CN108214534A - Adaptive lack of driven robot clamping jaw - Google Patents

Adaptive lack of driven robot clamping jaw Download PDF

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Publication number
CN108214534A
CN108214534A CN201810040148.6A CN201810040148A CN108214534A CN 108214534 A CN108214534 A CN 108214534A CN 201810040148 A CN201810040148 A CN 201810040148A CN 108214534 A CN108214534 A CN 108214534A
Authority
CN
China
Prior art keywords
clamping jaw
segment
drive
adaptive
crank
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201810040148.6A
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Chinese (zh)
Other versions
CN108214534B (en
Inventor
康熙
宋亚庆
罗荻洲
闫浩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Great Universe Robot Technology Co Ltd
Original Assignee
Shenzhen Great Universe Robot Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Great Universe Robot Technology Co Ltd filed Critical Shenzhen Great Universe Robot Technology Co Ltd
Priority to CN201810040148.6A priority Critical patent/CN108214534B/en
Publication of CN108214534A publication Critical patent/CN108214534A/en
Priority to PCT/CN2018/105328 priority patent/WO2019140931A1/en
Application granted granted Critical
Publication of CN108214534B publication Critical patent/CN108214534B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • B25J15/10Gripping heads and other end effectors having finger members with three or more finger members
    • B25J15/103Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0009Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0206Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/022Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0253Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0266Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members
    • B25J15/10Gripping heads and other end effectors having finger members with three or more finger members

Abstract

The invention discloses a kind of adaptive lack of driven robot clamping jaw, including clamping jaw housing, drive module and finger module;Clamping jaw housing includes clamping jaw procapsid, clamping jaw back casing and mounting flange, and clamping jaw procapsid is connected with clamping jaw back casing, and is bolted with mounting flange;Drive module setting is in clamping jaw housing, and including driving motor, actuating unit and drive rod, driving motor driving drive rod makees synchronous linear movement, and transmit torque by actuating unit;Finger module includes the first finger module and second finger module, and the first finger module and second finger module are both provided with the first segment and the second segment, and the first segment and the second segment are hinged by adaptive connection leverage and parallel linkage with drive rod;By drive rod drive motion.The present invention carries out the crawl of different modes according to the shape difference of article, suitable for the demand of different scenes, grips range and chucking power is big, crawl article is more convenient.

