CN108214534B - Self-adaptive under-actuated robot clamping jaw - Google Patents
Self-adaptive under-actuated robot clamping jaw Download PDFInfo
- Publication number
- CN108214534B CN108214534B CN201810040148.6A CN201810040148A CN108214534B CN 108214534 B CN108214534 B CN 108214534B CN 201810040148 A CN201810040148 A CN 201810040148A CN 108214534 B CN108214534 B CN 108214534B
- Authority
- CN
- China
- Prior art keywords
- rod
- finger
- finger section
- clamping jaw
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
- B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
Abstract
The invention discloses a self-adaptive under-actuated robot clamping jaw, which comprises a clamping jaw shell, a driving module and a finger module, wherein the driving module is arranged on the clamping jaw shell; the clamping jaw shell comprises a clamping jaw front shell, a clamping jaw rear shell and a fixing flange, wherein the clamping jaw front shell is connected with the clamping jaw rear shell and is connected with the fixing flange through a bolt; the driving module is arranged in the clamping jaw shell and comprises a driving motor, a power transmission device and a driving rod, the driving motor drives the driving rod to do synchronous linear motion, and torque is transmitted through the power transmission device; the finger module comprises a first finger module and a second finger module, the first finger module and the second finger module are respectively provided with a first finger section and a second finger section, and the first finger section and the second finger section are hinged with the driving rod through a self-adaptive connecting rod system and a parallel connecting rod system; the movement is driven by a driving rod. The invention can grab articles in different modes according to different appearances of the articles, is suitable for requirements of different scenes, has large clamping range and clamping force and is more convenient to grab the articles.
Description
Technical Field
The invention belongs to the field of robot clamping jaws, and particularly relates to a self-adaptive under-actuated robot clamping jaw.
Background
The existing industrial clamping jaws mostly adopt a clamping mode with parallel tail ends, the clamping mode is stable in holding and low in processing cost, however, the clamping jaws can only grab specific types of objects, the degree of freedom is very low, and the clamping modes are set one to one and cannot clamp other types of objects; to solve this problem, jaws with adaptive gripping function have been developed. The adaptive robot clamping jaw is designed to be more flexible, and when the adaptive robot clamping jaw is used for clamping an object, parallel clamping or envelope clamping can be performed according to the difference of the geometric shape and the position of the target object. Parallel grasping means that during grasping a small-sized object or a larger object with an opposite surface, the end finger sections of the fingers of the clamping jaw are kept parallel for grasping; the enveloping grasping means to envelop the target object with a plurality of finger segments of the fingers of the gripping jaw, and to stably grasp by multi-point contact. Accordingly, the mechanical structure and control system of the clamping jaws become more complex due to the increase of the degrees of freedom and the drivers, the rigidity is reduced, the gripping force is reduced, and the cost is greatly increased.
Disclosure of Invention
The invention aims to provide a self-adaptive under-actuated robot clamping jaw, which integrates the advantages of the prior art and is more flexible, stable and powerful; the clamping jaw disclosed by the invention realizes the self-adaptive clamping function of the finger module of the clamping jaw by utilizing single drive, performs parallel clamping or enveloping clamping according to the clamping requirements of different scenes, and has a wide application range.
In order to achieve the aim, the invention discloses a self-adaptive under-actuated robot clamping jaw, which comprises a clamping jaw shell, a driving module and a finger module;
the clamping jaw shell comprises a clamping jaw front shell, a clamping jaw rear shell and a fixing flange, wherein the clamping jaw front shell is connected with the clamping jaw rear shell and is connected with the fixing flange through a bolt;
the driving module is arranged in the clamping jaw shell and comprises a driving motor, a power transmission device and a driving rod, wherein the driving motor drives the driving rod to do synchronous linear motion and transmit torque through the power transmission device;
the finger module comprises a first finger section and a second finger section, and the finger module is hinged with the driving rod through a self-adaptive connecting rod system and a parallel connecting rod system; is driven to move by the driving rod.
