CN112589792A - Robot self-adaptive clamp holder and vision-force sense combined self-adaptive clamping method thereof - Google Patents

Robot self-adaptive clamp holder and vision-force sense combined self-adaptive clamping method thereof Download PDF

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CN112589792A
CN112589792A CN202011278879.8A CN202011278879A CN112589792A CN 112589792 A CN112589792 A CN 112589792A CN 202011278879 A CN202011278879 A CN 202011278879A CN 112589792 A CN112589792 A CN 112589792A
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adaptive
finger
clamping
self
robot
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CN112589792B (en
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刘继展
单海勇
丁建宁
彭赟
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Jiangsu University
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Jiangsu University
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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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • 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
    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention provides a robot self-adaptive clamp holder and a vision-force sense combined self-adaptive clamping method thereof, belonging to the field of robots. The robot self-adaptive clamp holder is composed of two self-adaptive fingers, two straight moving parts and a frame, wherein the self-adaptive fingers comprise finger backs, finger bodies, finger surfaces and finger tips; according to the self-adaptive clamping method, the robot control system receives the target shape and size characteristics measured by the vision system, and controls the robot self-adaptive clamp holder to select the corresponding clamping mode, so that the self-adaptive reliable clamping of targets with different shapes and sizes is realized. The structure and the method of the invention are simple and reliable, and the practicability is strong.

Description

Robot self-adaptive clamp holder and vision-force sense combined self-adaptive clamping method thereof
Technical Field
The invention relates to the field of robots, in particular to a robot self-adaptive clamp and a vision-force sense combined self-adaptive clamping method thereof.
Background
For various shapes and sizes of targets, the universal gripper is always a research hotspot of the robot, and the current main technical scheme is as follows: (1) the complex target is clamped by the aid of the visual sense and the dexterous multi-finger hand; (2) the complex target is clamped by a soft hand. But the existing scheme has certain defects, which are mainly reflected in that:
(1) the common clamp holder structure has very limited adaptation range to the target shape and size, and the multi-finger dexterous hand has complex structure and technology and overhigh cost, so that the practical application is difficult to meet at present;
(2) the soft hand belongs to an under-actuated system, and the clamping accuracy and the adaptability to the complex shape of a target still have challenges; meanwhile, the soft hand driving mode is pneumatic, and the problem of air source is a huge obstacle all the time during mobile operation and needs a heavy auxiliary device;
(3) the robot simply depends on visual measurement to realize the clamping operation of the target with complicated shape and size, and the problems of error and poor reliability often exist.
Therefore, the adaptive clamp and the adaptive clamping method for the target shape and the target size, which meet the practical application, are needed to be designed simply and reliably.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a robot self-adaptive clamp holder and a vision-force sense combined self-adaptive clamping method thereof, which realize self-adaptive reliable clamping of targets with different shapes and sizes.
The present invention achieves the above-described object by the following technical means.
A robot self-adaptive clamp comprises a self-adaptive finger, a straight moving piece and a rack; the straight moving pieces are arranged on the rack, and the moving directions of the two straight moving pieces are parallel; the straight moving piece is hinged with the tail end of the self-adaptive finger, and the two self-adaptive fingers are symmetrical relative to a plane vertical to the moving direction of the straight moving piece;
the self-adaptive finger consists of a finger back, a finger body, a finger surface and a finger tip, wherein a stabbing edge is arranged in a groove body between the finger back and the finger body, the tail part of the stabbing edge is connected with one end of a mooring rope, the other end of the mooring rope is wound on a winding wheel, and the winding wheel is connected with a motor; a spring is arranged between the tail part of the stabbing blade and the groove body of the finger body; a pin opening is formed in one side, close to the finger body, of the stabbing blade, and a spring pin matched with the pin opening is arranged inside a groove body of the finger body;
the motor is consistent with the central line of the winding wheel, and the central line is coaxial with the central line of the hinge point of the straight moving piece and the tail end of the self-adaptive finger.
In the technical scheme, the finger surface and the fingertip are both attached with the electronic skin.
A vision-force sense combined self-adaptive clamping method of a robot self-adaptive clamp holder is characterized in that a robot control system receives target shape and size characteristics measured by a vision system and controls the robot self-adaptive clamp holder to select a corresponding clamping mode; the shape of the target comprises a sphere, a cylinder, a right cone, an inverted cone, a single convex body, a double concave body, a single concave body and a bent body.
