolling bearing units (15) centre of gyration to ensure;Hinge head (14) is threaded in guide cylinder (3) piston rod head, and fastens with nut;The two ends of push rod (13) are hinge, form hinge connection respectively with the hinge head (14) on hinge seat (12) and guide cylinder (3) piston rod.
The most according to claim 1 pinching takes and wraps up in the flexible end grasping device that bag captures, and it is characterized in that: have the gathering sill of three radial directions on palm dish (1), Uniform according to 120 °, three gathering sills are respectively arranged with three screwed holes, the centre-to-centre spacing of three screwed holes is identical.
The most according to claim 1 pinching takes and wraps up in the flexible end grasping device that bag captures, and it is characterized in that: one end of torsion spring (6) is the radial spring silk section of stretching out, and torsion spring (6) other end is the axle spring silk section of stretching out, torsion spring (6) pretension.
The most according to claim 1 pinching takes and wraps up in the flexible end grasping device that bag captures, and it is characterized in that: Abnormal plate spring (10) is wide at the top and narrow at the bottom, and the vertical sectional shape of the bottom of Abnormal plate spring (10) is curved surface.
The most according to claim 1 pinching takes and wraps up in the flexible end grasping device that bag captures, and it is characterized in that: drum shaft (7) is provided with a flange step section, step section has the countersunk screw hole of fixing nylon cylinder (4).
CN201510383740.2A 2015-07-03 2015-07-03 A kind of pinching takes and wraps up in the flexible end grasping device that bag captures CN104924319B (en)

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CN104924319B true CN104924319B (en) 2016-09-28

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Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105904479B (en) * 2016-06-14 2018-09-28 罗芳芳 A kind of mechanical grip for egg type object to be clamped
CN106078787B (en) * 2016-06-14 2018-09-04 李东航 A kind of manipulator clamping jaw applied to egg type part
CN110202606B (en) * 2019-07-03 2020-10-27 江南大学 Dexterous soft-touch end effector capable of changing various fingers and finger nails
CN110750867B (en) * 2019-09-19 2021-02-26 上海大学 Overall rigidity and contact force calculation method for soft fingertip structure of hemispherical robot
CN111409094A (en) * 2020-04-14 2020-07-14 江南大学 Composite manipulator and method for kneading and wrapping and grabbing by flexible shaft transmission drum tensioning belt

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3011837A1 (en) * 1980-03-27 1981-10-01 Sommer Friedhelm Tool grip for industrial robots - has rigidly mounted leaf spring grip arms, with pressure elements
AU2002319272A1 (en) * 2002-06-28 2004-01-23 Josef Lebschi Gripper comprising two pivotable grip arms having different leverages
CN103213138B (en) * 2013-04-09 2016-08-03 江南大学 The pneumatic series connection flexible hinge multifinger hand pawl of compliant mechanism
JP5681271B1 (en) * 2013-07-26 2015-03-04 ファナック株式会社 Robotic gripping device
CN204748643U (en) * 2015-07-03 2015-11-11 赵子恒 Can hold between fingers and get and wrap up in flexible end that snatchs of package and grab and hold ware

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