CN112060123A

CN112060123A - Flat-clamping touch mechanical claw device and using method

Info

Publication number: CN112060123A
Application number: CN202010926253.7A
Authority: CN
Inventors: 张郝君; 徐汉波; 蒋文康; 赵双双; 李陈斌
Original assignee: Suzhou Guoling Technology Research Intelligent Technology Co ltd
Current assignee: Suzhou Guoling Technology Research Intelligent Technology Co ltd
Priority date: 2020-09-07
Filing date: 2020-09-07
Publication date: 2020-12-11

Abstract

The invention discloses a parallel-clamping touch mechanical claw device and a using method thereof, belonging to the technical field of touch mechanical claws. The device includes: the bearing platform is arranged on the base, and the containing cavity is arranged at the lower side inside the base; the driving mechanism is arranged on the base and used for providing a power source for the device; and the clamping mechanism is connected with the driving mechanism and is used for clamping the object to be clamped. The device adopts a gear rack to drive a parallelogram mechanism, and realizes the flat clamping function of a mechanical claw; when grabbing, partial contact in the gripper finger end contacts with the live wire conducting strip, the gripper is lifted, whether the object slides is judged by judging whether the contact state of all the electric contacts changes, if the object slides, the clamping force is increased, the gripper is lifted again and whether the grabbed object slides is judged, the object does not slide until the clamping force is increased until the grabbed object is lifted, the minimum force required by the grabbed object can be obtained, the control is simple, and the obtained minimum clamping force is accurate.

Description

Flat-clamping touch mechanical claw device and using method

Technical Field

The invention belongs to the technical field of a robot touch force adaptive hand, and relates to a parallel-clamping touch mechanical claw device and a using method thereof, which can be applied to the industry for grabbing softer, fragile and easily deformed objects.

Background

Robot grippers are an important component of the field of robot design. Industrial robots are currently designed in industrial automation production primarily with two jaw ends that move relative to each other to grip an object and release it when appropriate. The control idea of grabbing objects of the existing gripper is mainly to clamp the objects by manually giving a determined opening and closing angle or manually giving a clamping force. However, for fragile, soft and easily deformable objects, the clamping force and the opening and closing angle are difficult to be manually given, and the object can be clamped or cannot be grasped by an excessively large clamping force, an excessively small opening and closing angle or an excessively small clamping force and an excessively small opening and closing angle. The touch sensor is added to the finger part of the mechanical claw, the clamping force and the grabbing position of the clamping jaw are controlled by sensing the texture of an object and sensing the size and the distribution condition of the grabbing force through the sensor, and the good force adaptation effect is achieved. This method requires a complex algorithm to compute the analysis.

Yanoshiming et al in a patent (yanoshiming, patent application publication No. 201620003249.2) describe a gripper with tactile sensing. The grabbing end of the tactile mechanical claw is provided with spring-shaped conductive fibers to serve as a tactile sensor. In the grabbing process, the grabbing end approaches to the axis direction of the object to be grabbed, when the object contacts the grabbing end, the spring-shaped conductive fibers are pressed down to generate tiny deformation, the tiny deformation amount causes the electrical parameters of the LCR circuit to be changed, and sensitive electrical signals are generated to adapt to the clamping position and the clamping force of the current object. The device has the following defects: the device mainly judges the position relation between the object and the hand grip through the touch sensor, and the judgment of the most suitable holding force of the object is not achieved; the tactile sensor of the device is designed by an LCR circuit, and the current holding position and force are judged by measuring the generated electric signals, so that a certain complex algorithm is needed.

A mechanical claw is described in the patent (Huangjin Board, patent application publication No. 2020102266611.6). The mechanical claw is mainly used for grabbing objects such as packing boxes. Snatch the object through taking spring slide clamp plate, when the object was pressed from both sides tightly and clamping-force reached when big enough, the contact connection on the slide clamp plate led to electronic air pump stop work to realize the clamp of fixed force and get to the slide clamp plate end adopts the mode of multiple spot contact can be better promptly the object. The device has the following defects: the device is fixed for the object grabbing force, namely the motor stops running when the maximum grabbing force is reached, the grabbing force cannot be adjusted in a self-adaptive mode, and the object can be clamped to be damaged for another object.

