CN108326884A - A kind of manipulator and control method - Google Patents
A kind of manipulator and control method Download PDFInfo
- Publication number
- CN108326884A CN108326884A CN201810395483.8A CN201810395483A CN108326884A CN 108326884 A CN108326884 A CN 108326884A CN 201810395483 A CN201810395483 A CN 201810395483A CN 108326884 A CN108326884 A CN 108326884A
- Authority
- CN
- China
- Prior art keywords
- fingerboard
- fixed
- movable
- palm
- threaded shaft
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title description 3
- 230000000694 effects Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
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
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
A kind of manipulator is made of palm body, fixed fingerboard, electric threaded shaft nut body and movable fingerboard；There are one the palm bodies or multiple parallel strip-shaped holes, the fixation fingerboard is fixed on one end of the strip-shaped hole inside palm body, the electric threaded shaft nut body is placed on the external face of the palm for corresponding to strip-shaped hole, and the movable fingerboard is fixed on by strip-shaped hole on the nut of electric threaded shaft nut body inside palm body；After the motor to electric threaded shaft nut body is powered, leading screw rotates and nut is made to move along a straight line, and movable fingerboard just moves along a straight line with nut, and the distance between movable fingerboard and fixed fingerboard just change, for being clamped and decontroling appropriately sized article.
Description
Technical field
The invention belongs to robot devices, are related to a kind of manipulator of clamping article that can be automatically controlled.
Background technology
In robot technology and equipment, manipulator is one as the important component for executing equipment.Existing manipulator
It is broadly divided into two classes.The first kind is the manipulator of apery hand class, has plenty of the overall structure using whole similar human hand, simply
But grasping parameter cannot be changed, also some is made of the hand of apery hand structure multiple joints, but structure and control are more multiple
It is miscellaneous；Second class is dedicated manipulator, mainly the manipulator in industrial production, often related with concrete technology, is not had
Versatility.In certain scenes, in household, general and uncomplicated manipulator is needed, thus proposes a kind of new manipulator
With control method.
Invention content
A kind of manipulator invented is made of palm body, fixed fingerboard, electric threaded shaft nut body and movable fingerboard；Institute
There are one the palm bodies stated or multiple parallel strip-shaped holes, and the fixation fingerboard is fixed on one end of the strip-shaped hole inside palm body,
The electric threaded shaft nut body is placed on the external face of the palm for corresponding to strip-shaped hole, and the movable fingerboard passes through inside palm body
Strip-shaped hole is fixed on the nut of electric threaded shaft nut body；After the motor to electric threaded shaft nut body is powered, leading screw
It rotates and nut is made to move along a straight line, movable fingerboard just moves along a straight line with nut, and the distance between movable fingerboard and fixed fingerboard are just
It changes, for being clamped and decontroling appropriately sized article.
According to a kind of manipulator above-mentioned, more specific situation is:Fixed fingerboard and movable fingerboard are vertical with inside palm body.
Further include finger tip plate according to a kind of manipulator above-mentioned；Fixed fingerboard and movable fingerboard not with slap body and be connected
Edge connect finger tip plate；This finger tip plate is vertical with fixed fingerboard and movable fingerboard, and the external direction stretching, extension of thenad；Finger tip
Plate be used for be clamped in article with article where environment plane contact, or between two manipulators carry out object clamping when with
The contact surface of article.
According to a kind of manipulator above-mentioned, fixed fingerboard, movable fingerboard and finger tip plate have gap, form the effect more referred to.
According to a kind of manipulator above-mentioned, in the inside setting clamping touch sensor of fixed fingerboard and movable fingerboard；Folder
The case where touch sensor touches fixed fingerboard and movable fingerboard for detection object is held, article has been clamped to convenient for determination.
According to a kind of manipulator above-mentioned, the setting palm body touch sensor inside palm body；Palm body touch sensor is used for
Detection object touches the case where palm body, and article has been placed or be clamped convenient for determination.
According to a kind of manipulator above-mentioned, finger tip touch sensor is set on the face of palm body in finger tip plate；Finger tip
The case where touch sensor touches finger tip plate for detection object.
