WO1982004218A1 - Moyen de prehension pour un dispositif de manipulation - Google Patents

Moyen de prehension pour un dispositif de manipulation Download PDF

Info

Publication number
WO1982004218A1
WO1982004218A1 PCT/NO1981/000020 NO8100020W WO8204218A1 WO 1982004218 A1 WO1982004218 A1 WO 1982004218A1 NO 8100020 W NO8100020 W NO 8100020W WO 8204218 A1 WO8204218 A1 WO 8204218A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotor
hand
working
rotor means
fingers
Prior art date
Application number
PCT/NO1981/000020
Other languages
English (en)
Inventor
Industri As National
Original Assignee
Tjernstroem Ove
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Tjernstroem Ove filed Critical Tjernstroem Ove
Priority to EP19810901552 priority Critical patent/EP0079883A1/fr
Priority to PCT/NO1981/000020 priority patent/WO1982004218A1/fr
Publication of WO1982004218A1 publication Critical patent/WO1982004218A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/146—Rotary actuators
    • B25J9/148—Rotary actuators of the oscillating vane-type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers

Definitions

  • the present invention relates to a gripping means for a manipulator arm or device.
  • the hand is generally equipped with fingers or jaws which accomplish the moment of work, for example displacement of an object, affixing an object during a working process, drilling of holes, tightening of bolts, etc.
  • the fingers of the hand In order to achieve exactly correct movements, the fingers of the hand must move exactly the same distance and in a mutually correct manner.
  • the gear and linkage mechanism of the manipulator disclosed in US patent specification 3 952 880 is, however, constituded by a great number of moving parts, such as level gears,. spur gears and a gear pinion, all of which contribute to increasing the manuf cturing and maintenance cost of the final manipulator.
  • the intricate transmission system included in the known manipulator complicates the control system of the jaws, especially as regards the accuracy and sensitivity with which the jaws are able to handle an object.
  • the object of the present invention is to provide a ⁇ * gripping means for a manipulator, which comprises a minimum of transmission members between the driving means and the gripping means, the manipulator thereby being less expensive to manufacture and easier to manipulate as regards accuracy and sensitivity.
  • the present invention gives instructions for how to achieve the above mentioned expediences. According to the
  • the driving means of the hand is constituted by at least a pair of wing rotor means which are preferably hydraulicly operated and connected mechanically to each other, for example by toothed wheel segments so that the movement thereof will always be synchronous.
  • the wing rotor means constituting the driving means for the hand have the respective fingers or jaws of the hand attached direct thereto through a special link mechanism, thereby reducing the number of transmission members to a minimum.
  • the movement of the rotor means is thus transferred direct to the fingers of the hand by a system of parallel articulated arms, which involves that the fingers will always move in an exactly similar manner. Accordingly, the fingers will always be found at exactly the same distance from the center line of the hand. When the hand is rotated about this center line, gripping, faces of the fingers will move along the same circular path at the center, a fact which is necessary for the drilling of holes, tightening of nuts and bolts etc.
  • Fig. 1 is a partial section through an embodiment of a hand or gripping means according to the present invention.
  • Fig. 2 illustrates a variant of the wing rotor means.
  • Fig 3 is a side view partly in section of the hand according to the invention.
  • the embodiment of the gripping means or hand according to the invention illustrated in Fig. 1 comprises a housing 1 holding two wing rotor means 2a and 2b, which are mounted in their own circular cavity 3a and 3b, respectively, in the housing.
  • the wing rotor means are arranged around respective shafts 4a and 4b, said shafts being rotatably mounted in the housing.
  • Each of the shafts carries a displaceable wing 5a respectively 5b, having a seal 6a respectively 6b which seals against the circumference of the cavity, as well as a toothed wheel segment 7a respectively 7b.
  • the two toothed wheel segments are in constant engagement with each other, the teeth of the one segment matching the intertooth spaces of the other segment.
  • each of the rotor means comprises a stationary wing 8a, 8b respectively, which in turn comprises a seal r 9a, 9b, respectively, and which is attached to the housing
  • a stopping lug 10a limits the movement of the rotor means through the abutment thereagainst of either the toothed wheel segment 7 or the displaceable wing 5 in the extreme positions of the rotor means.
  • the gripping means or ' hand is equipped with a pipe- shaped connection piece 11, by means of which the hand in a manner as known per se is attached to the manipulator arm which is not illustrated here, but comprises two pipelines for hydraulic medium under pressure.
  • One of the pipelines supplies pressurized medium through channels 12a and 12b leading to a respective pressure chamber 13a, 13b in the cavity 3a, 3b, respectively.
