CN217345526U - Pneumatic type rod cluster self-adaptation robot hand - Google Patents
Pneumatic type rod cluster self-adaptation robot hand Download PDFInfo
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- CN217345526U CN217345526U CN202221230568.9U CN202221230568U CN217345526U CN 217345526 U CN217345526 U CN 217345526U CN 202221230568 U CN202221230568 U CN 202221230568U CN 217345526 U CN217345526 U CN 217345526U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The utility model discloses a pneumatic type pole cluster self-adaptation robot staff. It comprises the following steps: the driving part comprises an air cylinder, a pull disc, a pull rod and a pull rod sleeve, the air cylinder is connected with the center of the pull disc through the telescopic rod and an extension rod, and a plurality of through holes are formed in the pull disc around the center of the pull disc; the pull rod penetrates through the lower end of the through hole and is rotatably connected with one end of the pull rod sleeve; the diameter of the base is larger than that of the pull disc, the base is provided with support seats the number of which is consistent with that of the pull rods, the other end of the pull rod sleeve is rotatably connected with the support seats, and the base is provided with a sliding hole; the grabbing part comprises a plurality of sliding rods, the number of the sliding rods is larger than or equal to that of the pull rods, the upper ends of the sliding rods penetrate through the sliding holes and the pull rod sleeves and are limited by limiting rings, and the lower ends of the sliding rods are free ends. The flexible grabbing device has strong shape adaptability, can grab objects in any shape, can flexibly grab the objects when grabbing the objects, and forms shape sealing and force sealing on the objects.
Description
Technical Field
The utility model belongs to the technical field of the robot hand, more specifically says, relates to a pneumatic type pole cluster self-adaptation robot hand.
Background
Robot hands have a wide range of uses in the field of robotics for establishing temporary connections and fixed relationships between robots and objects, and for enabling release at the appropriate time, the former enabling gripping of objects and the latter enabling releasing of objects. A general robot hand is manufactured to have two relatively moving parts in order to reduce costs, so as to easily perform grasping and releasing functions. There are also many structures that mimic the human hand, designing more fingers and several joints on the fingers, but that brings with it the complexity and high cost of the mechanical systems, sensing systems, control systems and control algorithms. Some robot hands have the adaptability, do not know the shape and the size of the object of will grasping before grasping yet, do not carry out sensing detection to the object of grasping yet in grasping yet, but can grasp adaptively, this kind to the automatic adaptability of object shape, size make robot hand realize not increasing sensing and control demand when realizing that more extensively grasps different objects.
Peter b.scott describes in The literature (Peter b.scott, "The 'omnigrip': a form of robot univarial grip", Robotica, vol.3: pp 153-. The holder has a structure that two groups of rod clusters are integrated, each group of rod clusters is provided with a plurality of long rods which are parallel to each other, the long rods which are pushed by an object to be grabbed and slide up and down freely achieve the purpose of adapting to the shape of the object, and then the two groups of rod clusters are driven to get close or leave by combining with a driver, so that the object can be grabbed. For example, when the end of the robot leans against an object placed on a support surface (such as a table top), the object extrudes the long rods to slide towards the base, and because the number of the long rods is large and the long rods are thin (the diameter is small), different long rods contact different object surface points, and the sliding distances of the long rods towards the palm are different due to the shapes of the objects; then, two groups of left and right rod clusters are gathered to clamp the object, and the object is clamped from the side surface by the long rods, so that the grabbing purpose is achieved.
However, the disadvantages of this device are: (1) multidirectional grasping cannot be achieved: when the device applies a grabbing force to a target object, the grabbing force can only be along the direction of gathering two groups of rod clusters, which is equivalent to a two-finger gripper, only a one-dimensional gripping mode is generated, and the gripping effect is poor; (2) for an elongated object placed in a specific direction, the grip fails: when the target object is parallel to the direction and the target object is longer than the device in the direction, the target object does not receive holding force due to the folding of the two groups of telescopic rods, such as a long strip-shaped object is held; (3) the structure is complicated, the energy consumption is big: the device has 2 groups of rod cluster assemblies, needs 2 movable supporting parts (or moving bases) which move mutually, a set of linear guide rails, 2 sliding blocks, a driver, a transmission mechanism and the like, has a more complex structure, and is more energy-consuming to move a heavy rod cluster assembly with a plurality of long rods; (4) grip stability is to be improved: the device only adopts the grabbing power that two sets of pole cluster sets closed and produce to snatch the target object, lacks better enveloping type and seals the effect of snatching. Force-closed grasping an object does not necessarily result in shape-closed grasping, but shape-closed grasping must include force-closed grasping, so grasping stability has reached the best shape-closed; (5) the clamping force of each rod is uneven when grabbing an object: the device adopts the mode that two groups of rod clusters are folded in a translation mode to clamp an object, when the object is clamped, the rod which firstly contacts the object in each group of rod clusters is subjected to the largest lateral force, and the force applied to the rod which finally contacts the object is the smallest. The clamping force to which the rod is subjected to grasp the object will be uneven, particularly when grasping a more rigid object, which may result in bending deformation of the rod that first contacts the object.