Further, the first finger section comprises a first finger section rod and a first finger section rod connecting shaft, and the bottom end of the first finger section rod is hinged to the clamping jaw shell through the first finger section rod connecting shaft; the second finger section comprises a second finger section rod, a second finger section rod connecting shaft and a finger sleeve, the second finger section rod is hinged to the top end of the first finger section rod through the second finger section rod connecting shaft, and the finger sleeve is fixed on the second finger section rod.
Further, the self-adaptive connecting rod system comprises a crank driving rod, a crank, a first crank connecting shaft, a second crank connecting shaft and a crank connecting rod, wherein the crank driving rod is hinged with the driving rod through the crank driving rod connecting shaft, and the upper end of the crank driving rod is hinged to the crank through the first crank connecting shaft; one end of the crank is hinged with the bottom end of the first finger section rod through the first finger section rod connecting shaft, and the other end of the crank is hinged with the bottom end of the crank connecting rod through the second crank connecting shaft; the upper end of the crank connecting rod is hinged to the second finger section rod through a crank connecting rod connecting shaft.
Further, the parallel connecting rod system comprises a parallel connecting rod fixing frame, parallel connecting rods, parallel connecting rod connecting shafts, sliding rods and sliding rod connecting shafts, the parallel connecting rod fixing frame is fixed on the clamping jaw shell, the parallel connecting rods are connected onto the parallel connecting rod fixing frame through the parallel connecting rod connecting shafts, the sliding rods and the parallel connecting rods form moving pairs, and the top ends of the sliding rods are connected with the second finger sections through the sliding rod connecting shafts.
Furthermore, the parallel connecting rods are connected with the sliding rods through elastic elements, and the sliding rods have freedom of movement along the axial direction of the parallel connecting rods; the elastic element is one of a tension spring, a pressure spring, a leaf spring and a torsion spring and is arranged on the parallel connecting rods; the arrangement mode of the slide rod connecting shaft and the crank connecting rod connecting shaft is one of coaxial arrangement and non-coaxial arrangement.
Further, the finger module comprises a plurality of four-connecting-rod systems; the driving rod and the self-adaptive connecting rod system form a sliding block rocker mechanism, and the self-adaptive connecting rod system, the first finger section and the second finger section form a first plane four-rod system; the parallel connecting rod system, the first finger section and the second finger section form a second plane four-rod system, and the second plane four-rod system is a parallelogram connecting rod system in an initial state; the finger module comprises two modes of parallel grasping and enveloping grasping, and is automatically switched according to the geometric appearance characteristics of the target object.
Further, the power transmission device includes a first transmission mechanism and a second transmission mechanism; the input end of the first transmission mechanism is connected with the driving motor, and the output end of the first transmission mechanism is connected with the input end of the second transmission mechanism; an output member is arranged on the output end of the second transmission mechanism, and the driving rod is installed on the output member.
Furthermore, the first transmission mechanism adopts one or a plurality of freely combined gear transmission mechanisms, flat belt wheel transmission mechanisms, toothed belt wheel transmission mechanisms, rope wheel transmission mechanisms, chain transmission mechanisms, gear rack transmission mechanisms or connecting rod transmission mechanisms; the second transmission mechanism adopts one or more of a screw nut transmission mechanism or a worm gear transmission mechanism with a self-locking function to be freely combined.
Further, the driving mode of the driving rod comprises one of air cylinder driving and hydraulic cylinder driving.
Further, an operation panel, an indicator light and an aviation plug are arranged on the clamping jaw front shell, the operation panel has a teaching function, the indicator light represents the running state of the device, and the aviation plug is used for being connected with an external device.
The invention has the beneficial effects that: compared with the prior art, the self-adaptive gripping function of at least one finger module of the gripping jaw is realized by adopting an under-actuated mode and utilizing a single servo motor, the gripping mode can be automatically switched according to the geometric shape and the position of a gripped target object, parallel gripping or enveloping gripping is carried out, and the gripping requirements of different scenes are met; in addition, the invention has compact structure and small volume; the gripping range of the gripping jaw is large; the grasping force is large, and the grasping self-locking can be realized; furthermore, the integrated key panel is provided, the key teaching function is simple and easy to operate, and teaching contents comprise finger positions, holding force, holding modes and the like.