Disclosure of Invention

1. Problems to be solved

Aiming at the defects in the prior art, the invention provides a flat-clamping touch mechanical claw device which is used for clamping an object, has force adaptability to the minimum clamping force required by the object, can obtain the minimum clamping force of the object, can play a good clamping effect on fragile, easily deformed and softer objects, and ensures that the object is not damaged by clamping.

2. Technical scheme

In order to solve the problems, the technical scheme adopted by the invention is as follows:

the invention discloses a flat-clamping tactile mechanical claw device, which comprises: the bearing platform is arranged on the base, and the containing cavity is arranged at the lower side inside the base; the driving mechanism is arranged on the base and used for providing a power source for the device; the clamping mechanism is connected with the driving mechanism and is used for clamping an object to be clamped; and the controller is electrically connected with the driving mechanism and the clamping mechanism.

In a possible embodiment of the present invention, the driving mechanism includes a speed reduction motor, a slide rail, a rack, a connecting member, a short connecting rod, a short pin, a gear shaft, a long pin, a small pin, a first long connecting rod and a second long connecting rod, the speed reduction motor is fixedly connected in the accommodating cavity, the slide rail is fixedly connected to the bearing platform, and the slide rail is provided with a through hole; an output shaft of the speed reducing motor penetrates through a through hole in the sliding rail and is fixedly connected with the connecting piece; one end of the short connecting rod is sleeved with the connecting piece through a small pin shaft, the other end of the short connecting rod is sleeved with the rack through the small pin shaft, and the rack is connected to the sliding rail in a sliding mode; the gear is sleeved on the gear shaft and meshed with the rack, and the gear shaft is fixedly connected to the base.

In a possible embodiment of the present invention, the clamping mechanism includes a jaw end base, a jaw end fixing frame, a conductive contact mounting plate, K conductive contacts, K springs, and a live wire conductive plate, one end of the first long connecting rod is fixedly connected to the gear shaft, the other end is sleeved with the jaw end base through a short pin shaft, one end of the second long connecting rod is sleeved on the long pin shaft, and the other end is sleeved with the jaw end base through the short pin shaft; the long pin shaft is fixedly connected to the base; the clamping jaw end base is sleeved with the first long connecting rod and the second long connecting rod through a short pin shaft; the clamping jaw end fixing frame is fixedly connected to the clamping jaw end base; the conductive contact mounting plate is fixedly connected to the clamping jaw end base, K groove holes are formed in the conductive contact mounting plate, one end of an nth spring is fixedly connected to the nth groove hole of the conductive contact mounting plate, and the nth contact mounting plate is fixedly connected to the nth groove hole of the conductive contact mounting plate through the spring; the conducting strip with the wire is fixedly connected with the other ends of K springs, and K is a natural number greater than 2; n is a natural number greater than 0 and less than K.

In a possible embodiment of the present invention, the fixing frame of the clamping jaw end is fixedly connected with a rubber sleeve.

In a possible embodiment of the invention, the base is made of plastic.

In a possible embodiment of the present invention, the gear and the rack are standard components.

In one possible embodiment of the present invention, the conductive sheet with a wire is a copper sheet.

In a possible embodiment of the invention, the springs are compression springs.

In one possible embodiment of the invention, the matrix array of recessed apertures is arranged on a conductive contact mounting plate.

3. Advantageous effects

Compared with the prior art, the invention has the beneficial effects that:

(1) the flat clamping touch mechanical claw device adopts a gear rack to drive a parallelogram mechanism, so that the flat clamping function of the mechanical claw is realized; when in grabbing, partial contact points in the finger end of the mechanical claw are contacted with the live wire conducting strip, the mechanical claw is lifted, whether the object slides or not is judged by judging whether the contact states of all the electric contact points are changed or not, if the object slides, the clamping force is increased, then the mechanical claw is lifted, whether the grabbed object slides or not is judged, and the object does not slide until the clamping force is increased until the grabbed object is lifted, so that the minimum force required by the grabbed object can be obtained, the control is simple, and the obtained minimum clamping force is relatively accurate;