Description

Adaptive lack of driven robot clamping jaw
Technical field
The invention belongs to robot clamping jaw field, specifically a kind of adaptive lack of driven robot clamping jaw.
Background technology
Existing industry clamping jaw mostly using the parallel method of clamping in end, stablize, be processed by this method of clamping grasping This is low, however they can only often capture particular kind of object, and degree of freedom is seldom, method of clamping be it is one-to-one set up, no Other kinds of article can be gripped;In order to solve this problem, the clamping jaw for having the function of adaptively to grasp comes into being.Adaptively Robot clamping jaw be designed it is more flexible, can be according to target object geometry and position in grabbing object Difference carries out parallel grasping or envelope grasping.Parallel grasping refer to crawl small-size object or with opposite compared with During big object, the end segment keeping parallelism of clamping jaw finger is grasped;Envelope grasping refers to using the more of clamping jaw finger A segment envelope target object is steadily grasped by Multi-contact.Correspondingly, these clamping jaws are due to degree of freedom and driving Increasing for device, causes mechanical construction and control system to become more complicated, and rigidity reduces, and grasp force becomes smaller, and cost is significantly increased.
Invention content
The purpose of the present invention is to provide a kind of adaptive lack of driven robot clamping jaw, the advantages of having merged the prior art, It is more flexible, stable and strong;Clamping jaw disclosed in this invention drives the adaptive of finger module for realizing clamping jaw to grab using single The function of holding according to the crawl demand of different scenes, carries out parallel grasping or envelope grasping, applied widely.
To achieve these goals, the invention discloses a kind of adaptive lack of driven robot clamping jaw, including clamping jaw housing, Drive module and finger module;
The clamping jaw housing includes clamping jaw procapsid, clamping jaw back casing and mounting flange, the clamping jaw procapsid and the clamping jaw Back casing is connected, and is bolted with the mounting flange;
The drive module setting is in the clamping jaw housing, including driving motor, actuating unit and drive rod, the drive Dynamic motor drives the drive rod to make synchronous linear movement, and transmits torque by the actuating unit;
The finger module includes the first segment and the second segment, and the finger module passes through adaptive linkage and parallel rod System is hinged with the drive rod;By the drive rod drive motion.
Further, first segment includes the first segment bar and the first segment bar connecting shaft, the first segment bar bottom End is hinged on by the first segment bar connecting shaft on the clamping jaw housing;Second segment includes the second segment bar, the second finger Section bar connecting shaft and fingerstall, the second segment bar are hinged on the top of the first segment bar by the second segment bar connecting shaft End, the fingerstall are fixed on the second segment bar.
Further, the adaptive linkage includes crank drive rod, crank, the first crank connecting shaft, the second crank company Spindle and crank connecting link, the crank drive rod is hinged by crank drive rod connecting shaft and the drive rod, described The upper end of crank drive rod is articulated with the crank by the first crank connecting shaft;One end of the crank passes through described One segment bar connecting shaft and the bottom end of the first segment bar are hinged, and the other end is connected by the second crank connecting shaft and the crank The bottom end of bar is hinged;The upper end of the crank connecting link is articulated with by crank connecting link connecting shaft on the second segment bar.
Further, the parallel rod system includes parallel rod fixed frame, parallel rod, parallel rod connecting shaft, slide bar With slide bar connecting shaft, the parallel rod fixed frame is fixed on the clamping jaw housing, and the parallel rod passes through described parallel Connecting rod shaft is connected on the parallel rod fixed frame, and the slide bar forms prismatic pair, the cunning with the parallel rod Bar top is connect by slide bar connecting shaft with the second segment bar.
Further, the parallel rod is connect by elastic element with the slide bar, and the slide bar is along the parallel rod Axis direction has one-movement-freedom-degree;The elastic element is one kind in tension spring, compression spring, leaf spring and torsional spring, is arranged on described flat On row connecting rod;During the arrangement mode of the slide bar connecting shaft and the crank connecting link connecting shaft is coaxial arrangement and does not arrange coaxially One kind.
Further, the finger module includes double leval jib system, and the double leval jib system is provided with multiple;The drive rod with The adaptive linkage composition sliding block rocker device, the adaptive linkage are formed with first segment and the second segment First plane, four leverage;The parallel rod system and first segment and the second segment composition four leverage of the second plane, initially Second plane, four leverage described in during state is parallelogram connection-rod system;The finger module includes parallel grasping and envelope grasping Both of which automatically switches according to the geometric shape feature of target object.