Drawings
FIG. 1 is a perspective view of a jaw of the present invention;
FIG. 2 is a view of the exterior of the jaw of the present invention;
FIG. 3 is a block diagram of a jaw drive module of the present invention;
FIG. 4 is a diagram of a finger module configuration of the present invention;
FIG. 5 is a side view of the finger module construction of the present invention;
FIG. 6 is another side view of the finger module structure of the present invention;
FIG. 7 illustrates a grip of the present invention;
FIG. 8 is another grip of the present invention;
fig. 9 and 10 are schematic views of two other embodiments of the present invention.
The main element symbols are as follows:
1. clamping jaw shell 2 and driving module
3. Finger module 4, clamping jaw procapsid
5. Clamping jaw rear shell 6 and fixing flange
7. Operation panel 8, indicator light
9. Aviation plug 10 and driving unit
11. Power transmission device 12 and drive rod
13. First transmission mechanism 14 and second transmission mechanism
15. A first finger section 16 and a second finger section
17. Adaptive linkage 18, parallel linkage
19. First finger section rod 20 and first finger section rod connecting shaft
21. Second finger section rod 22 and second finger section rod connecting shaft
23. Finger stall 24 and crank driving rod
25. Crank drive rod connecting shaft 26 and crank
27. First crank connecting shaft 28 and second crank connecting shaft
29. Crank connecting rod 30 and crank connecting rod connecting shaft
31. Parallel connecting rod fixing frame 32 and parallel connecting rod connecting shaft
33. Parallel connecting rod 34 and sliding rod
35. Slide rod connecting shaft 36 and slide block rocker mechanism
37. First plane four-bar system 38 and second plane four-bar system
39. First finger module 40, second finger module
41. First and second drive levers 42, 42
43. A first transmission gear 44 and a second transmission gear
45. Screw 46, nut slider
47. A target object.
Detailed Description
In order to make the present invention clearer, the present invention will be further described with reference to the accompanying drawings and specific embodiments, wherein the illustrated embodiment of the present invention is a two-finger robot gripper, but the present invention is not limited to the two-finger robot gripper, and other similar multi-finger robot grippers are included, but all the working modes and principles disclosed by the present invention are within the protection scope of the present invention.
Referring to fig. 1 and 2, the invention discloses a self-adaptive under-actuated robot clamping jaw, which comprises a clamping jaw housing 1, a driving module 2 and a finger module 3; the clamping jaw shell 1 comprises a clamping jaw front shell 4, a clamping jaw rear shell 5 and a fixing flange 6, wherein the clamping jaw front shell 4 is connected with the clamping jaw rear shell 5 and is connected with the fixing flange 6 through bolts; the driving module 2 is arranged in the clamping jaw shell 1 and comprises a driving unit 10, a power transmission device 11 and a driving rod 12, wherein the driving unit 10 drives the driving rod 12 to do synchronous linear motion and transmit torque through the power transmission device 11; the finger module 3 comprises a first finger section 15 and a second finger section 16, and the finger module 3 is hinged with the driving rod 12 through an adaptive linkage 17 and a parallel linkage 18; driven in motion by the drive rod 12. An operation panel 7, an indicator light 8 and an aviation plug 9 are arranged on the clamping jaw front shell 1, the operation panel 7 is used for controlling the whole two-finger robot clamping jaw to work, the indicator light 8 represents the running state of the device, and the aviation plug 9 is used for connecting an external device.