(2) when the object grabbing work is carried out, the gear motor outputs small clamping force to drive the rack to slide through the connecting rod, the gear is driven through the rack to drive the long connecting rod of the parallelogram mechanism to carry out flat clamping, when the clamping jaw end is contacted with the grabbed object, the live wire conducting strip is pressed down to be contacted with part of the electric contact points, the mechanical claw is lifted at the moment, whether the object slides is judged by judging whether the contact state of all the electric contact points is changed, if the clamping force is increased during sliding, the clamping force is increased, the gripper is lifted again and whether the grabbed object slides is judged, the minimum force required by the grabbed object can be obtained until the clamping force is increased to ensure that the grabbed object does not slide in the lifting process of the grabbed object, and the mechanical claw has good force adaptability to fragile and soft objects and can not guarantee that the object cannot be.

Drawings

FIG. 1 is a perspective view of the construction of the present invention flat-grip tactile mechanical jaw apparatus;

FIG. 2 is a front view of the embodiment shown in FIG. 1;

FIG. 3 is a top view of the embodiment shown in FIG. 1;

FIG. 4 is a perspective view of the embodiment of FIG. 1 with the base removed;

FIG. 5 is a cross-sectional view of the embodiment of FIG. 1;

FIG. 6 is a cross-sectional view of the jaw end mount of FIG. 5;

FIG. 7 is an enlarged view at A of FIG. 6;

fig. 8, 9 and 10 are schematic views of a process of grasping a spherical target object.

The notation in the figure is:

100. a base; 110. a load-bearing platform; 120. an accommodating chamber;

200. a drive mechanism; 210. a reduction motor; 220. a connecting member; 230. a slide rail; 240. a rack; 250. a gear; 251. a gear shaft; 260. a short connecting rod; 261. a small pin shaft; 270. a long pin shaft; 280. a first long link; 281. a short pin shaft; 290. a second long link;

300. a clamping mechanism; 310. a jaw end base; 320. a jaw end fixing frame; 321. a rubber sleeve; 330. a conductive contact; 340. a spring; 350. a live wire conducting strip; 360. a conductive contact mounting plate; 361. a groove hole;

400. an object to be gripped.

Detailed Description

Exemplary embodiments of the present invention are described in detail below. Although these exemplary embodiments are described in sufficient detail to enable those skilled in the art to practice the invention, it should be understood that other embodiments may be realized and that various changes to the invention may be made without departing from the spirit and scope of the present invention. The following more detailed description of the embodiments of the invention is not intended to limit the scope of the invention, as claimed, but is presented for purposes of illustration only and not limitation to describe the features and characteristics of the invention, to set forth the best mode of carrying out the invention, and to sufficiently enable one skilled in the art to practice the invention. Accordingly, the scope of the invention is to be limited only by the following claims.

Example 1

As shown in fig. 1 to 10, the present embodiment of the flat-clamping tactile mechanical claw device comprises a base 100 made of plastic, on which a bearing platform 110 is arranged, and an inner lower side of which is provided with a containing cavity 120; a driving mechanism 200 disposed on the base 100 for providing a power source for the apparatus; a gripping mechanism 300 connected to the driving mechanism 200 for gripping the object 400 to be gripped; a controller electrically connected to the driving mechanism 200 and the clamping mechanism 300,

the driving mechanism 200 includes a speed reduction motor 210, a slide rail 230, a rack 240, a gear 250, a connector 220, a short link 260, a short pin 281, a gear shaft 251, a long pin 270, a small pin 261, a first long link 280 and a second long link 290, wherein the gear 250 and the rack 240 are standard components.

