CN203665544U - Self-adaptive pneumatic flexible grabbing mechanical claw based on metamorphic mechanism - Google Patents
Self-adaptive pneumatic flexible grabbing mechanical claw based on metamorphic mechanism Download PDFInfo
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- CN203665544U CN203665544U CN201320502445.0U CN201320502445U CN203665544U CN 203665544 U CN203665544 U CN 203665544U CN 201320502445 U CN201320502445 U CN 201320502445U CN 203665544 U CN203665544 U CN 203665544U
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- bian bao
- bao mechanism
- cylinder piston
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Abstract
The utility model provides a self-adaptive pneumatic flexible grabbing mechanical claw based on a metamorphic mechanism. A support and a base are fixedly connected so that a frame structure can be formed. An air cylinder is located in the frame structure and fixedly connected with the base. The claw comprises a crank sliding block mechanism and the metamorphic mechanism. A chuck is fixedly connected with the metamorphic mechanism. A workpiece is a grabbed object. The face, in contact with the workpiece, of the chuck is provided with a contact force sensor. A connecting rod is connected to an air cylinder piston through a revolute pair A and movably connected with the metamorphic mechanism. The crank sliding block mechanism is composed of the connecting rod, the air cylinder piston and a connecting rod 1 in the metamorphic mechanism. A sliding block in the crank sliding block mechanism is the air cylinder piston. The connecting rod is movably connected with the air cylinder piston. A force feedback control system is connected with the contact force sensor and the air cylinder. Compared with the prior art, the self-adaptive pneumatic flexible grabbing mechanical claw based on the metamorphic mechanism has the advantages that drive is small, control is simple, cost is low, the mechanical claw has certain flexibility, reliability is high, and the mechanical claw can self-adaptively grab an object of a complex space geometrical shape or simulate the moving motion of the human hand.
Description
Technical field
The present invention relates to a kind of self adaptation Pneumatic flexible catching robot pawl based on Bian Bao mechanism, belong to mechanical paw technical field.
Background technology
Mechanical paw is widely used in automated arm or crawl, carrying and the taking and placing of system to special object.At present general mechanical paw is divided into without 3 kinds of joint, fixing simple joint and free multi-joints, can be divided into again two fingers, three fingers, four fingers etc. by the quantity of finger, wherein use with two fingers at most.Two fingers or three fingers are without joint or fixing simple joint type, and crawl, carrying and taking and placing to spatial geometric shape simple objects are more convenient, can control the size of finger grasp force after interpolation contact force sensor and force feedback control system, realize safety and capture.In order to realize, adaptive security captures or height apery hands movement, at present be all two fingers, three fingers or the five fingers mechanical paw that adopts free joint type substantially, the driving in each joint adopts motor and wire rope gearing more, realizes safely, reliably captures object in conjunction with contact force sensor by the self-movement in the each joint of control system control.But for crawl, carrying and the taking and placing of spatial geometric shape complex object, or simulate the problems such as the athletic performance of staff but can not finely realize, and current existing machinery paw has driving, control system complexity, cost is high, reliability is low.
In view of the above problems, be necessary to provide a kind of novel free joint type mechanical paw, to address the above problem.
Summary of the invention
Goal of the invention: for the deficiencies in the prior art, provide a kind of self adaptation Pneumatic flexible catching robot pawl based on Bian Bao mechanism, this mechanical paw has self adaptation, drives less, controls simply, and cost is low, reliability high.
For solving the problems of the technologies described above, technical scheme of the present invention is achieved in that
A kind of self adaptation Pneumatic flexible catching robot pawl based on Bian Bao mechanism, comprise cylinder, support, base, contact force sensor, force feedback control system, paw, chuck, support and base are fixedly connected to form frame-shaped construction, cylinder is positioned at frame-shaped construction and is fixedly connected with base, paw comprises slider-crank mechanism and the first Bian Bao mechanism (OBCD), chuck is fixedly connected with the first Bian Bao mechanism, and workpiece, for capturing object, arranges contact force sensor on chuck and workpiece contact-making surface; Connecting rod five-way is crossed revolute pair A and is connected on cylinder piston, and connecting rod five is flexibly connected with the first Bian Bao mechanism (OBCD), and the connecting rod one in connecting rod five, cylinder piston and the first Bian Bao mechanism (OBCD) forms slider-crank mechanism; The slide block of slider-crank mechanism is cylinder piston, and connecting rod five is flexibly connected with cylinder piston, and force feedback control system is connected with contact force sensor, cylinder top is connected.