Referring to fig. 3, the power transmission device 11 includes a first transmission mechanism 13 and a second transmission mechanism 14; the input end of the first transmission mechanism 13 is connected to the driving unit 10, the output shaft of the first transmission mechanism 13 is connected to the input end of the second transmission mechanism 14, the output end of the second transmission mechanism 14 is provided with an output member (in this embodiment, a nut slider 46), and the driving rod 12 is mounted on the output member. In the present embodiment, the first transmission mechanism 13 is a gear transmission mechanism, and includes a first transmission gear 43, a second transmission gear 44; the second transmission mechanism 14 adopts a screw nut transmission mechanism, and comprises a screw 45 and a nut sliding block 46; the first transmission gear 43 is arranged on the motor output shaft of the driving unit 10, and the second transmission gear 44 is meshed with the first transmission gear 43 and is arranged at the bottom end of the screw rod 45; the nut slider 46 is connected with the screw rod 45 through threads; the first drive lever 41 and the second drive lever 42 are provided on the nut slider 46; the first driving rod 41 and the second driving rod 42 are driven by the driving unit 10 to move linearly, the transmission chain is that the driving unit 10 drives the first transmission gear 43 to rotate, so as to drive the second transmission gear 44 engaged therewith to rotate, and the second transmission gear 44 drives the lead screw 45 to rotate, i.e. drives the nut slider 46 engaged therewith to move linearly, so as to drive the first driving rod 41 and the second driving rod 42 to move synchronously.
Referring to fig. 5 and 6, in the present embodiment; the finger module 3 comprises a first finger module 39 and a second finger module 40, the first finger module 39 and the second finger module 40 both comprise a first finger section 15 and a second finger section 16, the first finger section 15 comprises a first finger section rod 19 and a first finger section rod connecting shaft 20, and the bottom end of the first finger section rod 19 is hinged on the clamping jaw shell 1 through the first finger section rod connecting shaft 20; the second finger section 16 comprises a second finger section rod 21, a second finger section connecting shaft 22 and a finger sleeve 23, the second finger section rod 21 is hinged to the top end of the first finger section rod 19 through the second finger section rod connecting shaft 22, and the finger sleeve 23 is fixed on the second finger section rod 21.
Referring to fig. 4, 5 and 6, the adaptive linkage 17 includes a crank driving rod 24, a crank 26, a first crank connecting shaft 27, a second crank connecting shaft 28 and a crank connecting rod 29, the crank driving rod 24 is hinged to the driving rod 12 through the crank driving rod connecting shaft 25, and the upper end of the crank driving rod 24 is hinged to the crank 26 through the first crank connecting shaft 27; one end of the crank 26 is hinged with the bottom end of the first finger section rod 19 through a first finger section rod connecting shaft 20, and the other end is hinged with the bottom end of a crank connecting rod 29 through a second crank connecting shaft 28; the upper end of the crank connecting rod 29 is hinged on the second finger section rod 21 through a crank connecting rod connecting shaft 30. The parallel connecting rod system 18 comprises a parallel connecting rod fixing frame 31, a parallel connecting rod 33 and a sliding rod 34, the parallel connecting rod fixing frame 31 is fixed on the clamping jaw shell 1, the parallel connecting rod 33 is connected to the parallel connecting rod fixing frame 31 through a parallel connecting rod connecting shaft 32, the sliding rod 34 and the parallel connecting rod 33 form a moving pair, namely the sliding rod 34 has moving freedom along the axial direction of the parallel connecting rod 33, the top end of the sliding rod 34 is connected with the second finger section rod 21 through a sliding rod connecting shaft 35, the parallel connecting rod 33 is connected with the sliding rod 34 through an elastic element, and the sliding rod 34 has moving freedom along the axial direction of the parallel connecting rod; the elastic element is of a tension spring structure and is arranged on the parallel connecting rods 33; the slide rod connecting shaft 35 and the crank connecting shaft 30 are arranged coaxially or non-coaxially.
Referring to fig. 4, 5 and 6, the finger module 3 includes a four-bar linkage, and the four-bar linkage includes a plurality of: the driving rod 12 and the adaptive linkage 17 form a slider rocker mechanism 36, and the adaptive linkage 17, the first finger section 15 and the second finger section 16 form a first plane four-bar linkage 37; the parallel link system 18, the first finger section 15 and the second finger section 16 form a second plane four-bar system 38, the second plane four-bar system 38 is a parallelogram link system in an initial state, namely, the total length of the parallel link 33 and the slide bar 34 is equal to the length of the first finger section bar 19 when the tension spring in the parallel link 33 keeps the original length, the tension spring is deformed when the parallel link 33 and the slide bar 34 linearly displace along the axial direction, and at the moment, the total length of the parallel link 33 and the slide bar 34 is no longer equal to the length of the first finger section bar 19.
