CN2444729Y - robot paw - Google Patents
robot paw Download PDFInfo
- Publication number
- CN2444729Y CN2444729Y CN 00240776 CN00240776U CN2444729Y CN 2444729 Y CN2444729 Y CN 2444729Y CN 00240776 CN00240776 CN 00240776 CN 00240776 U CN00240776 U CN 00240776U CN 2444729 Y CN2444729 Y CN 2444729Y
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- Prior art keywords
- clamping face
- finger
- clamping
- face
- hand
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- Expired - Lifetime
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- 230000005540 biological transmission Effects 0.000 claims abstract description 3
- 230000033001 locomotion Effects 0.000 claims description 7
- 230000035807 sensation Effects 0.000 claims description 6
- 235000016390 Uvaria chamae Nutrition 0.000 claims description 5
- 230000008447 perception Effects 0.000 claims description 4
- 244000060701 Kaempferia pandurata Species 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 238000001514 detection method Methods 0.000 claims description 2
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 claims description 2
- 239000000463 material Substances 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
- 230000004927 fusion Effects 0.000 abstract description 3
- 210000000078 claw Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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Abstract
A robot paw is composed of a clamping mechanism and a sensing configuration, wherein the clamping mechanism comprises a left finger clamping face, a right finger clamping face, a nut screw, a servo motor and a gear transmission, the sensing configuration comprises force senses, approach senses, distance senses, touch senses, sliding senses and temperature sensors which are distributed in a certain amount and proper space, the force senses, the approach senses, the distance senses, the touch senses, the sliding senses and the temperature sensors are integrally designed and integrated into the robot paw, and accurate and rich state information can be provided through data fusion.
Description
The utility model relates to a kind of robot field, particularly a kind of robot hand.
Robot hand is the critical component of robot, and in order to exist the operation of carrying out dexterity under the uncertain environment, robot must have very strong perception.The used sensor of robot hand mainly contains vision sensor, near sense sensor, power/torque sensor, position/attitude transducer, speed/acceleration sensor, sense of touch/sliding feeling sensor etc.Robot hand obtains the information of environment by these sensors, realizes touching quick, accurate, submissively, grasp, operating workpiece etc.Exist inherent contact between these information for information about by a plurality of sensor senses similar and different side under same environment.
Traditionally different sensors is adopted separately independently application mode, cut off the inner link between the information, lost the device that the information organic assembling may contain.The purpose of this utility model is: develop the robot hand of a kind of rational selection, distribution, coordination multisensor resource, the information of robot hand output is carried out fusion treatment, thereby obtain, reliable information complete about environment and destination object.
The technical solution of the utility model is: a kind of multiple sensor robot claw, comprise that left hand refers to clamping face (1), (9) and (2), (10), the right hand refers to clamping face (4), (11) and (5), (12), left hand refers to that the clamping face (3) and the right hand refer to clamping face (6), nut-screw (7), servomotor (8), gear drive (13) is characterized in that:
Multiple sensor robot claw is made up of clamping device and sensation configuration, described clamping device adopts micro servo motor (8) to drive, the rotation of motor is changed into the folding of finger by nut-screw (7), the finger of two relative motions has been installed on the paw, they partly link to each other with right-hand thread with the left-hand thread of screw rod (7) respectively, and the finger on both sides moves respectively round about when nut-screw (7) rotates;
About the finger on five clamping faces are respectively arranged, wherein four clamping faces are that the clamping face (1) that refers to of left hand, (9) are at finger root, with the XY plane parallel, the clamping face that left hand refers to (2), (10) and angle at 45, XY plane, they and the right hand refer to that corresponding clamping face (4), (11) and clamping face (5), (12) constitute two pairs of V-type grooves, are used for holder's font truss or grab the unit that solicits orders;
Another clamping face (3) that left hand refers to is positioned at the middle part of finger, perpendicular to the XY plane and with the right hand refer to corresponding clamping face (6) parallel be the 5th clamping face;
Paw when grabbing than small workpiece, with clamping face (3) and (6) clamping at finger middle part, paw when grabbing big workpiece, according to the shape of workpiece handle, can be with the V-type groove of root or with clamping face (3), (6) clamping in the middle part of pointing;
Described micro servo motor (8) is selected the deceleration direct current generator for use, and driving gear and driven gear are 22 teeth, and nut-screw (7) adopts the steel material manufacturing;
The configuration of described sensation by have some and suitably the power of spatial distribution feel, near feel, distance perception, sense of touch, slidingly feel and temperature sensor constitutes that they are by incorporate design and be integrated in the robot hand, wherein:
A. displacement transducer is installed in the drive motors next door, turns over by detection of gear transmission (13)
The number of teeth detect the switching distance of finger;
B. the power sensor is installed in the root of each clamping face of robot finger, and they can be examined
Survey is along the contact force of clamping face normal direction;
C. near sense sensor be embedded in robot finger's root horizontal clamping face (1), (4),
(9), on (11) and fingerhold face (3), (6) finger tip, be used for detecting and refer to face and worker
The relative distance on word beam surface is to carry out pose adjustment and anti-collision;
D. touch sensor is installed on fingerhold face (3), (6), is used to dexterous manipulation to provide
The sliding feel feedback of sense of touch.
Because robot hand adopts micro servo motor to drive, and the rotation of motor is changed into the open and close movement of finger by nut-screw.Pair of finger has been installed on the robot hand, and they partly link to each other with right-hand thread with the left-hand thread of screw rod respectively, when the finger on both sides is mobile round about respectively when screw rod rotates, form the switching campaign of robot hand.Therefore adopt the robot hand of this motion and multisensor that following advantage is arranged:
1. auto-lock function is arranged, under powering-off state, can keep promptly state.
2. the finger switching is and the parallel motion of center line symmetry, and the finger center is in clamping process
Remain unchanged.
3. robot hand is shorter to the wrist distance, helps improving stiffness and bearing capacity.
4. the integrated Reliability of Information that improved of multisensor, the integrated information of acquisition and any one are single
The information that one sensor is obtained is compared, and has higher precision and reliability.
The explanation of the utility model drawing:
Fig. 1 is the front view of robot hand.
Fig. 2 is the side view of robot hand.
Fig. 3 is the I-shaped three-dimensional structure diagram that spreads out during frame of robot hand grasping.
Below in conjunction with accompanying drawing embodiment is further specified:
When robot during with the walking of crab formula or people's step formula, robot hand alternately grasping is fixed in spread out frame or grab the unit that solicits orders with supporting body of I-shaped on the space station, sees front view, the side view of robot hand among Fig. 1, Fig. 2.After robot arrived the job site of appointment, robot hand was held truss or is grabbed the unit that solicits orders, and saw the I-shaped three-dimensional structure diagram that spreads out during frame of robot hand grasping among Fig. 3.
In Fig. 1, Fig. 2, Fig. 3, multiple sensor robot claw is made up of clamping device and sensation configuration, described clamping device adopts micro servo motor 8 to drive, the rotation of motor is changed into the folding of finger by nut-screw 7, the finger of two relative motions has been installed on the paw, they partly link to each other with right-hand thread with the left-hand thread of nut-screw 7 respectively, and the finger on both sides moves respectively round about when nut-screw 7 rotates;
About the finger on five clamping faces are respectively arranged, wherein four clamping faces are that the clamping face 1,9 that refers to of left hand is at finger root, with the XY plane parallel, clamping face 2,10 and the XY plane angle at 45 that left hand refers to, they and the right hand refer to that corresponding clamping face 4,11 and clamping face 5,12 constitute two pairs of V-type grooves, are used for holder's font truss or grab the unit that solicits orders;
Another clamping face 3 that left hand refers to is positioned at the middle part of finger, perpendicular to the XY plane and with the right hand refer to corresponding clamping face 6 parallel be the 5th clamping face;
Paw when grabbing than small workpiece, with the clamping face 3 and 6 clampings at finger middle part, paw when grabbing big workpiece, according to the shape of workpiece handle, can be with the V-type groove of root or with clamping face 3,6 clampings at middle part;
Described micro servo motor 8 is selected PITTMANGM8822 type deceleration direct current generator for use, and maximum output torque Mg is 0.76N m, and rated speed is 6 revolutions per seconds.The outer gear gearratio is 1: 1,
Driving gear and driven gear are 22 teeth.Driving screw thread on the screw rod is M8, and pitch is 1.75mm.
Screw speed is 6 revolutions per seconds, and finger motion speed is 10.5mm/ second, and the opening and closing speed of paw is 21mm/ second.
Described sensation disposes by the power with some and suitable spatial distribution to be felt, constitutes near feel, distance perception, sense of touch, sliding feel and temperature sensor, they are by incorporate design and be integrated in the robot hand, can provide accurately abundant status information by data fusion.
Claims (1)
1. robot hand, comprise that left hand refers to clamping face (1), (9) and (2), (10), the right hand refers to clamping face (4), (11) and (5), (12), left hand refers to that the clamping face (3) and the right hand refer to clamping face (6), nut-screw (7), servomotor (8), gear drive (13) is characterized in that:
Robot hand is made up of clamping device and sensation configuration, described clamping device adopts micro servo motor (8) to drive, the rotation of motor is changed into the folding of finger by nut-screw (7), the finger of two relative motions has been installed on the paw, they partly link to each other with right-hand thread with the left-hand thread of screw rod (7) respectively, and the finger on both sides moves respectively round about when screw rod (7) rotates;
About the finger on five clamping faces are respectively arranged, wherein four clamping faces are that the clamping face (1) that refers to of left hand, (9) are at finger root, with the XY plane parallel, the clamping face that left hand refers to (2), (10) and angle at 45, XY plane, they and the right hand refer to that corresponding clamping face (4), (11) and clamping face (5), (12) constitute two pairs of V-type grooves, are used for holder's font truss or grab the unit that solicits orders;
Another clamping face (3) that left hand refers to is positioned at the middle part of finger, perpendicular to the XY plane and with the right hand refer to corresponding clamping face (6) parallel be the 5th clamping face;
Paw when grabbing than small workpiece, with clamping face (3) and (6) clamping at finger middle part, paw when grabbing big workpiece, according to the shape of workpiece handle, can be with the V-type groove of root or with clamping face (3), (6) clamping in the middle part of pointing;
Described micro servo motor (8) is selected the deceleration direct current generator for use, and driving gear and driven gear are 22 teeth, and nut and screw rod (7) adopt the steel material manufacturing;
The configuration of described sensation by have some and suitably the power of spatial distribution feel, near feel, distance perception, sense of touch, slidingly feel and temperature sensor constitutes that they are by incorporate design and be integrated in the robot hand, wherein:
A. displacement transducer is installed in drive motors next door, and the number of teeth that turns over by detection of gear transmission (13) detects the switching distance of finger;
B. the power sensor is installed in the root of each clamping face of robot finger, and they can detect along the contact force of clamping face normal direction;
C. be embedded on horizontal clamping face (1), (4), (9), (11) and fingerhold face (3), (6) finger tip of robot finger's root near sense sensor, be used to detect refer to face and I-beam surface relative distance to carry out pose adjustment and anti-collision;
D. touch sensor is positioned on fingerhold face (3), (6), is used to dexterous manipulation to provide sense of touch sliding feel feedback.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 00240776 CN2444729Y (en) | 2000-10-25 | 2000-10-25 | robot paw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 00240776 CN2444729Y (en) | 2000-10-25 | 2000-10-25 | robot paw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2444729Y true CN2444729Y (en) | 2001-08-29 |
Family
ID=33601359
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 00240776 Expired - Lifetime CN2444729Y (en) | 2000-10-25 | 2000-10-25 | robot paw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2444729Y (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100340379C (en) * | 2005-11-14 | 2007-10-03 | 哈尔滨工业大学 | Space robot paw |
| CN100528492C (en) * | 2007-08-16 | 2009-08-19 | 上海交通大学 | Precision assembling mechanical arm with parallel structure six-dimension force sensing |
| CN101738643A (en) * | 2008-11-19 | 2010-06-16 | 索尼株式会社 | Control device, control method and program |
| CN101593021B (en) * | 2009-07-03 | 2011-08-10 | 南京航空航天大学 | Finger allodynia device based on tabletop |
| CN102632505A (en) * | 2012-04-23 | 2012-08-15 | 哈尔滨工程大学 | Clamping type integral shrinking and overturning climbing robot |
| CN104493835A (en) * | 2014-12-24 | 2015-04-08 | 镇江市计量检定测试中心 | Weight clamping mechanical gripper for metrological verification work |
| CN107336255A (en) * | 2017-07-12 | 2017-11-10 | 天津职业技术师范大学 | A kind of multifunctional industrial robot hand |
-
2000
- 2000-10-25 CN CN 00240776 patent/CN2444729Y/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100340379C (en) * | 2005-11-14 | 2007-10-03 | 哈尔滨工业大学 | Space robot paw |
| CN100528492C (en) * | 2007-08-16 | 2009-08-19 | 上海交通大学 | Precision assembling mechanical arm with parallel structure six-dimension force sensing |
| CN101738643A (en) * | 2008-11-19 | 2010-06-16 | 索尼株式会社 | Control device, control method and program |
| CN101593021B (en) * | 2009-07-03 | 2011-08-10 | 南京航空航天大学 | Finger allodynia device based on tabletop |
| CN102632505A (en) * | 2012-04-23 | 2012-08-15 | 哈尔滨工程大学 | Clamping type integral shrinking and overturning climbing robot |
| CN104493835A (en) * | 2014-12-24 | 2015-04-08 | 镇江市计量检定测试中心 | Weight clamping mechanical gripper for metrological verification work |
| CN107336255A (en) * | 2017-07-12 | 2017-11-10 | 天津职业技术师范大学 | A kind of multifunctional industrial robot hand |
| CN107336255B (en) * | 2017-07-12 | 2023-08-25 | 天津职业技术师范大学 | Multifunctional industrial robot paw |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CX01 | Expiry of patent term |
Expiration termination date: 20101025 Granted publication date: 20010829 |