CN114619468B - Self-adaptive under-actuated two-finger mechanical gripper - Google Patents
Self-adaptive under-actuated two-finger mechanical gripper Download PDFInfo
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- CN114619468B CN114619468B CN202111439739.9A CN202111439739A CN114619468B CN 114619468 B CN114619468 B CN 114619468B CN 202111439739 A CN202111439739 A CN 202111439739A CN 114619468 B CN114619468 B CN 114619468B
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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
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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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Abstract
The invention discloses a self-adaptive under-actuated two-finger mechanical gripper, relates to a self-adaptive under-actuated two-finger mechanical gripper, and belongs to the field of robots. The fingers are symmetrically distributed on the space layout, so that the space occupation of the manipulator is small, the complexity of the paw structure caused by multiple fingers is overcome, and the self-adaptive grabbing requirement of the objects with multiple sizes can be realized by adopting the two-finger structure. The self-adaptive under-actuated two-finger mechanical gripper comprises two under-actuated fingers and a synchronous driving mechanism, and the synchronous driving mechanism drives the two under-actuated fingers to synchronously approach or separate; the clamping position is between two underactuated fingers, and each underactuated finger comprises a first pin shaft, a finger base, a second pin shaft, a near finger plate, a third pin shaft, a far finger plate, a first extension spring, a second extension spring and a compression spring. The device has the characteristics of good self-adaption and shape following performance, large operation space, simple structure, good reliability and the like.
Description
Technical Field
The invention relates to a self-adaptive under-actuated two-finger mechanical gripper, and belongs to the field of robots.
Background
In mechanical automation equipment, a mechanical gripper is a common mechanical component, is usually arranged at the tail end of a mechanical arm, replaces a human hand to finish sorting and carrying actions, plays an important role in the field of automation, and has the characteristics of accuracy, stability, high efficiency and the like.
The existing underactuated manipulator has the main advantages that the self gesture can be passively changed according to the geometric form of an operation target, and finally, an envelope state is achieved, and the underactuated manipulator has good shape following performance, and the defects that the underactuated working mode causes collision of internal components, the operation space is smaller, and the size of the operation target is greatly limited.
Disclosure of Invention
Aiming at the problems, the invention provides the self-adaptive underactuated two-finger mechanical gripper, and the fingers are symmetrically distributed on the space layout, so that the space occupation of the mechanical gripper is small, the complexity of the gripper structure caused by multiple fingers is overcome, and the self-adaptive grabbing requirement of the multi-size object can be realized by adopting the two-finger structure.
The technical scheme of the invention is as follows: the self-adaptive under-actuated two-finger mechanical gripper comprises two under-actuated fingers 6 and a synchronous driving mechanism, and the synchronous driving mechanism drives the two under-actuated fingers 6 to synchronously approach or separate;
a clamping position is arranged between two underactuated fingers 6, wherein the underactuated fingers 6 comprise a first pin shaft 61, a finger base 62, a second pin shaft 63, a near finger plate 64, a third pin shaft 65, a far finger plate 66, a first extension spring 67, a second extension spring 68 and a compression spring 69;
the finger base 62 is connected with the synchronous driving mechanism through a first pin shaft 61, a vertical groove is formed in one side, facing the clamping position, of the finger base 62, two near finger plates 64 and two far finger plates 66 are respectively arranged, the two near finger plates 64 are respectively hinged to the upper side and the lower side of a notch of the vertical groove through a second pin shaft 63, the two far finger plates 66 are arranged between the two near finger plates 64, and the two far finger plates 66 are respectively hinged to the two near finger plates 64 through a third pin shaft 65; the first extension springs 67 are fixedly connected between the two far finger plates 66, the second extension springs 68 are four, the four second extension springs (68) are divided into two groups, and the ends of the two groups of second extension springs 68 are respectively and fixedly connected between the adjacent near finger plates 64 and the far finger plates 66; the compression springs 69 are provided with eight compression springs (69) which are divided into four groups, one ends of the four groups of compression springs 69 are respectively and fixedly connected to the two near fingerboards 64 and the two far fingerboards 66, and the other ends of the eight compression springs 69 are respectively and fixedly connected to the bottom of the vertical groove. Therefore, flexible grabbing of parallel regular objects or round objects between the two under-actuated fingers 6 can be achieved, so that the paws can combine the under-actuated self-adaptive function, two modes of parallel grabbing and shape-following enveloping grabbing are achieved, objects with different shapes and sizes can be adaptively enveloped, the paw self-adaptability is high, and the grabbing is stable and reliable.