Further, the clamping mode that the sphere and the cylinder correspond to is:
1) lying on the cylinder
When R is>1.2RaIn time, a side clamping mode is adopted: the self-adaptive gripper of the robot clamps downwards, the stabbing blade retracts, and the two fingertips form an angle alpha relative to the ground1Adduction of alpha therein1The ranges of (A) are: 80 degree<α1<85 DEG, R is the radius of the sphere and the lying cylinder, RaIs the radius of the fingertip;
when R is less than or equal to 1.2RaWhen in use, the ball body is regarded as a small-size fine bead, and the lying cylinder is regarded as a fine wire, and the picking mode is adopted: the robot self-adaptive clamp is clamped downwards, the thorn blade is popped up, and two finger tips are at an angle alpha relative to the ground2Adduction, the stabbing edge sticks into the ball body and the lower part of the lying cylinder close to the ground to complete stabbing and picking, wherein alpha2The ranges of (A) are: 10 degree<α2<15°；
2) Cylinder erection
Adopting a butt-clamping mode I: the center line of the self-adaptive gripper of the robot is vertical to the center line of the cylinder, the stabbing blade retracts, and the two finger surfaces are parallel.
Further, the clamping mode corresponding to the right cone is a head inclined clamping mode: the center line of the robot self-adaptive clamp holder is consistent with the center line of the right cone, the stab blade retracts, and the two fingertips are outwards inclined at an included angle beta' relative to the center line of the robot self-adaptive clamp holder, wherein beta′＝β0-90°，β0Is the inclination angle of the right cone.
Further, the clamping mode that the back taper body corresponds is the oblique mode of pressing from both sides of end: the center line of the robot self-adaptive clamp holder is consistent with the center line of the inverted cone, the stab blade retracts, and the two fingertips retract at an included angle beta 'relative to the center line of the robot self-adaptive clamp holder, wherein beta' ═ beta1-90°，β1The inclination angle of the inverted cone.
Further, the clamping mode corresponding to the single convex body is a butt-clamping mode two: the stabbing blade retracts, the two finger surfaces are parallel and opposite, and the two finger surfaces complete the clamping of the single convex body along the symmetry plane of the single convex body.
Further, the clamping mode corresponding to the double concave bodies is as follows:
1) when the curvature radius rho of the concave surfaces at both sides is more than or equal to 5RaIn time, a butt-clamping mode III is adopted: the stabbing blade retracts, the two finger surfaces are parallel and opposite, and the two finger surfaces complete clamping of the double concave body along the symmetrical plane of the double concave body;
2) radius of curvature rho of concave surfaces on both sides<5RaIn time, a kneading mode is adopted: the stabbing blade retracts, the two finger tips are opposite, and the two finger tips complete clamping of the double-concave body along the symmetrical plane of the double-concave body;
3) radius of curvature rho of concave surface on one side<5RaAnd the curvature radius rho of the concave surface at the other side is more than or equal to 5RaIn time, a first pinching mode is adopted: the barbed edge retracts, and one of the finger tips is perpendicular to the other finger face and completes clamping of the double-concave body along the symmetrical plane of the double-concave body.
Further, the clamping mode corresponding to the single concave body is as follows:
1) when the curvature radius rho of the concave surface is more than or equal to 5RaIn the process, a butt-clamping mode is adopted: the stabbing blade retracts, the two finger surfaces are parallel and opposite, and the two finger surfaces complete clamping on the single concave body along the symmetrical plane of the single concave body;
2) radius of curvature rho of concave surface<5RaAnd then, adopting a second pinching mode: the piercing edge retracts with one fingertip perpendicular to the other and completing the grip of the monoconcave body along the plane of symmetry of the monoconcave body.
Further, the clamping mode corresponding to the bending body is as follows:
1) when the curvature radius rho of the concave surface is more than or equal to 5RaIn time, a butt-clamping mode is adopted as five: the stabbing blade retracts, the two finger surfaces are parallel and opposite, and the two finger surfaces complete clamping on the bent body along the symmetrical plane of the bent body;
2) radius of curvature rho of concave surface<5RaIn time, a third pinching mode is adopted: the piercing edge retracts, wherein one of the finger tips is perpendicular to the other finger face and completes the clamping of the curved body along the plane of symmetry of the curved body.