  • the other pipeline communicates with channels 14a and 14b which open into second pressure chambers 15a and 15b, respectively, which are defined by the seals 6a, 9a and 6b, 9b, respectively.
  • an articulated arm 16a, 16b To each of the two shafts 4a, 4b there is attached the one end of an articulated arm 16a, 16b, respectively.
  • the other ends of the articulated arms are by means of pivot pins 17a, 17b, respectively, pivotally connected to their own finger 18a, 18b, respectively, said fingers or jaws constituting the gripping tool of the hand.
  • a second pair of articulated arms 19a, 19b, respectively, are at their one ends connected to the outside of the housing 1 by pivot pins 20a, 20b, respectively.
  • the other ends of the articulated arms are by means of pivot pins 21a respectively 21b, pivotally connected to either of the above mentioned fingers 18a and 18b respectively.
  • OMPI form individual parallelly working link systems, the distance between the center of the shaft 4a and the pivot pin 20a being equal to the distance between the pins 17a and 21a.
  • the same dimensional configuration is also the case for the arms 16b and 19b.
  • the two link systems involve that the fingers 18a and 18b, when the rotor means 2a and 2b are moved, will always be displaced to and from each other with exactly the same speed.
  • the function of the hand is as follows. Provided that - taking the position illustrated in the drawing as a starting point - a fluid under pressure is supplied through the channels 12a, 12b, the pressure will act upon the displaceable wings 5a and 5b, respectively, so that the rotor means 2a to the left on the drawing will move in a counterclock direction, whereas the rotor means 2b will move in a clockwise direction.
  • the articulated arms 16a, 19a will together with its finger 18a make a swinging movement to the left, whereas the arms 16b, 19b with its finger 18b will swing towards the right.
  • fluid under pressure is supplied to the other channels 14a, 14b the opposite movements of the articulated arms and fingers will occur.
  • Fig. 2 there is illustrated a modification of the hand according to fig. 1.
  • the stopping lugs 10a, 10b are omitted and another stationary wing 22a, respectively 22b having a seal 23a, respectively 23b, is inserted between the toothed wheel segment and the displaceable wing 5a, respectively 5b illustrated in fig. 1.
  • the toothed wheel segments 7a and 7b, respectively have been provided with a seal 24a and 24b, respectively.
  • Through the shaft 4a there has been drilled two channels 27a and 28a.
  • the first mentioned channel connects the pressure chambers 13a and 25a so as to develop therein a liquid pressure corresponding to the pressure
  • the channel 28a connects the pressure chambers 15a and 26a so as to develop therein a pressure corresponding to the pressure in the channel 14a.
  • Corresponding channels 27b and 28b are drilled in the shaft 4b.
  • the articulated arms 16a and 16b are appropriately designed as double arms for thereby developing a more evenly distributed power action on the fingers 18a, 18b.
  • the articulated arms 19a, 19b which have the function as guiding arms have a simple design and is arranged in the center portion of the hand. Such an arrangement results in an optimum power transfer to the fingers.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Un moyen de prehension ou une main de travail pour un bras manipulateur comprend des doigts ou des machoires (18a, 18b) et des moyens d'entrainement pour ces derniers. Les moyens d'entrainement sont loges dans une enceinte (1) et comprennent au moins une paire de moyens de rotor fonctionnant de preference de maniere hydraulique (2a, 2b). Deux moyens de rotor sont relies mecaniquement l'un a l'autre, de preference a l'aide de segments de roues dentees pour se deplacer de maniere synchrone. Chaque moyen de rotor est connecte directement a un doigt ou machoire correspondants (18a, 18b) par l'intermediaire d'un bras articule (16a, 16b) qui, a une extremite est fixe a l'arbre (4) du moyen de rotor (2a) en rotation avec celui-ci et a l'autre extremite est connecte de maniere pivotante au doigt. Chaque bras articule actionne (16a, 16b) coopere avec un bras correspondant non actionne (19a, 19b) qui est relie de maniere pivotante a l'enceinte (1) contenant les moyens de fonctionnement ainsi qu'au doigt respectif. Cette disposition interconnectee d'ensembles de bras articules donne aux doigts un mouvement de pure translation pendant la rotation des moyens de fonctionnement. La connexion de liaison directe entre les moyens d'entrainement (2a, 2b) et les doigts (18a, 18b) reduit le nombre de pieces mobiles entrant en jeu dans le transfert du mouvement des moyens d'entrainement aux doigts et augmente la precision avec laquelle s'effectue le fonctionnement du dispositif de manipulation.
PCT/NO1981/000020 1981-06-03 1981-06-03 Moyen de prehension pour un dispositif de manipulation WO1982004218A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP19810901552 EP0079883A1 (fr) 1981-06-03 1981-06-03 Moyen de prehension pour un dispositif de manipulation
PCT/NO1981/000020 WO1982004218A1 (fr) 1981-06-03 1981-06-03 Moyen de prehension pour un dispositif de manipulation

