CN207172109U - A kind of flexible multi-finger manipulator of logistics - Google Patents
A kind of flexible multi-finger manipulator of logistics Download PDFInfo
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- CN207172109U CN207172109U CN201721277105.7U CN201721277105U CN207172109U CN 207172109 U CN207172109 U CN 207172109U CN 201721277105 U CN201721277105 U CN 201721277105U CN 207172109 U CN207172109 U CN 207172109U
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- finger
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Abstract
It the utility model is related to the technical field of robot suction means; a kind of more particularly to flexible multi-finger manipulator of logistics; including main sucking disc mechanism and movable finger; main sucker is driven by main telescopic cylinder; locking flange is provided with main telescopic cylinder fixed sleeves and finger is hinged flange; movable finger is movably arranged on finger by connecting rod and is hinged on flange; finger actuation cylinder is movably hinged with locking flange; finger actuation cylinder drive link and then make finger tip closer or far from main sucker, realization activity finger closes up or opened.The accurate crawl to irregular material is realized using finger actuation cylinder driving activity finger by setting to coordinate in the surrounding of main sucker；Secondly the method for material being captured using the utility model, can select different grasping movement and crawl step according to material three-dimensional pose information and ambient condition information, realize the efficient stable crawl of different crawl environment, different sizes and variously-shaped material.
Description
Technical field
It the utility model is related to the technical field of robot suction means, more particularly to a kind of flexible multifinger mechanical of logistics
Hand.
Background technology
In the automated production field of logistic industry, it is often necessary to which industrial robot completes the crawl and placement of some materials
Deng operation.Manipulator carries out the execution instrument of various complex materials crawl operations in logistics as industrial robot, what it was captured
Accuracy, grasp force and stability have important influence to the efficiency and security of operation process.At present, for shape in logistics
The material of shape rule, such as cube, cylinder, existing sucker is very convenient to complete crawl with placement process.But
It is in irregular shape for some, the material of the limited material of working space and some unordered stackings, due to its surface have it is convex
Rise, pit and it is overlapping phenomena such as presence, easily produced with existing manipulator crawl loosely, phenomena such as failing to grip with, do not reach
The requirement of logistic industry.In addition, in the various environment of robot manipulating task, it is desirable to the applicability of manipulator is wide, driving is simple, and
Existing manipulator can not often meet to require.
Based on this, the utility model devises a kind of flexible multi-finger manipulator of logistics, effectively can capture in logistics
The material that different sizes, variously-shaped and various spaces are placed, realize accurate crawl, have compact-sized, crawl efficiency with
The advantages that stability is high, versatile.
Utility model content
The utility model the defects of overcoming above-mentioned prior art to exist in order to provide a kind of logistics with flexible multifinger mechanical
Hand, the object of different shape, size can be effectively captured, and the structure design of the main sucker of finger tip sucker cooperation is set, realization is grabbed
The accuracy and reliability taken, have the advantages that compact-sized, grasp stability is high, have a wide range of application；And this device can basis
Posture information and the ambient condition information of material need to be captured to select different grasping movements, real different crawl environment, different chis
The efficient stable crawl of very little and variously-shaped material.
The technical scheme that the utility model solves above-mentioned technical problem is as follows：A kind of flexible multi-finger manipulator of logistics, bag
Main sucking disc mechanism and movable finger are included, the main sucking disc mechanism includes main telescopic cylinder and main sucker, and the main sucker is arranged on
On the telescopic end of the main telescopic cylinder, it is provided with locking flange in the cylinder body fixed sleeves of the main telescopic cylinder and finger is hinged
Flange, the finger are hinged flange between the locking flange and the main sucker, and the movable finger is lived by connecting rod
Dynamic to be arranged on the be hinged flange of the finger, one end of the connecting rod is movably connected in the finger and is hinged on flange, the company
The other end of bar is connected to movable finger；
The movable finger includes finger tip, and one end of the finger tip is arranged on the other end of the connecting rod；
Finger actuation cylinder is movably hinged with the locking flange, the telescopic end of the finger actuation cylinder passes through hinge
It is movably connected on the connecting rod, and its junction is located between the both ends of the connecting rod, the finger actuation cylinder stretches
End drive the connecting rod around the connecting rod and the finger be hinged flange junction rotate so that make the finger tip close or
Away from the main sucker, realization activity finger closes up or opened.Set by the surrounding in main sucker with the use of activity
Finger realizes the accurate crawl to irregular material, and the driving of finger tip is directly cut with scissors using finger actuation cylinder drive link around finger
The movable finger that acting flange rotation is realized closes up or decontroled, so as to realize that the precise positioning of flexible multi-finger manipulator draws work(
Energy.