In the absence of external forces, both the proximal finger plate 64 and the distal finger plate 66 are in the same plane.
In the absence of external force, the eight compression springs 69 are perpendicular to the planes of the proximal finger plate 64 and the distal finger plate 66, and the ends of the compression springs 69 are fixedly connected to the center of the proximal finger plate 64 or the distal finger plate 66.
Grooves are formed in the end faces of the proximal finger plate 64 and the distal finger plate 66 facing the clamping position. Thereby enhancing the friction force to the object during clamping.
The synchronous driving mechanism comprises a flange plate 1, a single piston cylinder 2, a piston rod 3, a connecting plate 4 and a connecting rod system 5, wherein the single piston cylinder 2 is fixedly connected to the bottom of the flange plate 1, the piston rod 3 of the single piston cylinder 2 is simultaneously connected with two first pin shafts 61 through the connecting rod system 5, and the linear reciprocating motion of the single piston cylinder 2 is converted into the synchronous approaching or synchronous separating motion of two underactuated fingers 6 through the connecting rod system 5.
The connecting rod system 5 comprises a connecting piece 51, a supporting plate 52, a first rod 53, a second rod 54, a third rod 55, a fourth rod 56, a fifth rod 57 and a sixth rod 58;
the supporting plate 52 is fixedly connected below the cylinder body of the single-piston cylinder 2 through the connecting plate 4 and is vertical to the single-piston cylinder 2; the connecting piece 51 comprises a horizontal seat and a pair of follow-up rods, the center of the horizontal seat is fixedly connected to the bottom end of the piston rod 3, and the top ends of the pair of follow-up rods are symmetrically hinged to the horizontal seat;
the bottom ends of the first rod 53 and the fourth rod 56 are respectively hinged at the bottom ends of the two follow-up rods, and the top ends of the first rod 53 and the fourth rod 56 are simultaneously hinged at the middle point of the supporting plate 52;
the top end of the second rod 54 and the top end of the fifth rod 57 are symmetrically hinged on the supporting plate 52, the bottom end of the second rod 54 is hinged in the middle of the third rod 55, and the bottom end of the fifth rod 57 is hinged in the middle of the sixth rod 58;
the top end of the third rod 55 and the top end of the sixth rod 58 are respectively hinged to the bottom ends of the two follow-up rods, the top end of the third rod 55 and the bottom end of the fourth rod 56 are hinged to the same hinge point, and the top end of the sixth rod 58 and the bottom end of the first rod 53 are hinged to the same hinge point;
the first pins 61 in the two underactuated fingers 6 are connected to the bottom end of the third lever 55 and the bottom end of the sixth lever 58, respectively. In this way, in the process of up-and-down reciprocating motion of the connecting piece 51 along with the piston rod 3, the two follow-up rods in the connecting piece 51 swing synchronously and reciprocally under the limitation of the first rod 53 and the fourth rod 56, so as to drive the third rod 55 and the sixth rod 58 to translate synchronously and reciprocally under the limitation of the second rod 54 and the fifth rod 57, and finally drive the two underactuated fingers 6 connected to the bottom end of the third rod 55 and the bottom end of the sixth rod 58, namely, the two points B, C, to synchronously perform opposite linear motion, so that the two underactuated fingers are synchronously approaching or separating.
The lengths of the first rod 53 and the fourth rod 56 are both a, the distance between the hinge point at the top end of the second rod 54 and the hinge point at the top end of the fifth rod 57 is 4a, and the lengths of the second rod 54 and the fifth rod 57 are both 2.5a. Therefore, when the piston rod 3 stretches and contracts, the two ends B, C of the connecting rod system do parallel relative movement in the horizontal direction, and the two underactuated fingers 6 fixed at the two ends of the connecting rod system B, C can be guaranteed to stably grab a target.
The invention has compact structure and simple control, combines the underactuated self-adaptive function, realizes two modes of parallel clamping and conformal enveloping clamping, can self-adaptively envelop objects with different shapes and sizes, and ensures that the self-adaptability of the paw is strong, and the grabbing is stable and reliable.