A kind of self adaptation Pneumatic flexible catching robot pawl based on Bian Bao mechanism, adopt two finger (or referring to) structures more, every finger comprises slider-crank mechanism, Bian Bao mechanism, chuck, silica gel and contact force sensor, cylinder, support and base, wherein cylinder, support, base are that two fingers (or referring to) are shared more, and the main body mechanism of every finger is the slider-crank mechanism Bian Bao mechanism of connecting.Described Bian Bao mechanism is that wherein a revolute pair adopts the change born of the same parents four-bar linkage of torsion spring (or extension spring) and locating piece locking, and this change born of the same parents four-bar linkage is positioned on crank, is in series with above-mentioned slider-crank mechanism.Change born of the same parents four-bar linkage key position in two fingers (or referring to) has two (or multiple) to become dysuria with lower abdominal colic movable joint more, they are symmetrical in cylinder-bore axis in left and right (or circumferentially uniform), sharing same revolute pair (or circumferential uniform multiple revolute pairs) is installed on support, change dysuria with lower abdominal colic movable joint composition clamping joint in hinge four-bar, two bars of two bars in this joint for adopting torsion spring (or extension spring) and locating piece locking revolute pair to connect, they are two supporting rods of mechanical paw, and on its clamping surface, lining also pastes with contact force sensor with silica gel.The change dysuria with lower abdominal colic movable joint number of wherein pointing number and each finger can increase and decrease on demand.The slide block of described slider-crank mechanism is cylinder piston, crank is a certain bar in the non-clamping articulated arm in Bian Bao mechanism, connect respectively cylinder piston and crank by connecting rod by revolute pair, slider-crank mechanism left and right (or circumferentially uniform) in two fingers (or referring to) is symmetrical in cylinder-bore axis and arranges more, and cylinder block is fixed on base and forms moving sets with piston.Described support is fixedly installed on base.The each joint drive of whole manipulator all only needs same cylinder piston to drive, without other drive source.When Bian Bao mechanism moves about each kinematic pair, when contacts relevantly with supporting rod with gripped object, has self adaptive.Force feedback control system is connected with contact force sensor, is connected with cylinder.
The invention has the beneficial effects as follows: compared to prior art, a kind of self adaptation Pneumatic flexible catching robot pawl based on Bian Bao mechanism of the present invention has been realized self adaptation, has been driven less, controls simply, cost is low, the object of the athletic performance of the crawl spatial geometric shape complex object that reliability is high or simulation staff.
Brief description of the drawings
Fig. 1 is self adaptation Pneumatic flexible catching robot pawl two fingers based on Bian Bao mechanism of the present invention, the diarticular structure diagram of every finger.
