CN112621799A - Robot gripper - Google Patents
Robot gripper Download PDFInfo
- Publication number
- CN112621799A CN112621799A CN202011574497.XA CN202011574497A CN112621799A CN 112621799 A CN112621799 A CN 112621799A CN 202011574497 A CN202011574497 A CN 202011574497A CN 112621799 A CN112621799 A CN 112621799A
- Authority
- CN
- China
- Prior art keywords
- nut
- finger
- plate
- connecting plate
- fixed support
- 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
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a robot gripper which comprises a fixed support and a nut connecting plate, wherein the fixed support is fixedly connected with the nut connecting plate; the fixed bracket is in a cylindrical shape with an open upper end, and a motor is arranged in the fixed bracket; the output shaft of the motor is in a screw shape; the nut connecting plate is in a thin plate shape, and a screw rod nut is arranged on the nut connecting plate; the feed screw nut is matched with the output shaft; the upper end edge of the fixed bracket is provided with a plurality of notches; the device also comprises a pressure lever and a connecting rod; the pressure lever is arranged at the notch in a spanning manner and is hinged with the notch; the connecting rod is in a straight rod shape, and two ends of the connecting rod are respectively hinged with the nut connecting plate and the inner side end of the pressure rod; also includes a plurality of fingers; the finger is in a strip plate shape, the upper end of the finger is connected with the fixed bracket, and the lower end of the finger is connected with the outer side end of the pressure lever through an elastic metal wire; the inner side surface of the finger is provided with a pressure sensor, and the outer side surface of the finger is provided with a bending sensor. The invention can stably and safely grab articles and fully meet the market demand.
Description
Technical Field
The invention relates to a robot structure, in particular to a robot gripper structure, and specifically relates to a robot gripper.
Background
At present, the traditional robot gripper is generally connected by a rigid kinematic pair made of hard materials so as to provide enough force for the gripper to complete the gripping work. However, the clamping mechanism of the gripper is fixed, so that the gripper has limited movement flexibility, poor removability and difficult flexible sharing. When a fragile object is grabbed, the grabbed object is easily damaged. Some precise robot grippers can realize nondestructive gripping, but the precision requirements on the control and sensing of the grippers are extremely high, so that the manufacturing and using costs are high, and the robot grippers are difficult to popularize in industrial production.
Therefore, improvements are needed to better meet the needs of the market.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a robot gripper which can stably and safely grip articles, has light dead weight and good portability, can be arranged on various mechanical arms for operation, and fully meets the market requirements.
The technical scheme of the invention is as follows:
a robot gripper comprises a fixed support and a nut connecting plate;
the fixed bracket is in a cylindrical shape with an open upper end, and a motor is arranged in the fixed bracket; the output shaft of the motor is in a screw shape; the nut connecting plate is in a thin plate shape, the shape and the size of the nut connecting plate are matched with the inner cavity of the fixed support, and the nut connecting plate can be horizontally placed in the fixed support and moves along the vertical direction; the nut connecting plate is provided with a screw rod nut; the screw rod nut is matched with the output shaft, so that the nut connecting plate can move along the output shaft; the upper end edge of the fixed bracket is provided with a plurality of notches;
the number of the pressure rods and the number of the connecting rods are the same as that of the notches; the pressure lever is arranged at the notch in a spanning manner and is hinged with the notch; the connecting rod is in a straight rod shape and is arranged in the fixed support, and two ends of the connecting rod are respectively hinged with the nut connecting plate and the inner side end of the pressure rod;
also includes a plurality of fingers; the finger is strip-shaped and made of flexible material; the upper end of the finger is connected with the fixed bracket, and the lower end of the finger is connected with the outer side end of the pressure lever through an elastic metal wire; the inner side surface of the finger is provided with a pressure sensor, and the outer side surface of the finger is provided with a bending sensor;
and the pressure sensor, the bending sensor and the motor are electrically connected with the controller.
Further, the cross section of the fixing support is a regular polygon.
Further, the motor is fixed on the bottom plate of the fixed support.
Furthermore, the pressure lever is in the shape of a folding rod, and the included angle of the pressure lever is an obtuse angle.
Furthermore, the notches are uniformly distributed along the circumferential direction of the fixed support; each gap is provided with a lug-shaped connecting seat I, so that the bending part of the pressure lever is hinged with the connecting seat I.
Furthermore, a through hole is formed in the center of the nut connecting plate; the screw rod nut is arranged at the through hole; the periphery of the nut connecting plate is provided with a lug-shaped connecting seat II; the end part of the connecting rod is arc-shaped and is hinged with the connecting seat II.
Further, the device also comprises a conversion plate; the conversion plate is arranged above the fixed bracket and is connected with the fixed bracket through a connecting rod; the conversion plate can be connected to a robot.
Furthermore, the connecting rods are multiple and are all in a shape of a hockey stick, the upper ends of the connecting rods are uniformly distributed on the bottom surface of the conversion plate and are fixedly connected with the bottom surface of the conversion plate, and the lower ends of the connecting rods are fixedly connected to the inner wall of the fixed support.
The invention has the beneficial effects that:
the invention has the advantages of reasonable design, simple structure, convenient control, capability of stably and safely grabbing articles, light dead weight and good portability, can be installed on various mechanical arms for operation, and fully meets the market requirements.
Drawings
Fig. 1 is an external view schematically showing the present invention.
Fig. 2 is a longitudinal cross-sectional view of the present invention with the finger removed.
Fig. 3 is a schematic view of a stationary bracket.
Fig. 4 is a schematic view of a nut connecting plate.
Wherein: 1-a conversion plate; 2-a compression bar; 3-a metal wire; 4-fixing the bracket; 5-finger; 6-a bending sensor; 7-a pressure sensor; 8-notch; 9-a connecting rod; 10-a motor support; 11-a connecting rod; 12-an output shaft; 13-nut connecting plate; 14-a feed screw nut; 15-a motor; 16-connecting seat I; 17-connecting seat II.
Detailed Description
The invention is further described below with reference to the figures and examples.
As shown in fig. 1 to 4.
A robot gripper comprises a fixed support 4 and a finger 5.
The fixed support 4 is in a cylindrical shape with an open upper end, the cross section of the fixed support is in a regular polygon shape, and a motor 15 and a nut connecting plate 13 are arranged in the fixed support. The motor 15 is a stepping motor and is fixed on the bottom plate of the fixed support 4, and the output shaft 12 of the motor is in a screw rod shape and is parallel to the axial direction of the fixed support 4. The nut connecting plate 13 is a thin plate, the shape and the size of the nut connecting plate are matched with the inner cavity of the fixed support 4, a through hole is formed in the center of the nut connecting plate, a lead screw nut 14 is arranged at the through hole and can be matched with an output shaft 12 of the motor, and the nut connecting plate 13 can move along the output shaft 12. Preferably, the motor 15 is mounted on the motor bracket 10, and then the motor bracket 10 is mounted in the fixing bracket 4. The motor support 10 is in a shape like a Chinese character 'ji', and an opening is arranged on a top plate of the motor support, so that an output shaft 12 of the motor can conveniently extend out. Meanwhile, the motor 15 is fixed to the top plate of the motor bracket 10 by screws.
The upper end edge of the fixed support 4 is provided with a plurality of notches 8. The notches 8 are uniformly distributed along the circumference of the fixed support 4, and lug-shaped connecting seats I16 are arranged at the upper end of the notches. A pressure rod 2 is arranged in each notch 8. The pressure lever 2 is in a folding lever shape, the included angle is an obtuse angle, and the folding part is hinged with the connecting seat I16, so that the pressure lever 2 can rotate along the hinging part. Meanwhile, the inner side end of the pressure lever 2 is hinged with the nut connecting plate 13 through a connecting rod 9. The connecting rod 9 is in a straight rod shape, and both ends of the connecting rod are arc-shaped, so that flexible movement of the hinged part is facilitated. Preferably, the nut connecting plate 13 is provided at the periphery thereof with a lug-shaped connecting seat II17 for facilitating the hinge connection with the connecting rod 9. The spindle nut 14, the connecting rod 9 and the pressure lever 2 can thus form a one-degree-of-freedom connecting rod system. When the nut connecting plate 13 moves upwards, the connecting rod 9 can push the compression bar 2 to rotate around the hinged position of the compression bar.
The finger 5 is in a strip shape and can be made of flexible materials such as silicon rubber and the like, so that the finger can be freely bent and deformed. Six fingers 5 are provided, and the number thereof can be set as required. The upper end of the finger 5 can be fixedly connected with the lower end of the fixed support 4 through glue, and the finger is uniformly distributed along the fixed support 4. The lower end of the finger 5 is connected with the outer end of the pressure lever 2 through an elastic metal wire 3, and can be bent or stretched under the traction of the metal wire 3. The metal wire 3 can be made of a super-elastic memory alloy metal wire with the diameter of 0.6-2mm, so that the memory alloy metal wire has sufficient elasticity and rigidity and meets the control requirement.
The inner side surface of the finger 5 is provided with a pressure sensor 7, and the outer side surface of the finger is provided with a bending sensor 6 which can respectively sense the pressure and bending conditions applied to the finger. Preferably, the pressure sensor 7 can be a Flexiforce film pressure sensor; the pressure sensor is in a strip shape, the length of the pressure sensor is slightly larger than that of the finger, and the pressure sensor is stuck to the inner side face of the finger along the direction of the finger. The bending sensor 6 may be a flex 2.2 bending sensor. The curvature sensor is in a long strip shape, the length of the curvature sensor is slightly shorter than that of the finger, and the curvature sensor is stuck to the outer side face of the finger along the finger direction.
The pressure sensor 7, the bending sensor 6 and the motor 15 are electrically connected with the controller, so that information observed by the sensors is transmitted to the controller, and after calculation, instructions are sent to the motor to enable fingers to accurately act.
Further, a conversion plate 1 is included. The conversion plate 1 is arranged above the fixed bracket 4, is connected with the fixed bracket 4 through a connecting rod 11, and is then connected with a robot. The shape of the conversion plate can be designed according to the connection requirement, and the connection requirements of different robots are fully met. Preferably, the three connecting rods are all in a shape of a hockey stick, the upper ends of the three connecting rods are uniformly distributed on the bottom surface of the conversion plate and fixedly connected with the bottom surface of the conversion plate, and the lower ends of the three connecting rods are fixedly connected to the inner wall of the fixed support, so that the conversion plate is firmly installed on the fixed support, and meanwhile, the output shaft of the motor can be avoided.
The working process of the invention is as follows:
when a target object is grabbed, the motor rotates forwards to enable the screw rod nut to move downwards along the output shaft, the connecting rod drives the pressing rod to lift upwards, and then the metal wire drives the six flexible fingers to open. Then, the fingers are placed at the upper end of the target object, the motor rotates reversely, the nut moves upwards along the output shaft, the connecting rod drives the crank pressing rod to press downwards, the fingers contract, the object is wrapped, and grabbing is achieved. When the finger contacts the object, the finger can generate self-adaptive deformation along with the shape of the object, and enveloping type grabbing can be realized, so that firm grabbing is ensured. Meanwhile, information such as pressure and the like which can be borne by the object can be input into the controller in advance, pressure information and curvature information sensed by the sensor on the finger can be collected in real time, and after calculation and comparison, the action of the motor is adjusted so as to prevent the clamping object from falling off and being damaged.
The parts not involved in the present invention are the same as or can be implemented using the prior art.
Claims (8)
1. A robot gripper comprises a fixed support and a nut connecting plate and is characterized in that,
the fixed bracket is in a cylindrical shape with an open upper end, and a motor is arranged in the fixed bracket; the output shaft of the motor is in a screw shape; the nut connecting plate is in a thin plate shape, the shape and the size of the nut connecting plate are matched with the inner cavity of the fixed support, and the nut connecting plate can be horizontally placed in the fixed support and moves along the vertical direction; the nut connecting plate is provided with a screw rod nut; the screw rod nut is matched with the output shaft, so that the nut connecting plate can move along the output shaft; the upper end edge of the fixed bracket is provided with a plurality of notches;
the number of the pressure rods and the number of the connecting rods are the same as that of the notches; the pressure lever is arranged at the notch in a spanning manner and is hinged with the notch; the connecting rod is in a straight rod shape and is arranged in the fixed support, and two ends of the connecting rod are respectively hinged with the nut connecting plate and the inner side end of the pressure rod;
also includes a plurality of fingers; the finger is strip-shaped and made of flexible material; the upper end of the finger is connected with the fixed bracket, and the lower end of the finger is connected with the outer side end of the pressure lever through an elastic metal wire; the inner side surface of the finger is provided with a pressure sensor, and the outer side surface of the finger is provided with a bending sensor;
and the pressure sensor, the bending sensor and the motor are electrically connected with the controller.
2. The robotic gripper of claim 1 wherein the cross-section of the fixed support is a regular polygon.
3. The robotic gripper of claim 1 wherein the motor is fixed to a base plate of the fixed support.
4. The robotic gripper of claim 1 wherein the pressure bar is a folding bar with an obtuse included angle.
5. The robot gripper as claimed in claim 1, wherein the notches are evenly spaced circumferentially along the fixed support; each gap is provided with a lug-shaped connecting seat I, so that the bending part of the pressure lever is hinged with the connecting seat I.
