CN113500614B - Inflatable flexible clamping jaw system - Google Patents
Inflatable flexible clamping jaw system Download PDFInfo
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- CN113500614B CN113500614B CN202110792426.5A CN202110792426A CN113500614B CN 113500614 B CN113500614 B CN 113500614B CN 202110792426 A CN202110792426 A CN 202110792426A CN 113500614 B CN113500614 B CN 113500614B
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- clamping jaw
- membrane
- jaw
- camera
- clamp
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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
- B25J15/0023—Gripper surfaces directly activated by a fluid
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an inflatable flexible clamping jaw system which comprises a clamping jaw base and clamping jaw clamps, wherein the clamping jaw clamps are symmetrically arranged on the clamping jaw base, clamping jaw membranes are covered on the clamping jaw clamps, a hollow structure is formed between the clamping jaw clamps and the clamping jaw membranes, an organic glass panel is arranged in the hollow structure, a camera is arranged on one side, far away from the clamping jaw membranes, of the organic glass panel, and a clamping jaw air pipe is arranged on one side, close to the clamping jaw membranes, of the clamping jaw clamps. According to the invention, the latex material is used as the contact surface of the clamping jaw, the inflatable filling mode is adopted inside the clamping jaw, and the camera is arranged inside the clamping jaw, so that the clamping jaw can adapt to objects with different shapes to the greatest extent when an unknown object is contacted, the grabbing task can be completed to the greatest extent, and meanwhile, the clamping jaw can be prevented from being damaged when the object is grabbed, and the grabbing task fails.
Description
Technical Field
The invention relates to the technical field of end effectors of robots, in particular to an inflatable flexible clamping jaw system.
Background
With the rapid development of science and technology, more and more robots are used for replacing manual labor, the demands of robot clamping jaws are more and more, due to the characteristics of rigid clamping jaws, the problems of grabbing failure and the like caused by the influence of the shape, the material, the size and the like of a target object in application are solved, in recent years, the development of flexible clamping jaws is increased day by day, and more users can select the flexible clamping jaws to replace the rigid clamping jaws due to the high flexibility of the flexible clamping jaws, the good flexibility, the strong adaptability and the like.
Aiming at the conditions of narrow working space and vision obstruction of the robot, the robot is possibly limited by space at the moment, cannot be identified due to the vision obstruction, and has unpredictable contact with the clamping jaw; it is impossible to identify the object to cause the task to fail; in addition, because an object to be grabbed is unknown, a traditional rigid clamping jaw and a common flexible clamping jaw cannot perform the task, a clamping jaw capable of identifying the object is needed to perform the task, a general solution is to install a touch sensor on the clamping jaw, the current touch sensing technology is advanced, and the application of the touch sensing technology containing the clamping jaw is completely applicable, but due to the characteristics of the rigid clamping jaw, the application of the touch sensing technology on the flexible clamping jaw is an optimal solution, and because the shape and the contour of the object to be grabbed are unknown, a flexible clamping jaw system with high adaptability needs to be designed aiming at the unknown object so as to ensure that the clamping jaw can smoothly grab the object.
Disclosure of Invention
The invention aims to provide an inflatable flexible clamping jaw system to solve the problem that clamping jaws of the existing clamping jaw device are in unpredictable contact; the object cannot be identified, resulting in a task failure, and the conventional rigid jaw and the general flexible jaw cannot perform a phenomenon of grasping an unknown object.
The technical scheme adopted by the invention is as follows: the utility model provides an aerify type flexible clamping jaw system, includes that clamping jaw base and clamping jaw press from both sides, the symmetry is provided with the clamping jaw and presss from both sides on the clamping jaw base, the clamping jaw presss from both sides to be stamped the clamping jaw membrane, the clamping jaw press from both sides with form hollow structure between the clamping jaw membrane, be provided with the organic glass panel among the hollow structure, the organic glass panel is kept away from clamping jaw membrane one side is provided with the camera, the clamping jaw presss from both sides and is close to clamping jaw membrane one side is provided with the clamping jaw trachea.
Furthermore, a light supplement lamp is arranged inside the clamping jaw clamp and close to the camera.
Further, the jaw clamp is oval.
Furthermore, the clamping jaw membrane is close to one side of the organic glass panel is printed with black dots.