According to a kind of manipulator above-mentioned, range sensor is positioned proximate to inside palm body；It is used for close to range sensor
The case where detection object is close to palm body.
According to a kind of manipulator above-mentioned, clamping touch sensor, palm body touch sensor and finger tip touch sensor are
Pressure sensor is infrared sensor close to range sensor.
Further include control section according to a kind of manipulator above-mentioned；The motor of electric threaded shaft nut body and clamping are touched
Bump sensor is connected with control section；When needing that article is clamped, control section first controls motor running, makes electric threaded shaft spiral shell
Parent agency drive activity fingerboard is moved to the direction far from fixed fingerboard, and movable fingerboard is more than article at a distance from fixed fingerboard
The maximum length of holding portion；Then make robot movement again, when article is located between movable fingerboard and fixed fingerboard, control
System part controls motor and is run toward opposite direction, and movable fingerboard is made to be moved to the direction of fixed fingerboard, when movable fingerboard and admittedly
The clamping touch sensor for determining fingerboard detects that electric threaded shaft nut body is out of service, is clamped to object when having touched article
Product；If decontroling article, the nut of electric threaded shaft nut body is controlled to making direction of the movable fingerboard far from fixed fingerboard move.
A kind of the advantages of manipulator invented is：Mechanical structure is simple, and electric control function is comprehensive, dependable performance.
Description of the drawings
Attached drawing 1 is a kind of schematic diagram of a concrete structure of manipulator of the present invention.
Specific implementation mode
Embodiment one
Illustrate present embodiment with reference to attached drawing 1, a kind of manipulator invented is by palm body 1, fixed fingerboard 2, electric threaded shaft
Nut body 3, movable fingerboard 4, finger tip plate 5 and control section composition；There are one the palm bodies 1 or multiple parallel strip-shaped holes
1-1, the fixation fingerboard 2 are fixed on one end of the strip-shaped hole 1-1 of 1 the inside of palm body, and the electric threaded shaft nut body 3 is put
In 1 outside of palm body for corresponding to strip-shaped hole 1-1, the movable fingerboard 4 is fixed on electricity in 1 the inside of palm body by strip-shaped hole 1-1
On the nut 3-1 of dynamic leadscrew-nut mechanism 3；Fixed fingerboard 2 and movable fingerboard 4 are vertical with 1 the inside of palm body；In fixed 1 He of fingerboard
The edge of movable fingerboard 4 not being connected with palm body 1 connects finger tip plate 5；This finger tip plate 5 hangs down with fixed fingerboard 2 and movable fingerboard 4
Directly, and 1 outside direction of thenad body stretches；Touch sensor 7 is clamped in fixed fingerboard 2, the 4 the inside setting of movable fingerboard, palm body 1
Finger tip touch sensor 9 is arranged in finger tip plate 5 in setting palm body sensor 8 in the inside on the face of palm body 1, in 1 the inside of palm body
It is positioned proximate to range sensor；It is pressure sensor that touch sensor 7, palm body sensor 8 and finger tip touch sensor 9, which is clamped,
Proximity sensor is infrared sensor；The motor 3-2 of electric threaded shaft nut body 3, clamping touch sensor 7, palm body sensing
Device 8, finger tip touch sensor 9 are connected with control section；
When needing that article is clamped, control section first controls motor 3-2 operations, and electric threaded shaft nut body 3 is made to drive
Movable fingerboard 4 is moved to the direction far from fixed fingerboard 2, and movable fingerboard 4 is more than the clamped of article at a distance from fixed fingerboard 2
Partial maximum length；Then again robot movement, when determine or proximity sensor detect article be located at movable fingerboard 4 with
When between fixed fingerboard 2, or when palm body touch sensor 8 detects article, control section controls motor 3-2 toward phase negative side
To operation, movable fingerboard 4 is made to be moved to the direction of fixed fingerboard 2, when sensing is touched in the clamping of movable fingerboard 4 and fixed fingerboard 2
Device 7 detects when having touched article, and electric threaded shaft nut body 3 is out of service, is clamped to article；If decontroling article, control
The nut 3-1 of electric threaded shaft nut body 3 processed is moved to making direction of the movable fingerboard 4 far from fixed fingerboard 2.