The beneficial effects of the invention are as follows: structurally symmetrical distribution, small space occupation, simple structure, capability of realizing two grabbing modes, great grabbing diversity, good self-adaption and shape following performance, large operation space, good reliability and the like, and good buffering effect during grabbing, and can prevent internal components from being damaged by collision. Meanwhile, the scheme optimizes the structure on the premise of keeping self-adaptive underactuated grabbing of the manipulator and not increasing the structure scale, so that the manipulator has two grabbing modes of parallel clamping and shape-following enveloping clamping, and the operation space of the manipulator is increased.
Drawings
Figure 1 is a perspective view of the present case,
figure 2 is a schematic diagram of the structure of the present case,
FIG. 3 is a schematic view of the structure of an under-actuated finger in the present case,
figure 4 is a schematic view of the a-direction structure of figure 3,
figure 5 is a left side view of the present case,
figure 6 is a top view of the present case,
figure 7 is a schematic diagram of the mechanical movement of the I and III members in the linkage,
figure 8 is a schematic view of the mechanism movement of the II member in the linkage,
figure 9 is a view of the use of an underactuated finger,
FIG. 10 is a view of a second embodiment of an underactuated finger.
In the figure, a flange plate is shown as 1, a single-piston cylinder is shown as 2, a piston rod is shown as 3, and a connecting plate is shown as 4;
5 is a linkage, 51 is a connecting piece, 52 is a support plate, 53 is a first rod, 54 is a second rod, 55 is a third rod, 56 is a fourth rod, 57 is a fifth rod, and 58 is a sixth rod;
6 is an underactuated finger, 61 is a first pin, 62 is a finger base, 63 is a second pin, 64 is a proximal finger plate, 65 is a third pin, 66 is a distal finger plate, 67 is a first extension spring, 68 is a second extension spring, and 69 is a compression spring.
Detailed Description
In order to clearly illustrate the technical features of the present patent, the following detailed description will make reference to the accompanying drawings.
The invention is shown in figures 1-10, and the self-adaptive under-actuated two-finger mechanical gripper comprises a flange plate 1, a single-piston cylinder 2, a piston rod 3, a connecting plate 4, a connecting rod system 5 and two under-actuated fingers 6.
The bottom of the flange plate 1 is fixedly provided with a single-piston cylinder 2, the bottom of the single-piston cylinder 2 is fixedly connected with a supporting plate 52 in a connecting rod system 5 through bolts, a piston rod 3 on the single-piston cylinder 2 is connected with the connecting rod system 5, and end parts B and C of the connecting rod system 5 are respectively and fixedly connected with two underactuated fingers 6.
The linkage 5 is connected with the hinge by a plurality of groups of rods, and comprises a connecting piece 51, a supporting plate 52, a first rod 53, a second rod 54, a third rod 55, a fourth rod 56, a fifth rod 57 and a sixth rod 58, as shown in fig. 2 and 5. The linkage 5 is divided into three components I, II and III, wherein the components I and III are symmetrically distributed, the movement diagrams of the mechanism of the three components I, II and III are shown in fig. 7 and 8, in the components I and III, the piston rod 3 is fixedly connected with the connecting piece 51, the connecting piece 51 is hinged with the first rod 53, the first rod 53 is hinged with the supporting plate 52, the second rod 54 is hinged with the supporting plate 52, and the third rod 55 is respectively hinged with the connecting piece 51 and the second rod 54. In the II part, the piston rod 3 is fixedly connected with the connecting piece 51, the connecting piece 51 is hinged with the rod IV 56, the connecting piece 51 is hinged with the rod VI 58, and the rod VI 58 is hinged with the rod V57.
The length of the second rod 54 is 2.5 times of that of the first rod 53, the total length of the supporting plate 52 is 4 times of that of the first rod 53, and therefore parallel and relative movement of two ends of B, C of the connecting rod system in the horizontal direction is guaranteed when the piston rod 3 stretches and contracts, and two underactuated fingers 6 fixed at two ends of the connecting rod system B and C can be stably grabbed.