The working principle of the embodiment is as follows:
in the two-finger gripper embodiment, from the viewpoint of mechanics, the second finger section rod 21 in the finger module is a movable platform of a parallel mechanism consisting of a first plane four-bar system 37 and a second plane four-bar system 38, and the degree of freedom of the parallel mechanism is 1; the grabbing, holding and releasing of the finger module to the target object can be completed through the rotation of the driving unit 10, and the method can be divided into two modes of parallel holding and enveloping holding.
In this embodiment, as shown in fig. 7, a schematic view of parallel-grasping objects is shown. The second finger-section bar 21 is designed as a broken line type bar, in the initial state, the tension spring in the parallel connecting rod 33 is not deformed and keeps the original length, at this time, the second plane four-bar linkage 38 is specially a parallelogram connecting rod linkage, the second finger-section bar 21 will move according to the parallelogram connecting rod linkage, and the finger sleeve 23 in the first finger module 39 always keeps parallel with the finger sleeve 23 in the second finger module 40. When small-size objects or large objects with opposite surfaces are parallelly grabbed, the driving unit 10 rotates forwards, the first driving rod 41 and the second driving rod 42 are driven to synchronously and linearly move upwards through the driving unit 11, the crank 26 is driven to rotate around the first finger section rod connecting shaft 20 through the slider rocker mechanism 36, the first finger section rod 19 is driven to rotate around the first finger section rod connecting shaft 20, the second finger section rod 23 moves according to a parallelogram connecting rod system with a leading effect, the distance between the second finger sections 16 of the two finger modules is gradually reduced until the second finger sections 16 touch the target object 47 and cannot move, and grabbing operation is completed; at this time, the driving unit 10 stops operating, and the second transmission mechanism 14 has a self-locking function, so that the finger module can still maintain the posture when contacting with the target object 47, stably hold the target object 47, and perform operations such as movement; when the object is released, the driving unit 10 rotates reversely, and the subsequent process is just opposite to the process of grabbing the object, and is not described again.
When the geometry of the target object 47 does not satisfy the parallel gripping condition, as shown in fig. 8, the present embodiment can perform envelope gripping. The driving unit 10 rotates forwards, the two finger modules act in a parallel grabbing manner firstly, at the moment, the tension spring in the parallel connecting rod 33 does not deform and keeps the original length, and the second finger section rod 23 moves according to the parallelogram connecting rod system playing a leading role until the first finger section 15 contacts the target object 47 and is blocked and cannot move; the crank 26 continues to rotate around the first finger-section rod connecting shaft 20 under the action of the driving rod 12, at this time, the tension spring in the parallel connecting rod 33 deforms, the parallel connecting rod 33 and the sliding rod 34 linearly displace along the axial direction, the parallelogram connecting rod system is changed into a second plane four-rod system 38 under the ordinary condition to play a leading role, the second finger-section rod 23 is pushed to continue to rotate around the second finger-section rod connecting shaft 24 until the second finger section 16 contacts with the target object 47, the self-adaptive enveloping of the object is completed, and the grabbing is finished; the driving unit 10 stops operating, and the second transmission mechanism 14 has a self-locking function, so that the finger module can still keep the posture when contacting with the target object, stably hold the target object 47 for moving and other operations; when the object is released, the driving unit 10 rotates reversely, and the subsequent process is just opposite to the process of grabbing the object, and is not described again.