6. The robotic gripper of claim 1 wherein the nut connecting plate has a through hole in the center; the screw rod nut is arranged at the through hole; the periphery of the nut connecting plate is provided with a lug-shaped connecting seat II; the end part of the connecting rod is arc-shaped and is hinged with the connecting seat II.
7. The robotic gripper of claim 1 further comprising a transfer plate; the conversion plate is arranged above the fixed bracket and is connected with the fixed bracket through a connecting rod; the conversion plate can be connected to a robot.
8. The robot gripper as claimed in claim 7, wherein the connecting rods are multiple and are shaped like a hockey stick, the upper ends of the connecting rods are uniformly distributed on the bottom surface of the switching plate and fixedly connected with the bottom surface of the switching plate, and the lower ends of the connecting rods are fixedly connected with the inner wall of the fixed support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011574497.XA CN112621799A (en) | 2020-12-28 | 2020-12-28 | Robot gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011574497.XA CN112621799A (en) | 2020-12-28 | 2020-12-28 | Robot gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112621799A true CN112621799A (en) | 2021-04-09 |
Family
ID=75325642
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011574497.XA Pending CN112621799A (en) | 2020-12-28 | 2020-12-28 | Robot gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112621799A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113459134A (en) * | 2021-07-05 | 2021-10-01 | 吉林大学 | SMA wire drive holder with resistance self-sensing force and displacement |
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| CN107443405A (en) * | 2017-06-21 | 2017-12-08 | 西北工业大学深圳研究院 | A kind of Pneumatic flexible rotor gripper structure |
| CN108555946A (en) * | 2018-06-26 | 2018-09-21 | 芜湖市越泽机器人科技有限公司 | A kind of robot gripper |
| CN108687794A (en) * | 2018-06-08 | 2018-10-23 | 重庆大学 | The Electrostatic Absorption flexible grips of marmem driving |
| CN109866243A (en) * | 2019-04-19 | 2019-06-11 | 南京农业大学 | More perception robot flexibility grippers and gas pressure controlling device |
| CN209022097U (en) * | 2018-09-07 | 2019-06-25 | 淮安弘田数控设备有限公司 | A kind of automation equipment gripper |
| CN110919687A (en) * | 2019-12-12 | 2020-03-27 | 西湖大学 | Soft clamping jaw embedded with flexible multi-mode touch sensor |
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2020
- 2020-12-28 CN CN202011574497.XA patent/CN112621799A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20060018963A (en) * | 2004-08-26 | 2006-03-03 | 현대중공업 주식회사 | Servo hand of robot |
| CN104742143A (en) * | 2015-03-20 | 2015-07-01 | 清华大学 | Flexible palmar self-adaption under-actuation robot hand device |
| CN105598995A (en) * | 2016-03-17 | 2016-05-25 | 华东交通大学 | Flexible mechanical arm and control method thereof |
| CN206277405U (en) * | 2016-11-14 | 2017-06-27 | 东莞松山湖国际机器人研究院有限公司 | Manipulator |
| CN206493309U (en) * | 2017-02-10 | 2017-09-15 | 中国东方电气集团有限公司 | A kind of pneumatic multi-jaw chuck device |
| CN107081783A (en) * | 2017-06-07 | 2017-08-22 | 苏州元谋智能机器人系统有限公司 | A kind of flexible pneumatic clamper with force feedback and stroke |
| CN107443405A (en) * | 2017-06-21 | 2017-12-08 | 西北工业大学深圳研究院 | A kind of Pneumatic flexible rotor gripper structure |
| CN107363857A (en) * | 2017-08-16 | 2017-11-21 | 深圳果力智能科技有限公司 | A kind of manipulator and robot |
| CN108687794A (en) * | 2018-06-08 | 2018-10-23 | 重庆大学 | The Electrostatic Absorption flexible grips of marmem driving |
| CN108555946A (en) * | 2018-06-26 | 2018-09-21 | 芜湖市越泽机器人科技有限公司 | A kind of robot gripper |
| CN209022097U (en) * | 2018-09-07 | 2019-06-25 | 淮安弘田数控设备有限公司 | A kind of automation equipment gripper |
| CN109866243A (en) * | 2019-04-19 | 2019-06-11 | 南京农业大学 | More perception robot flexibility grippers and gas pressure controlling device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113459134A (en) * | 2021-07-05 | 2021-10-01 | 吉林大学 | SMA wire drive holder with resistance self-sensing force and displacement |
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| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210409 |
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| RJ01 | Rejection of invention patent application after publication |