CN108656147B - Self-adaptive mechanical gripper - Google Patents
Self-adaptive mechanical gripper Download PDFInfo
- Publication number
- CN108656147B CN108656147B CN201810816944.4A CN201810816944A CN108656147B CN 108656147 B CN108656147 B CN 108656147B CN 201810816944 A CN201810816944 A CN 201810816944A CN 108656147 B CN108656147 B CN 108656147B
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- connecting rod
- driving piece
- driving
- rod
- assembly
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 40
- 210000000078 claw Anatomy 0.000 claims abstract description 17
- 230000000712 assembly Effects 0.000 claims abstract description 8
- 238000000429 assembly Methods 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 238000012545 processing Methods 0.000 claims description 11
- 239000007779 soft material Substances 0.000 claims description 3
- 230000003044 adaptive effect Effects 0.000 claims 7
- 230000001788 irregular Effects 0.000 abstract description 5
- 230000003993 interaction Effects 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 description 10
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- 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
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses a self-adaptive mechanical gripper, which comprises a base, wherein a driver with a driving shaft is arranged on the base, the self-adaptive mechanical gripper also comprises a driving assembly, the driving assembly comprises a first driving piece and a second driving piece, the first driving piece and the second driving piece are connected together in a transmission way, the second driving piece moves along the axial direction of the driving shaft, and a plurality of gripper finger assemblies are annularly distributed on the base around the driving shaft; the claw finger assembly: the device comprises an elastic component, a first connecting rod, a sliding rod, a second connecting rod assembly and a displacement sensor, wherein the displacement sensor is used for sensing relative displacement between the first connecting rod and the sliding rod; the driving shaft is connected with the first driving piece, and the second driving piece is connected with the second connecting rod assembly through a rotating shaft. When clamping, the slide bar moves on the first connecting rod, so that the actual lengths of different claw finger assemblies are different, and workpieces with irregular shapes can be well clamped. The invention is used for object grabbing in robot industry application scenes and flexible grabbing scenes in robot-machine interaction.
Description
Technical Field
The invention relates to the field of robots, in particular to a self-adaptive mechanical gripper.
Background
Due to the improvement of labor cost, more and more factories replace manpower with robots to realize the transfer of workpieces, the grabbing of the workpieces with regular shapes is easy, but for some workpieces with irregular shapes, expensive multi-finger dexterous hands are needed, and meanwhile, complicated grabbing path planning and feedback of force and visual information are needed to realize grabbing. For a robot grabbing task with closed-loop constraint, such as two-hand closed-loop grabbing of a hard object, the claws are easy to be blocked, mechanical damage is caused, and even the motor of the robot is burnt out due to the existence of an operation precision error. Under the background of the application, the mechanical gripper which has low price and simple structure, can adapt to the flexible gripping of the workpiece and allows the self-adaptive gesture of the workpiece during gripping has very practical application value, and provides a good implementation means for both-hand gripping and workpiece operation.
Disclosure of Invention
The invention aims to solve the technical problems that: a mechanical gripper capable of adapting to the shape of a product is provided.
The invention solves the technical problems as follows:
the self-adaptive mechanical gripper comprises a base, wherein a driver with a driving shaft is arranged on the base, the self-adaptive mechanical gripper further comprises a driving assembly, the driving assembly comprises a first driving piece and a second driving piece, the first driving piece and the second driving piece are in transmission connection, the second driving piece moves along the axial direction of the driving shaft, and a plurality of gripper finger assemblies are annularly arranged on the base around the driving shaft;
the claw finger assembly:
the device comprises an elastic component, a first connecting rod, a sliding rod and a second connecting rod component, wherein the first connecting rod is sequentially connected with the first connecting rod from top to bottom, the sliding rod is in sliding connection with the first connecting rod, the second connecting rod component is hinged with the sliding rod, the sliding rod is arranged in parallel with the first connecting rod, a base is hinged with the first connecting rod, two ends of the elastic component are respectively connected with the first connecting rod and the sliding rod, the device also comprises a displacement sensor for sensing relative displacement between the first connecting rod and the sliding rod, and the displacement sensor is fixedly connected with the first connecting rod or the sliding rod;
the driving shaft is connected with the first driving piece, and the second driving piece is connected with the second connecting rod assembly through a rotating shaft.
As a further improvement of the scheme, a linear guide rail is arranged between the first connecting rod and the sliding rod.
As a further improvement of the above, the finger assembly: the elastic component comprises two elastic components which are mutually crossed.
As a further improvement of the above, the finger assembly: the elastic rod comprises four elastic components, wherein each two elastic components are called an elastic group, the two elastic components in the same elastic group are mutually crossed, the four elastic components form two elastic groups, and the two elastic groups are symmetrically arranged on two sides of the sliding rod respectively.
