CN113427501B - Multi-mode self-adaptive mechanical gripper - Google Patents
Multi-mode self-adaptive mechanical gripper Download PDFInfo
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- CN113427501B CN113427501B CN202110701082.2A CN202110701082A CN113427501B CN 113427501 B CN113427501 B CN 113427501B CN 202110701082 A CN202110701082 A CN 202110701082A CN 113427501 B CN113427501 B CN 113427501B
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- finger
- rocker
- driving module
- connecting rod
- crank
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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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-mode self-adaptive mechanical claw which comprises a finger, a finger driving module and a central driving module, wherein the finger and the finger driving module are arranged on a shell of the central driving module. The finger driving module is connected with the driving module through a sliding groove structure. The finger and the finger driving module form a connecting rod mechanism, and the finger is connected to the finger driving module through two hinges. The effect that the self-adaptation object surface flexibility snatched has been realized, the detachability of utilizing the finger and gear linkage's cooperation, has reached and has changed the purpose that indicates figure and finger relative position in a flexible way according to actual demand to nimble switching snatchs the mode, has realized the effect that the self-adaptation snatched, has changed the present situation that present most of paws "single claw is single-purpose". The detachability of the fingers is realized through a chute mechanism, and the gear connecting rod mechanism can accurately rotate the fingers by a fixed angle through parameter calculation, so that the grabbing mode is accurately switched.
Description
Technical Field
The invention relates to the field of assembly production lines, in particular to a multi-mode self-adaptive mechanical gripper.
Background
With the development of social productivity, the personalized demand of customers is higher and higher, and the sales volume of the cosmetics industry is steadily increased year by year in recent years by taking the cosmetics industry as an example. According to incomplete statistics, the cosmetics in the market at present are divided into six types and hundreds of types, and the shapes and weights of different types of cosmetics are different. Therefore, various novel manufacturing modes such as mixed line production and flexible manufacturing are also available.
At present, most of production lines only can produce and assemble one product, and assembling and carrying paws used in different production lines are different. Most of the existing mechanical claws, namely the gripper can only grab objects with similar shapes and volumes, and have no universality. Taking a cosmetic production line as an example, a gantry manipulator is used on an empty bottle conveying production line; on the canning production line, a four-claw manipulator is used; on the packaging production line, a pneumatic sucker is used; different production lines use different paws, so that the production cost is undoubtedly increased, and inconvenience in management, operation and maintenance is brought.
Meanwhile, an underactuated structure is mostly not used in the existing gripper, so that the gripper is overlarge in rigidity, the surface of an object is easily damaged when the object is clamped, the rejection rate of the product is increased, and the production cost is increased. The existing flexible paw is mostly pneumatic, the rigidity is too low, the paw is mainly grabbed by friction force, and when the surface of an object is too smooth or the weight is large, the grabbing effect is poor.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide the multi-mode self-adaptive mechanical gripper, which is applied to a cosmetic assembly production line, achieves the purpose of one gripper being wide and suitable, reduces the production and management cost, and improves the production, operation and maintenance efficiency of the cosmetic production line.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a multi-mode self-adaptation gripper, including the finger, the finger drive module, central authorities ' drive module, finger and finger drive module install on central authorities ' drive module's shell, finger drive module is connected with drive module through the spout structure, finger and finger drive module constitute a link mechanism, the finger is connected on finger drive module through two hinged joint, the finger is by the software knuckle, the finger pull rod, finger connecting rod spring vaulting pole, terminal knuckle constitutes, software knuckle and finger pull rod, software knuckle and finger connecting rod, finger connecting rod and rocker, spring vaulting pole and finger pull rod, adopt between spring vaulting pole and the rocker articulated, the degree of freedom of finger is 2, this is an under-actuated flexible finger, can snatch the appearance of cosmetics according to the adaptation, realize the flexibility and snatch. The central drive module is by the rocker spout, upper and lower end fixed cover, including a motor, an end cap, a controller, and a cover plate, crank rocker device, the gear box is constituteed, it installs on the rocker spout to indicate the drive module, be equipped with locking mechanism on the rocker spout, suitable position is installed to drive module when pointing, locking mechanism locks the finger drive module voluntarily, when needs are dismantled, open the locking device switch, just can accomplish the dismantlement, gear box and crank rocker device's cooperation is used, can play the effect that changes each finger relative position, thereby change and snatch the mode, adapt to waiting of different shapes and snatch the thing.
The gear box consists of a driving wheel, four driven wheels, two gap bridge wheels, a box body, a box cover, a spline shaft and a thrust ball bearing. The driven wheel is arranged on the spline shaft through an upper thrust ball bearing and a lower thrust ball bearing. The motor drives the driving wheel to drive the four driven wheels, so that the torque is transmitted to the spline shaft, and the crank rocker device is driven to work.
The crank rocker device is composed of a crank, a connecting rod and a rocker sliding groove, the crank is fixedly connected with a spline shaft through a spline, the position is limited by a clamp spring, the spline shaft transmits torque to the crank, the crank transmits motion to the rocker sliding groove through the connecting rod, and the crank rotates around a fixed rotating shaft c, so that the change of a grabbing angle is realized.
The finger driving part consists of a rocker, a lead screw nut connecting piece, a shell barrel, a finger fixing part, a shell barrel fixing part, a direct current brushless motor, a lead screw nut and a ball screw, parts with rotation relation are hinged, and the shell barrel fixing part is fixedly connected with the finger fixing part through four bolts.
The direct current brushless motor drives the ball screw, and the ball screw drives the screw nut to do linear motion relative to the outer shell barrel to push the screw nut connecting piece, so that the rocker rotates around the hinge a. At this time, the finger also rotates about the hinge a. Before the thing is waited to snatch in software dactylus, finger connecting rod touch, hinge b irrotational, when touch when waiting to snatch the thing, the compression of spring vaulting pole, the relative finger connecting rod of software dactylus is around hinge b counter-clockwise turning, treats to grab and gets thing formation envelope, cooperates other fingers, realizes that the envelope snatchs, improves the reliability of snatching.
According to the invention, by utilizing the under-actuated design of the fingers, the effect of flexibly grabbing the surface of the self-adaptive object is realized, and the current situation that most of the existing paws have overlarge rigidity so as to damage the surface of the object is improved; the detachable nature of utilizing the finger and gear linkage's cooperation, reached and changed the purpose of finger figure and finger relative position according to actual demand is nimble to nimble switching snatchs the mode, has realized the effect that self-adaptation snatched, has changed the present situation that present most of paws "single claw is singly used". The detachability of the fingers is realized through a chute mechanism, and the gear connecting rod mechanism can accurately rotate the fingers by a fixed angle through parameter calculation, so that the grabbing mode is accurately switched.
Drawings
FIG. 1 is a view showing the composition of a gripper
FIG. 2 is a view showing the structure of an under-actuated finger
FIG. 3 shows a structure of a finger driving module
FIG. 4 is a block diagram of a central driving module
FIG. 5 Gear mechanism plan view
FIG. 6 side view of the gear mechanism
FIG. 7 crank rocker device
FIG. 8 is a schematic linkage diagram of a gear linkage
Detailed Description
As shown in FIG. 1, the multi-mode adaptive gripper comprises a finger 31, a finger driving module 33 and a central driving module 32, wherein the finger 31 and the finger driving module 33 are installed on a shell of the central driving module 32. The finger drive module 33 is connected to the drive module by a chute arrangement. The finger 31 and the finger driving module 33 constitute a link mechanism, and the finger 31 is connected to the finger driving module through two hinges.
The finger 31 is composed of a soft knuckle 1, a finger pull rod 2, a finger connecting rod 3, a spring support rod 4 and a tail end knuckle 5. The soft knuckle 1 and the finger pull rod 2, the soft knuckle 1 and the finger connecting rod 3, the finger connecting rod 3 and the rocker 6, the spring support rod 4 and the finger pull rod 2, and the spring support rod 4 and the rocker 6 are hinged. The degree of freedom of the finger is 2, the finger is an underactuated flexible finger, and flexible grabbing can be realized according to the shape adapting to the grabbed cosmetics.
As shown in fig. 2 and fig. 3, the finger driving part is composed of a rocker 6, a lead screw nut connector 7, a housing tube 8, a finger fixing part 9, a housing tube fixing part 10, a dc brushless motor 11, a lead screw nut 12, and a ball screw 13. The parts with rotating relation are hinged. The shell cylinder fixing part 10 of the shell cylinder is fixedly connected with the finger fixing part 9 through four bolts.
As shown in fig. 2, the dc brushless motor 11 drives the ball screw 13, and the ball screw 13 drives the screw nut 12 to move linearly relative to the housing tube 8, and the screw nut 13 pushes the screw nut connector 7, so that the rocker 6 rotates around the hinge a. At this time, the finger also rotates about the hinge a. Before software knuckle 1, finger connecting rod 3 touched and to be waited to snatch the thing, hinge b irrotational, when touch when waiting to grab the thing, the compression of spring vaulting pole, software knuckle 1 relative finger connecting rod 3 around hinge b counter-clockwise turning, treat to grab and get the thing and form the envelope, cooperate other fingers, realize the envelope and snatch, improve the reliability of snatching.
As shown in fig. 4, the central driving module 32 is composed of a rocker chute 14, upper and lower end fixing covers 15, a motor 16, a crank and rocker device, and a gear box 29. The finger driving module 33 is installed on the rocker sliding groove 14, the rocker sliding groove 14 is provided with a locking mechanism, when the finger driving module 33 is installed at a proper position, the finger driving module 33 is automatically locked by the locking mechanism, and when the finger driving module is required to be disassembled, the unlocking of the locking device is turned on, so that the disassembly can be completed. The gear box 29 and the crank rocker device are matched for use, so that the relative position of each finger can be changed, the grabbing mode is changed, and the grabbing device is suitable for objects to be grabbed in different shapes.
As shown in fig. 5 and 6, the gear box is composed of a driving wheel 20, four driven wheels 21, two intermediate wheels 22, a box body 23, a box cover 24, a spline shaft 25 and a thrust ball bearing 26. The driven pulley 21 is mounted on the spline shaft 25 via upper and lower thrust ball bearings 26. The driving wheel 20 is driven by the motor 16, so as to drive the four driven wheels 21, and the torque is transmitted to the spline shaft 25, so as to drive the crank rocker device to work.
As shown in fig. 7, the crank and rocker device is composed of a crank 27, a connecting rod 28 and a rocker chute 14. The crank 27 is fixedly connected to the spline shaft 25 by a spline, and is position-limited by a snap spring 30. The spline shaft 25 transmits torque to the crank 27, and the crank 27 transmits motion to the rocker chute 14 through the connecting rod 28 to rotate about the fixed rotation axis c, thereby effecting a change in the grip angle.
As shown in fig. 8, when the motor drives the driving wheel 20 to rotate counterclockwise, the driving wheel first transmits power to the driven wheel 21.1 at the lower left corner, the driven wheel 21.1 rotates clockwise, the rotation speed is half of the rotation speed of the motor, on one hand, the driven wheel 21.1 drives the driven wheel 21.2 at the upper left corner to rotate counterclockwise, on the other hand, the power is transmitted to the driven wheel 21.3 at the lower right corner through the two bridge wheels 22, the two bridge wheels have the function of enabling the rotation directions of the driven wheels 21.1 and 21.3 to be opposite, at this time, the rotation direction of the driven wheel 21.3 is counterclockwise, and finally, the driven wheel 21.3 is meshed with the driven wheel 21.4 to drive the driven wheel 21.4 to rotate clockwise, which is the power transmission path of the gear system. The driven wheels 21.1, 21.4 rotate clockwise, and the driven wheels 21.2, 21.3 rotate counterclockwise, so as to drive the corresponding cranks to rotate in the same direction. In the position shown in the figure, the rocker chutes 14 at the lower left corner and the upper right corner rotate anticlockwise around the fixed shafts d and g respectively, the rocker chutes at the upper left corner and the lower right corner rotate clockwise around the fixed shafts e and f respectively, and when the rocker chutes rotate 60 degrees in the set direction around the corresponding rotating shafts, the rocker chutes at the upper and the lower parts are mutually symmetrical, so that the fingers at the upper and the lower parts are mutually symmetrical, and the grabbing mode is changed. The crank rocker device is designed to limit the rotation angle of the rocker chute 14 within 60 degrees, and the accuracy and the reliability of mode switching are ensured.
When the invention is used, the paw is arranged on the mechanical arm of the production line, and the grabbing mode is selected according to the characteristics of the appearance, the weight and the like of the produced cosmetics. The invention ensures the replaceability and detachability of the fingers, and simultaneously can change the relative positions of the fingers, and three grabbing modes are derived based on the relative positions: three designate the heart grabbing mode, four finger parallel grabbing mode and six finger wrapping grabbing mode. Different modes can adapt to different articles, the three-finger core grabbing mode can be applied to the occasion with accurate positioning, the four-finger parallel grabbing mode can be applied to grabbing prismatic articles, and the six-finger coating grabbing mode can provide larger grabbing force and is suitable for grabbing articles with larger weight. When the grabbing mode is changed, the motor of the central driving module is rotated, the gear box is driven by the motor, and then the crank rocker device is driven to enable the fingers to rotate for a certain angle around the center line of the paw, so that mode switching is completed. The fingers are driven by the lead screw nuts, so that the automatic locking device has the characteristic of self locking, and can ensure the stability of grabbing articles. When the paw needs to grab, the motor of the finger is driven to drive the ball screw to rotate, and the screw pushes the finger to finish clamping. When touching the surface of an object, the fingers can deform correspondingly along with the appearance of the object, so that the coated grabbing is realized, and the surface of the object is protected.