Further, the actuating unit includes the first transmission mechanism and the second transmission mechanism;First driver The input terminal of structure is connected with the driving motor, the input of the output terminal of first transmission mechanism and second transmission mechanism End is connected;The output terminal of second transmission mechanism is equipped with output link, and the drive rod is mounted on the output link.
Further, first transmission mechanism is using gear drive, flat rubber belting wheel drive mechanism, toothed belt driver One or more of structure, rope sheave transmission mechanism, chain drive, rack and pinion drive mechanism or jointed gear unit from By combining;Second transmission mechanism is using the screw nut driven mechanism or Worm and worm-wheel gearing with auto-lock function One or more of independent assortments.
Further, the type of drive of the drive rod includes one kind in cylinder driving and Driven by Hydraulic Cylinder.
Further, operation panel, indicator light and aviation plug are provided on the clamping jaw front housing, the operation panel has Tutorial function, the indicator light represent the operating condition of device, and the aviation plug is used to connect external device (ED).
The beneficial effects of the invention are as follows:Compared with prior art, the present invention utilizes single servo electricity by the way of drive lacking Machine realizes the adaptive grasping function of at least one finger module of clamping jaw, can be according to grasping target object geometry and institute Different in position automatically switch grasping mode, carry out parallel grasping or envelope grasping, meet different scenes crawl demand;This Outside, the present invention is compact-sized, small;Clamping jaw crawl range is big;Great efforts are grasped, can realize grasping self-locking;Further, band There is integrated key panel, there is button tutorial function simple to operation, teaching contents include finger position, grasping force, grab Hold pattern etc..
Description of the drawings
Fig. 1 is the clamping jaw three-dimensional structure diagram of the present invention;
Fig. 2 is the clamping jaw external structure of the present invention;
Fig. 3 is the clamping jaw drive module figure of the present invention;
Fig. 4 is the finger module structure chart of the present invention;
Fig. 5 is the finger module structure side view diagram of the present invention;
Fig. 6 is another side view of finger module structure of the present invention;
Fig. 7 is a kind of grasping mode of the present invention;
Fig. 8 is another grasping mode of the present invention;
Fig. 9 and Figure 10 is other two embodiment schematic diagram of the present invention.
Main element symbol description is as follows:
1st, clamping jaw housing 2, drive module
3rd, finger module 4, clamping jaw procapsid
5th, clamping jaw back casing 6, mounting flange
7th, operation panel 8, indicator light
9th, aviation plug 10, driving unit
11st, actuating unit 12, drive rod
13rd, the first transmission mechanism 14, the second transmission mechanism
15th, the first segment 16, the second segment
17th, adaptive linkage 18, parallel rod system
19th, the first segment bar 20, the first segment bar connecting shaft
21st, the second segment bar 22, the second segment bar connecting shaft
23rd, fingerstall 24, crank drive rod
25th, crank drive rod connecting shaft 26, crank
27th, the first crank connecting shaft 28, the second crank connecting shaft
29th, crank connecting link 30, crank connecting link connecting shaft
31st, parallel rod fixed frame 32, parallel rod connecting shaft
33rd, parallel rod 34, slide bar
35th, slide bar connecting shaft 36, sliding block rocker device
37th, four leverage 38 of the first plane, four leverage of the second plane
39th, the first finger module 40, second finger module
41st, the first drive rod 42, the second drive rod
43rd, the first transmission gear 44, the second transmission gear
45th, leading screw 46, nut slider
47th, target object.
Specific embodiment
In order to more clearly state the present invention, the present invention is further explained in the following with reference to the drawings and specific embodiments It states, described herein is the embodiment that is enumerated of the present invention for Liang Zhi robots clamping jaw, but the present invention is not limited only to two fingers Robot clamping jaw further includes other similar more finger robots clamping jaws, as long as utilizing working method disclosed in this invention and original Reason, all belongs to the scope of protection of the present invention.
Please refer to Fig.1 and Fig. 2, the invention discloses a kind of adaptive lack of driven robot clamping jaw, including clamping jaw housing 1, Drive module 2 and finger module 3;Clamping jaw housing 1 includes clamping jaw procapsid 4, clamping jaw back casing 5 and mounting flange 6, clamping jaw front housing Body 4 is connected with clamping jaw back casing 5, and is bolted with mounting flange 6;Drive module 2 is arranged in clamping jaw housing 1, packet Driving unit 10, actuating unit 11 and drive rod 12 are included, driving unit 10 drives drive rod 12 to make synchronous linear movement, and And torque is transmitted by actuating unit 11;Finger module 3 includes the first segment 15 and the second segment 16, and finger module 3 is logical It is hinged with drive rod 12 to cross adaptive linkage 17 and parallel linkage 18;By 12 drive motion of drive rod.It is set on clamping jaw front housing 1 Operation panel 7, indicator light 8 and aviation plug 9 are equipped with, operation panel 7 is used to control the work of entire Liang Zhi robots clamping jaw, refers to Show that lamp 8 represents the operating condition of device, aviation plug 9 is used to connect external device (ED).