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
WONO81/00020810603 1981-06-03
PCT/NO1981/000020 WO1982004218A1 (fr) 1981-06-03 1981-06-03 Moyen de prehension pour un dispositif de manipulation

Publications (1)

Publication Number Publication Date
WO1982004218A1 true WO1982004218A1 (fr) 1982-12-09

Family

ID=19907135

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/NO1981/000020 WO1982004218A1 (fr) 1981-06-03 1981-06-03 Moyen de prehension pour un dispositif de manipulation

Country Status (2)

Country Link
EP (1) EP0079883A1 (fr)
WO (1) WO1982004218A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2120997A (en) * 1982-03-15 1983-12-14 David Duncan Clarke Mcdonald Gripping device
CN102210610A (zh) * 2011-03-17 2011-10-12 北京航空航天大学 微创血管介入手术机器人推进机构
CN102554922A (zh) * 2012-02-06 2012-07-11 北京联合大学 一种五自由度数控机械手的操作方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3025097A (en) * 1955-03-29 1962-03-13 Emmitt B Sherron Lifting implement
FR1306106A (fr) * 1961-08-31 1962-10-13 Saint Gobain Nucleaire Pince automatique
DE2257609A1 (de) * 1972-11-24 1974-05-30 Kernforschung Gmbh Ges Fuer Zange fuer den arbeitsarm eines ferngesteuerten manipulators
US3952880A (en) * 1973-10-15 1976-04-27 Stanford Research Institute Force and torque sensing method and means for manipulators and the like
DE2937061B1 (de) * 1979-09-13 1980-11-06 Pfaff Ind Masch Handhabungsgeraet mit einer Greifvorrichtung

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3025097A (en) * 1955-03-29 1962-03-13 Emmitt B Sherron Lifting implement
FR1306106A (fr) * 1961-08-31 1962-10-13 Saint Gobain Nucleaire Pince automatique
DE2257609A1 (de) * 1972-11-24 1974-05-30 Kernforschung Gmbh Ges Fuer Zange fuer den arbeitsarm eines ferngesteuerten manipulators
US3952880A (en) * 1973-10-15 1976-04-27 Stanford Research Institute Force and torque sensing method and means for manipulators and the like
DE2937061B1 (de) * 1979-09-13 1980-11-06 Pfaff Ind Masch Handhabungsgeraet mit einer Greifvorrichtung

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2120997A (en) * 1982-03-15 1983-12-14 David Duncan Clarke Mcdonald Gripping device
CN102210610A (zh) * 2011-03-17 2011-10-12 北京航空航天大学 微创血管介入手术机器人推进机构
CN102554922A (zh) * 2012-02-06 2012-07-11 北京联合大学 一种五自由度数控机械手的操作方法

Also Published As

Publication number Publication date
EP0079883A1 (fr) 1983-06-01

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