The invention has the beneficial effects that: the robot self-adaptive clamp holder is provided with an anthropomorphic double-finger self-adaptive finger with the stab blade, and the stab blade is controlled to pop up and retract in the groove body of the finger body according to the target shape and size characteristics so as to be suitable for clamping in a typical target shape; according to the vision-force sense combined self-adaptive clamping method, a robot control system receives target shape and size characteristics measured by a vision system, and controls a robot self-adaptive clamp holder to select a corresponding clamping mode to realize stable clamping; the structure and the method of the self-adaptive clamp holder are simple and reliable, and the practicability is strong. The electronic skin of the robot self-adaptive clamp can also make up for the measurement error of vision on the shape and size characteristics of the target and the control error of the robot self-adaptive clamp.
Drawings
In order to more clearly illustrate the embodiment of the present invention or the technical solutions in the prior art, the drawings used in the description of the prior art will be briefly introduced below.
FIG. 1 is a schematic diagram of an adaptive gripper of a robot according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an adaptive finger structure in an embodiment of the present invention, fig. 2(a) is a schematic diagram of a motion state of an adaptive finger in the embodiment of the present invention, and fig. 2(b) is a schematic diagram of a motion state of an adaptive finger in the embodiment of the present invention;
FIG. 3 is a schematic diagram of a cross-sectional structure A-A of an adaptive finger structure according to an embodiment of the present invention;
FIG. 4 is a schematic view of a piercing edge according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a shape of a typical target in an embodiment of the present invention, fig. 5(a) is a schematic diagram of a sphere in an embodiment of the present invention, fig. 5(b) is a schematic diagram of a cylinder in an embodiment of the present invention, fig. 5(c) is a schematic diagram of a right cone in an embodiment of the present invention, fig. 5(d) is a schematic diagram of an inverted cone in an embodiment of the present invention, fig. 5(e) is a schematic diagram of a single convex body in an embodiment of the present invention, fig. 5(f) is a schematic diagram of a double concave body in an embodiment of the present invention, fig. 5(g) is a schematic diagram of a single concave body in an embodiment of the present invention;
FIG. 6 is a schematic view of an exemplary clamping mode of the ball and the lying cylinder;
FIG. 7 is a schematic view of a mode of clamping a bead and a filament according to an embodiment of the present invention;
FIG. 8 is a schematic view of a positive vertebral body clamping mode in an embodiment of the present invention;
FIG. 9 is a schematic view of an inverted vertebral body clamping mode in an embodiment of the present invention;
figure 10 is a schematic view of a cocking cylinder clamping mode in an embodiment of the present invention;
FIG. 11 is a schematic view of a single lug clamping mode in an embodiment of the present invention;
fig. 12 is a schematic view of a double-concave clamping mode in an embodiment of the present invention, fig. 12(a) is a schematic view of a double-concave clamping mode in an embodiment of the present invention, fig. 12(b) is a schematic view of a double-concave clamping mode in an embodiment of the present invention, and fig. 12(c) is a schematic view of a double-concave clamping mode in an embodiment of the present invention;
FIG. 13 is a schematic diagram of a single-cavity clamping mode in an embodiment of the present invention, FIG. 13(a) is a schematic diagram of a single-cavity clamping mode in an embodiment of the present invention, and FIG. 13(b) is a schematic diagram of a single-cavity clamping mode in an embodiment of the present invention;
fig. 14 is a schematic view of a bending body clamping mode in an embodiment of the present invention, fig. 14(a) is a schematic view of a bending body clamping mode in an embodiment of the present invention, and fig. 14(b) is a schematic view of a bending body clamping mode in an embodiment of the present invention;
in the figure: 1. the self-adaptive finger comprises a self-adaptive finger, 2 a straight moving piece, 3 a frame, 4 finger tips, 5 puncturing edges, 6 spring pins, 7 finger backs, 8 springs, 9 finger bodies, 10 electronic skins, 11 cables, 12 motors, 13 winding wheels, 14 finger faces and 15 pin openings.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
As shown in figure 1, the robot self-adaptive gripper comprises two self-adaptive fingers 1, two straight moving parts 2 and a rack 3, wherein the straight moving parts 2 are arranged on the rack 3, the moving directions of the two straight moving parts 2 are parallel, the straight moving parts 2 are hinged with the tail ends of the self-adaptive fingers 1, and the two self-adaptive fingers 1 are symmetrical relative to a plane perpendicular to the moving direction line of the straight moving parts 2.