Furthermore, a fixing ring is arranged at the contact position of the clamping jaw clamp and the clamping jaw membrane.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. according to the invention, the latex material is used as the contact surface of the clamping jaw, the inflatable filling mode is adopted inside the clamping jaw, and the camera is arranged inside the clamping jaw, so that the clamping jaw can be adapted to objects with different shapes to the greatest extent when an unknown object is contacted, the grabbing task can be completed to the greatest extent, and meanwhile, the clamping jaw can be prevented from being damaged when the object is grabbed, and the grabbing task fails;
2. according to the invention, corresponding patterns are printed in the contact surface of the clamping jaw, and the touch function of the clamping jaw can be realized by using a camera in the clamping jaw and combining a corresponding software algorithm;
3. the method has the advantages that the contact surface is internally deformed due to the object outline when the clamping jaw is used for grabbing the target object, and the outline of the target object is recognized by combining the camera inside the clamping jaw, so that the target object is classified;
4. the invention has simple integral structure, the selected material is common material in the market, the later maintenance is simple, the parts are easy to replace and the installation is simple.
Drawings
FIG. 1 is a schematic view of a first structure of the present invention;
FIG. 2 is a second schematic structural view of the present invention;
fig. 3 is a left side view of the present invention.
The mark in the figure is:
1. a jaw base; 2. a clamping jaw clamp; 3. a camera; 4. a light supplement lamp; 5. a clamping jaw air pipe; 6. an organic glass panel; 7. a jaw membrane; 8. and (4) fixing the ring.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments.
The first embodiment is as follows:
referring to the accompanying drawings 1-3, an inflatable flexible clamping jaw system comprises a clamping jaw base 1 and a clamping jaw clamp 2, wherein the clamping jaw clamp 2 is symmetrically arranged on the clamping jaw base 1, a clamping jaw membrane 7 covers the clamping jaw clamp 2, a hollow structure is formed between the clamping jaw membrane 7 and the clamping jaw clamp 2, an organic glass panel 6 is arranged in the hollow structure, the organic glass panel 6 is far away from one side of the clamping jaw membrane 7 and is provided with a camera 3, and the clamping jaw clamp 2 is close to one side of the clamping jaw membrane 7 and is provided with a clamping jaw air pipe 5.
Specifically, clamping jaw base 1 and external structural connection, clamping jaw press from both sides 2 follow 1 bottom of clamping jaw base extends to both sides, clamping jaw press from both sides 2 coats and is stamped clamping jaw membrane 7, makes clamping jaw press from both sides 2 with form hollow structure between the clamping jaw membrane 7, to inject the air into hollow structure, make clamping jaw membrane 7 is protruding, organic glass panel 6 will hollow structure separates, camera 3 shoots clamping jaw membrane 7 and covers the figure on the organic glass panel 6, clamping jaw trachea 5 communicates outside gas injection device wants inject gas into in the hollow structure.
Preferably, 3 one side of camera is provided with light filling lamp 4, light filling lamp 4 is in 3 when shooing of camera do not go on light, avoid 3 camera leads to shooing not clear because of the light problem.
Preferably, the clamping jaw membrane 7 is close to the printing of organic glass panel 6 one side has the black point, clamping jaw membrane 7 with leave the black point after the organic glass panel 6 contacts, further catch by the clamp object shape.
Preferably, the clamping jaw presss from both sides 2 with clamping jaw membrane 7 contact department is provided with solid fixed ring 8, through gu fixed ring 8 is right clamping jaw membrane 7 is fixed, avoids clamping jaw membrane 7 with clamping jaw 2 contact department gas leakage.
