WO2015117643A1 - Pince de robot - Google Patents

Pince de robot Download PDF

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Publication number
WO2015117643A1
WO2015117643A1 PCT/EP2014/052206 EP2014052206W WO2015117643A1 WO 2015117643 A1 WO2015117643 A1 WO 2015117643A1 EP 2014052206 W EP2014052206 W EP 2014052206W WO 2015117643 A1 WO2015117643 A1 WO 2015117643A1
Authority
WO
WIPO (PCT)
Prior art keywords
link
base
finger
relation
axis
Prior art date
Application number
PCT/EP2014/052206
Other languages
English (en)
Inventor
Arne TRANGÄRD
Ivan Lundberg
Siim VIILUP
Daniel Sirkett
Kenny Wong
Original Assignee
Abb Technology Ltd
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 Abb Technology Ltd filed Critical Abb Technology Ltd
Priority to PCT/EP2014/052206 priority Critical patent/WO2015117643A1/fr
Publication of WO2015117643A1 publication Critical patent/WO2015117643A1/fr

Links

Classifications

    • 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
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links

Definitions

  • the present invention relates to a gripping tool of an industrial robot.
  • a typical conventional robot gripper comprises two or more fingers for taking hold of an object, and a mechanical structure allowing the fingers to be moved between a fully opened and a fully closed position.
  • the movements are often actuated by a rotating or linear actuator, or by a
  • the actuator typically comprising an electrical motor, a pneumatic or hydraulic cylinder, or a solenoid.
  • the actuator typically comprising an electrical motor, a pneumatic or hydraulic cylinder, or a solenoid.
  • a kinematic chain transmitting the actuator movement into a finger movement.
  • kinematic chains being often configured to turn a rotational movement into a linear or quasi-linear movement and vice versa.
  • the kinematic chains contain different types of kinematic pairs such as revolute pairs, prismatic joints and cam joints.
  • GB2145690A discloses a robot gripper which is advantageous from the backlash point of view in that the kinematic chains between the actuators and the respective fingers comprise solely revolute pairs. The design assumes an individual actuator for each finger.
  • WO201222360A1 discloses a robot gripper turning a linear movement of an actuator to a quasi-linear movement of fingers. This is achieved by means of cam joints comprising grooves moving jointly with the actuator, and guide pins attached to the respective fingers and moving along the grooves .
  • One object of the invention is to provide a robot gripper with an improved actuation mechanism having a high
  • the invention is based on the realization that by avoiding kinematic pairs with large clearances the stiffness of a robot gripper is increased at the same time as backlash is decreased. Moreover, when the actuating movements of all fingers are parallel, a single actuator can accomplish the actuation of all fingers.
  • a robot gripper comprising a base, a first link in rotating relation with the base about a first axis, a second link in rotating relation with the base about a second axis, a third link in rotating relation with the base about a third axis, and a fourth link in rotating relation with the base about a fourth axis, the first, second, third and fourth axes being parallel and stationary in relation to the base.
  • a first finger is in rotating relation with the first and second links, the first finger, the first link, the base and the second link forming a first parallelogram.
  • a second finger is in rotating relation with the third and fourth links, the second finger, the third link, the base and the fourth link forming a second parallelogram.
  • An actuator is provided for moving the first and second fingers in relation to the base.
  • a fifth link is in rotating relation with the actuator about a fifth axis and in rotating relation with an element of the first parallelogram about a sixth axis
  • a sixth link is in rotating relation with the actuator about an seventh axis and in rotating relation with an element of the second parallelogram about an eighth axis.
  • the movements of the fifth and seventh axes are configured to be parallel. By configuring the movements of the fifth and seventh axes to be parallel a single actuator can accomplish the
  • the finger movement is not constrained by a cam joint.
  • the stiffness of the robot gripper is increased at the same time as backlash is decreased .
  • the fingers are arranged symmetrically about a symmetry plane, and at least part of the actuator crosses the symmetry plane.
  • the robot gripper further comprises a seventh link in rotating
  • the first finger is in rotating relation with the first link about the sixth axis
  • the second finger is in rotating relation with the third link about the eighth axis.
  • the base comprises at least one shaft in rotating relation with the base, and at least one of the first, second, third and fourth links is attached to the shaft.
  • each of the first and second fingers comprises at least one shaft in rotating relation with the respective finger, and at least one of the first, second, third, fourth, fifth and sixth links is attached to the shaft.
  • the robot gripper further comprises a housing defining together with a shield an interior of the robot gripper, the shield extends between the first and second fingers and is attached to them in order to prevent objects from entering the interior.