As a further improvement of the above, the elastic member is a spring.
As a further improvement of the scheme, the driver is a motor, the first driving piece is a screw rod, the second driving piece is a screw rod nut, and the outer side of the second driving piece is connected with the second connecting rod assembly through the rotating shaft.
As a further improvement of the scheme, the second connecting rod assembly comprises a second connecting rod and a downward extending finger rod fixedly connected with the second connecting rod, and the upper side and the lower side of the second connecting rod are respectively connected with the lower side of the sliding rod and the second driving piece; the inner side surface of the finger rod is provided with a clamping area, the clamping area is provided with an arch bridge-shaped flexible finger end made of soft materials, a strain hole is arranged in the flexible finger end or a strain hole is arranged between the flexible finger end and the clamping area, and the flexible finger end is provided with a pressure sensor.
As a further improvement of the above scheme, the displacement sensor is a sliding rheostat, the sliding rheostat is fixed on the first connecting rod/sliding rod, and the moving end of the sliding rheostat is correspondingly connected with the sliding rod/first connecting rod.
As a further improvement of the above, the present invention further includes a base, and the base is connected to the base.
As a further improvement of the scheme, the robot further comprises a data processing system, wherein a palm camera is arranged at the lower side of the second driving piece, the data processing system is connected with the palm camera, the displacement sensor and the pressure sensor, and the data processing system judges the information of the outline, the shape and the pose of the gripped object based on deformed image data of the finger rod, gripping force data calculated by the displacement sensor according to the displacement amount and gripping force data of the pressure sensor.
The beneficial effects of the invention are as follows: the self-adaptive mechanical gripper comprises a base, wherein a driver with a driving shaft is arranged on the base, the self-adaptive mechanical gripper further comprises a driving assembly, the driving assembly comprises a first driving piece and a second driving piece, the first driving piece and the second driving piece are in transmission connection, the second driving piece moves along the axial direction of the driving shaft, and a plurality of gripper finger assemblies are annularly arranged on the base around the driving shaft; the claw finger assembly: the device comprises an elastic component, a first connecting rod, a sliding rod and a second connecting rod component, wherein the first connecting rod is sequentially connected with the first connecting rod from top to bottom, the sliding rod is in sliding connection with the first connecting rod, the second connecting rod component is hinged with the sliding rod, the sliding rod is arranged in parallel with the first connecting rod, a base is hinged with the first connecting rod, two ends of the elastic component are respectively connected with the first connecting rod and the sliding rod, the device also comprises a displacement sensor for sensing relative displacement between the first connecting rod and the sliding rod, and the displacement sensor is fixedly connected with the first connecting rod or the sliding rod; the driving shaft is connected with the first driving piece, and the second driving piece is connected with the second connecting rod assembly through a rotating shaft. When clamping, the slide bar moves on the first connecting rod, so that different claw finger assemblies have different actual lengths, workpieces with irregular shapes can be well clamped, the displacement sensor can obtain the displacement between the first connecting rod and the slide bar, the elastic modulus of the elastic component is known, the clamping force can be well calculated through the displacement, the clamping position and the clamped posture of the workpiece can be accurately known according to the displacement, and the specific weight of the clamped workpiece can be also known. The invention is used for object grabbing in robot industry application scenes and flexible grabbing scenes in robot-machine interaction.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that are required to be used in the description of the embodiments will be briefly described below. It is evident that the drawings described are only some embodiments of the invention, but not all embodiments, and that other designs and drawings can be obtained from these drawings by a person skilled in the art without inventive effort.
FIG. 1 is a schematic perspective view of an embodiment of the present invention;
fig. 2 is a schematic diagram of the electrical control principle of the control system according to the embodiment of the invention.
Detailed Description
The conception, specific structure, and technical effects produced by the present invention will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, features, and effects of the present invention. It is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and that other embodiments obtained by those skilled in the art without inventive effort are within the scope of the present invention based on the embodiments of the present invention. In addition, all coupling/connection relationships mentioned herein do not refer to direct connection of the components, but rather, refer to the fact that a more optimal coupling structure may be formed by adding or subtracting coupling aids depending on the particular implementation. The technical features of the invention can be interactively combined on the premise of no contradiction and conflict.