The schematic structural diagram of the underactuated finger 6 is shown in fig. 3 and 4, and the underactuated finger 6 is axisymmetric in structure and comprises a first pin 61, a finger base 62, a second pin 63, a proximal finger plate 64, a third pin 65, a distal finger plate 66, a first extension spring 67, a second extension spring 68 and a compression spring 69. The finger base 62 is connected with the third rod 55 and the sixth rod 58 through the first pin shaft 61; the finger-approaching plate 64 is connected with the finger base 62 through a second pin shaft 63; the far finger plate 66 is connected with the near finger plate 64 through a third pin shaft 65; the first extension spring 67 is fixed on the two far finger plates 66 through screws; the second tension spring 68 is fixed on the distal finger plate and the proximal finger plate through screws; the compression spring 69 is fixed on the finger base 62 and the finger plate through screws; grooves M for enhancing friction force are formed in the near fingerboard 64 and the far fingerboard 66, the first extension springs 67, the second extension springs 68 and the compression springs 69 are uniformly arranged in the direction of the fingerboard plane, and the first extension springs 67 mainly aim to provide deformation in the vertical direction of the fingerboard plane when grabbing irregular objects; the second extension spring 68 is mainly used for providing a buffer force for the third pin 65 when grabbing objects, so as to prevent the third pin 65 from being damaged by strong stress; the main purpose of the compression spring 69 is to provide a buffer clamping force to the fingerboard when grabbing objects, and to ensure that the fingerboard returns to its original shape after grabbing objects.
When the single-piston cylinder 2 works, the piston rod 3 stretches and contracts to drive the connecting rod system 5 to move, so that the end parts B and C of the connecting rod system 5 do linear motion in space, and further parallel relative motion of two underactuated fingers is realized, and effective grabbing of a target is realized. The under-actuated two-finger paw driven by the single-piston cylinder has two grabbing modes when grabbing objects; the manipulator clamps in parallel and clamps along with the shape envelope.
The working principle of the two grabbing modes of the underactuated finger 6 is schematically shown in fig. 9 and 10.
(1) When there is no gripping task, the second extension spring 68 and compression spring 69 in the underactuated finger 6 remain at their original lengths and the first extension spring 67 is in tension so that the distal 66 and proximal 64 finger plates are in line.
(2) When a parallel regular object is grabbed, the piston rod 3 performs telescopic motion to drive the two underactuated fingers 6 to perform parallel relative motion, the object simultaneously contacts the near finger plate 64 and the far finger plate 66,
the clamping force of the claws on the object acts on the two fingerboards, and a clamping force perpendicular to the fingerboards is generated. Because the proximal and distal finger plates 64, 66 are in a dead-center position and the compression spring 69 and the second extension spring 68 provide a force against the clamping force when deformation is about to occur, the proximal and distal finger plates are able to withstand a certain clamping force without a change in position.
(3) When grabbing a round object, the piston rod 3 performs telescopic motion to drive the two underactuated fingers 6 to perform parallel relative motion, and the object firstly contacts the far finger plate 66, so that a moment for turning over the far finger plate 66 is generated until the far finger plate 66 is tangent to the circle and forms a groove to provide clamping force. At this time, the proximal finger plate 64 is turned inward by the distal finger plate 66, the first tension spring 67 and the second tension spring 68 are in a tension state, the compression spring 69 is in a compression state, and after the object is released, the under-actuated finger 6 can be restored to its original shape due to the elastic action of the springs.
While there have been described what are believed to be the preferred embodiments of the present invention, it will be apparent to those skilled in the art that many more modifications are possible without departing from the principles of the invention.
Claims (6)
1. The self-adaptive under-actuated two-finger mechanical gripper is characterized by comprising two under-actuated fingers (6) and a synchronous driving mechanism, wherein the synchronous driving mechanism drives the two under-actuated fingers (6) to synchronously approach or separate;
a clamping position is arranged between two underactuated fingers (6), and the underactuated fingers (6) comprise a first pin shaft (61), a finger base (62), a second pin shaft (63), a near finger plate (64), a third pin shaft (65), a far finger plate (66), a first extension spring (67), a second extension spring (68) and a compression spring (69);
the finger base (62) is connected with the synchronous driving mechanism through a first pin shaft (61), a vertical groove is formed in one side, facing the clamping position, of the finger base (62), two near finger plates (64) and two far finger plates (66) are respectively hinged to the upper side and the lower side of a notch of the vertical groove through a second pin shaft (63), the two far finger plates (66) are arranged between the two near finger plates (64), and the two far finger plates (66) are respectively hinged to the two near finger plates (64) through a third pin shaft (65); the first extension springs (67) are fixedly connected between the two far finger plates (66), the second extension springs (68) are four, the four second extension springs (68) are divided into two groups, and the ends of the two groups of second extension springs (68) are respectively and fixedly connected between the adjacent near finger plates (64) and the far finger plates (66); the compression springs (69) are divided into four groups, one ends of the four groups of compression springs (69) are fixedly connected to the two near fingerplates (64) and the two far fingerplates (66) respectively, and the other ends of the eight compression springs (69) are fixedly connected to the bottoms of the vertical grooves;
when no external force exists, the compression spring (69) is perpendicular to the plane where the near finger plate (64) and the far finger plate (66) are located, and the end head of the compression spring (69) is fixedly connected to the center of the near finger plate (64) or the far finger plate (66).