Number in the figure: 1, connecting rod 2, connecting rod 3, connecting rod 4, connecting rod 5, connecting rod 6, cylinder piston 7, support 8, base 9, chuck 1 ', connecting rod 2 ', connecting rod 3 ', connecting rod 4 ', connecting rod 5 ', connecting rod
Detailed description of the invention
As shown in Figure 1, the self adaptation Pneumatic flexible catching robot pawl based on Bian Bao mechanism of the present invention comprise the first Bian Bao mechanism (OBCD), the second Bian Bao mechanism (OB ' C ' D '), connecting rod 55, connecting rod 55 ', cylinder piston 6, support 7, base 8, chuck 9, chuck 9 ', workpiece 10.Support 7 is connected with base 8, and cylinder block is fixed on base and forms moving sets with piston 6.The four-bar linkage of described the first Bian Bao mechanism (OBCD) for being formed by connecting by revolute pair B, C, D, O respectively by connecting rod 1, connecting rod 22, connecting rod 33, connecting rod 44; Described the second Bian Bao mechanism (OB ' C ' D ') for by connecting rod 1 ', connecting rod 22 ', connecting rod 33 ', the four-bar linkage of connecting rod 44 ' be formed by connecting by revolute pair B ', C ', D ', O respectively; Described revolute pair D, D ' are with torsion spring and locating piece; Described chuck 9 is fixedly connected with connecting rod 33, described chuck 9 ' with connecting rod 33 ' be fixedly connected with, described workpiece 10 is for capturing object; Described connecting rod 44, connecting rod 44 ', chuck 9, chuck 9 ' with workpiece 10 contact-making surfaces on lining with silica gel and paste with contact force sensor; When connecting rod four 4(connecting rods 44 ') while not running into workpiece 10, revolute pair D(D ') locate the suffered connecting rod three 3(connecting rods 33 of torsion spring ') with connecting rod four 4(connecting rods 44 ') relatively rotate and separate the closed moment that moment is less than torsion spring, connecting rod three 3(connecting rods 33 ') and connecting rod four 4(connecting rods 44 ') produce without relative motion, now first the second Bian Bao mechanism (OB ' C ' D ') of Bian Bao mechanism (OBCD) can be considered a rigid unitary member; When connecting rod four 4(connecting rods 44 ') while running into workpiece 10, connecting rod four 4(connecting rods 44 ') stopped by workpiece 10, can not move, become frame, at this moment mechanism is in the time that cylinder piston 6 moves upward, by connecting rod five 5(connecting rod 55 ＇), connecting rod two 2(connecting rod 22 ＇) promotion connecting rod three 3(connecting rods 33 ').As revolute pair D(D ') locate the suffered connecting rod three 3(connecting rods 33 of torsion spring ') with connecting rod four 4(connecting rods 44 ') relatively rotate when separating moment and being greater than the closed moment of torsion spring, connecting rod three 3(connecting rods 33 ') with respect to connecting rod four 4(connecting rods 44 ') will produce relative rotation, now first the second Bian Bao mechanism (OB ' C ' D ') of Bian Bao mechanism (OBCD) to become be a four-bar linkage, connecting rod three 3(connecting rods 33 ') motion be subject to the change in location of workpiece 10 and change, there is adaptivity.Described cylinder block is screwed on base 8, forms moving sets with piston 6.Described the first Bian Bao mechanism (OBCD), the second Bian Bao mechanism (OB ' C ' D '), centered by cylinder piston 6 center lines, are and are symmetrically arranged, and are fixed on support 7 with compound hinges O, and described support 7 is screwed on base 8; Described connecting rod 55, connecting rod 55 ' be and be symmetrically arranged centered by cylinder piston 6 center lines, connecting rod 55 is connected on cylinder piston 6 by revolute pair A, connecting rod 55 is connected with the first Bian Bao mechanism (OBCD) by compound hinges B, and the connecting rod 1 in connecting rod 55, cylinder piston 6 and the first Bian Bao mechanism (OBCD) forms the first slider-crank mechanism; Connecting rod 55 ' be connected on cylinder piston 6 by revolute pair A ', connecting rod 55 ' be connected with the second Bian Bao mechanism (OB ' C ' D ') by compound hinges B ', connecting rod 55 ', connecting rod 1 ' formation the second slider-crank mechanism in cylinder piston 6 and the second Bian Bao mechanism (OB ' C ' D ').
In the time that cylinder piston 6 inflations move upward, two the first Bian Bao mechanisms (OBCD) that are symmetrically arranged of connecting rod 55 and connecting rod 55 ' simultaneously promote, unitary closed motion is done by the second Bian Bao mechanism (OB ' C ' D '), when connecting rod 44 and connecting rod 44 ' clip to after workpiece 10 simultaneously, blocked and maintain static by workpiece 10, now connecting rod 55 and connecting rod 55 ' continuation motion, connecting rod 22 and connecting rod 22 ' will promote connecting rod 33 and connecting rod 33 ' the overcome closed moment of revolute pair D and revolute pair D' place torsion spring, connecting rod 33 and connecting rod 33 ' will continue motion, drive be fixedly connected on connecting rod 33 and connecting rod 33 ' on chuck 9 and chuck 9 ' motion, realize the multiple spot clamping of workpiece 10, according to the detection data of contact force sensor, the blowing pressure of control cylinder piston 6, chucking power can be adjusted in setting range.