As shown in fig. 2 and 3, the self-adaptive finger 1 comprises a finger back 7, a finger body 9, a finger surface 14 and a finger tip 4, wherein a pricking blade 5 is arranged inside a groove body between the finger back 7 and the finger body 9, the pricking blade 5 can slide along the inside of the groove body, the tail part of the pricking blade 5 is connected with one end of a cable 11, the other end of the cable 11 is wound on a winding wheel 13, and the winding wheel 13 is driven by a motor 12; the central lines of the motor 12 and the winding wheel 13 are consistent, and the central lines are coaxial with the central line of the hinged point of the tail ends of the direct-acting part 2 and the self-adaptive finger 1; a spring 8 is arranged between the tail part of the stabbing blade 5 and the groove body of the finger body 9, and the electronic skin 10 is attached to the finger surface 14 and the fingertip 4. A pin opening 15 shown in fig. 4 is arranged on one side of the stabbing blade 5 close to the finger body 9, a spring pin 6 matched with the pin opening 15 is installed inside the groove body of the finger body 9, the stabbing blade 5 is driven to retract inside the groove body of the finger body 9 through a winding wheel 13 and a cable 11 when the motor 12 is started (fig. 2(a)), the stabbing blade 5 is pushed to pop out quickly by the spring 8 when the motor 12 is powered off (fig. 2(b)), and when the head of the spring pin 6 enters the pin opening 15, the positioning and the limiting of the stabbing blade 5 are completed.
A vision-force sense combined self-adaptive clamping method of a robot self-adaptive clamp comprises the following steps: the robot control system receives the target shape and size characteristics measured by the vision system, and controls the robot adaptive clamp holder to select a corresponding clamping mode to realize stable clamping; meanwhile, the robot self-adaptive clamp is attached to the electronic skin 10 by the finger surface 14 and the fingertip 4, the correctness of the clamping mode selected by the robot self-adaptive clamp according to the shape and the size characteristics of the target is judged in a feedback mode (in the prior art), and the measurement error of vision on the shape and the size characteristics of the target and the control error of the robot self-adaptive clamp are made up.
As shown in fig. 5(a) - (H), the shape of a typical object includes a sphere a, a cylinder B, a right cone C, an inverted cone D, a single convex body E, a double concave body F, a single concave body G, and a curved body H, where P is a symmetry plane.
The selection method of the clamping modes corresponding to the shape and size characteristics of different targets comprises the following steps:
(1) for the sphere A and the lying cylinder B, when R>1.2RaThen, the side-clamping mode as shown in fig. 6 is adopted; wherein R is the radius of the sphere A and the lying cylinder B, RaIs the radius of the fingertip 4; the side clamping mode is characterized in that the robot self-adaptive clamp is clamped downwards, the stab edges 5 are retracted, and the finger tips 4 of the two self-adaptive fingers 1 are at an angle alpha relative to the ground1Adduction, in which the angle of adaptive finger 1 relative to the ground is 80 °<α1<85°。
(2) For the sphere A and the lying cylinder B, when R is less than or equal to 1.2RaWhen the ball A is regarded as a small-sized fine bead, the lying cylinder B is regarded as a filament, and the picking mode shown in FIG. 7 is adopted; the picking mode is characterized in that the robot self-adaptive clamp is clamped downwards, the piercing edge 5 is popped up, and the finger tips 4 of the two self-adaptive fingers 1 are at an angle alpha relative to the ground2Adduction, the stabbing blade 5 sticks into the lower part of the sphere A and the lying cylinder B to be gathered together to finish stabbing and picking; wherein the angle of the self-adaptive finger 1 relative to the ground is 10 DEG<α2<15°。
(3) Aligning the cone C, and adopting a head inclined clamping mode as shown in FIG. 8; the head inclined clamping mode is characterized in that the center line of the robot self-adaptive clamp is consistent with the center line of the right cone C, the stab blade 5 retracts, the finger tips 4 of the two self-adaptive fingers 1 are outwards inclined at an included angle beta' relative to the center line of the robot self-adaptive clamp, wherein beta is beta0-90°，β0The inclination angle of the right cone C.