Referring to fig. 9 and 10, the invention further discloses an embodiment with a three-finger clamping jaw, which comprises a clamping jaw housing 1, a driving module 2 and a finger module 3, wherein the clamping jaw housing 1 comprises a clamping jaw front housing, a clamping jaw rear housing and a fixing flange, and the clamping jaw front housing is connected with the clamping jaw rear housing and is connected with the fixing flange through a bolt; the driving module 2 is arranged in the clamping jaw shell 1 and comprises a driving unit, a power transmission device and a driving rod, wherein the driving unit drives the driving rod to do synchronous linear motion and transmit torque through the power transmission device; the finger module 3 comprises three movable clamping jaws, each movable clamping jaw comprises a first finger section and a second finger section, and the finger module 3 is hinged with the driving rod through a self-adaptive connecting rod system and a parallel connecting rod system; driven by the driving rod to move; the working principle and the working mode of the three-finger clamping jaw are the same as those of the embodiment, and the description is omitted.
The invention has the advantages that:
1) the clamping jaw is provided with a self-adaptive clamping function, the clamping mode is automatically switched according to the geometric shape and the position of a clamped target object, parallel clamping or enveloping clamping is performed, and the clamping requirements of different scenes are met;
2) the self-adaptive gripping function of the clamping jaw is realized by adopting an under-actuated mode and utilizing a single servo motor, and the gripping force is high;
3) the structure is compact and the volume is small; the gripping range of the gripping jaw is large, and the gripping and self-locking can be realized;
4) have integration key panel, have simple easy button demonstration function of operating, be provided with aviation interface simultaneously, but external device.
The above disclosure is only for the specific embodiment of the present invention, but the present invention is not limited thereto, and any variations that can be considered by those skilled in the art are intended to fall within the scope of the present invention.
Claims (9)
1. A self-adaptive under-actuated robot clamping jaw is characterized by comprising a clamping jaw shell, a driving module and a finger module;
the clamping jaw shell comprises a clamping jaw front shell, a clamping jaw rear shell and a fixing flange, wherein the clamping jaw front shell is connected with the clamping jaw rear shell and is connected with the fixing flange through a bolt;
the driving module is arranged in the clamping jaw shell and comprises a driving motor, a power transmission device and a driving rod, wherein the driving motor drives the driving rod to do synchronous linear motion and transmit torque through the power transmission device;
the finger module comprises a first finger section and a second finger section, and the second finger section comprises a second finger section rod, a second finger section rod connecting shaft and a finger sleeve; the finger module is hinged with the driving rod through a self-adaptive connecting rod system and a parallel connecting rod system; driven in motion by the drive rod;
the parallel connecting rod system comprises a parallel connecting rod fixing frame, parallel connecting rods, parallel connecting rod connecting shafts, sliding rods and sliding rod connecting shafts, the parallel connecting rod fixing frame is fixed on the clamping jaw shell, the parallel connecting rods are connected onto the parallel connecting rod fixing frame through the parallel connecting rod connecting shafts, the sliding rods and the parallel connecting rods form moving pairs, and the top ends of the sliding rods are connected with the second finger section rods through the sliding rod connecting shafts.
2. The adaptive under-actuated robot gripper according to claim 1, wherein the first finger section comprises a first finger section rod and a first finger section rod connecting shaft, and the bottom end of the first finger section rod is hinged to the gripper housing through the first finger section rod connecting shaft; the second finger section rod is hinged to the top end of the first finger section rod through a second finger section rod connecting shaft, and the finger sleeves are fixed on the second finger section rod.
3. The adaptive under-actuated robot gripper according to claim 2, wherein the adaptive linkage comprises a crank driving rod, a crank, a first crank connecting shaft, a second crank connecting shaft and a crank connecting rod, the crank driving rod is hinged with the driving rod through the crank driving rod connecting shaft, and the upper end of the crank driving rod is hinged with the crank through the first crank connecting shaft; one end of the crank is hinged with the bottom end of the first finger section rod through the first finger section rod connecting shaft, and the other end of the crank is hinged with the bottom end of the crank connecting rod through the second crank connecting shaft; the upper end of the crank connecting rod is hinged to the second finger section rod through a crank connecting rod connecting shaft.