The clamping mechanism 300 comprises a jaw end base 310, a jaw end fixing frame 320, a conductive contact mounting plate 360, K conductive contacts 330, K springs 340, a live wire conductive sheet 350 and a rubber sleeve 321; the springs 340 are compression springs, and the speed reducing motor 210 is fixedly connected in the accommodating cavity 120 of the base 100; the slide rail 230 is fixedly connected to the bearing platform 110 of the base 100; a through hole is arranged on the sliding rail 230; the output shaft of the speed reducing motor 210 passes through a through hole in the slide rail 230 and is fixedly connected with a connecting piece 220, and the connecting piece 220 can be a coupler; one side of the short connecting rod 260 is sleeved with the connecting piece 220 through a small pin shaft 261, the other side of the short connecting rod 260 is sleeved with the rack 240 through the small pin shaft 261, and the rack 240 is connected to the sliding rail 230 in a sliding manner; the gear 250 is sleeved on a gear shaft 251 and is meshed with the rack 240, the gear shaft 251 is fixedly connected on the base 100, one end of the first long connecting rod 280 is fixedly connected with the gear shaft 251, and the other end is sleeved with the clamping jaw end base 310 through a short pin 281; one end of the second long connecting rod 290 is sleeved on the long pin 270, and the other end is sleeved with the clamping jaw end base 310 through a short pin 281; the long pin 270 is fixedly connected to the base 100; the jaw end base 310 is sleeved with the first long connecting rod 280 and the second long connecting rod 290 through a short pin 281; the clamping jaw end fixing frame 320 is fixedly connected to the clamping jaw short base; the conductive contact mounting plate 360 is fixedly connected to the jaw end base 310, K groove holes 361 are formed in the conductive contact mounting plate 360, the springs 340 are compression springs, one end of the nth spring 340 is fixedly connected to the nth groove hole 361 of the conductive contact mounting plate 360, and the nth contact mounting plate is fixedly connected to the nth groove hole 361 of the conductive contact mounting plate 360 through the spring 340; the conducting strip 350 with the wire is fixedly connected with the other ends of the K springs 340; the rubber sleeve 321 is fixedly connected to the jaw end fixing frame 320. K is a natural number greater than 2; n is a natural number greater than 0 and less than K.

In this example, K is 81, and one embodiment of the present invention is shown in fig. 1, 2, 3, 4, 5 and 6. The device of the embodiment comprises a base 100, a speed reduction motor 210, a slide rail 230, a rack 240, a gear 250, a connecting piece 220, a short connecting rod 260, a short pin 281, a gear shaft 251, a long pin 270, a small pin 261, a first long connecting rod 280, a second long connecting rod 290, a clamping jaw end base 310, a clamping jaw end fixing frame 320, a conductive contact mounting plate 360, 81 conductive contacts 330, 81 springs 340, a live wire conductive sheet 350 and a rubber sleeve 321; the speed reducing motor 210 is fixedly connected to the base 100; the slide rail 230 is fixedly connected to the base 100; a through hole with the diameter of 10mm is arranged on the sliding rail 230; the output shaft of the planetary direct current brushless speed reducing motor 210 with the speed reducing motor being CM36-3650 penetrates through a through hole on the slide rail 230 to be fixedly connected with the connecting piece 220; one side of the short connecting rod 260 is sleeved with the connecting piece 220 through a small pin shaft 261, the other side of the short connecting rod 260 is sleeved with the rack 240 through the small pin shaft 261, and the rack 240 is connected to the sliding rail 230 in a sliding manner; the gear 250 is sleeved on a gear shaft 251 and is meshed with the rack 240, the gear shaft 251 is fixedly connected on the base 100, one end of the first long connecting rod 280 is fixedly connected with the gear shaft 251, and the other end is sleeved with the clamping jaw end base 310 through a short pin 281; one end of the second long connecting rod 290 is sleeved on the long pin 270, and the other end is sleeved with the clamping jaw end base 310 through a short pin 281; the long pin 270 is fixedly connected to the base 100; the jaw end base 310 is sleeved with the first long connecting rod 280 and the second long connecting rod 290 through a short pin 281; the jaw end fixing frame 320 is fixedly connected to the jaw end base 310; the conductive contact mounting plate 360 is fixedly connected to the jaw end base 310, 81 groove holes 361 are formed in the conductive contact mounting plate 360, one end of the spring 340 is fixedly connected to the groove holes 361 of the conductive contact mounting plate 360, and the contact mounting plate is fixedly connected to the groove holes 361 of the conductive contact mounting plate 360 through the spring 340; the conducting strip 350 with the wire is fixedly connected with the other ends of the 81 springs 340; the rubber sleeve 321 is fixedly connected to the jaw end fixing frame 320.

In this embodiment, the conductive sheet 350 with electric wire is made of copper sheet; the matrix array of recessed apertures 361 is arranged on a conductive contact mounting plate 360.