(4) For the inverted cone D, a bottom inclined clamping mode shown in fig. 9 is adopted; the bottom inclined clamping mode is characterized in that the center line of the robot self-adaptive clamp is consistent with that of the inverted cone D, the stab blade 5 retracts, and the fingertips 4 of the two self-adaptive fingers 1 are self-adaptive relative to the robotThe gripper is adducted by an included angle beta 'of the central line of the gripper, wherein the beta' is beta1-90°，β1The inclination angle of the inverted cone D.
(5) For the upright cylinder B, the clamping mode I shown in FIG. 10 is adopted; the first opposite clamping mode is characterized in that the center line of the self-adaptive clamp of the robot is perpendicular to the center line of the cylinder B, the piercing edge 5 retracts, and the finger surfaces 14 of the two self-adaptive fingers 1 are parallel.
(6) For the single convex body E, adopting a butt-clamping mode II shown in FIG. 11; the second opposite clamping mode is characterized in that the stabbing edge 5 retracts, the finger surfaces 14 of the two self-adaptive fingers 1 are opposite in parallel, and the finger surfaces 14 of the two self-adaptive fingers 1 complete clamping of the single convex body E along the symmetry plane P.
(7) For the biconcave body F:
when the curvature radius rho of the concave surfaces at both sides is more than or equal to 5RaWhen the operation is performed, a third clamp mode shown in fig. 12(a) is adopted; the third butt-clamping mode is characterized in that the stabbing edge 5 retracts, the finger surfaces 14 of the two self-adaptive fingers 1 are parallel and opposite, and the finger surfaces 14 of the two self-adaptive fingers 1 complete clamping of the double-concave body F along the symmetrical plane P;
radius of curvature rho of concave surfaces on both sides<5RaWhen the sheet is in the opposite-kneading mode, as shown in FIG. 12 (b); the opposite-pinching mode is characterized in that the stabbing edge 5 retracts, the finger tips 4 of the two self-adaptive fingers 1 are opposite, and the finger tips 4 of the two self-adaptive fingers 1 complete clamping of the double-concave body F along the symmetrical plane P;
radius of curvature rho of concave surface on one side<5RaMeanwhile, the curvature radius rho of the concave surface at the other side is more than or equal to 5RaWhen the first pinch mode shown in fig. 12(c) is adopted; the first pinch mode is characterized by retraction of the piercing edge 5, wherein the finger tip 4 of one adaptive finger 1 is perpendicular to the finger surface 14 of the other adaptive finger 1 and completes the grip of the biconcave body F along the plane of symmetry P.
(8) For the single concave body G:
when the curvature radius rho of the concave surface is more than or equal to 5RaWhen the clamping is performed, the clamping mode IV shown in the figure 13(a) is adopted; the butt-clamping mode IV is characterized in that the stabbing edge 5 retracts, the finger surfaces 14 of the two self-adaptive fingers 1 are parallel and opposite, and the finger surfaces 14 of the two self-adaptive fingers 1 complete clamping on the single concave body G along the symmetrical plane P;
radius of curvature rho of concave surface<5RaAt the time, adoptA second pinch mode shown in fig. 13 (b); the second pinching mode is characterized by the retracting of the piercing edge 5, wherein the finger tip 4 of one adaptive finger 1 is perpendicular to the finger surface 14 of the other adaptive finger 1 and completes the pinching of the single concave body G along the symmetry plane P.
(9) For the flexure H:
when the curvature radius rho of the concave surface is more than or equal to 5RaWhen the clamping mode is adopted, the clamping mode is five as shown in fig. 14 (a); the opposite clamping mode V is characterized in that the stabbing edge 5 retracts, the finger surfaces 14 of the two self-adaptive fingers 1 are opposite in parallel, and the finger surfaces 14 of the two self-adaptive fingers 1 complete clamping on the bent body H along the symmetrical plane P;
radius of curvature rho of concave surface<5RaThen, a third pinch mode shown in fig. 14(b) is adopted; the third pinching mode is characterized in that the piercing edge 5 retracts, and the fingertip 4 of one adaptive finger 1 is perpendicular to the finger surface 14 of the other adaptive finger 1 and completes the clamping of the curved body H along the symmetry plane P.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.