4. The adaptive under-actuated robot gripper of claim 3, wherein the parallel links are connected to the slide bar by elastic elements, the slide bar having freedom of movement along the axis of the parallel links; the elastic element is one of a tension spring, a pressure spring, a leaf spring and a torsion spring and is arranged on the parallel connecting rods; the arrangement mode of the slide rod connecting shaft and the crank connecting rod connecting shaft is one of coaxial arrangement and non-coaxial arrangement.
5. The adaptive under-actuated robot gripper according to claim 1, wherein the finger module comprises a plurality of four-bar linkages therein; the driving rod and the self-adaptive connecting rod system form a sliding block rocker mechanism, and the self-adaptive connecting rod system, the first finger section and the second finger section form a first plane four-rod system; the parallel connecting rod system, the first finger section and the second finger section form a second plane four-rod system, and the second plane four-rod system is a parallelogram connecting rod system in an initial state; the finger module comprises two modes of parallel grasping and enveloping grasping, and is automatically switched according to the geometric appearance characteristics of the target object.
6. The adaptive under-actuated robot gripper of claim 1, wherein the power transmission comprises a first transmission and a second transmission; the input end of the first transmission mechanism is connected with the driving motor, and the output end of the first transmission mechanism is connected with the input end of the second transmission mechanism; an output member is arranged on the output end of the second transmission mechanism, and the driving rod is installed on the output member.
7. The adaptive under-actuated robot gripper according to claim 6, wherein the first transmission mechanism is one or a free combination of a gear transmission mechanism, a flat belt wheel transmission mechanism, a toothed belt wheel transmission mechanism, a rope wheel transmission mechanism, a chain transmission mechanism, a gear rack transmission mechanism or a connecting rod transmission mechanism; the second transmission mechanism adopts one or more of a screw nut transmission mechanism or a worm gear transmission mechanism with a self-locking function to be freely combined.
8. The adaptive under-actuated robot gripper of claim 1, wherein the actuation of the actuation rod comprises one of a pneumatic cylinder actuation and a hydraulic cylinder actuation.
9. The adaptive under-actuated robot gripper according to claim 1, wherein an operation panel having a teaching function, an indicator light indicating an operation state of a device, and an aviation plug for connecting an external device are provided on the gripper front housing.
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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810040148.6A CN108214534B (en) | 2018-01-16 | 2018-01-16 | Self-adaptive under-actuated robot clamping jaw |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108214534A CN108214534A (en) | 2018-06-29 |
| CN108214534B true CN108214534B (en) | 2020-03-31 |
Family
ID=62640433
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810040148.6A Active CN108214534B (en) | 2018-01-16 | 2018-01-16 | Self-adaptive under-actuated robot clamping jaw |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108214534B (en) |
| WO (1) | WO2019140931A1 (en) |
Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108214534B (en) * | 2018-01-16 | 2020-03-31 | 深圳市大寰机器人科技有限公司 | Self-adaptive under-actuated robot clamping jaw |
| 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 |
| 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 |
| US11345049B2 (en) * | 2019-11-20 | 2022-05-31 | Shanghai Flexiv Robotics Technology Co., Ltd. | Grasping mechanism, robot and grasping device |
| 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 |
| CN111283719B (en) * | 2020-03-31 | 2021-04-20 | 安徽轶记机械科技有限公司 | Intelligent mechanical arm with anti-drop subassembly |
| 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 |
| CN111993450B (en) * | 2020-08-17 | 2021-12-21 | 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 |
| CN112621802B (en) * | 2020-12-04 | 2022-03-11 | 江苏科技大学 | Robot end effector and structure optimization method thereof |