Referring to Fig. 3, actuating unit 11 includes the first transmission mechanism 13 and the second transmission mechanism 14;First driver The input terminal of structure 13 is connected with driving unit 10, the input terminal phase of the output shaft of the first transmission mechanism 13 and the second transmission mechanism 14 Even, the output terminal of the second transmission mechanism 14 is equipped with output link(It is nut slider 46 in the present embodiment), drive rod 12 installs On output link.In the present embodiment, the first transmission mechanism 13 use gear drive, including the first transmission gear 43, Second transmission gear 44;Second transmission mechanism 14 is using screw nut driven mechanism, including leading screw 45, nut slider 46;First Transmission gear 43 is set on the motor output shaft of driving unit 10, and the second transmission gear 44 is engaged with the first transmission gear 43, Mounted on the bottom end of leading screw 45;Nut slider 46 is connected through a screw thread with leading screw 45;First drive rod 41 and the second drive rod 42 It is set on nut slider 46;First drive rod 41 and the second drive rod 42 are driven by driving unit 10 to move linearly, and passes Dynamic chain drives the first transmission gear 43 to rotate for driving unit 10, and the second transmission gear 44 being engaged with is driven to rotate, and second Transmission gear 44 drives leading screw 45 to rotate, that is, the nut slider being engaged with 46 is driven to move linearly, so as to drive the first driving 41 and second drive rod of bar, 42 synchronizing moving.
Fig. 5 and Fig. 6 are please referred to, in the present embodiment;Finger module 3 includes the first finger module 39 and second finger module 40, the first finger module 39 and second finger module 40 include the first segment 15 and the second segment 16, and the first segment 15 includes First segment bar 19 and the first segment bar connecting shaft 20,19 bottom end of the first segment bar are hinged on by the first segment bar connecting shaft 20 On clamping jaw housing 1;Second segment 16 includes the second segment bar 21, the second segment connecting shaft 22 and fingerstall 23, the second segment bar 21 The top of the first segment bar 19 is hinged on by the second segment bar connecting shaft 22, fingerstall 23 is fixed on the second segment bar 21.
Fig. 4, Fig. 5 and Fig. 6 are please referred to, adaptive linkage 17 includes crank drive rod 24, crank 26, the connection of the first crank Axis 27, the second crank connecting shaft 28 and crank connecting link 29, crank drive rod 24 pass through crank drive rod connecting shaft 25 and drive rod 12 is hinged, and the upper end of crank drive rod 24 is articulated with crank 26 by the first crank connecting shaft 27;One end of crank 26 It is hinged by the first segment bar connecting shaft 20 and the bottom end of the first segment bar 19, the other end passes through the second crank connecting shaft 28 It is hinged with the bottom end of crank connecting link 29;The upper end of crank connecting link 29 is articulated with second segment by crank connecting link connecting shaft 30 On bar 21.Parallel rod system 18 includes parallel rod fixed frame 31, parallel rod 33 and slide bar 34, and parallel rod fixed frame 31 is solid It is scheduled on clamping jaw housing 1, parallel rod 33 is connected to by parallel rod connecting shaft 32 on parallel rod fixed frame 31, slide bar 34 Prismatic pair is formed with parallel rod 33, i.e. slide bar 34 has one-movement-freedom-degree along 33 axis direction of parallel rod, and slide bar 34 pushes up End is connect by slide bar connecting shaft 35 with the second segment bar 21, and parallel rod 33 is connect by elastic element with slide bar 34, slide bar 34 have one-movement-freedom-degree along 33 axis direction of parallel rod;Elastic element is extension spring structure, is arranged on parallel rod 33;Slide bar The one kind of connecting shaft 35 with crank connecting link connecting shaft 30 for coaxial arrangement and in not arranging coaxially.
Fig. 4, Fig. 5 and Fig. 6 are please referred to, finger module 3 includes double leval jib system, and double leval jib system is provided with multiple:Drive rod 12 form 16 groups of sliding block rocker device 36, adaptive 17 and first segment 15 of linkage and the second segment with adaptive linkage 17 Into four leverage 37 of the first plane;18 and first segment 15 of parallel rod system and the second segment 16 composition four leverage 38 of the second plane, Four leverage 38 of the second plane is parallelogram connection-rod system during original state, i.e., parallel when tension spring keeps former long in parallel rod 33 Connecting rod 33 and the total length of slide bar 34 and the equal length of the first segment bar 19, parallel rod 33 are sent out in the axial direction with slide bar 34 Tension spring deforms upon during raw straight-line displacement, and parallel rod 33 and the total length of slide bar 34 are no longer equal to the first segment bar 19 at this time Length.
The operation principle of the present embodiment is:
It is four bar of the first plane from the second segment bar 21 in the angle of theory of mechanisms, finger module in this two fingers clamping jaw embodiment It is the moving platform of the parallel institution of four leverage 38 of the 37, second plane composition, the degree of freedom of the parallel institution is 1;It is single by driving Member 10 rotation can complete crawl, grasping and release of the finger module to target object, can specifically be divided into it is parallel grasping with Envelope grasps two ways.
In the present embodiment, as shown in fig. 7, for parallel grabbing object schematic diagram.Second segment bar 21 is designed to broken line type bar Part, during original state, it is former long that the tension spring in parallel rod 33 does not deform upon holding, and four leverage 38 of the second plane is particularly at this time For parallelogram connection-rod system, the second segment bar 21 will be moved according to parallelogram connection-rod system, in the first finger module 39 Fingerstall 23 is remained to be mutually parallel with the fingerstall 23 in second finger module 40.To small-size object or with opposite Larger object when carrying out parallel grasping, driving unit 10 rotates forward, and passes through 11 and drives the first drive rods 41 and the second drive rod 42 Synchronous linear moves up, and crank 26 is driven to be rotated around the first segment bar connecting shaft 20 by sliding block rocker device 36, driving the One segment bar 19 is rotated around the first segment bar connecting shaft 20, and the second segment bar 23 will connect according to the parallelogram to play a leading role Leverage moves, the distance being gradually reduced between two the second segments of finger module 16, until the second segment 16 encounters target object 47 It cannot move again, complete grasping manipulation;At this point, driving unit 10 shuts down, since the second transmission mechanism 14 has self-locking work( Can, posture when finger module remains to keep contacting with target object 47 steadily grasps target object 47 and carries out the behaviour such as mobile Make;When discharging object, driving unit 10 inverts, and the process of subsequent process and above-mentioned crawl object is just on the contrary, repeat no more.
When the geometry of target object 47 is unsatisfactory for parallel grasping condition, as shown in figure 8, the present embodiment can carry out Envelope grasps.Driving unit 10 rotates forward, and two finger modules are first acted in a manner of parallel crawl, at this time in parallel rod 33 Tension spring does not deform upon the former length of holding, and the second segment bar 23 will be moved according to the parallelogram connection-rod system to play a leading role, directly Target object 47 is touched to the first segment 15 to be blocked from moving;Crank 26 will continue around under the action of drive rod 12 One segment bar connecting shaft 20 rotates, and the tension spring in parallel rod 33 deforms upon at this time, and parallel rod 33 and slide bar 34 are along axis Straight-line displacement occurs for direction, and four leverage 38 of the second plane that parallelogram connection-rod system is changed under normal circumstances plays leading work With, the second segment bar 23 is pushed to be rotated further around the second segment bar connecting shaft 24, until 16 contact target object 47 of the second segment, Adaptive envelope object is completed, crawl terminates;Driving unit 10 shuts down, since the second transmission mechanism 14 has self-locking work( Can, posture when finger module remains to keep contacting with target object steadily grasps target object 47 and carries out the operations such as mobile; When discharging object, driving unit 10 inverts, and the process of subsequent process and above-mentioned crawl object is just on the contrary, repeat no more.
Please refer to Fig. 9 and Figure 10, the invention also discloses a kind of embodiment with three finger clamping jaws, including clamping jaw housing 1, Drive module 2 and finger module 3, clamping jaw housing 1 include clamping jaw procapsid, clamping jaw back casing and mounting flange, clamping jaw procapsid It is connected with clamping jaw back casing, and is bolted with mounting flange;Drive module 2 is arranged in clamping jaw housing 1, including driving Unit, actuating unit and drive rod, driving unit driving drive rod make synchronous linear movement, and fill by power transmission Put transmission torque;Finger module 3 includes three movable jaws, each movable jaw includes the first segment and the second segment, Finger module 3 is hinged by adaptive linkage and parallel linkage with drive rod;By drive rod drive motion;Three refer to clamping jaw Operation principle and working method are identical with embodiments thereof described above, repeat no more herein.
The present invention's is advantageous in that:
1)With the clamping jaw adaptively grasped, automatically switch to grab according to grasping target object geometry and the different of position Mode is held, carries out parallel grasping or envelope grasping, meets different scenes crawl demand;
2)By the way of drive lacking, the adaptive grasping function of clamping jaw, the great efforts of grasping are realized using single servo motor;
3)It is compact-sized, small;Clamping jaw crawl range is big, can realize grasping self-locking;
4)With integrated key panel, there is button tutorial function simple to operation, while be provided with aviation interface, it can be outer Connect equipment.
Disclosed above is only specific embodiments of the present invention, but the present invention is not limited to this, any this field What technical staff can think variation should all fall into protection scope of the present invention.