In the initial state of this embodiment, as shown in fig. 1, 2, 3, 4 and 5, the two finger ends of the gripper are driven to the open state by the reduction motor 210, and the two finger ends are parallel.

When the target object is grabbed in the embodiment, the device is driven to a proper position where the object needs to be grabbed by the mechanical arm, at this time, the speed reduction motor 210 drives the connecting piece 220 to rotate, the connecting piece 220, the short connecting rod 260 and the rack 240 form a crank-slider mechanism, the connecting piece 220 drives the short connecting rod 260 to enable the rack 240 to slide on the sliding rail 230, the rack 240 moves to drive the gear 250 engaged with the rack to rotate, the gear 250 rotates to drive the mechanical claw to move in a short direction, the clamping force ratio at this time is smaller, when the mechanical claw is in contact with the object, the rubber sleeve 321 drives the copper sheet to be pressed down, at this time, the copper sheet is provided with a negative pole (the copper sheet is provided with a negative pole signal in an initial state, when the copper sheet is grabbed, the negative pole signal is transmitted to the conductive contact through the contact with the conductive contact to generate signal feedback to the controller), the copper sheet is contacted with the, analyzing the state of the conductive contact 330 that is turned on, i.e., negatively charged, at this time, i.e., which negatively charged contacts are not present; then, the mechanical claw is slowly lifted, whether the object slides at the two clamping finger ends or not is recorded while the mechanical claw is lifted, the sliding of the object is judged by the connection state of all the conductive contacts 330, the conversion is sliding, the clamping force at the moment is increased, the detection is carried out again until the object does not slide on the mechanical claw, and the clamping force at the moment is recorded, namely the minimum clamping force for grabbing the object; the minimum clamping force can be used for grabbing fragile, easily-deformable and far objects and ensuring that the objects are not damaged by clamping, and the clamping device has very good force adaptability.

When the object is released, the motor rotates reversely to drive the rack 240 to slide, the sliding of the rack 240 drives the gear 250 to rotate, so that the two clamping finger ends are opened, the object loses the clamping force and falls, and the target object is released.

It should be noted that, at present, the single contact of the multi-contact sensor in the prior art is mainly made of some conductive fibers which are easy to deform, that is, when the conductive fibers deform, the electrical parameters of the conductive fibers are changed, and the current clamping position and clamping force are obtained by measuring the change of the electrical parameters and processing the change by an algorithm. The principle that the sensor senses the current clamping position and the clamping force required by the object in the design is very simple, the clamping position can be obtained by measuring any contact when the mechanical claw is at any clamping position, whether the object slides is measured by observing whether the on-state of all the contacts changes when the mechanical claw is lifted, and the clamping force is gradually increased until the object does not slide to obtain the most suitable clamping force; that is, the present design obtains the proper clamping position and clamping force by only observing the state where all the contacts are turned on.

Compared with the existing touch sensor, when the grabbing effect of self-adaptive force and position on the object is realized, the design has the advantages that the proper clamping force and clamping position of the object can be obtained only by measuring whether the connection state of the conductive contact is changed, the calculation by a complex algorithm is not needed, and the stability is high; the existing touch sensor needs to design a complex circuit algorithm to obtain the proper force and position for grabbing an object, and the stability is not high.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and it should be noted that, for those skilled in the art, several modifications or equivalent substitutions can be made without departing from the principle of the present invention, and the spirit and scope of the technical solutions should be covered by the claims of the present invention.

Claims

1. A flat-grip haptic gripper apparatus, comprising:

the device comprises a base (100), a bearing platform (110) is arranged on the base, and an accommodating cavity (120) is arranged on the lower side of the inner part of the base;

a drive mechanism (200) disposed on the base (100) for providing a source of power to the device;

a clamping mechanism (300) connected with the driving mechanism (200) and used for clamping the object (400) to be clamped.