2. An adaptive under-actuated finger manipulator according to claim 1, wherein the two proximal finger plates (64) and the two distal finger plates (66) are in the same plane in the absence of an external force.
3. An adaptive under-actuated finger manipulator according to claim 1, characterized in that the end faces of the proximal finger plate (64) and the distal finger plate (66) facing the gripping position are grooved.
4. A self-adaptive underactuated mechanical gripper according to any one of claims 1-3, wherein the synchronous driving mechanism comprises a flange plate (1), a single piston cylinder (2), a piston rod (3), a connecting plate (4) and a connecting rod system (5), the single piston cylinder (2) is fixedly connected to the bottom of the flange plate (1), the piston rod (3) of the single piston cylinder (2) is simultaneously connected with two first pin shafts (61) through the connecting rod system (5), and the linear reciprocating motion of the single piston cylinder (2) is converted into the motion of synchronously approaching or synchronously separating two underactuated fingers (6) through the connecting rod system (5).
5. The adaptive under-actuated mechanical arm as claimed in claim 4, wherein the linkage (5) comprises a connecting member (51), a support plate (52), a first rod (53), a second rod (54), a third rod (55), a fourth rod (56), a fifth rod (57) and a sixth rod (58);
the supporting plate (52) is fixedly connected below the cylinder body of the single-piston cylinder (2) through the connecting plate (4) and is vertical to the single-piston cylinder (2); the connecting piece (51) comprises a horizontal seat and a pair of follow-up rods, the center of the horizontal seat is fixedly connected to the bottom end of the piston rod (3), and the top ends of the pair of follow-up rods are symmetrically hinged to the horizontal seat;
the bottom ends of the first rod (53) and the fourth rod (56) are respectively hinged to the bottom ends of the two follow-up rods, and the top ends of the first rod (53) and the fourth rod (56) are simultaneously hinged to the middle point of the supporting plate (52);
the top end of the second rod (54) and the top end of the fifth rod (57) are symmetrically hinged on the supporting plate (52), the bottom end of the second rod (54) is hinged in the middle of the third rod (55), and the bottom end of the fifth rod (57) is hinged in the middle of the sixth rod (58);
the top end of the rod III (55) and the top end of the rod VI (58) are respectively hinged at the bottom ends of the two follow-up rods, the top end of the rod III (55) and the bottom end of the rod IV (56) are hinged at the same hinge point, and the top end of the rod VI (58) and the bottom end of the rod I (53) are hinged at the same hinge point;
the first pin shafts (61) in the two underactuated fingers (6) are respectively connected with the bottom end of the rod III (55) and the bottom end of the rod six (58).
6. The adaptive under-actuated mechanical arm according to claim 5, wherein the length of the first rod (53) and the length of the fourth rod (56) are each a, the distance between the hinge point at the top end of the second rod (54) and the hinge point at the top end of the fifth rod (57) is 4a, and the length of the second rod (54) and the length of the fifth rod (57) are each 2.5a.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111439739.9A CN114619468B (en) | 2021-11-30 | 2021-11-30 | Self-adaptive under-actuated two-finger mechanical gripper |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111439739.9A CN114619468B (en) | 2021-11-30 | 2021-11-30 | Self-adaptive under-actuated two-finger mechanical gripper |
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| CN114619468A CN114619468A (en) | 2022-06-14 |
| CN114619468B true CN114619468B (en) | 2023-09-26 |
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| CN202111439739.9A Active CN114619468B (en) | 2021-11-30 | 2021-11-30 | Self-adaptive under-actuated two-finger mechanical gripper |
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| EP2512758B1 (en) * | 2009-12-14 | 2017-09-13 | HDT Expeditionary Systems, Inc. | One motor finger mechanism |
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| KR20120013560A (en) * | 2010-08-05 | 2012-02-15 | 주식회사 엔티리서치 | A robot hand to grip object having various body-shape |
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| CN105583850A (en) * | 2016-03-17 | 2016-05-18 | 清华大学 | Self-adaptive robot hand device with elastic deflection rod clusters wound by flexible pieces |
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