| CN113305870B (en) * | 2021-06-30 | 2022-08-05 | 雅安恒成精密刀具有限公司 | Cutter bar type air pressure clamping jaw with air pressure system |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5762390A (en) * | 1996-07-16 | 1998-06-09 | Universite Laval | Underactuated mechanical finger with return actuation |
| CN202200303U (en) * | 2011-07-11 | 2012-04-25 | 浙江理工大学 | Actuator at underactuated tail end |
| CN102259340A (en) * | 2011-07-11 | 2011-11-30 | 浙江理工大学 | Underactuated end effector |
| CA2856622C (en) * | 2011-11-25 | 2017-01-10 | Robotiq Inc. | A gripper having a two degree of freedom underactuated mechanical finger for encompassing and pinch grasping |
| CN205111867U (en) * | 2015-07-29 | 2016-03-30 | 苏州拓德机器人科技有限公司 | Shape adaptive underactuated manipulator |
| CN107553523B (en) * | 2017-09-30 | 2024-02-06 | 佛山科学技术学院 | Flexible clamping device |
| CN108145729A (en) * | 2017-11-22 | 2018-06-12 | 清华大学 | Five connecting rods put down folder adaptive robot finger apparatus |
| CN107932549B (en) * | 2018-01-16 | 2020-01-14 | 深圳市大寰机器人科技有限公司 | Self-adaptive under-actuated steering three-finger robot clamping jaw |
| CN108214534B (en) * | 2018-01-16 | 2020-03-31 | 深圳市大寰机器人科技有限公司 | Self-adaptive under-actuated robot clamping jaw |
-
2018
- 2018-01-16 CN CN201810040148.6A patent/CN108214534B/en active Active
- 2018-09-12 WO PCT/CN2018/105328 patent/WO2019140931A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| CN108214534A (en) | 2018-06-29 |
| WO2019140931A1 (en) | 2019-07-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108214534B (en) | Self-adaptive under-actuated robot clamping jaw | |
| CN105150225B (en) | Finger device of composite pinching and holding self-adaptive robot with rod wheels in parallel connection | |
| CN104889998B (en) | Under-actuated robot finger device with enveloping and clamping functions | |
| CN107053220B (en) | Indirect self-adaptive robot finger device with linear flat clamping of connecting rod and rack | |
| WO2019140930A1 (en) | Three-fingered robotic gripper having adaptive under-actuated steering | |
| CN108972603B (en) | Sliding base compensation type linear parallel clamping self-adaptive robot finger device | |
| CN105150231B (en) | Seven-connecting-rod parallel-connection pinching-holding composite self-adaptive robot finger device | |
| CN107984484B (en) | Self-adaptive robot finger device with end accurate compensation and linear parallel clamping | |
| CA2958893A1 (en) | Design of fault-tolerant dexterous hand with multi-fingers | |
| CN108818577B (en) | Self-adaptive robot finger device for linearly and parallelly clamping oscillating bar and sliding groove | |
| CN109605404B (en) | Sliding chute parallel connection connecting rod linear parallel clamping self-adaptive robot finger device | |
| CN108189055B (en) | Rack cosine telescopic straight-line parallel clamping self-adaptive finger device | |
| CN108453768B (en) | Rod wheel parallel racing envelope self-adaptive robot finger device | |
| CN108748230B (en) | Separation driving cam type height self-adjusting flat clamp self-adaptive finger device | |
| CN110900641B (en) | Parallel-clamping self-adaptive three-finger under-actuated robot hand | |
| CN111761599B (en) | Gear racing dual-drive parallel clamping and coupling self-adaptive robot finger device | |
| CN110561467B (en) | Multi-sensor feedback control linear parallel clamping self-adaptive robot finger device | |
| CN107139195B (en) | Robot finger device suitable for pinching and holding | |
| CN107030719B (en) | Multi-joint built-in driving variable gripping force time-delay self-adaptive robot finger device | |
| CN108189057B (en) | Fluid acceleration tail end telescopic linear parallel clamping self-adaptive robot finger device | |
| CN109571520B (en) | Huo Ken connecting rod straight line parallel clamping self-adaptive robot finger device | |
| CN109079827B (en) | Integral lifting idle stroke transmission linear parallel clamping self-adaptive robot finger device | |
| CN107243915B (en) | Parallel-clamping coupling switching self-adaptive robot finger device with duplex racks | |
| CN110802619A (en) | Indirect self-adaptive robot finger device with upper and lower connecting rods clamped flatly | |
| CN109605414B (en) | Belt wheel rotation idle stroke linear parallel clamping self-adaptive robot finger device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |