CN110615276A - Two-finger translation gripper - Google Patents
Two-finger translation gripper Download PDFInfo
- Publication number
- CN110615276A CN110615276A CN201910886467.3A CN201910886467A CN110615276A CN 110615276 A CN110615276 A CN 110615276A CN 201910886467 A CN201910886467 A CN 201910886467A CN 110615276 A CN110615276 A CN 110615276A
- Authority
- CN
- China
- Prior art keywords
- finger
- tightening
- transmission part
- block
- slider
- 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
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
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of manipulators, in particular to a two-finger translational gripper which comprises a modular finger, a transmission part and a pressure sensor, wherein the modular finger is arranged above the transmission part and used for gripping an object; the pressure sensor is arranged in the transmission part. The force sensor provided by the invention is arranged on the transmission part instead of the fingers of the hand grip, so that the indirect measurement of the gripping force of the hand grip is realized, the detection precision of the gripping force is ensured, the wiring difficulty can be greatly reduced, and the service life problem of fatigue fracture caused by repeated bending of a cable is avoided; according to the invention, the gripping action of the gripper is realized by adopting the rotation motion of the synchronous belt, the structure is compact, meanwhile, the tensioning degree of the synchronous belt is adjustable, and due to the flexibility of the synchronous belt, when the gripping force of the gripper exceeds a rated range, the tooth jumping effect can be generated, so that the gripper structure is prevented from being damaged.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a two-finger translational gripper.
Background
With the development of the automation industry, the application field of robots is rapidly expanding. Many industries that have not used robots before, but have rarely, if not even never, have sought application solutions for robots, such as: logistics, food, agriculture, etc. In these industries, the robot has the characteristics of irregular shape, easy deformation and damage, variable size and the like. Because the control function of the traditional industrial robot gripping hand force is deficient, the object in the field is difficult to grip and apply without damage. In recent years, various attempts have been made to control the grip force, and the prior art means include: motor current loop control and finger grip force feedback technology. The motor current loop control technology does not need an additional force sensor, can realize the detection of the gripping force of the gripper through the detection of the motor current, but has very complex algorithm and general force control precision. The detection and control precision of the grabbing force can be effectively improved by using the sensor to detect the grabbing force of the grabbing hand, and the problems that the finger structure is not compact, the wiring is difficult, the service life of a cable is shortened and the like are caused by directly arranging the force sensor at the fingertip part of the grabbing hand of the robot.
Disclosure of Invention
The invention solves the problems that the finger structure is not compact, the wiring is difficult and the service life of a cable is reduced because a force sensor in the related technology is directly arranged at the fingertip part of a robot gripper, provides the two-finger translational gripper, arranges the force sensor in a transmission part in the palm of the gripper, can realize indirect measurement of the gripping force, greatly reduces the wiring difficulty while ensuring the improvement of the detection precision of the gripping force, and has the service life problem that the cable is not repeatedly bent to cause fatigue fracture.
In order to solve the technical problems, the invention is realized by the following technical scheme: a two-finger translation gripper comprising:
a modular finger for grasping an object;
the transmission part is arranged above the modularized finger;
and the pressure sensor is arranged inside the transmission part.
Preferably, the hand grip further comprises a driving and controlling part, the driving and controlling part is located in the shell I, and the driving and controlling part comprises a motor and a controller and is used for driving and controlling the movement of the hand grip.
Preferably, the modular finger comprises a flexible finger and a finger connecting seat, and the finger connecting seat is mounted on the adjustable mounting seat.
As preferred scheme, the transmission part is located casing II, II tops of casing and right-hand member are equipped with shield I and shield II respectively, be equipped with the opening on the shield I.
Preferably, the transmission part comprises two groups of guide rails and two groups of synchronous belts, the two groups of guide rails are positioned on two sides in the shell II, the synchronous belts are positioned between the two groups of guide rails and are arranged on the driving wheel and the driven wheel, the two guide rails are provided with pre-tightening sliding blocks, and the driven wheel is arranged on the pre-tightening sliding blocks through a rotating shaft.
As a preferred scheme, a sliding block I and a sliding block II are further mounted on the two guide rails respectively, and the other sides of the sliding blocks I and II are connected to the two sides of the synchronous belt respectively; slider I and slider II are located the opening, the opening is used for restricting the displacement of slider I and slider II.
As the preferred scheme, two slider I and slider II all install on adjustable mount pad through hexagon socket head cap screw.
As a preferred scheme, a pre-tightening block I and a pre-tightening block II are respectively arranged on the left side of the shell II, and the sensor is located between the pre-tightening block I and the pre-tightening block II.
As a preferred scheme, the pre-tightening block I, the pre-tightening block II and the pre-tightening slide block are locked by screws, and the pre-tightening screws penetrate through the pre-tightening block I and the pre-tightening block II and are screwed into the pre-tightening slide block.
Compared with the prior art, the invention has the beneficial effects that: the force sensor provided by the invention is arranged on the transmission part instead of the fingers of the hand grip, so that the indirect measurement of the gripping force of the hand grip can be realized, the detection precision of the gripping force is ensured, the wiring difficulty can be greatly reduced, and the service life problem of fatigue fracture caused by repeated bending of a cable is avoided; according to the invention, the gripping action of the gripper is realized by adopting the rotation motion of the synchronous belt, the structure is compact, meanwhile, the tensioning degree of the synchronous belt is adjustable, and due to the flexibility of the synchronous belt, when the gripping force of the gripper exceeds a rated range, the tooth jumping effect can be generated, so that the gripper structure is prevented from being damaged.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of a modular finger of the present invention;
FIG. 3 is a schematic view of the structure of the transmission portion of the present invention;
fig. 4 is a schematic view of the structure inside the transmission part of the present invention.
In the figure:
1. modularization finger, 2, transmission portion, 3, drive accuse portion, 4, flexible finger, 5, finger connecting seat, 6, adjustable mount pad, 7, slider I, 8, shield I, 9, pretension piece I, 10, opening, 11, shield II, 12, drive wheel, 13, hold-in range, 14, pretension slider, 15, axis of rotation, 16, follow driving wheel, 17, pretension piece II, 18, pressure sensor, 19, screw hole, 20, guide rail, 21, pretension screw, 22, slider II.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
As shown in fig. 1, the two-finger translational gripper comprises a modular finger 1, a transmission part 2 and a pressure sensor 18, wherein the modular finger 1 is arranged above the transmission part 2 and is driven by the transmission part 2 to generate relative parallel motion, so that an object gripping action is realized; the pressure sensor 18 is mounted inside the transmission section 2.
In one embodiment, in order to drive and control the movement of the hand grip, the two-finger translational grip further comprises a driving and controlling part 3, wherein the driving and controlling part 3 comprises a motor and a controller, the motor and the controller are placed in a shell I, and one side of the shell I is provided with a power supply hole of the motor; the motor is connected with the transmission part, the modular fingers are driven to move through the driving transmission part, so that grabbing is achieved, the controller is used for controlling the movement of the hand grab, and the model of the controller can be selected according to the actual production requirement.
As shown in fig. 2, the modularized finger 1 comprises a flexible finger 4 and a finger connecting seat 5, wherein the flexible finger 4 and the finger connecting seat 5 are manufactured by adopting a mixed deposition technology in an integrated manner, connection and assembly are realized, the finger connecting seat 5 is mounted on an adjustable mounting seat 6 through a screw, and a long circular hole is formed in the adjustable mounting seat 6 and is used for being connected with a transmission part, so that the initial opening and closing degree of the modularized finger 1 is adjusted.
Furthermore, the shape of flexible finger 4 is triangle-shaped and has a plurality of stull, has 2 flexible fingers 4 on every finger connecting seat 5 moreover, leaves certain space between two flexible fingers 4.
According to one embodiment of the invention, the transmission part 2 is located in the shell II, as shown in FIG. 3, the top end and the right end of the shell II are respectively provided with a dust cover I8 and a dust cover II 11, and the dust cover I8 and the dust cover II 11 are both connected with the frame of the shell II through screws for protecting the transmission part inside and facilitating maintenance.
In one embodiment, as shown in fig. 4, the transmission part includes a timing belt 13 and a guide rail 20, the timing belt 13 is mounted on the driving pulley 12 and the driven pulley 16, and can transmit the rotary motion of the driving pulley 12 to the driven pulley 16; the driving wheel 12 is connected with a motor, and can realize the conversion from the rotary motion of the motor to the linear motion; the preload slider 14 is attached to the guide rail 20, and the follower 16 is attached to the preload slider 14 via the rotating shaft 15 and is slidable on the guide rail 20 along with the preload slider 14.
Further, in order to drive the modularized fingers to move, a sliding block I7 and a sliding block II 22 are further installed on the guide rail 20, threaded holes 19 are formed in the sliding block I7 and the sliding block II 22 and are connected with long round holes in the adjustable installation base 6 through hexagon socket head cap screws, the other sides of the sliding block I7 and the sliding block II 22 are respectively connected to two sides of the synchronous belt 13, the two sides of the synchronous belt 13 generate parallel reverse movement in the transmission process, the sliding block 7 and the sliding block 22 are driven to perform parallel reverse movement, and therefore grabbing actions of the modularized fingers 1 installed on the sliding block 7 and the sliding block 22 are achieved; in order to limit the displacement of the sliding block I7 and the sliding block II 22, the rectangular opening 10 is formed in the dustproof cover I8, the sliding block I7 and the sliding block II 22 are located in the opening 10, and the moving range of the sliding block I7 and the sliding block II 22 is limited by the opening 10.
In one embodiment, a pre-tightening block I9 and a pre-tightening block II 17 are respectively arranged on the left side of a shell II, a sensor 18 is located between the pre-tightening block I9 and the pre-tightening block II 17, the pre-tightening block I9, the pre-tightening block II 17 and a pre-tightening slide block 14 are locked through screws 21, the pre-tightening screws 21 penetrate through the pre-tightening block I9 and the pre-tightening block II 17 and are screwed into the pre-tightening slide block 14, when the pre-tightening slide block 14, the pre-tightening block I9 and the pre-tightening block II 17 are pre-tightened, the tension of a synchronous belt 13 is applied to the pressure sensor 18, and as a part of the tension of the synchronous belt 13 comes from a gripping force generated when the modular finger 1 grips an object, the gripping force of the modular finger 1 is indirectly transmitted by the synchronous belt 13 and is applied to the pressure sensor 18, and therefore, the. In addition, closed-loop control of the gripping force of the gripper can be realized through motor motion control and gripping force feedback.
The above embodiments are preferred embodiments of the present invention, and those skilled in the art can make variations and modifications to the above embodiments, therefore, the present invention is not limited to the above embodiments, and any obvious improvements, substitutions or modifications made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (9)
1. A two-finger translational gripper is characterized by comprising:
a modular finger (1), the modular finger (1) for gripping an object;
the transmission part (2), the modularized finger (1) is arranged above the transmission part (2);
and the pressure sensor (18), wherein the pressure sensor (18) is arranged in the transmission part (2).
2. The two-finger translational gripper according to claim 1, characterized in that: the hand grip further comprises a driving and controlling portion (3), the driving and controlling portion (3) is located in the shell I, and the driving and controlling portion (3) comprises a motor and a controller and is used for driving and controlling the hand grip to move.
3. The two-finger translational gripper according to claim 1, characterized in that: the modularized finger (1) comprises a flexible finger (4) and a finger connecting seat (5), wherein the finger connecting seat (5) is installed on an adjustable installation seat (6).
4. The two-finger translational gripper according to claim 1, characterized in that: the transmission part (2) is located in the shell II, the top end and the right end of the shell II are respectively provided with a dustproof cover I (8) and a dustproof cover II (11), and an opening (10) is formed in the dustproof cover I (8).
5. The two-finger-translation gripper according to claim 4, characterized in that: the transmission part (2) comprises a synchronous belt (13) and guide rails (20), the guide rails (20) are two groups and located on two inner sides of the shell, the synchronous belt (13) is located between the two groups of guide rails (20) and is installed on the driving wheel (12) and the driven wheel (16), a pre-tightening sliding block (14) is installed on the guide rails (20), and the driven wheel (16) is installed on the pre-tightening sliding block (14) through a rotating shaft (15).
6. The two-finger translational gripper according to claim 5, characterized in that: the two guide rails (20) are also respectively provided with a sliding block I (7) and a sliding block II (22), and the other sides of the sliding blocks I (7) and the sliding blocks II (22) are respectively connected to the two sides of the synchronous belt (13); the slider I (7) and the slider II (22) are located in the opening (10), and the opening (10) is used for limiting the displacement of the slider I (7) and the slider II (22).
7. The two-finger translational gripper according to claim 6, characterized in that: slider I (7) and slider II (22) all install on adjustable mount pad (6) through hexagon socket head cap screw.
8. The two-finger-translation gripper according to claim 4, characterized in that: the left side of the shell II is provided with a pre-tightening block I (9) and a pre-tightening block II (17) respectively, and the sensor (18) is located between the pre-tightening block I (9) and the pre-tightening block II (17).
9. The two-finger translational gripper according to claim 8, characterized in that: the pre-tightening block I (9), the pre-tightening block II (17) and the pre-tightening sliding block (14) are adjusted in locking degree through screws (21), and the pre-tightening screws (21) penetrate through the pre-tightening block I (9) and the pre-tightening block II (17) and are screwed into the pre-tightening sliding block (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910886467.3A CN110615276A (en) | 2019-09-19 | 2019-09-19 | Two-finger translation gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910886467.3A CN110615276A (en) | 2019-09-19 | 2019-09-19 | Two-finger translation gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110615276A true CN110615276A (en) | 2019-12-27 |
Family
ID=68923644
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910886467.3A Pending CN110615276A (en) | 2019-09-19 | 2019-09-19 | Two-finger translation gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110615276A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111958575A (en) * | 2020-08-11 | 2020-11-20 | 广东万合新材料科技有限公司 | Mechanical arm mechanism |
| CN112660730A (en) * | 2020-11-24 | 2021-04-16 | 山东新达重工机械有限公司 | Automatic transfer equipment for cutting cast steel axle housing |
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| US6224123B1 (en) * | 1996-12-05 | 2001-05-01 | Fritz Schunk Gmbh & Co. Kg Fabrik Fur Spann-Und Greifwerkzeuge | Gripper apparatus |
| DE10139520A1 (en) * | 2001-08-10 | 2003-02-20 | Roemheld A Gmbh & Co Kg | Clamping element for clamping workpieces comprises hydraulic pistons, clamping jaws, cylinder holes, hollow cavities with deformable walls and connecting element |
| DE10213127C1 (en) * | 2002-03-23 | 2003-06-05 | Guenther Zimmer | Parallel gripping device for gripping objects comprises carriages displaced by a piston/cylinder unit and hinged to cam drives arranged one after the other via one piston in each movement direction |
| DE10333408B3 (en) * | 2003-07-15 | 2004-07-08 | Schunk Gmbh & Co. Kg Fabrik Für Spann- Und Greifwerkzeuge | Automobile wheel rim gripping device using piston-cylinder devices for relative linear movement of 2 adjacent clamp plates |
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| JP2011115914A (en) * | 2009-12-04 | 2011-06-16 | Mitsubishi Electric Corp | Robot hand |
| EP2719506A1 (en) * | 2012-10-09 | 2014-04-16 | PHD, Inc. | Gripper with cable synchronized jaw movement |
| EP3199307A1 (en) * | 2016-01-28 | 2017-08-02 | PHD, Inc. | Synchronizing and breaking mechanism for gripper jaws |
| DE102016004924A1 (en) * | 2016-04-25 | 2017-10-26 | Günther Zimmer | Gripping device for the internal and external gripping of workpieces |
| DE102016005002A1 (en) * | 2016-04-25 | 2017-10-26 | Günther Zimmer | Gripping device with angle adapters |
| DE102016116191A1 (en) * | 2016-08-31 | 2018-03-01 | Weiss Robotics GmbH & Co KG | Timing belt mountable actuator assembly for actuator module |
| US20180141209A1 (en) * | 2016-11-22 | 2018-05-24 | Daegu Gyeongbuk Institute Of Science And Technology | Detachable and attachable modular gripper for universal use |
| CN207564502U (en) * | 2017-08-29 | 2018-07-03 | 深圳市罗博泰尔机器人技术有限公司 | Electric claw |
-
2019
- 2019-09-19 CN CN201910886467.3A patent/CN110615276A/en active Pending
Patent Citations (17)
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| JPS6445588A (en) * | 1987-08-11 | 1989-02-20 | Mitsubishi Electric Corp | Clean robot hand device |
| US6224123B1 (en) * | 1996-12-05 | 2001-05-01 | Fritz Schunk Gmbh & Co. Kg Fabrik Fur Spann-Und Greifwerkzeuge | Gripper apparatus |
| DE10139520A1 (en) * | 2001-08-10 | 2003-02-20 | Roemheld A Gmbh & Co Kg | Clamping element for clamping workpieces comprises hydraulic pistons, clamping jaws, cylinder holes, hollow cavities with deformable walls and connecting element |
| DE10213127C1 (en) * | 2002-03-23 | 2003-06-05 | Guenther Zimmer | Parallel gripping device for gripping objects comprises carriages displaced by a piston/cylinder unit and hinged to cam drives arranged one after the other via one piston in each movement direction |
| JP2005034615A (en) * | 2003-02-18 | 2005-02-10 | Eamex Co | Drive mechanism and drive method thereof |
| DE10333408B3 (en) * | 2003-07-15 | 2004-07-08 | Schunk Gmbh & Co. Kg Fabrik Für Spann- Und Greifwerkzeuge | Automobile wheel rim gripping device using piston-cylinder devices for relative linear movement of 2 adjacent clamp plates |
| DE102005026150B3 (en) * | 2005-06-06 | 2007-01-11 | Fix Maschinenbau Gmbh | Pivoting grab comprises a drive element formed by a carriage which linearly slides across the adjusting direction of grab arms along a guide |
| JP2007203402A (en) * | 2006-02-01 | 2007-08-16 | Nidec Sankyo Corp | Hand for robot and conveyance robot provided with this hand |
| DE102008028204A1 (en) * | 2008-06-09 | 2009-12-10 | Schunk Gmbh & Co. Kg Spann- Und Greiftechnik | Gripping- or clamping device for gripping small articles in automation application, has piston movably coupled with flanges by toothed belt, and cylinders adjusted in axial direction for changing cylinder chamber volume |
| JP2011115914A (en) * | 2009-12-04 | 2011-06-16 | Mitsubishi Electric Corp | Robot hand |
| EP2719506A1 (en) * | 2012-10-09 | 2014-04-16 | PHD, Inc. | Gripper with cable synchronized jaw movement |
| EP3199307A1 (en) * | 2016-01-28 | 2017-08-02 | PHD, Inc. | Synchronizing and breaking mechanism for gripper jaws |
| DE102016004924A1 (en) * | 2016-04-25 | 2017-10-26 | Günther Zimmer | Gripping device for the internal and external gripping of workpieces |
| DE102016005002A1 (en) * | 2016-04-25 | 2017-10-26 | Günther Zimmer | Gripping device with angle adapters |
| DE102016116191A1 (en) * | 2016-08-31 | 2018-03-01 | Weiss Robotics GmbH & Co KG | Timing belt mountable actuator assembly for actuator module |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111958575A (en) * | 2020-08-11 | 2020-11-20 | 广东万合新材料科技有限公司 | Mechanical arm mechanism |
| CN112660730A (en) * | 2020-11-24 | 2021-04-16 | 山东新达重工机械有限公司 | Automatic transfer equipment for cutting cast steel axle housing |
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Application publication date: 20191227 |