SU1196264A1 - Robot sensitized gripping device - Google Patents

Abstract

SENSITED ROBOT CAPTURE, containing fingers mounted on the body with a drive for mixing them, on the working surfaces of which slip sensors are placed, connected to the drive control device --WS ..., / ni - | that, in order to increase sensitivity and expand technological capabilities by expanding the range of sizes of parts to be captured, it is equipped with additional slip sensors made in the form of plates of electrically conductive rubber, the ends of which They are attached to the fingers, the measuring unit, the memory unit, the comparator and the switching element with the control input, while the ends of the plates are connected to the measuring unit whose output is connected to the input of the switching element and one of the comparator inputs whose other input is connected to the output of the unit memory, the memory unit input is connected to the output of the switching element, and the control input of the switching element is connected (L to the input of the drive control device, one of the inputs of which is connected to the comparator output. About U and

Description

The invention relates to robotics and can be used in the construction of adaptive robots that adapt to the weight of captured objects.

The aim of the invention is to expand the technological capabilities of the grip by expanding the range of sizes of the captured parts and increasing its sensitivity.

In FIG. 1 shows a sensed grip of a robot, general view; in FIG. 2 - the same when manipulating a part with a complex configuration.

The sensed grip of the robot contains a housing 1 to which fingers 2 are attached, which are moved by an actuator (not shown) connected to a control device 3, to which a slip sensor is also connected, for example, made in the form of pressure sensors 4 located on the working surface of the fingers 2. On the fingers 2 of the grip installed additional slippage sensors, each of which is made in the form of a plate 5 of electrically conductive rubber, mounted between the fingers 2 of the grip.

The ends of the plates 5 are connected to the measuring unit 6, the output of which is connected to the input of the switching element 7 and one of the inputs of the comparator 8, the other input of which is connected to the output of the memory unit 9, the input of the memory unit 9 is connected to the output of the switching element 7, and the control input of this element connected to the output of the control device 3, one of the inputs of which is connected to the output of the comparator 8.

Sensed grip works as follows.

According to the signal of the control device 3, the part is captured with a predetermined predetermined force. If the height of the captured part does not exceed the height of the fingers 2, then in the case of slipping of the part between these fingers due to insufficient compression force, pressure sensors 4 are activated, the signals of which change when the part is sliding. In this case, the control device provides a signal to the drive of the fingers 2 to increase the compressive force. When the signals of the sensors 4 become constant, this indicates the disappearance of the slipping of the part, while the control device 3 provides a level of compressing the part of the force, sufficient to hold and manipulate it. In the event that the height of the grip part exceeds the height of the fingers, then in the process of grip the part, the grip moves from top to bottom with the subsequent activation of the finger drive 2. In this case, the plates 5 stretch around the contours of the grip part and change their electrical resistance. The signal corresponding to the resistance value of the plates 5 is measured by the measuring unit 6, and fed through the switching element 7 to the input of the memory unit 9.

At the moment of start of the movement of the gripper, the control device 3. with the help of the switching element 7 disconnects, the input of the memory unit 9 from the output of the measurement unit 6, and a zero level signal is established at the output of the comparator 8, since equal inputs are received to its inputs. If during the movement of the grip the part slips between the fingers 2 of the grip, the shape of the plates 5 and, accordingly, their electrical resistance changes, which leads to a change in the signal at the output of the measuring unit 6 and the appearance of the signal at the input of the comparator 8. Regardless of the sign of the signal at the output comparator 8, the control device 3 issues control commands to the finger drive 2 to increase the compressive force and connects the input of the memory unit 9 to the output of the measurement unit 6.

After the drive has processed the predetermined movement, the memory unit 9 is disconnected from the measurement unit 6, and a zero signal is set at the output of the comparator 8. Subsequently, the gripper works in a similar manner until the compressive force of the fingers 2 is sufficient to securely hold and manipulate the part.

If the sensed grip of the robot must be manipulated with a container into which, for example, liquid or bulk cargo is supplied, then, before starting work operations, rotate the gripper by 180 ° to ensure the plates 5 of the additional slip sensor under the gripping tank, device 3 control ensures automatic compliance of the compressive force with the weight of the tank and cargo.

FIG. 2.

VNIIIPI Order 7517/17

Circulation 1049 Subscription

Branch of PPP "Patent",

Uzhhorod, st. Project, 4

Claims (1)

FEATURED GRABBING GRAB, containing fingers mounted on the body with a drive for moving them, on the working surfaces of which there are slipping sensors connected to a control device for moving drives, fingers, characterized in that, in order to increase sensitivity and expand technological capabilities by expanding the range of sizes of captured parts , it is equipped with additional slippage sensors made in the form of plates of conductive rubber, the ends of which are fixed to fingers, a measuring unit, a memory unit, a comparator and a switching element with a control input, while the ends of the plates are connected to a measuring unit, the output of which is connected to the input of the switching element and one of the inputs of the comparator, the other input of which is connected to the output of the memory block, the input of the memory block is connected to the output q of the switching element, and the control ® input of the switching element is connected to the input of the drive control device, 1¾ one of the inputs of which is connected to the output I * of the comparator. 1 ^ FiL