  • the shield comprises a plurality of panels configured to fold in relation to each other.
  • figure 1 shows a robot gripper according to one embodiment of the invention
  • figure 2 shows an isometric view of figure 1
  • figure 3 shows a robot gripper according to one embodiment of the invention.
  • a robot gripper 10 comprises a base 20 which in use is to be attached to a robot arm or to a robot wrist.
  • the robot gripper 10 has a first finger 110 and a second finger 130 that are movable between a fully open and a fully closed position.
  • the movement is actuated by an actuator 150 moving along a linear path between two extreme positions and capable of being brought to standstill at any position between the two extreme positions.
  • the positioning of the actuator 150 is accomplished by means of a ball screw mechanism rotated with a servo motor.
  • the robot gripper 10 can be configured to assume only a fully open or a fully closed position without an ability to stay at an arbitrary position in between.
  • another type of actuator 150 such as a pneumatic cylinder can be used .
  • Each finger 110, 130 is connected to the base 20 with four links 30, 50, 70, 90, 220, 230, 240, 250 hinged to the base 20 and to the finger 110, 130, respectively, pairwise about a common axis 40, 60, 80, 100, 180, 210. All the axes 40,
  • the base 20 forms together with a first link 30, the first finger 110 and a second link 50 a first parallelogram 120 constraining the movement of the first finger 110 in relation to the base 20.
  • the fingers 110, 130 there are a third parallelogram and a fourth parallelogram formed by the base 20, the fingers 110, 130, a seventh link 220, an eighth link 230, a ninth link 240 and a tenth link 250, respectively, and further constraining the movements of the fingers 110, 130 in relation to the base 20. Consequently, the movements of the fingers 110, 130 are not linear but quasi-linear since the links 30, 50, 70, 90, 220, 230, 240, 250 are relatively long and their rotation is limited to a relatively small angle.
  • the actuator 150 of figures 1 and 2 comprises a prismatic joint in the form of two cylindrical guide pins 300 whose purpose is to constrain the movement of the actuator 150 to be purely linear, and to protect a ball-screw shaft 310 from bending loads transmitted from the fingers 110, 130.
  • the linear movement of the actuator 150 is turned into a finger movement by means of a fifth link 160 and a sixth link 190 hinged to the actuator 150 at one end and hinged to the respective finger 110, 130 at the opposite end.
  • the fifth and sixth links 160, 190 thereby form simple and short kinematic chains between the actuator 150 and the respective fingers 110, 130.
  • the actuator 150 is arranged between the fingers 110, 130 in a symmetrical manner i.e. there is a symmetry plane between the fingers 110, 130 about which both the fingers 110, 130 and the actuator 150 are symmetrical.
  • the fifth link 160 is hinged to the first finger 110 about a sixth axis 180 that coincides with the axis about which the first and seventh links 30, 220 are hinged to the first finger 110.
  • the fifth link 160 can in principle be hinged to almost any part of the first parallelogram 120 except the base 20 for the finger movement to function.
  • the fifth and sixth links 160, 190 are hinged to the actuator 150 about fifth and seventh axes 170, 200, respectively, the fifth and seventh axes 170, 200 being parallel but not common.
  • the third, sixth and ninth links 70, 190, 240 are hinged to the second finger 130 about an eighth axis 210 by means of a shaft 260 journalled to the second finger 130 with two bearings 320 i.e. the shaft 260 is in rotating relation with the second finger 130.
  • An advantage with this arrangement is that the relatively long distance between the bearings 320 gives a good steering to the shaft 260 and thereby accurately defines the eighth axis 180 about which the third and ninth links 70, 240 are to rotate (compared with an alternative where the shaft 260 is arranged in stationary relation with the second finger 130, and the third and ninth links 70, 240 are arranged in rotating relation with the shaft 260) .
  • the third and ninth links 70, 240 are preferably press fitted to the shaft 260 with zero clearance, and preferably a corresponding
  • a robot gripper 10 according to one embodiment of the invention comprises a housing 270
  • the housing 270 encloses the finger actuation mechanism, and only the gripping parts of the fingers 110, 130 protrude from the housing 270.
  • the housing 270 defines an opening between the fingers 110, 130 in order to allow the fingers 110, 130 to open and close, this opening being covered by a shield 280 consisting of a plurality of panels 290 hinged to each other. Opposite ends of the shield 280 are attached to respective fingers 110, 130 and the shield 280 thereby follows the finger movements, and the panels 290 fold and unfold in relation to each other as the fingers 110, 130 close and open.
  • the housing 270 defines together with the shield 280 an interior of the robot gripper 10, and the shield 280 prevents objects from entering the interior.
  • the shield 280 covers the whole opening in a dust-proof manner.
  • the invention is not limited to the embodiments shown above, but the person skilled in the art may modify them in a plurality of ways within the scope of the invention as defined by the claims.