Referring to fig. 1 and 2, this is an embodiment of the invention, in particular:
the self-adaptive mechanical gripper comprises a base 2, wherein a driver with a driving shaft is arranged on the base 2, the self-adaptive mechanical gripper further comprises a driving assembly, the driving assembly comprises a first driving piece 41 and a second driving piece 42 which are connected together in a transmission way and move along the axial direction of the driving shaft, and a plurality of gripper finger assemblies are annularly distributed on the base 2 around the driving shaft; the claw finger assembly: the device comprises an elastic component, a first connecting rod 31, a sliding rod 32 and a second connecting rod component, wherein the first connecting rod 31, the sliding rod 32 and the second connecting rod component are sequentially connected from top to bottom, the sliding rod 32 and the first connecting rod 31 are arranged in parallel, the base 2 is hinged with the first connecting rod 31, two ends of the elastic component are respectively connected with the first connecting rod 31 and the sliding rod 32, and the device also comprises a displacement sensor for sensing relative displacement between the first connecting rod 31 and the sliding rod 32, wherein the displacement sensor is fixedly connected with the first connecting rod 31 or the sliding rod 32; the drive shaft is connected to the first driving member 41, and the second driving member 42 is connected to the second link assembly by a rotation shaft. When clamping, the slide bar moves on the first connecting rod, so that different claw finger assemblies have different actual lengths, workpieces with irregular shapes can be well clamped, the displacement sensor can obtain the displacement between the first connecting rod and the slide bar, the elastic modulus of the elastic component is known, the clamping force can be well calculated through the displacement, the clamping position and the clamped posture of the workpiece can be accurately known according to the displacement, and the specific weight of the clamped workpiece can be also known. During clamping, the sliding rod moves on the first connecting rod, a workpiece with an irregular shape can be well clamped, the relative sliding distance is measured through the displacement sensor, and then the clamping force can be calculated through the claw finger assembly configuration.
In order to reduce the motion friction, a linear guide 33 is provided between the first link 31 and the slide bar 32.
Claw finger assembly: the elastic component comprises two elastic components which are mutually crossed. By such arrangement, the fluctuation of the variation of the elastic force received between the first link 31 and the slide bar 32 is small, the influence of the trigonometric function on the elastic force is reduced, and the elastic force is sufficient for both directions of movement between the first link 31 and the slide bar 32.
In order to make the stress of the two sides of the claw finger assembly uniform, the claw finger assembly is provided with: the elastic rod 32 comprises four elastic components, wherein each two elastic components are called an elastic group, the two elastic components in the same elastic group are mutually crossed, the four elastic components form two elastic groups, and the two elastic groups are symmetrically arranged on two sides of the sliding rod 32 respectively.
The elastic component in this embodiment is a spring.
The driver of this embodiment is a stepper motor, the first driving member 41 is a screw rod, the second driving member 42 is a screw rod nut, and the outer side of the second driving member 42 is connected with the second connecting rod assembly through the rotating shaft. The transmission is stable like this, and the location is accurate, and grabbing force is big. Of course, the driver further comprises a driving component such as an air cylinder and a hydraulic cylinder and provided with a telescopic shaft, the telescopic shaft is a driving shaft, and the first driving component is a fastening component for connecting the telescopic shaft and the second driving component.
The second connecting rod assembly comprises a second connecting rod 34 and a downward extending finger rod 35 fixedly connected with the second connecting rod, and the upper side and the lower side of the second connecting rod 34 are respectively connected with the lower side of the sliding rod 32 and a second driving piece 42; the inner side surface of the finger rod 35 is provided with a clamping area, the clamping area is provided with a flexible finger end 5 which is made of soft materials and is in an arch bridge shape, or a strain hole 51 is arranged between the flexible finger end 5 and the clamping area, and the flexible finger end 5 is provided with a pressure sensor. The arrangement of the flexible finger tip 5 can be better suitable for workpieces with different shapes, can adaptively generate deformation according to the difference of contact points with objects, and can generate stable grabbing postures.
In order to facilitate sensing of the front pressure of the present embodiment on the workpiece, a clamping area is provided on the inner side of the finger 35, and a pressure sensor is provided on the clamping area.
The displacement sensor comprises a contact type displacement sensor and a non-contact type displacement sensor, and the displacement sensor is a slide rheostat. The slide rheostat is fixed on the first connecting rod/sliding rod, and the moving end of the slide rheostat is correspondingly connected with the sliding rod/first connecting rod.
In order to facilitate the connection with the robot, the embodiment further comprises a base 1, wherein the base 1 is connected with a base 2.
The embodiment further includes a data processing system, the lower side of the second driving member 42 is provided with a palm camera 6, the data processing system is connected with the palm camera 6, a displacement sensor and a pressure sensor, the monitoring range of the palm camera 6 covers the strain hole or the flexible finger end, and the data processing system judges the profile, shape and pose information of the object to be grabbed based on the deformation image data of the finger 35, the grabbing force data calculated by the displacement sensor according to the displacement, and the holding force data of the pressure sensor.
Specifically, the data processing system comprises an upper computer, a singlechip and a controller, and the mechanical gripper is communicated with the controller of the driving device of the mechanical gripper through the singlechip to control the action of the mechanical gripper. And meanwhile, collecting position information of the displacement sensor and force information of the finger tip force sensor. And sending the information to a last computer, and processing the sensor information by an upper computer to analyze the current configuration of the paw and the stress condition of the finger tip. Meanwhile, according to the image information of the palm camera, the contour, shape, pose and other information of the object to be grabbed can be judged.