Claims (10)

1. A robot self-adaptive clamp holder is characterized by comprising a self-adaptive finger (1), a linear motion member (2) and a rack (3); the straight moving parts (2) are arranged on the rack (3), and the moving directions of the two straight moving parts (2) are parallel; the straight moving piece (2) is hinged with the tail end of the self-adaptive finger (1), and the two self-adaptive fingers (1) are symmetrical relative to a plane vertical to the moving direction of the straight moving piece (2);
the self-adaptive finger (1) consists of a finger back (7), a finger body (9), a finger surface (14) and a fingertip (4), wherein a stabbing blade (5) is arranged inside a groove body between the finger back (7) and the finger body (9), the tail of the stabbing blade (5) is connected with one end of a cable (11), the other end of the cable (11) is wound on a winding wheel (13), and the winding wheel (13) is connected with a motor (12); a spring (8) is arranged between the tail part of the stabbing blade (5) and the groove body of the finger body (9); a pin opening (15) is formed in one side, close to the finger body (9), of the stabbing blade (5), and a spring pin (6) matched with the pin opening (15) is arranged inside a groove body of the finger body (9);
the center lines of the motor (12) and the winding wheel (13) are consistent, and the center lines are coaxial with the center line of a hinge point of the straight moving piece (2) and the tail end of the self-adaptive finger (1).
2. Robot adaptive gripper according to claim 1, characterized in that the finger surface (14) and the finger tip (4) are both provided with an e-skin (10) applied thereto.
3. A vision-force sense combined adaptive clamping method of a robot adaptive clamp according to claims 1-2, characterized in that a robot control system receives target shape and size characteristics measured by a vision system, controls the robot adaptive clamp to select a corresponding clamping mode; the shape of the target comprises a sphere, a cylinder, a right cone, an inverted cone, a single convex body, a double concave body, a single concave body and a bent body.
4. The adaptive clamping method according to claim 3, wherein the clamping modes of the sphere and the cylinder are:
1) lying on the cylinder
When R is>1.2RaIn time, a side clamping mode is adopted: the self-adaptive gripper of the robot clamps downwards, the thorn blade (5) retracts, and the two finger tips (4) form an angle alpha relative to the ground1Adduction of alpha therein1The ranges of (A) are: 80 degree<α1<85 DEG, R is the radius of the sphere and the lying cylinder, RaIs the radius of the fingertip (4);
when R is less than or equal to 1.2RaWhen in use, the ball body is regarded as a small-size fine bead, and the lying cylinder is regarded as a fine wire, and the picking mode is adopted: the self-adaptive gripper of the robot grips downwards, the thorn blade (5) pops up, and the two finger tips (4) form an angle alpha relative to the ground2Adduction, the stabbing blade (5) sticks into the ball body and the lower part of the lying cylinder to be gathered to complete stabbing and picking, wherein alpha2The ranges of (A) are: 10 degree<α2<15°；
2) Cylinder erection
Adopting a butt-clamping mode I: the center line of the self-adaptive gripper of the robot is vertical to the center line of the cylinder, the stab blade (5) retracts, and the two finger surfaces (14) are parallel.
5. The adaptive clamping method according to claim 3, wherein the clamping mode corresponding to the right cone is a head-tilt clamping mode: the center line of the robot self-adaptive clamp holder is consistent with the center line of the right cone, the stab blade (5) retracts, and the two finger tips (4) are outwards inclined at an included angle beta' relative to the center line of the robot self-adaptive clamp holder, wherein beta ═ beta0-90°，β0Is the inclination angle of the right cone.
6. The adaptive clamping method according to claim 3, wherein the clamping mode corresponding to the inverted cone is a bottom-tilt clamping mode: the center line of the robot self-adaptive clamp holder is consistent with the center line of the inverted cone, the stab blade (5) retracts, and the two fingertips (4) retract at an included angle beta 'relative to the center line of the robot self-adaptive clamp holder, wherein beta' ═ beta1-90°，β1The inclination angle of the inverted cone.
7. The adaptive clamping method according to claim 3, wherein the clamping mode corresponding to the single convex body is a butt-clamping mode two: the stabbing blade (5) retracts, the two finger surfaces (14) are opposite in parallel, and the two finger surfaces (14) complete the clamping of the single convex body along the symmetry plane of the single convex body.