Landscapes

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

Abstract

Pince de robot (10) comprenant un actionneur unique (150) conçu pour déplacer un premier doigt (110) et un second doigt (130) par rapport à une base (20). Les mouvements des doigts (110, 130) par rapport à la base (20) sont limités par des parallélogrammes (120, 140) respectifs. Les chaînes cinématiques reliant l'actionneur (150) aux doigts (110, 130) ainsi que les parallélogrammes (120, 140) ne comprennent que des paires cinématiques rotoïdes, ce qui confère à la pince de robot (10) une grande rigidité et un faible jeu mécanique.
PCT/EP2014/052206 2014-02-05 2014-02-05 Pince de robot WO2015117643A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2014/052206 WO2015117643A1 (fr) 2014-02-05 2014-02-05 Pince de robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2014/052206 WO2015117643A1 (fr) 2014-02-05 2014-02-05 Pince de robot

Publications (1)

Publication Number Publication Date
WO2015117643A1 true WO2015117643A1 (fr) 2015-08-13

Family

ID=50033582

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2014/052206 WO2015117643A1 (fr) 2014-02-05 2014-02-05 Pince de robot

Country Status (1)

Country Link
WO (1) WO2015117643A1 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107309895A (zh) * 2017-07-11 2017-11-03 哈尔滨工业大学 一种用于包络抓取和平行夹紧的欠驱动末端执行器
CN107932024A (zh) * 2017-12-31 2018-04-20 苏州通锦精密工业股份有限公司 一种夹爪
CN107986001A (zh) * 2017-11-29 2018-05-04 桐乡弗格莱纺织有限公司 一种可调式瓶罐夹取装置
CN109397326A (zh) * 2018-12-30 2019-03-01 上海昂丰矿机科技有限公司 一种电石液压夹具
CN110561398A (zh) * 2019-09-04 2019-12-13 厦门宏泰科技研究院有限公司 一种电路板移载机械手
CN110587506A (zh) * 2019-08-15 2019-12-20 西安科技成果转化工程有限公司 一种机械工程定位结构
CN111070592A (zh) * 2019-12-30 2020-04-28 盐城韩丰汽车零部件有限公司 一种中网底座注塑下料机器人
CN112621791A (zh) * 2020-12-08 2021-04-09 中国科学院重庆绿色智能技术研究院 具有力感知能力的圆柱体夹持装置
DE102020004812A1 (de) 2020-08-07 2022-02-10 Günther Zimmer Greifersystem mit Parallelogrammgetriebe