Claims (3)
1. The utility model provides a multi-mode self-adaptation mechanical gripper, including finger (31), finger drive module (33), central authorities ' drive module (32), install on the shell of central authorities ' drive module (32) finger (31) and finger drive module (33), finger drive module (33) are connected through spout structure and central authorities ' drive module, a link mechanism is constituteed to finger (31) and finger drive module (33), finger (31) are through two hinged joint on finger drive module, finger (31) are by software knuckle (1), finger pull rod (2), finger connecting rod (3), spring vaulting pole (4), terminal knuckle (5) are constituteed, software knuckle (1) and finger pull rod (2), software knuckle (1) and finger connecting rod (3), finger connecting rod (3) and rocker (6), spring vaulting pole (4) and finger pull rod (2), The spring support rod (4) and the rocker (6) are hinged, the degree of freedom of the fingers is 2, the fingers are under-actuated flexible fingers and can flexibly grab cosmetics according to the shape of the grabbed cosmetics, the central driving module (32) consists of a rocker sliding groove (14), upper and lower fixed covers (15), a motor (16), a crank rocker device and a gear box (29), the finger driving module (33) is installed on the rocker sliding groove (14), the rocker sliding groove (14) is provided with a locking mechanism, when the finger driving module (33) is installed at a proper position, the locking mechanism automatically locks the finger driving module (33), when the finger driving module needs to be disassembled, a switch of the locking device is opened, the disassembly can be completed, the gear box (29) and the crank rocker device are matched for use, the effect of changing the relative positions of various fingers can be achieved, the grabbing mode is changed, and the grabbing mode is adapted to the objects to be grabbed in different shapes, the gearbox comprises a driving wheel (20), four driven wheels (21), two intermediate wheels (22), a box body (23), a box cover, a spline shaft (25) and a thrust ball bearing (26), wherein the driven wheels (21) are arranged on the spline shaft (25) through an upper thrust ball bearing and a lower thrust ball bearing (26), the driving wheel (20) is driven through a motor (16), so that the four driven wheels (21) are driven, torque is transmitted to the spline shaft (25), and then the crank rocker device is driven to work, the crank rocker device comprises a crank (27), a connecting rod (28) and a rocker sliding groove (14), the crank (27) is fixedly connected with the spline shaft (25) through the spline, position limitation is carried out by using a snap spring (30), the spline shaft (25) transmits the torque to the crank (27), the crank (27) transmits motion to the rocker sliding groove (14) through the connecting rod (28), and rotates around a fixed rotating shaft c, thereby realizing the change of the grabbing angle.
2. The multi-mode self-adaptive manipulator claw according to claim 1, wherein the finger driving module comprises a rocker (6), a lead screw nut connecting piece (7), a housing tube (8), a finger fixing part (9), a housing tube fixing part (10), a direct current brushless motor (11), a lead screw nut (12) and a ball screw (13), the parts with rotation relation are hinged, and the housing tube fixing part (10) is fixedly connected with the finger fixing part (9) through four bolts.
3. The multi-mode adaptive manipulator according to claim 2, wherein the DC brushless motor (11) drives a ball screw (13), the ball screw (13) drives a screw nut (12) to move linearly relative to the outer shell (8), the screw nut (12) pushes a screw nut connecting piece (7), so that the rocker (6) rotates about a hinge a connected to the finger fixing part (9) and, at this time, the fingers also rotate around the hinge a, the hinge b between the soft knuckle (1) and the finger connecting rod (3) does not rotate before the soft knuckle (1) and the finger connecting rod (3) touch the object to be grabbed, when the object to be grabbed is touched, the spring support rod is compressed, the soft knuckle (1) rotates anticlockwise around the hinge b relative to the finger connecting rod (3), the object to be grabbed forms an envelope, and the envelope grabbing is realized by matching with other fingers, so that the grabbing reliability is improved.
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| CN202110701082.2A CN113427501B (en) | 2021-06-23 | 2021-06-23 | Multi-mode self-adaptive mechanical gripper |
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| CN202110701082.2A CN113427501B (en) | 2021-06-23 | 2021-06-23 | Multi-mode self-adaptive mechanical gripper |
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| CN113427501A CN113427501A (en) | 2021-09-24 |
| CN113427501B true CN113427501B (en) | 2022-08-09 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114425785A (en) * | 2021-12-16 | 2022-05-03 | 哈尔滨理工大学 | Six-finger manipulator based on monocular vision convertible grabbing mode |
| CN114714385B (en) * | 2022-04-21 | 2023-12-05 | 西安交通大学 | Mechanical gripper based on five-rod mechanism and under-actuated mode |
| CN115648261B (en) * | 2022-10-14 | 2023-05-30 | 北京电子科技职业学院 | Flexible rotary joint, mechanical finger and modularized underactuated mechanical arm easy to disassemble and assemble |
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