Further：At least two, the movable finger, it is evenly distributed on the surrounding that finger is hinged flange.In main sucker
Surrounding sets at least two movable fingers, you can realizes in addition to the suction force of sucker, is evenly distributed with the periphery of sucker
Movable finger, it is possible to achieve different sizes, the multipoint clamping of different shape object, ensure overall clamping effect.
Further：The movable finger also includes finger joint and flexible joint, and one end of the finger joint is fixedly connected on described
On the other end of connecting rod, the other end of the finger joint is connected to one end of flexible joint, the other end connection of the flexible joint
One end of the finger tip, the flexible joint is domed and its material is polyurethane material, makes the other end court of the finger tip
It is obliquely installed to the direction of the main sucker.Set flexible joint to coordinate finger tip to use, ensure crawl effect.
Further：The main sucker is arranged on the telescopic end of the main telescopic cylinder by sucker link detachable.
Main sucker is removably arranged on main telescopic cylinder by sucker connecting rod, is easy to the installation of main sucker to safeguard, master is improved and stretches
The service life of contracting cylinder.
Further：The one end of the main telescopic cylinder away from the main sucker is connected with ring flange, makes flexible multifinger mechanical
Hand can be seamlessly connected with mechanical arm or other end effectors, be easy to the matching of manipulator to use and install maintenance.
Further：It is small that the auxiliary that can be moved along institute's connecting rod axial direction is additionally provided with the outside of a connecting rod wherein
Sucker.Auxiliary small sucker is set, small material can be drawn in the case where main sucker and movable finger need not be used.
Further：Auxiliary telescopic cylinder, the telescopic end of the auxiliary telescopic cylinder are fixedly installed on the outside of the connecting rod
It is connected to the auxiliary small sucker.Auxiliary small sucker is driven close to or far away from material by auxiliary telescopic cylinder.
Based on above-mentioned technical proposal, the beneficial effects of the utility model are：It the utility model is related to robot suction means
Technical field, more particularly to a kind of logistics with flexible multi-finger manipulator and with its capture material method.It is of the present utility model
A kind of flexible multi-finger manipulator of logistics, there is a sucker and refer to clamping device more two pairs, there is compact-sized, crawl efficiency
The features such as with stability height, strong applicability, the crawl of various materials can be completed on material flow line, and artificial realization essence can be replaced
Really, the crawl operation of quick, high multiplicity；Secondly a kind of flexible multi-finger manipulator of logistics of the present utility model is used, can
Different grasping movement and crawl step are selected according to material three-dimensional pose information and ambient condition information, realizes different crawls
The efficient stable crawl of environment, different sizes and variously-shaped material.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the flexible multi-finger manipulator of logistics of the utility model.
In accompanying drawing, the list of parts representated by each label is as follows：
1st, main sucking disc mechanism, 11, main telescopic cylinder, 12, main sucker, 13, sucker connecting rod, 2, movable finger, 21, finger joint,
22nd, flexible joint, 23, finger tip, 3, locking flange, 4, finger be hinged flange, 5, connecting rod, 6, finger actuation cylinder, 7, hinge, 8,
Ring flange, 9, auxiliary small sucker, 10, auxiliary telescopic cylinder.
Embodiment
Principle of the present utility model and feature are described below in conjunction with accompanying drawing, example is served only for explaining this practicality
It is new, it is not intended to limit the scope of the utility model.