For holding workpiece 10, its effective joint of each finger that above-mentioned manipulator two is pointed is O, D and O, D ＇.The each joint drive of whole manipulator all only needs same cylinder piston 6 to drive, without other drive source.When Bian Bao mechanism moves about each kinematic pair, when contacts relevantly with supporting rod with gripped object, has self adaptive.
Of particular note, for the person of ordinary skill of the art, that under instruction of the present invention, does changes for equivalence of the present invention, the series connection multi-joint of the first Bian Bao mechanism (OBCD), the second Bian Bao mechanism (OB ' C ' D ') is derivative, or point to the change referring to by two more, must be included in the scope that the present patent application the scope of the claims advocates.
Claims (7)
1. the self adaptation Pneumatic flexible catching robot pawl based on Bian Bao mechanism, it is characterized in that, comprise cylinder, support (7), base (8), contact force sensor, force feedback control system, paw, chuck (9), support (7) is fixedly connected to form frame-shaped construction with base (8), cylinder is positioned at frame-shaped construction and is fixedly connected with base (8), paw comprises slider-crank mechanism and the first Bian Bao mechanism (OBCD), chuck (9) is fixedly connected with the first Bian Bao mechanism, workpiece (10) is for capturing object, on chuck (9) and workpiece (10) contact-making surface, contact force sensor is set, connecting rod five (5) is connected on cylinder piston (6) by revolute pair A, connecting rod five (5) is flexibly connected with the first Bian Bao mechanism (OBCD), and the connecting rod one (1) in connecting rod five (5), cylinder piston (6) and the first Bian Bao mechanism (OBCD) forms slider-crank mechanism, the slide block of slider-crank mechanism is cylinder piston (6), and connecting rod five (5) is flexibly connected with cylinder piston (6), and force feedback control system is connected with contact force sensor, is connected with cylinder.
2. the self adaptation Pneumatic flexible catching robot pawl based on Bian Bao mechanism according to claim 1, it is characterized in that the four-bar linkage of the first Bian Bao mechanism (OBCD) for being formed by connecting by revolute pair B, revolute pair C, revolute pair D, revolute pair O respectively by connecting rod one (1), connecting rod two (2), connecting rod three (3), connecting rod four (4).
3. the self adaptation Pneumatic flexible catching robot pawl based on Bian Bao mechanism according to claim 2, is characterized in that, becomes the diarthrodial quantity of dysuria with lower abdominal colic into multiple.
4. the self adaptation Pneumatic flexible catching robot pawl based on Bian Bao mechanism according to claim 1 and 2, is characterized in that, on chuck (9) and workpiece (10) contact-making surface, lining also pastes with contact force sensor with silica gel.
5. according to the self adaptation Pneumatic flexible catching robot pawl based on Bian Bao mechanism described in claim or 2, it is characterized in that, connecting rod five (5) is connected on cylinder piston (6) by revolute pair A.
6. the self adaptation Pneumatic flexible catching robot pawl based on Bian Bao mechanism according to claim 1 and 2, is characterized in that, connecting rod five (5) is connected with the first Bian Bao mechanism (OBCD) by compound hinges B.