8. The adaptive clamping method according to claim 3, wherein the clamping modes corresponding to the double concave bodies are as follows:
1) when the curvature radius rho of the concave surfaces at both sides is more than or equal to 5RaIn time, a butt-clamping mode III is adopted: the stabbing blade (5) retracts, the two finger surfaces (14) are parallel and opposite, and the two finger surfaces (14) complete clamping of the double concave body along the symmetrical plane of the double concave body;
2) radius of curvature rho of concave surfaces on both sides<5RaIn time, a kneading mode is adopted: the stab blade (5) retracts, the two fingertips (4) are opposite, and the two fingertips (4) complete the clamping of the double-concave body along the symmetrical plane of the double-concave body;
3) radius of curvature rho of concave surface on one side<5RaAnd the curvature radius rho of the concave surface at the other side is more than or equal to 5RaIn time, a first pinching mode is adopted: the stabbing edge (5) retracts, and one fingertip (4) is perpendicular to the other finger surface (14) and completes clamping of the double-concave body along the symmetrical plane of the double-concave body.
9. The adaptive clamping method according to claim 3, wherein the clamping mode corresponding to the single concave body is as follows:
1) when the curvature radius rho of the concave surface is more than or equal to 5RaIn the process, a butt-clamping mode is adopted: the stabbing blade (5) retracts, the two finger surfaces (14) are parallel and opposite, and the two finger surfaces (14) complete clamping on the single concave body along the symmetrical plane of the single concave body;
2) radius of curvature rho of concave surface<5RaAnd then, adopting a second pinching mode: the piercing edge (5) retracts, wherein one fingertip (4) is perpendicular to the other finger surface (14) and completes the clamping of the single concave body along the symmetry plane of the single concave body.
10. The adaptive clamping method according to claim 3, wherein the clamping mode corresponding to the bending body is as follows:
1) when the curvature radius rho of the concave surface is more than or equal to 5RaIn time, a butt-clamping mode is adopted as five: the stab blade (5) retracts, the two finger surfaces (14) are parallel and opposite, and the two finger surfaces (14) complete the clamping of the bent body along the symmetrical plane of the bent body;
2) radius of curvature rho of concave surface<5RaIn time, a third pinching mode is adopted: the stab edge (5) retracts, wherein one fingertip (4) is perpendicular to the other finger surface (14) and completes the clamping of the curved body along the symmetry plane of the curved body.
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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013039637A (en) * 2011-08-16 2013-02-28 Tokai Kyohan Co Ltd Robot hand, robot hand parts, and robot hand unit
CN104493835A (en) * 2014-12-24 2015-04-08 镇江市计量检定测试中心 Weight clamping mechanical gripper for metrological verification work
CN207858858U (en) * 2017-12-27 2018-09-14 长春市维伲机器人科技有限责任公司 Apery hand construction machine hand
CN108608445A (en) * 2018-04-24 2018-10-02 何义周 Robot arm and intelligent service assistant
CN109227583A (en) * 2018-09-30 2019-01-18 清华大学 Gear idle running is driven the flat folder adaptive robot finger apparatus of swing rod sliding slot straight line
CN110202599A (en) * 2019-06-25 2019-09-06 北京理工华汇智能科技有限公司 Force-increasing mechanism and clamping device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013039637A (en) * 2011-08-16 2013-02-28 Tokai Kyohan Co Ltd Robot hand, robot hand parts, and robot hand unit
CN104493835A (en) * 2014-12-24 2015-04-08 镇江市计量检定测试中心 Weight clamping mechanical gripper for metrological verification work
CN207858858U (en) * 2017-12-27 2018-09-14 长春市维伲机器人科技有限责任公司 Apery hand construction machine hand
CN108608445A (en) * 2018-04-24 2018-10-02 何义周 Robot arm and intelligent service assistant
CN109227583A (en) * 2018-09-30 2019-01-18 清华大学 Gear idle running is driven the flat folder adaptive robot finger apparatus of swing rod sliding slot straight line
CN110202599A (en) * 2019-06-25 2019-09-06 北京理工华汇智能科技有限公司 Force-increasing mechanism and clamping device

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