Claims (10)

1. a kind of adaptive lack of driven robot clamping jaw, which is characterized in that including clamping jaw housing, drive module and finger module;
The clamping jaw housing includes clamping jaw procapsid, clamping jaw back casing and mounting flange, the clamping jaw procapsid and the clamping jaw Back casing is connected, and is bolted with the mounting flange;
The drive module setting is in the clamping jaw housing, including driving motor, actuating unit and drive rod, the drive Dynamic motor drives the drive rod to make synchronous linear movement, and transmits torque by the actuating unit;
The finger module includes the first segment and the second segment, and the finger module passes through adaptive linkage and parallel rod System is hinged with the drive rod;By the drive rod drive motion.
2. adaptive lack of driven robot clamping jaw according to claim 1, which is characterized in that first segment includes the One segment bar and the first segment bar connecting shaft, the first segment bar bottom end are hinged on the folder by the first segment bar connecting shaft On pawl housing;Second segment includes the second segment bar, the second segment bar connecting shaft and fingerstall, and the second segment bar passes through Second segment bar connecting shaft is hinged on the top of the first segment bar, and the fingerstall is fixed on the second segment bar.
3. adaptive lack of driven robot clamping jaw according to claim 1, which is characterized in that the adaptive linkage packet Crank drive rod, crank, the first crank connecting shaft, the second crank connecting shaft and crank connecting link are included, the crank drive rod passes through Crank drive rod connecting shaft and the drive rod are hinged, and the upper end of the crank drive rod is connected by first crank Spindle is articulated with the crank;One end of the crank passes through the first segment bar connecting shaft and the bottom of the first segment bar End is hinged, and the other end is hinged by the second crank connecting shaft and the bottom end of the crank connecting link;The upper end of the crank connecting link leads to Crank connecting link connecting shaft is crossed to be articulated on the second segment bar.
4. adaptive lack of driven robot clamping jaw according to claim 1, which is characterized in that the parallel rod system includes Parallel rod fixed frame, parallel rod, parallel rod connecting shaft, slide bar and slide bar connecting shaft, the parallel rod fixed frame are consolidated It is scheduled on the clamping jaw housing, the parallel rod is connected to the parallel rod fixed frame by the parallel rod connecting shaft On, the slide bar forms prismatic pair with the parallel rod, and the top end of sliding rod passes through slide bar connecting shaft and second segment Bar connects.
5. adaptive lack of driven robot clamping jaw according to claim 4, which is characterized in that the parallel rod passes through bullet Property element is connect with the slide bar, and the slide bar has one-movement-freedom-degree along the parallel rod axis direction;The elastic element For one kind in tension spring, compression spring, leaf spring and torsional spring, it is arranged on the parallel rod;The slide bar connecting shaft and the crank The one kind of the arrangement mode of connecting rod shaft for coaxial arrangement and in not arranging coaxially.
6. adaptive lack of driven robot clamping jaw according to claim 1, which is characterized in that the finger module includes Double leval jib system, the double leval jib system are provided with multiple;The drive rod and the adaptive linkage composition sliding block rocker device, The adaptive linkage and first segment and the second segment composition four leverage of the first plane;The parallel rod system and institute The first segment and the second segment composition four leverage of the second plane are stated, four leverage of the second plane described in during original state is parallel four side Shape linkage;The finger module includes parallel grasping and envelope grasps both of which, special according to the geometric shape of target object Sign automatically switches.
7. adaptive lack of driven robot clamping jaw according to claim 1, which is characterized in that the actuating unit packet Include the first transmission mechanism and the second transmission mechanism;The input terminal of first transmission mechanism is connected with the driving motor, described The output terminal of first transmission mechanism is connected with the input terminal of second transmission mechanism;On the output terminal of second transmission mechanism Equipped with output link, the drive rod is mounted on the output link.
8. adaptive lack of driven robot clamping jaw according to claim 7, which is characterized in that first transmission mechanism is adopted With gear drive, flat rubber belting wheel drive mechanism, toothed belt transmission mechanism, rope sheave transmission mechanism, chain drive, gear The independent assortment of one or more of rack gear or jointed gear unit;Second transmission mechanism, which uses, to be had certainly The screw nut driven mechanism of lock function or one or more of independent assortments of Worm and worm-wheel gearing.
9. adaptive lack of driven robot clamping jaw according to claim 1, which is characterized in that the driving side of the drive rod Formula includes one kind in cylinder driving and Driven by Hydraulic Cylinder.
10. adaptive drive lacking Liang Zhi robots clamping jaw according to claim 1, which is characterized in that the clamping jaw front housing On be provided with operation panel, indicator light and aviation plug, the operation panel has tutorial function, and the indicator light represents device Operating condition, the aviation plug is for connecting external device (ED).
CN201810040148.6A 2018-01-16 2018-01-16 Self-adaptive under-actuated robot clamping jaw Active CN108214534B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201810040148.6A CN108214534B (en) 2018-01-16 2018-01-16 Self-adaptive under-actuated robot clamping jaw
PCT/CN2018/105328 WO2019140931A1 (en) 2018-01-16 2018-09-12 Self-adaptive underactuated robot clamping claw