While the preferred embodiment of the present invention has been described in detail, the present invention is not limited to the embodiments described above, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the present invention, and these equivalent modifications and substitutions are intended to be included in the scope of the present invention as defined in the appended claims.
Claims (8)
1. The utility model provides a self-adaptation mechanical gripper, includes base (2), is equipped with the driver that has the drive shaft on base (2), its characterized in that: the device also comprises a driving assembly, wherein the driving assembly comprises a first driving piece (41) and a second driving piece (42) which are connected together in a transmission way and move along the axial direction of the driving shaft, and a plurality of claw finger assemblies are annularly arranged on the base (2) around the driving shaft; the claw finger assembly comprises an elastic component, a first connecting rod (31), a sliding rod (32) and a second connecting rod assembly, wherein the first connecting rod (31) and the sliding rod (32) are sequentially connected from top to bottom, the second connecting rod assembly is hinged with the sliding rod (32), the sliding rod (32) and the first connecting rod (31) are arranged in parallel, the base (2) is hinged with the first connecting rod (31), two ends of the elastic component are respectively connected with the first connecting rod (31) and the sliding rod (32), the claw finger assembly further comprises a displacement sensor for sensing relative displacement between the first connecting rod (31) and the sliding rod (32), and the displacement sensor is fixedly connected with the first connecting rod (31) or the sliding rod (32);
the driving shaft is connected with a first driving piece (41), and a second driving piece (42) is connected with a second connecting rod assembly through a rotating shaft;
a linear guide rail (33) is arranged between the first connecting rod (31) and the sliding rod (32);
the claw finger assembly comprises two elastic components which are mutually crossed.
2. An adaptive gripper according to claim 1, wherein: the claw finger assembly comprises four elastic components, each two elastic components are called an elastic group, the two elastic components in the same elastic group are mutually crossed, the four elastic components form two elastic groups, and the two elastic groups are symmetrically arranged on two sides of the sliding rod (32).
3. An adaptive gripper according to claim 1 or 2, characterized in that: the elastic component is a spring.
4. An adaptive gripper according to claim 1, wherein: the driver is a motor, the first driving piece (41) is a screw rod, the second driving piece (42) is a screw rod nut, and the outer side of the second driving piece (42) is connected with the second connecting rod assembly through the rotating shaft.
5. An adaptive gripper according to claim 1, wherein: the second connecting rod assembly comprises a second connecting rod (34) and a downward extending finger rod (35) fixedly connected with the second connecting rod (34), and the upper side and the lower side of the second connecting rod (34) are respectively connected with the lower side of the sliding rod (32) and a second driving piece (42); the inner side surface of the finger rod (35) is provided with a clamping area, the clamping area is provided with an arch bridge-shaped flexible finger end (5) made of soft materials, a strain hole (51) is arranged in the flexible finger end (5), or a strain hole (51) is arranged between the flexible finger end (5) and the clamping area, and a pressure sensor is arranged on the flexible finger end (5).
6. An adaptive gripper according to claim 1, wherein: the displacement sensor is a sliding rheostat, the sliding rheostat is fixed on the first connecting rod (31)/the sliding rod (32), and the moving end of the sliding rheostat is correspondingly connected with the sliding rod (32)/the first connecting rod (31).
7. An adaptive gripper according to claim 1, wherein: the novel portable electric power tool also comprises a base (1), wherein the base (1) is connected with the base (2).
8. An adaptive gripper according to claim 5, wherein: the hand-held object gripping device is characterized by further comprising a data processing system, wherein a palm camera (6) is arranged on the lower side of the second driving piece (42), the data processing system is connected with the palm camera (6), a displacement sensor and a pressure sensor, and the data processing system judges the information of the outline, the shape and the pose of the gripped object based on deformation image data of the strain hole (51) and/or the flexible finger end (5) and grip data of the displacement sensor, which are calculated according to the displacement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810816944.4A CN108656147B (en) | 2018-07-24 | 2018-07-24 | Self-adaptive mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810816944.4A CN108656147B (en) | 2018-07-24 | 2018-07-24 | Self-adaptive mechanical gripper |
Publications (2)
| Publication Number | Publication Date |
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| CN108656147A CN108656147A (en) | 2018-10-16 |
| CN108656147B true CN108656147B (en) | 2024-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810816944.4A Active CN108656147B (en) | 2018-07-24 | 2018-07-24 | Self-adaptive mechanical gripper |
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| CN (1) | CN108656147B (en) |
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| CN109514536A (en) * | 2018-11-28 | 2019-03-26 | 贵州工程应用技术学院 | A kind of loading and unloading industrial robot |
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