For another example, chinese invention patent CN105583831A discloses a fluid-driven flexible rod cluster adaptive robot hand device, which utilizes a plurality of sliding push rods to obtain adaptive effects on the size and shape of an object; the bending deformation that a plurality of push rods gathered together to the center is realized by utilizing the bending elasticity of fluid discharge, membrane and push rods, the multidirectional grasping effect on objects is achieved, and the service life and the reliability are limited due to the fact that the membrane is made of flexible materials. In addition, Chinese patent also discloses a series of similar technical patents, such as CN 105856269A-negative pressure auxiliary rod cluster self-adaptive robot hand device; CN 105583850A-flexible component winding elastic deflection rod cluster self-adaptive robot hand device; CN 105619427A-active locking fluid type flexible rod cluster self-adaptive robot hand device; CN 109571539A-force-controllable fast grabbing rod cluster self-adaptive robot hand device; CN 105619441A-multi-finger elastic deflection rod cluster adaptive robot hand device, which are all improvements to robot hands to effectively adapt to the contour of objects.
Disclosure of Invention
1. Problems to be solved
To current robot hand can not adapt to object appearance profile well and the problem that snatchs, the utility model provides a pneumatic type pole cluster self-adaptation robot hand realizes snatching the self-adaptation of the complicated object of shape.
2. Technical scheme
In order to solve the above problem, the utility model discloses the technical scheme who adopts as follows:
the utility model discloses a pneumatic type pole cluster self-adaptation robot hand, include:
the driving part comprises an air cylinder, a pull disc, a pull rod and a pull rod sleeve, the air cylinder is connected with the center of the pull disc through a telescopic rod and an extension rod, and a plurality of through holes are formed in the pull disc around the center of the pull disc; the pull rod penetrates through the lower end of the through hole and is rotatably connected with one end of the pull rod sleeve;
the diameter of the base is larger than that of the pull disc, the base is provided with supports the number of which is consistent with that of the pull rods, the other end of the pull rod sleeve is rotatably connected with the supports, and the base is provided with a sliding hole;
the grabbing part comprises a plurality of sliding rods, the number of the sliding rods is larger than or equal to that of the pull rods, the upper ends of the sliding rods penetrate through the sliding holes and the pull rod sleeves and are limited by limiting rings, and the lower ends of the sliding rods are free ends.
In a possible embodiment of the present invention, the pull rod sleeve passes through the through hole after being provided with the spring, the lower end is connected to the rotation of one end of the pull rod sleeve, and the spring is supported by the upper end surface of the through hole.
In a possible embodiment of the present invention, the pull plate is provided with a circular truncated cone and a through hole, and the spring is supported against the inner side surface of the circular truncated cone.
In a possible embodiment of the present invention, the diameter of the sliding hole is larger than the outer diameter of the sliding rod.
In a possible embodiment of the present invention, the lower end of the pull rod is connected to one end of the pull rod sleeve by a pin.
In a possible embodiment of the present invention, the other end of the pull rod sleeve is connected to the support pin.
In a possible embodiment of the present invention, the diameter of the base is 1.5-2 times of the diameter of the pull plate.
In a possible embodiment of the invention, the number of sliding rods is equal to the number of pull rods.
In a possible embodiment of the present invention, the limiting ring and the sliding rod are integrated.
In a possible embodiment of the present invention, the housing is disposed on the base in a matching manner.
3. Advantageous effects
Compared with the prior art, the beneficial effects of the utility model are that:
the pneumatic type rod cluster self-adaptive robot hand has stronger shape adaptability and can grab objects in any shape, can realize flexible grabbing of the objects when grabbing the objects, and can form shape sealing and force sealing on the objects; in addition, strong grabbing force can be generated, and some heavy objects can be grabbed.
