CN109048906A - A kind of adaptive gripper of robot - Google Patents
A kind of adaptive gripper of robot Download PDFInfo
- Publication number
- CN109048906A CN109048906A CN201810967483.0A CN201810967483A CN109048906A CN 109048906 A CN109048906 A CN 109048906A CN 201810967483 A CN201810967483 A CN 201810967483A CN 109048906 A CN109048906 A CN 109048906A
- Authority
- CN
- China
- Prior art keywords
- fixture block
- pedestal
- robot
- inner end
- sliding slot
- 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.)
- Withdrawn
Links
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
- B25J15/086—Gripping heads and other end effectors having finger members with means for synchronizing the movements of the fingers
-
- 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
-
- 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
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
Abstract
The invention discloses a kind of adaptive grippers of robot, belong to robot field, including discoidal pedestal, the pedestal upper surface is equipped with several circumferential equally distributed sliding slots, the sliding slot runs through the upper and lower end face of pedestal, sliding slot is arranged along the radial direction of pedestal, slidably connects fixture block on sliding slot；Pedestal lower end surface is equipped with several circumferential equally distributed driving motors, driving motor and fixture block correspond, driving motor is connect by drag-line with the inner end of fixture block bottom, the outer rim of pedestal lower end surface is equipped with several circumferential equally distributed reset springs, reset spring and fixture block correspond, and the free end of reset spring is connect with the outer end of fixture block bottom；The inner end on the top of the fixture block is equipped with pressure sensor；The interconnecting piece connecting with robot arm is equipped at the center of pedestal lower end surface, the drag-line is elastic material.The present invention is not only able to adapt to the crawl with the object of various shape size, additionally it is possible to guarantee not rupture when crawl.
Description
Technical field
The present invention relates to robot field, in particular to a kind of adaptive gripper of robot.
Background technique
With the development of robot technology, the application field of robot is also more and more extensive, gradually enters household from industry
Field.As the substitution of manpower, the gripper of robot is particularly important, not only wants that most objects can be grabbed, also requirement cannot incite somebody to action
Object is scratched.But the gripper of existing robot is then difficult to adapt to the object of different shapes and sizes, is difficult in the process of grasping
Suitable crawl point is found, the case where object is fallen during grabbing is easy to appear；The gripper of robot is rigidly larger simultaneously, grabs
During taking object, frequently appear in the case where object being captured before force feedback system is made a response.
Summary of the invention
The object of different shapes and sizes is difficult to adapt to for the gripper of robot of the existing technology and is easy to scratch
The problem of object, the purpose of the present invention is to provide a kind of adaptive grippers of robot.
To achieve the above object, the technical solution of the present invention is as follows:
A kind of adaptive gripper of robot, including discoidal pedestal, it is circumferential equal that the pedestal upper surface is equipped with several
The sliding slot of even distribution, the sliding slot run through the upper and lower end face of pedestal, and sliding slot is arranged along the radial direction of pedestal, slides on sliding slot
It is connected with fixture block；Pedestal lower end surface is equipped with several circumferential equally distributed driving motors, and driving motor and fixture block correspond,
Driving motor is connect by drag-line with the inner end of fixture block bottom, and it is circumferential equally distributed that the outer rim of pedestal lower end surface is equipped with several
Reset spring, reset spring and fixture block correspond, and the free end of reset spring is connect with the outer end of fixture block bottom；The fixture block
Top inner end be equipped with pressure sensor；The interconnecting piece connecting with robot arm is equipped at the center of pedestal lower end surface, it is described
Drag-line is elastic material.
Further, the lower end surface of the pedestal is equipped with controller, the controller and driving motor, pressure sensor electricity
Connection.
Further, the inner end of the fixture block is laid with buffer layer, and the buffer layer is rubber, silica gel or sponge.
Preferably, the inner end of the fixture block is arc, the axis of the axis of the arc perpendicular to pedestal.
Another preferred, the inner end of the fixture block is arc, and the axis of the arc is parallel to the axis of pedestal.
Another preferred, the inner end of the fixture block is plane, and the plane is perpendicular to sliding slot.
By adopting the above technical scheme, due to the setting of the drag-line of elastic material, when so that fixture block clamping object, object receiving force
Be it is linearly increasing, will not instantaneous breakdown, stop abundant reflecting time to force feedback system；The setting of the fixture block of independently moving,
When so that driving motor operating, guarantee that the object of different shapes and sizes can be clamped among fixture block automatically, without seeking
Look for claming angle, orientation.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the top view of the adaptive gripper of robot shown in Fig. 1.
In figure: 1- pedestal, 2- sliding slot, 3- fixture block, 4- driving motor, 5- drag-line, 6- reset spring, 7- spring mounting plate,
8- buffer layer, 9- interconnecting piece.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing.It should be noted that for
The explanation of these embodiments is used to help understand the present invention, but and does not constitute a limitation of the invention.In addition, disclosed below
The each embodiment of the present invention involved in technical characteristic can be combined with each other as long as they do not conflict with each other.
As shown in Figure 1 and Figure 2, the adaptive gripper of a kind of robot, including discoidal pedestal 1, the upper surface of pedestal 1 are set
There are several circumferential equally distributed sliding slots 2, top, the bottom end of sliding slot 2 extend through the upper and lower end face of pedestal 1,2 edge of sliding slot
The radial direction of pedestal 1 is arranged, and fixture block 3 is slidably connected on sliding slot 2, and the inner end of fixture block 3 is arc of the axis perpendicular to pedestal 1
The inner end of shape perhaps fixture block 3 is that the inner end of arc or fixture block 3 that axis is parallel to pedestal 1 is plane perpendicular to sliding slot 2.
1 lower end surface of pedestal is equipped with several circumferential equally distributed driving motors 4, and driving motor 4 and fixture block 3 one are a pair of
It answers, the drag-line 5 made of elastic material of driving motor 4 is connect with the inner end of 3 bottom of fixture block, and the outer rim of 2 lower end surface of pedestal is set
There are several circumferential equally distributed reset springs 6, reset spring 6 and fixture block 3 correspond, and one end of reset spring 6 passes through
Spring mounting plate 7 is connect with pedestal 1, the outer end of 3 bottom of free end and fixture block connects；The inner end on the top of fixture block 3 is equipped with pressure
Sensor, the inner end of fixture block 3 are equipped with the buffer layer 8 of rubber, silica gel or sponge material；At 1 lower end surface center of pedestal be equipped with
The interconnecting piece 9 of robot arm connection, several above-mentioned driving motors 4 are evenly spaced on around interconnecting piece 9.
The lower end surface of pedestal 1 is equipped with controller, and controller is electrically connected with driving motor 4, pressure sensor.
Due to the setting of the drag-line 5 of elastic material, when so that fixture block 3 clamping object, object receiving force be it is linearly increasing, no
Meeting instantaneous breakdown, stops abundant reflecting time to force feedback system；The setting of the fixture block 3 of independently moving, so that driving motor 4 is transported
When turning, guarantee that the object of different shapes and sizes can be clamped in the centre of fixture block 3 automatically, without find claming angle,
Orientation.
In conjunction with attached drawing, the embodiments of the present invention are described in detail above, but the present invention is not limited to described implementations
Mode.For a person skilled in the art, in the case where not departing from the principle of the invention and spirit, to these embodiments
A variety of change, modification, replacement and modification are carried out, are still fallen in protection scope of the present invention.
Claims (6)
1. a kind of adaptive gripper of robot, it is characterised in that: including discoidal pedestal, the pedestal upper surface is equipped with several
A equally distributed sliding slot of circumferential direction, the sliding slot run through the upper and lower end face of pedestal, and sliding slot is arranged along the radial direction of pedestal, sliding
Fixture block is slidably connected on slot；Pedestal lower end surface is equipped with several circumferential equally distributed driving motors, driving motor and fixture block
It corresponds, driving motor is connect by drag-line with the inner end of fixture block bottom, and the outer rim of pedestal lower end surface is equipped with several circumferential directions
Equally distributed reset spring, reset spring and fixture block correspond, and the free end of reset spring and the outer end of fixture block bottom connect
It connects；The inner end on the top of the fixture block is equipped with pressure sensor；It is equipped at the center of pedestal lower end surface and is connect with robot arm
Interconnecting piece, the drag-line are elastic material.
2. the adaptive gripper of robot according to claim 1, it is characterised in that: the lower end surface of the pedestal is equipped with control
Device, the controller are electrically connected with driving motor, pressure sensor.
3. the adaptive gripper of robot according to claim 1, it is characterised in that: the inner end of the fixture block is laid with buffering
Layer, the buffer layer are rubber, silica gel or sponge.
4. the adaptive gripper of robot according to claim 1, it is characterised in that: the inner end of the fixture block is arc, institute
State axis of the axis perpendicular to pedestal of arc.
5. the adaptive gripper of robot according to claim 1, it is characterised in that: the inner end of the fixture block is arc, institute
The axis for stating arc is parallel to the axis of pedestal.
6. the adaptive gripper of robot according to claim 1, it is characterised in that: the inner end of the fixture block is plane, institute
Plane is stated perpendicular to sliding slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810967483.0A CN109048906A (en) | 2018-08-23 | 2018-08-23 | A kind of adaptive gripper of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810967483.0A CN109048906A (en) | 2018-08-23 | 2018-08-23 | A kind of adaptive gripper of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109048906A true CN109048906A (en) | 2018-12-21 |
Family
ID=64756674
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810967483.0A Withdrawn CN109048906A (en) | 2018-08-23 | 2018-08-23 | A kind of adaptive gripper of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109048906A (en) |
-
2018
- 2018-08-23 CN CN201810967483.0A patent/CN109048906A/en not_active Withdrawn
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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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181221 |
|
| WW01 | Invention patent application withdrawn after publication |