A kind of flexible multi-finger manipulator embodiment of logistics
As shown in figure 1, a kind of flexible multi-finger manipulator of logistics, including main sucking disc mechanism 1 and movable finger 2, the master
Sucking disc mechanism 1 includes main telescopic cylinder 11 and main sucker 12, and the main sucker 12 is arranged on the flexible of the main telescopic cylinder 11
On end, it is provided with locking flange 3 in the cylinder body fixed sleeves of the main telescopic cylinder 11 and finger is hinged flange 4, the finger hinge
For acting flange 4 between the locking flange 3 and the main sucker 12, the movable finger 2 is movably arranged on institute by connecting rod 5
Finger is stated to be hinged on flange 4, one end of the connecting rod 5 is movably connected in the finger and is hinged on flange 4, the connecting rod 5 it is another
One end is connected to movable finger 2；
The movable finger 2 includes finger tip 23, and one end of the finger tip 23 is arranged on the other end of the connecting rod 5；
Finger actuation cylinder 6 is movably hinged with the locking flange 3, the telescopic end of the finger actuation cylinder 6 passes through
Hinge 7 is movably connected on the connecting rod 5, and its junction is located between the both ends of the connecting rod 5, the finger actuation cylinder
6 telescopic end drives the connecting rod 5 to be hinged the junction rotation of flange 4 around the connecting rod 5 and the finger and then makes the finger
Point 23 close to or away from the main suckers 12, realization activity finger 2 closes up or opened.The main sucker is inhaled for vacuum
Disk, its material are PVC material.The main telescopic cylinder 11 and finger actuation cylinder 6 can pass through the external control of connection
System, the driving of the main telescopic cylinder 11 and finger actuation cylinder 6 is controlled by control system, can also be stretched in the master
The inside of cylinder 11 and finger actuation cylinder 6 sets controller, and control system is connected by WiFi or bluetooth etc., realizes that master stretches
The control driving of contracting cylinder 11 and finger actuation cylinder 6.
Further：At least two, the movable finger 2, it is evenly distributed on the surrounding that finger is hinged flange 4.In this implementation
In example, the movable finger 2 has two, is symmetrically distributed in the surrounding that the finger is hinged flange 4.
Further：The movable finger 2 also includes finger joint 21 and flexible joint 22, and one end of the finger joint 21 is fixedly connected
On the other end of the connecting rod 5, the other end of the finger joint 21 is connected to one end of flexible joint 22, the flexible joint 22
The other end be connected to one end of the finger tip 23, the flexible joint 22 is domed and its material is polyurethane material, makes institute
The direction for stating the other end towards the main sucker 12 of finger tip 23 is obliquely installed.Make the angle of finger tip 23 and the finger tip of finger tip 21 can be with
Adapted to by the Light deformation characteristic of flexible joint 22 itself come adjust automatically.
Further：The main sucker 12 is removably arranged on the flexible of the main telescopic cylinder 11 by sucker connecting rod 13
On end.
Further：The one end of the main telescopic cylinder 11 away from the main sucker 12 is connected with ring flange 8, flexibility is referred to more
Manipulator can be seamlessly connected with mechanical arm or other end effectors.
Further：The outside of a connecting rod 5 is additionally provided with the auxiliary that can be moved along the axial direction of institute's connecting rod 5 wherein
Small sucker 9.The auxiliary small sucker is vacuum cup, and its material is PVC material.
Further：The outside of the connecting rod 5 is fixedly installed auxiliary telescopic cylinder 10, and the auxiliary telescopic cylinder 10 is stretched
Contracting end is connected to the auxiliary small sucker 9.
The operation principle of the present apparatus：Flexible by main telescopic cylinder 11 makes main sucker 12 contact material to be taken and draw
When, control finger actuation cylinder 6 to carry out stretching motion by external control system, so as to drive and finger actuation cylinder 6
The other end of the connecting rod 5 of telescopic end connection is hinged flange 4 around finger and rotated, so as to drive finger tip to realize and live close to material to be taken
Start to refer to 2 and close up.And an auxiliary small sucker 9 is set in the outside of connecting rod 5, without using main sucker 12 and movable finger 2
When, the process for aiding in small sucker 9 to draw and shift small material is realized by the telescopic drive of auxiliary telescopic cylinder 10.
Preferred embodiment of the present utility model is the foregoing is only, it is all in this practicality not to limit the utility model
Within new spirit and principle, any modification, equivalent substitution and improvements made etc., guarantor of the present utility model should be included in
Within the scope of shield.