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2902751A (en) * 1956-10-02 1959-09-08 Sommer Frank Pulling device
US4368913A (en) 1979-09-13 1983-01-18 Pfaff Industriemaschinenfabrik Gmbh Industrial robot having a gripping device
GB2145690A (en) 1983-08-19 1985-04-03 Komatsu Mfg Co Ltd Hand apparatus of a robot
US4569549A (en) * 1983-02-28 1986-02-11 Fanuc Limited Robot hand for industrial robots
JPH05337870A (ja) * 1992-06-03 1993-12-21 Toshiba Corp マニピュレータの把持装置
US6386609B1 (en) * 1999-06-12 2002-05-14 Applied Materials, Inc. Gripper design to reduce backlash
US20110148132A1 (en) * 2009-12-21 2011-06-23 Samsung Electronics Co., Ltd. Industrial gripper with multiple degrees of freedom
WO2012022360A1 (fr) 2010-08-19 2012-02-23 Abb Ag Segment de mécanisme de préhension et mécanisme de préhension

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2902751A (en) * 1956-10-02 1959-09-08 Sommer Frank Pulling device
US4368913A (en) 1979-09-13 1983-01-18 Pfaff Industriemaschinenfabrik Gmbh Industrial robot having a gripping device
US4569549A (en) * 1983-02-28 1986-02-11 Fanuc Limited Robot hand for industrial robots
GB2145690A (en) 1983-08-19 1985-04-03 Komatsu Mfg Co Ltd Hand apparatus of a robot
JPH05337870A (ja) * 1992-06-03 1993-12-21 Toshiba Corp マニピュレータの把持装置
US6386609B1 (en) * 1999-06-12 2002-05-14 Applied Materials, Inc. Gripper design to reduce backlash
US20110148132A1 (en) * 2009-12-21 2011-06-23 Samsung Electronics Co., Ltd. Industrial gripper with multiple degrees of freedom
WO2012022360A1 (fr) 2010-08-19 2012-02-23 Abb Ag Segment de mécanisme de préhension et mécanisme de préhension

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107309895A (zh) * 2017-07-11 2017-11-03 哈尔滨工业大学 一种用于包络抓取和平行夹紧的欠驱动末端执行器
CN107986001A (zh) * 2017-11-29 2018-05-04 桐乡弗格莱纺织有限公司 一种可调式瓶罐夹取装置
CN107932024A (zh) * 2017-12-31 2018-04-20 苏州通锦精密工业股份有限公司 一种夹爪
CN107932024B (zh) * 2017-12-31 2023-07-25 苏州通锦精密工业股份有限公司 一种夹爪
CN109397326A (zh) * 2018-12-30 2019-03-01 上海昂丰矿机科技有限公司 一种电石液压夹具
CN110587506A (zh) * 2019-08-15 2019-12-20 西安科技成果转化工程有限公司 一种机械工程定位结构
CN110561398A (zh) * 2019-09-04 2019-12-13 厦门宏泰科技研究院有限公司 一种电路板移载机械手
CN111070592A (zh) * 2019-12-30 2020-04-28 盐城韩丰汽车零部件有限公司 一种中网底座注塑下料机器人
DE102020004812A1 (de) 2020-08-07 2022-02-10 Günther Zimmer Greifersystem mit Parallelogrammgetriebe
EP3960397A1 (fr) 2020-08-07 2022-03-02 Günther Stephan Zimmer Système préhenseur pourvu d'engrenage parallélogramme
CN112621791A (zh) * 2020-12-08 2021-04-09 中国科学院重庆绿色智能技术研究院 具有力感知能力的圆柱体夹持装置

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