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Application Number Priority Date Filing Date Title
CN201810040148.6A CN108214534B (en) 2018-01-16 2018-01-16 Self-adaptive under-actuated robot clamping jaw

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CN108214534A true CN108214534A (en) 2018-06-29
CN108214534B CN108214534B (en) 2020-03-31

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WO (1) WO2019140931A1 (en)

Cited By (14)

* Cited by examiner, † Cited by third party
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CN108748233A (en) * 2018-06-08 2018-11-06 广州聚芳阁服饰有限公司 A kind of robot arm for garment production
CN109015727A (en) * 2018-08-23 2018-12-18 江苏新美星包装机械股份有限公司 A kind of open-close type manipulator
CN109202945A (en) * 2018-10-26 2019-01-15 顺诠达(重庆)电子有限公司 A kind of mechanical finger and manipulator
CN109397321A (en) * 2018-11-30 2019-03-01 北京海风智能科技有限责任公司 A kind of mechanical grip grabbing any shape object
WO2019140931A1 (en) * 2018-01-16 2019-07-25 深圳市大寰机器人科技有限公司 Self-adaptive underactuated robot clamping claw
CN110181546A (en) * 2019-06-17 2019-08-30 苏州艾利特机器人有限公司 One kind three refers to under-actuated delicacy hand
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CN113305870A (en) * 2021-06-30 2021-08-27 徐春丹 Cutter bar type air pressure clamping jaw with air pressure system
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CN110181546A (en) * 2019-06-17 2019-08-30 苏州艾利特机器人有限公司 One kind three refers to under-actuated delicacy hand
CN110340925A (en) * 2019-07-15 2019-10-18 金苡炫 Mechanical grabbing device based on four pole crank sliding block principles
CN111267139A (en) * 2020-02-20 2020-06-12 哈工大机器人(合肥)国际创新研究院 Intelligent end effector of robot
CN111267139B (en) * 2020-02-20 2021-12-31 哈工大机器人(合肥)国际创新研究院 Intelligent end effector of robot
CN113696204A (en) * 2020-05-22 2021-11-26 清瑞博源智能科技河北有限责任公司 Under-actuated gripper, robot and method for gripping object
CN113290570A (en) * 2020-07-20 2021-08-24 阿里巴巴集团控股有限公司 Clamping device, data center operation and maintenance robot and assembly robot
CN113290570B (en) * 2020-07-20 2024-04-19 阿里巴巴集团控股有限公司 Clamping device, data center operation and maintenance robot and assembly robot
CN111993450A (en) * 2020-08-17 2020-11-27 苏州国岭技研智能科技有限公司 Elastic pressure rod and three-finger-section parallel clamping self-adaptive robot hand device
CN114474112A (en) * 2020-11-13 2022-05-13 株式会社理光 Mechanical finger and mechanical arm
CN112621802A (en) * 2020-12-04 2021-04-09 江苏科技大学 Robot end effector and structure optimization method thereof
CN112621802B (en) * 2020-12-04 2022-03-11 江苏科技大学 Robot end effector and structure optimization method thereof
WO2022116788A1 (en) * 2020-12-04 2022-06-09 江苏科技大学 Robotic end effector and structure optimization method therefor
CN113305870A (en) * 2021-06-30 2021-08-27 徐春丹 Cutter bar type air pressure clamping jaw with air pressure system

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