7. the self adaptation Pneumatic flexible catching robot pawl based on Bian Bao mechanism according to claim 1 and 2, it is characterized in that, paw quantity is two or more, two fingers or refer to more in change born of the same parents four-bar linkage key position have multiple change dysuria with lower abdominal colic movable joint, their left and right or the circumferentially uniform cylinder-bore axis that is symmetrical in, share same revolute pair or circumferentially uniform multiple revolute pairs be installed on support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320502445.0U CN203665544U (en) | 2013-08-16 | 2013-08-16 | Self-adaptive pneumatic flexible grabbing mechanical claw based on metamorphic mechanism |
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| CN201320502445.0U CN203665544U (en) | 2013-08-16 | 2013-08-16 | Self-adaptive pneumatic flexible grabbing mechanical claw based on metamorphic mechanism |
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| CN203665544U true CN203665544U (en) | 2014-06-25 |
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| CN201320502445.0U Expired - Fee Related CN203665544U (en) | 2013-08-16 | 2013-08-16 | Self-adaptive pneumatic flexible grabbing mechanical claw based on metamorphic mechanism |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103433932A (en) * | 2013-08-16 | 2013-12-11 | 江苏大学 | Self-adaptive pneumatic flexible grabbing mechanical gripper based on metamorphic mechanism |
| WO2016037288A1 (en) | 2014-09-12 | 2016-03-17 | Polyvalor, Limited Partnership | Mechanical finger for grasping apparatus |
| CN107081736A (en) * | 2017-06-28 | 2017-08-22 | 合肥超赢工业设计有限公司 | A kind of cargo transparting device for workshop |
| CN109176492A (en) * | 2018-11-08 | 2019-01-11 | 山东大学 | A kind of manipulator based on restructural parallel institution |
| CN109927068A (en) * | 2019-03-05 | 2019-06-25 | 清华大学 | Flexible facies palmaris adaptively quickly grabs robot hand device |
| CN109940591A (en) * | 2019-04-29 | 2019-06-28 | 中信戴卡股份有限公司 | A kind of wheel hub conveying robot |
| CN110371656A (en) * | 2019-07-08 | 2019-10-25 | 烽禾升智能测控技术(昆山)有限公司 | More buckle products are crawled and assembled mechanism |
-
2013
- 2013-08-16 CN CN201320502445.0U patent/CN203665544U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103433932A (en) * | 2013-08-16 | 2013-12-11 | 江苏大学 | Self-adaptive pneumatic flexible grabbing mechanical gripper based on metamorphic mechanism |
| WO2016037288A1 (en) | 2014-09-12 | 2016-03-17 | Polyvalor, Limited Partnership | Mechanical finger for grasping apparatus |
| CN106687258A (en) * | 2014-09-12 | 2017-05-17 | 波利瓦洛尔有限合伙公司 | Mechanical finger for grasping apparatus |
| EP3191265A4 (en) * | 2014-09-12 | 2018-05-16 | Polyvalor, Limited Partnership | Mechanical finger for grasping apparatus |
| US10279484B2 (en) | 2014-09-12 | 2019-05-07 | Polyvalor, Limited Partnership | Mechanical finger for grasping apparatus |
| CN107081736A (en) * | 2017-06-28 | 2017-08-22 | 合肥超赢工业设计有限公司 | A kind of cargo transparting device for workshop |
| CN109176492A (en) * | 2018-11-08 | 2019-01-11 | 山东大学 | A kind of manipulator based on restructural parallel institution |
| CN109927068A (en) * | 2019-03-05 | 2019-06-25 | 清华大学 | Flexible facies palmaris adaptively quickly grabs robot hand device |
| CN109927068B (en) * | 2019-03-05 | 2020-07-28 | 清华大学 | Flexible palm surface self-adaptive rapid grabbing robot hand device |
| CN109940591A (en) * | 2019-04-29 | 2019-06-28 | 中信戴卡股份有限公司 | A kind of wheel hub conveying robot |
| CN110371656A (en) * | 2019-07-08 | 2019-10-25 | 烽禾升智能测控技术(昆山)有限公司 | More buckle products are crawled and assembled mechanism |
| CN110371656B (en) * | 2019-07-08 | 2024-04-16 | 江苏烽禾升智能科技有限公司 | Multi-buckle product grabbing and assembling mechanism |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140625 Termination date: 20160816 |
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| CF01 | Termination of patent right due to non-payment of annual fee |