Drawings
Fig. 1 is a schematic view of the structure of the pneumatic rod cluster self-adaptive robot hand of the present invention;
FIG. 2 is a schematic view of the pneumatic type rod cluster adaptive robot hand with the shell removed;
FIG. 3 is a sectional view of the pneumatic type rod cluster adaptive robot hand structure of the present invention;
fig. 4 is a structural section elevation view of the pneumatic type rod cluster self-adaptive robot hand of the present invention;
fig. 5 is a partial sectional view of the pneumatic rod cluster self-adaptive robot hand of the present invention;
fig. 6 is the utility model discloses pneumatic type pole cluster self-adaptation robot hand snatchs the schematic diagram.
Labeled in the figure as:
100. a drive member; 110. a cylinder; 120. pulling the disc; 121. a through hole; 122. a circular truncated cone; 130. a pull rod; 140. a pull rod sleeve; 150. a spring; 160. a telescopic rod; 170. an extension pole;
200. a base; 210. a support; 220. a slide hole; 230. a housing;
300. a gripping member; 310. a slide bar; 320. a limit ring.
Detailed Description
Exemplary embodiments of the present invention are described in detail below. Although these exemplary embodiments are described in sufficient detail to enable those skilled in the art to practice the invention, it should be understood that other embodiments may be realized and that various changes to the invention may be made without departing from the spirit and scope of the present invention. The following more detailed description of the embodiments of the present invention is not intended to limit the scope of the invention, as claimed, but is presented for purposes of illustration only and not limitation to provide the best mode contemplated for carrying out the invention and to enable any person skilled in the art to practice the invention. Accordingly, the scope of the invention is to be limited only by the following claims.
As shown in fig. 1 to 6, the pneumatic cluster-based adaptive robot hand of the present embodiment includes a driving part 100, a base 200, and a grasping part 300.
The driving part 100 comprises an air cylinder 110, a pull disc 120, a pull rod 130 and a pull rod sleeve 140, wherein the air cylinder 110 is connected with the center of the pull disc 120 through an expansion rod 160 and an extension rod 170, as shown in fig. 4, the expansion rod 160 is connected with the extension rod 170 through threads, and the pull disc 120 is provided with a plurality of through holes 121 around the center; the pull rod 130 penetrates through the lower end of the through hole 121 and is rotatably connected with one end of the pull rod sleeve 140, and the rotary connection can be a pin connection, a hinge connection and the like.
The base 200 is in a shape of a disk, and a housing 230 is provided outside the base 200, the diameter of the base 200 is greater than that of the pull plate 120, the diameter of the base 200 is 1.5-2 times of that of the pull plate 120, in this embodiment, it is preferable that the diameter of the base 200 is 1.5 times of that of the pull plate 120, the base 200 is provided with a plurality of supports 210 corresponding to the number of the pull rods 130, the other end of the pull rod sleeve 140 is rotatably connected to the supports 210, the rotatable connection can be a pin connection, a hinge connection, or the like, the base 200 is provided with a sliding hole 220, and the diameter of the sliding hole 220 is greater than the outer diameter of the sliding rod 310, so that the sliding rod 310 can have a certain inclination in the vertical direction, and can better grip an object.
The grabbing part 300 comprises a plurality of sliding rods 310, the number of the sliding rods 310 is greater than or equal to the number of the pull rods 130, and preferably, the number of the sliding rods 310 is equal to the number of the pull rods 130; the upper end of the sliding rod 310 penetrates through the sliding hole 220 and the pull rod sleeve 140 and is limited by the limiting ring 320, the limiting ring 320 and the sliding rod 310 are of an integrated structure, the manufacturing is convenient, and the lower end of the sliding rod 310 is a free end.
The robot hand is driven by the air cylinder 110, can provide strong grabbing force, and is particularly suitable for grabbing heavier objects, in addition, the air cylinder 110 is utilized to pull each sliding rod 310 to gather inwards through the pull disc 120 and the pull rod 130, shape sealing and force sealing of the objects are completed, a telescopic rod cluster with a large stroke (stroke determination of the telescopic rod 160) is designed, when the rod cluster is close to the objects, the surface of the objects is well attached under the action of gravity, self-adaption is achieved, and the objects with any shapes and shapes can be applied as shown in fig. 6.
In the present embodiment, as shown in fig. 3, the pull rod 130 is in rigid contact with the pull disc 120, so that the pull rod sleeve 140 is provided with a spring 150 and then passes through the through hole 121, the lower end of the pull rod sleeve 140 is rotatably connected to one end of the pull rod sleeve, and the spring 150 abuts against the upper end surface of the through hole 121. A spring 150 is provided between each tie rod 130 and the pull disc 120 to ensure flexible gripping of the object.