Claims (10)
1. a kind of manipulator, it is characterised in that:It is made of palm body, fixed fingerboard, electric threaded shaft nut body and movable fingerboard；Institute
There are one the palm bodies stated or multiple parallel strip-shaped holes, and the fixation fingerboard is fixed on one end of the strip-shaped hole inside palm body,
The electric threaded shaft nut body is placed on the external face of the palm for corresponding to strip-shaped hole, and the movable fingerboard passes through inside palm body
Strip-shaped hole is fixed on the nut of electric threaded shaft nut body.
2. a kind of manipulator according to claim 1, it is characterised in that:It hangs down inside fixed fingerboard and movable fingerboard and palm body
Directly.
3. a kind of manipulator according to claim 1 or claim 2, it is characterised in that：It further include finger tip plate；In fixation
The edge of fingerboard and movable fingerboard not being connected with palm body connects finger tip plate；This finger tip plate hangs down with fixed fingerboard and movable fingerboard
Directly, and the external direction of thenad is stretched.
4. a kind of manipulator according to claim 3, fixed fingerboard, movable fingerboard and finger tip plate have gap, are formed and are referred to more
Effect.
5. a kind of manipulator according to claim 4, it is characterised in that:It is arranged in the inside of fixed fingerboard and movable fingerboard
Touch sensor is clamped.
6. a kind of manipulator according to claim 5, it is characterised in that:The setting palm body touch sensor inside palm body.
7. a kind of manipulator according to claim 6, it is characterised in that:Refer in being arranged on the face of palm body for finger tip plate
Sharp touch sensor.
8. according to a kind of manipulator described in claim 1 or claim 7, it is characterised in that：It is positioned proximate to inside palm body
Range sensor.
9. a kind of manipulator according to claim 8, it is characterised in that：Touch sensor, palm body touch sensor is clamped
It is pressure sensor with finger tip touch sensor, is infrared sensor close to range sensor.
10. a kind of manipulator according to claim 9, it is characterised in that：It further include control section；Electric threaded shaft nut machine
Motor, the clamping touch sensor of structure are connected with control section；When needing that article is clamped, control section first controls motor
Operation makes electric threaded shaft nut body drive activity fingerboard be moved to the direction far from fixed fingerboard, and movable fingerboard refers to fixation
The distance of plate is more than the maximum length of the holding portion of article；Then make robot movement again, when article is located at movable fingerboard
When between fixed fingerboard, control section controls motor and is run toward opposite direction, makes movable fingerboard to the direction of fixed fingerboard
It is mobile, when the clamping touch sensor of movable fingerboard and fixed fingerboard, which detects, has touched article, electric threaded shaft nut machine
Structure is out of service, is clamped to article；If decontroling article, the nut of electric threaded shaft nut body is controlled to keeping movable fingerboard separate
The direction movement of fixed fingerboard.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810395483.8A CN108326884A (en) | 2018-04-28 | 2018-04-28 | A kind of manipulator and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810395483.8A CN108326884A (en) | 2018-04-28 | 2018-04-28 | A kind of manipulator and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108326884A true CN108326884A (en) | 2018-07-27 |
Family
ID=62933798
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810395483.8A Pending CN108326884A (en) | 2018-04-28 | 2018-04-28 | A kind of manipulator and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108326884A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113119154A (en) * | 2021-05-12 | 2021-07-16 | 浙江师范大学 | Clamping jaw device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101273688A (en) * | 2008-05-05 | 2008-10-01 | 江苏大学 | Apparatus and method for flexible pick of orange picking robot |