In a specific using process, a proper amount of gas is filled into a panel formed by the organic glass panel 6 and the clamping jaw membrane 7 through the clamping jaw air pipe 5 to enable the clamping jaw membrane 7 to be expanded so as to grab an object, when a mechanical arm runs to a position near the grabbed object to be ready for grabbing a task, the clamping jaw clamp 22 is driven by pneumatic/electric power to open the whole clamping jaw, then the clamping jaw begins to grab the object, when the clamping jaw membrane 7 contacts the surface of the object, the camera 3 is started at the moment and detects deformation of the surface of the internal membrane of the clamping jaw membrane 7 in real time, if the internal illumination condition is poor at the moment, the light supplement lamp 4 is automatically turned on, the surface of the internal membrane of the clamping jaw membrane 7 is irradiated by the light supplement lamp 4, so that sufficient illumination condition is provided for the camera 3 to ensure smooth follow-up work; when the surface of the film inside the clamping jaw film 7 is just deformed, the camera 3 transmits the image shot at the moment to an identification system, then an object profile of the deformed part of the clamping jaw film 7 and a corresponding point cloud picture formed by black uniform points on the clamping jaw film 7 are obtained through image processing and an identification program of the image processing and the identification program of the image processing, the obtained point cloud pictures are stored, the obtained object profile is identified, if the clamping jaw film 7 of the clamping jaw is possibly damaged by an object, a stop signal is sent to the clamping jaw, and the clamping jaw stops gripping and releases the object at the moment to prevent the clamping jaw film 7 from being punctured by a sharp object to damage the clamping jaw; if the object does not damage the clamping jaw membranes 7 of the clamping jaws, the clamping jaws continue to clamp the object, the camera 3 continues to clamp the object along with the clamping jaws to transmit and transmit the updated shot image to an identification system, then the program further processes and identifies the updated image to obtain the object profile of the deformed part of the clamping jaw membranes 7 and corresponding point cloud images, then the updated object profile information is transmitted to the identification program to be identified and stored, the previously stored point cloud images are read by a shear algorithm program to calculate the shear force between the object and the clamping jaw membranes 7, then the shear algorithm program reads the updated point cloud images and calculates the shear force between the object and the clamping jaw membranes 7, the shear force obtained in the front and rear point cloud images and the displacement in the vertical direction are compared, and if the displacement in the vertical direction is changed, the clamping jaws further clamp the object to prevent the object from sliding off and simultaneously store displacement data in the shear force and the vertical direction; if the displacement in the vertical direction is not changed, the contour information of the object is read and the object is classified, so that the touch sensing of the clamping jaw is realized, and the object classification function is realized.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (4)
1. The utility model provides an aerify flexible clamping jaw system of type, its characterized in that, presss from both sides (2) including clamping jaw base (1) and clamping jaw, the symmetry is provided with clamping jaw clamp (2) on clamping jaw base (1), clamping jaw clamp (2) coats and is stamped clamping jaw membrane (7), clamping jaw clamp (2) with form hollow structure between clamping jaw membrane (7), be provided with organic glass panel (6) among the hollow structure, organic glass panel (6) are kept away from one side of clamping jaw membrane (7) is provided with camera (3), establish on clamping jaw clamp (2) camera (3), camera (3) are shot clamping jaw membrane (7) and are covered figure on organic glass panel (6), clamping jaw after-touch membrane (7) are close to organic glass panel (6) one side is printed there is the black spot, clamping jaw membrane (7) with organic glass panel (6) contact can leave the black spot, further catch by pressing from both sides the object shape, clamping jaw clamp (2) are gone up to be close to clamping jaw membrane (7) one side is provided with clamping jaw trachea (5).
2. An inflatable flexible jaw system according to claim 1, wherein a fill light (4) is provided inside the jaw clamp (2) near the camera (3).
3. An inflatable flexible jaw system according to claim 1, wherein the jaw clamp (2) is oval-shaped.
4. An inflatable flexible jaw system according to claim 1, wherein a fixing ring (8) is provided at the contact of the jaw clamp (2) and the jaw membrane (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110792426.5A CN113500614B (en) | 2021-07-12 | 2021-07-12 | Inflatable flexible clamping jaw system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110792426.5A CN113500614B (en) | 2021-07-12 | 2021-07-12 | Inflatable flexible clamping jaw system |
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| Publication Number | Publication Date |
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| CN113500614A CN113500614A (en) | 2021-10-15 |
| CN113500614B true CN113500614B (en) | 2023-03-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110792426.5A Active CN113500614B (en) | 2021-07-12 | 2021-07-12 | Inflatable flexible clamping jaw system |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114888811B (en) * | 2022-06-16 | 2023-06-23 | 清华大学深圳国际研究生院 | Swab sampling actuator, swab sampling mechanical arm, robot and sampling method |
| CN115535341B (en) * | 2022-11-25 | 2023-03-24 | 成都乾坤动物药业股份有限公司 | Medicine bottle packaging and transferring device and method |
| CN116652986B (en) * | 2023-06-28 | 2023-11-17 | 江南大学 | Robot equipment |
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| US10087020B1 (en) * | 2017-04-03 | 2018-10-02 | Xerox Corporation | Universal object holder for 3-D printing using a conformable gripper ball |
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| CN113500614A (en) | 2021-10-15 |
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