Claims (7)
1. a kind of flexible multi-finger manipulator of logistics, including main sucking disc mechanism (1) and movable finger (2), the main sucking disc mechanism
(1) main telescopic cylinder (11) and main sucker (12) are included, the main sucker (12) is arranged on stretching for main telescopic cylinder (11)
On contracting end, it is characterised in that：Locking flange (3) is provided with the cylinder body fixed sleeves of the main telescopic cylinder (11) and finger is hinged
Flange (4), the finger are hinged flange (4) between the locking flange (3) and the main sucker (12), the movable hand
Refer to (2) to be movably arranged on the be hinged flange (4) of the finger by connecting rod (5), one end of the connecting rod (5) is movably connected in institute
State finger to be hinged on flange (4), the other end of the connecting rod (5) is connected to movable finger (2)；
The movable finger (2) includes finger tip (23), and one end of the finger tip (23) is arranged on the other end of the connecting rod (5)
On；
The locking flange (3) is movably hinged with finger actuation cylinder (6), and the telescopic end of the finger actuation cylinder (6) passes through
Hinge (7) is movably connected on the connecting rod (5), and its junction is located between the both ends of the connecting rod (5), and the finger drives
The telescopic end of cylinder (6) of taking offence drives the connecting rod (5) to be hinged the junction of flange (4) around the connecting rod (5) and the finger to revolve
Rotate into and make the finger tip (23) close to or away from the main sucker (12), realization activity finger (2) closes up or opened.
A kind of 2. flexible multi-finger manipulator of logistics according to claim 1, it is characterised in that：The movable finger (2)
At least two, it is evenly distributed on the surrounding that finger is hinged flange (4).
A kind of 3. flexible multi-finger manipulator of logistics according to claim 1, it is characterised in that：The movable finger (2)
Also include finger joint (21) and flexible joint (22), one end of the finger joint (21) is fixedly connected on the other end of the connecting rod (5)
On, the other end of the finger joint (21) is connected to one end of flexible joint (22), the other end connection of the flexible joint (22)
One end of the finger tip (23), the flexible joint (22) is domed and its material is polyurethane material, makes the finger tip
(23) the other end is obliquely installed towards the direction of the main sucker (12).
A kind of 4. flexible multi-finger manipulator of logistics according to claim 1, it is characterised in that：The main sucker (12) is logical
Sucker connecting rod (13) is crossed removably to be arranged on the telescopic end of the main telescopic cylinder (11).
A kind of 5. flexible multi-finger manipulator of logistics according to claim 1, it is characterised in that：The main telescopic cylinder
(11) one end away from the main sucker (12) is connected with ring flange (8).
A kind of 6. flexible multi-finger manipulator of logistics according to any one of claim 1 to 5, it is characterised in that：Wherein
The auxiliary small sucker (9) that can be moved along institute connecting rod (5) axial direction is additionally provided with the outside of one connecting rod (5).
A kind of 7. flexible multi-finger manipulator of logistics according to claim 6, it is characterised in that：Outside the connecting rod (5)
Side is fixedly installed auxiliary telescopic cylinder (10), and the telescopic end of the auxiliary telescopic cylinder (10) is connected to the auxiliary small sucker
(9)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721277105.7U CN207172109U (en) | 2017-09-30 | 2017-09-30 | A kind of flexible multi-finger manipulator of logistics |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721277105.7U CN207172109U (en) | 2017-09-30 | 2017-09-30 | A kind of flexible multi-finger manipulator of logistics |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207172109U true CN207172109U (en) | 2018-04-03 |
Family
ID=61749881
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721277105.7U Active CN207172109U (en) | 2017-09-30 | 2017-09-30 | A kind of flexible multi-finger manipulator of logistics |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207172109U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107471244A (en) * | 2017-09-30 | 2017-12-15 | 武汉库柏特科技有限公司 | A kind of logistics captures the method for material with flexible multi-finger manipulator and with it |
| CN108656147A (en) * | 2018-07-24 | 2018-10-16 | 佛山科学技术学院 | A kind of adaptive mechanical paw |
| CN110539325A (en) * | 2019-08-29 | 2019-12-06 | 南京禹智智能科技有限公司 | Novel mechanical gripper for industrial robot |
-
2017
- 2017-09-30 CN CN201721277105.7U patent/CN207172109U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107471244A (en) * | 2017-09-30 | 2017-12-15 | 武汉库柏特科技有限公司 | A kind of logistics captures the method for material with flexible multi-finger manipulator and with it |
| CN108656147A (en) * | 2018-07-24 | 2018-10-16 | 佛山科学技术学院 | A kind of adaptive mechanical paw |
| CN108656147B (en) * | 2018-07-24 | 2024-03-26 | 佛山科学技术学院 | Self-adaptive mechanical gripper |
| CN110539325A (en) * | 2019-08-29 | 2019-12-06 | 南京禹智智能科技有限公司 | Novel mechanical gripper for industrial robot |
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