| JP2008238326A (en) * | 2007-03-27 | 2008-10-09 | Toshiba Corp | Robot hand and robot |
| CN103978491A (en) * | 2011-01-06 | 2014-08-13 | 精工爱普生株式会社 | Robot hand |
| CN205148345U (en) * | 2015-12-03 | 2016-04-13 | 山东科技大学 | Novel self -adaptation mechanical clamping hand claw |
| CN206663227U (en) * | 2016-12-13 | 2017-11-24 | 东莞市创丰科技发展有限公司 | A kind of pallet material picks and places robot |
| CN107685903A (en) * | 2017-09-27 | 2018-02-13 | 黄石市友创科技股份有限公司 | A kind of manipulator of double automated sewing bag |
| CN107696057A (en) * | 2017-10-17 | 2018-02-16 | 董杰 | A kind of rotatable simple industry mechanical arm |
| CN208100412U (en) * | 2018-04-28 | 2018-11-16 | 哈尔滨若朋机器人有限责任公司 | A kind of manipulator |
-
2018
- 2018-04-28 CN CN201810395483.8A patent/CN108326884A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008238326A (en) * | 2007-03-27 | 2008-10-09 | Toshiba Corp | Robot hand and robot |
| CN101273688A (en) * | 2008-05-05 | 2008-10-01 | 江苏大学 | Apparatus and method for flexible pick of orange picking robot |
| CN103978491A (en) * | 2011-01-06 | 2014-08-13 | 精工爱普生株式会社 | Robot hand |
| CN205148345U (en) * | 2015-12-03 | 2016-04-13 | 山东科技大学 | Novel self -adaptation mechanical clamping hand claw |
| CN206663227U (en) * | 2016-12-13 | 2017-11-24 | 东莞市创丰科技发展有限公司 | A kind of pallet material picks and places robot |
| CN107685903A (en) * | 2017-09-27 | 2018-02-13 | 黄石市友创科技股份有限公司 | A kind of manipulator of double automated sewing bag |
| CN107696057A (en) * | 2017-10-17 | 2018-02-16 | 董杰 | A kind of rotatable simple industry mechanical arm |
| CN208100412U (en) * | 2018-04-28 | 2018-11-16 | 哈尔滨若朋机器人有限责任公司 | A kind of manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113119154A (en) * | 2021-05-12 | 2021-07-16 | 浙江师范大学 | Clamping jaw device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103950037B (en) | A kind of manipulator fixture and there is the robot of this manipulator fixture | |
| CN104440397B (en) | A kind of ultrasonic echography cutting spindle longitudinal vibration cutting force detection platform | |
| CN207641883U (en) | A kind of part stream waterline automatic sorting boxing apparatus of view-based access control model | |
| EP2584439A3 (en) | Information processing apparatus | |
| CN205520998U (en) | Can set up electric vice of clamp force | |
| CN204433782U (en) | The material grabbing mechanism of automatic charging machine | |
| CN208100412U (en) | A kind of manipulator | |
| CN108326884A (en) | A kind of manipulator and control method | |
| CN204673633U (en) | Onsite moving part job transfer band manipulator controller | |
| CN105107750A (en) | Device for detecting thickness of piece to be detected rapidly and conducting sorting treatment and detection method of device | |
| CN205880150U (en) | Test machine is pressed to full intelligence | |
| MX2019002192A (en) | Clamping apparatus. | |
| CN207027303U (en) | A kind of platform-type automatically controlled frock clamp | |
| CN207046437U (en) | Base plate glass fetching device | |
| CN107263462A (en) | A kind of automatic tracking manipulator | |
| CN203843848U (en) | Manipulator clamp for carrying automobile engine cylinder block | |
| CN105728768A (en) | Novel electric chuck device based on PLC control device | |
| CN205808371U (en) | A kind of screw thread automatic detection device | |
| CN106113177B (en) | A kind of mao bamboon processing picks up transmission device with order | |
| CN204630565U (en) | A kind of engineering plastics cage end-play detects frock | |
| CN203870184U (en) | Fingerprint glass substrate function testing mechanism | |
| CN211709342U (en) | Novel industrial robot gripping device | |
| CN204449935U (en) | Automatic clamping device | |
| CN209190794U (en) | Adaptive mechanical gripper | |
| CN208867024U (en) | A kind of pipe material clamp |
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 | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180727 |
|
| WD01 | Invention patent application deemed withdrawn after publication |