2. The flat-clamping tactile mechanical claw device according to claim 1, wherein the driving mechanism (200) comprises a speed reduction motor (210), a connecting piece (220), a sliding rail (230), a rack (240), a gear (250), a gear shaft (251), a short connecting rod (260), a small pin shaft (261), a long pin shaft (270), a first long connecting rod (280), a short pin shaft (281) and a second long connecting rod (290), the speed reduction motor (210) is fixedly connected in the accommodating cavity (120), the sliding rail (230) is fixedly connected on the bearing platform (110), and a through hole is formed in the sliding rail (230); an output shaft of the speed reducing motor (210) penetrates through a through hole in the sliding rail (230) to be fixedly connected with the connecting piece (220); one end of the short connecting rod (260) is sleeved with the connecting piece (220) through a small pin shaft (261), the other end of the short connecting rod (260) is sleeved with the rack (240) through the small pin shaft (261), and the rack (240) is connected to the sliding rail (230) in a sliding mode; the gear (250) is sleeved on the gear shaft (260) and meshed with the rack (240), and the gear shaft (260) is fixedly connected to the base (100).

3. The flat-clamping tactile mechanical claw device according to claim 2, wherein the clamping mechanism (300) comprises a claw end base (310), a claw end fixing frame (320), K conductive contacts (330), K springs (340), a conductive sheet (350) with a wire and a conductive contact mounting plate (360), one end of the first long connecting rod (280) is fixedly connected with a gear shaft (251), the other end of the first long connecting rod is sleeved with the claw end base (310) through a short pin shaft (281), one end of the second long connecting rod (290) is sleeved on the long pin shaft (270), and the other end of the second long connecting rod is sleeved with the claw end base (310) through the short pin shaft (281); the long pin shaft (270) is fixedly connected to the base (100); the clamping jaw end fixing frame (320) is fixedly connected to the clamping jaw end base (310); the conductive contact mounting plate (360) is fixedly connected to the clamping jaw end base (310), K groove holes (361) are formed in the conductive contact mounting plate (360), one end of an nth spring (340) is fixedly connected to the nth groove hole (361) of the conductive contact mounting plate (360), the conductive plate (350) with the electric wire is fixedly connected with the other ends of the K springs (340), and the nth conductive contact (330) is fixedly connected to the nth groove hole (361) of the conductive contact mounting plate (360) through the spring (340); k is a natural number greater than 2; n is a natural number greater than 0 and less than K.

4. The mechanical gripper device of claim 3, wherein a rubber sleeve (321) is fixed to the gripper end holder (320).

5. The clamp-on tactile gripper device according to claim 4, wherein the base (100) is made of plastic.

6. The clamp-on tactile gripper device according to claim 5, wherein the gear (250) and the rack (240) are standard components.

7. The clamp-on tactile gripper device according to claim 6, wherein the wired conductive sheet (350) is a copper sheet.

8. The clamp-on tactile gripper device according to claim 7, wherein the springs (340) are compression springs.

9. The flatclamp tactile gripper apparatus of claim 8, wherein the matrix array of recessed wells (361) is arranged on a conductive contact mounting plate (360).

10. A method for using the flat-clamping tactile mechanical claw device according to claim 9, wherein the mechanical arm drives the mechanical arm to a proper position where an object needs to be grabbed, the speed reduction motor (210) drives the connecting piece (220) to rotate, the connecting piece (220), the short connecting rod (260) and the rack (240) form a crank-slider mechanism, the connecting piece (220) drives the short connecting rod (260) to enable the rack (240) to slide on the sliding rail (230), the rack (240) drives the gear (250) engaged with the rack to rotate, the gear (250) rotates to drive the mechanical claw to move inwards in a short direction, the clamping force ratio is small at the moment, when the mechanical claw is in contact with the object, the rubber sleeve 321 drives the copper sheet to be pressed down, the copper sheet has a negative electrode, the copper sheet is pressed down and then in contact with the conductive contact (330), the K conductive contacts (330) are connected with the controller, and the state of the conductive contact (330) with the, i.e. which are negatively charged and which are not; and then, slowly lifting the mechanical claw, recording whether the object slides at the two clamping finger ends or not while lifting, judging the sliding of the object through the connection states of all the conductive contacts (330), if the conversion is sliding, increasing the clamping force at the moment, detecting again until the object does not slide on the mechanical claw, and recording the clamping force at the moment, namely the minimum clamping force for grabbing the object.