In this embodiment, as shown in fig. 2, a circular truncated cone 122 is provided on the pull disc 120 to be matched with the through hole 121, and the spring 150 abuts against an inner side surface of the circular truncated cone 122.
When grasping an object, the free end of the sliding bar 310 abuts against the object while conforming to the surface shape of the object, and the sliding bar 310 moves upward; the cylinder 110 is operated to drive the pull disc 120 and the pull rod 130 to operate, and simultaneously drive the pull rod sleeve 140, so that the pull rod sleeve 140 rotates relative to the support 210, and the sliding rod 310 is clamped in the gravity direction to catch the object.
It should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and it should be noted that, for those skilled in the art, a plurality of modifications or equivalent substitutions can be made without departing from the principle of the present invention, and the spirit and scope of the technical solutions should be covered by the claims of the present invention.
Claims (10)
1. A pneumatic pole cluster adaptive robot hand, comprising:
the driving part (100) comprises an air cylinder (110), a pull disc (120), a pull rod (130) and a pull rod sleeve (140), the air cylinder (110) is connected with the center of the pull disc (120) through a telescopic rod (160) and an extension rod (170), and a plurality of through holes (121) are formed in the pull disc (120) around the center of the pull disc; the pull rod (130) penetrates through the lower end of the through hole (121) and is rotatably connected with one end of the pull rod sleeve (140);
the diameter of the base (200) is larger than that of the pull disc (120), the base (200) is provided with supports (210) the number of which is consistent with that of the pull rods (130), the other end of the pull rod sleeve (140) is rotatably connected with the supports (210), and the base (200) is provided with a sliding hole (220);
the grabbing component (300) comprises a plurality of sliding rods (310), the number of the sliding rods (310) is larger than or equal to that of the pull rods (130), the upper ends of the sliding rods (310) penetrate through the sliding holes (220) and the pull rod sleeves (140) and are limited by limiting rings (320), and the lower ends of the sliding rods (310) are free ends.
2. The pneumatic type rod cluster self-adaptive robot hand of claim 1, wherein the pull rod sleeve (140) is provided with a spring (150) and then penetrates through the through hole (121), the lower end of the pull rod sleeve is rotatably connected with one end of the pull rod sleeve (140), and the spring (150) abuts against the upper end face of the through hole (121).
3. The pneumatic rod cluster self-adaptive robot hand according to claim 2, wherein a circular truncated cone (122) is arranged on the pull disc (120) and matched with the through hole (121), and the spring (150) abuts against the inner side face of the circular truncated cone (122).
4. The pneumatic rod cluster adaptive robot hand of claim 3, characterized in that the sliding hole (220) has a diameter larger than the outer diameter of the sliding rod (310).
5. The pneumatic type rod cluster adaptive robot hand of claim 4, wherein the lower end of the pull rod (130) is in pin connection with one end of the pull rod sleeve (140).
6. The pneumatic cluster-based adaptive robot hand of claim 5, wherein the other end of the pull rod sleeve (140) is pin-connected to the support (210).
7. The pneumatic rod cluster adaptive robot hand of claim 6, characterized in that the base (200) diameter is 1.5-2 times the pull disc (120) diameter.
8. A pneumatic rod cluster adaptive robot hand according to claim 7, characterized in that the number of sliding rods (310) is equal to the number of tie rods (130).
9. The pneumatic type rod cluster adaptive robot hand of claim 8, characterized in that the limiting ring (320) and the sliding rod (310) are of an integrated structure.
10. The pneumatic rod cluster adaptive robot hand of claim 9, characterized in that a housing (230) is fittingly provided on the base (200).
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CN202221230568.9U CN217345526U (en) | 2022-05-20 | 2022-05-20 | Pneumatic type rod cluster self-adaptation robot hand |
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CN202221230568.9U CN217345526U (en) | 2022-05-20 | 2022-05-20 | Pneumatic type rod cluster self-adaptation robot hand |
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Address after: Room 706, 7th Floor, Building 1, No. 2 Litai Road, Taiping Street, Xiangcheng District, Suzhou City, Jiangsu Province, 215100 Patentee after: Suzhou Guoling technology research Intelligent Technology Co.,Ltd. Address before: East of 2nd Floor, No. 11, Jujin Road, Taiping Street, Xiangcheng District, Suzhou City, Jiangsu Province 215100 Patentee before: Suzhou Guoling technology research Intelligent Technology Co.,Ltd. |