WO2020124677A1 - Dispositif de serrage souple - Google Patents

Dispositif de serrage souple Download PDF

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Publication number
WO2020124677A1
WO2020124677A1 PCT/CN2018/125206 CN2018125206W WO2020124677A1 WO 2020124677 A1 WO2020124677 A1 WO 2020124677A1 CN 2018125206 W CN2018125206 W CN 2018125206W WO 2020124677 A1 WO2020124677 A1 WO 2020124677A1
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WO
WIPO (PCT)
Prior art keywords
jaw
driving link
cylinder
adapter
bracket
Prior art date
Application number
PCT/CN2018/125206
Other languages
English (en)
Chinese (zh)
Inventor
刘金国
陈科利
吴晨晨
刘玉旺
Original Assignee
中国科学院沈阳自动化研究所
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 中国科学院沈阳自动化研究所 filed Critical 中国科学院沈阳自动化研究所
Publication of WO2020124677A1 publication Critical patent/WO2020124677A1/fr

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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
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the invention relates to a clamping device, in particular to a compliant clamping device.
  • the end gripper is generally installed as a gripping tool at the end of the robotic arm, grasps and grips the object with the claw, and then transfers from the initial position to the target position or performs other operations as needed.
  • the gripper is developing in the direction of dexterity and flexibility.
  • the existing grippers use hydraulic and electric motors as the driving source, which has the defects of excessive grip rigidity and insufficient flexibility.
  • the existing gripper can only complete the grasping of objects within a certain size range or fixed position, and does not have the ability to capture. It cannot realize the capturing and grasping actions for moving targets.
  • the object of the present invention is to provide a compliant gripper.
  • the compliant gripper has good flexibility and a large gripping range, and is particularly suitable for capturing and grasping objects of different sizes floating on the water surface or in other moving states, with flexible control and novel structure.
  • the invention includes a left clamping jaw, a right clamping jaw, a bracket, a mechanical arm end adapter, a linear cylinder, a driving link adapter, a driving link A and a driving link B, wherein one end of the linear cylinder is equipped with a mechanical arm end
  • the adapter is connected to the bracket at the other end.
  • the linear cylinder drives the drive link A and the drive link B to rotate around the hinge point with the drive link adapter through the drive link adapter, thereby driving the left and right jaws to articulate around the support respectively Point to clamp or release the target object;
  • the hinge part where the left and right jaws are hinged to the bracket is arranged up and down, and the driving link A and the driving link B are located between the two hinge parts and are arranged up and down; any one of the hinge parts A slot for accommodating one of the driving links is provided, and a limiting boss A for restricting the rotation of the driving link is provided on the slot wall of the slot;
  • the fingers of the left jaw and the other end of the right jaw are respectively grooved along the length direction, the grooves of the left jaw and the grooves of the right jaw are staggered;
  • the left jaw and the right jaw are divided into upper and lower layers, that is, the right jaw is divided into an upper jaw A and a lower jaw A, and the left jaw is divided into an upper jaw B and a lower jaw B.
  • the upper jaw One end of the jaw A, the lower jaw A, the upper jaw B, and the lower jaw B are hinges respectively hinged with the bracket, the four hinges are provided up and down, and the other end is the upper jaw that captures and holds the target object Finger end A, lower jaw finger end A, upper jaw finger end B and lower jaw finger end B;
  • the upper jaw A and the lower jaw A are connected by a screw, and the upper jaw A or the lower jaw A is provided with a cylindrical boss A; the upper jaw B and the lower jaw B are screwed.
  • the upper jaw B or the lower jaw B is provided with a cylindrical boss B; the driving link A and the driving link B are located in the upper jaw A, the hinge part of the upper jaw B and the lower jaw A, Between the hinges of the lower jaw B, and arranged up and down, the other ends of the driving link A and the driving link B are respectively connected to the cylindrical boss A and the cylindrical boss B; the two hinges in the middle
  • the opposite side of the part is respectively provided with slots for accommodating the driving link A and the driving link B, and each slot wall is provided with a limiting protrusion that restricts the rotation of the driving link A or the driving link B Taiwan A
  • the upper gripper finger end A, the lower gripper finger end A, the upper gripper finger end B and the lower gripper finger end B are respectively grooved along the length direction, and the groove of the upper gripper finger end A and the upper gripper
  • the grooves at the finger end B are staggered, and the grooves at the finger end A of the lower layer and the grooves at the finger end B of the lower layer are staggered;
  • One end of the linear cylinder is fixed with a cylinder tail connector, one end of the mechanical arm end adapter is connected to the cylinder tail connector, and the other side is connected with a mechanical arm end indicator; the other of the linear cylinder One end is connected with the front adapter of the cylinder, and the bracket is installed on the front adapter of the cylinder;
  • the side of the cylinder tail connector facing the linear cylinder is provided with a limit boss B to ensure reliable connection with the linear cylinder, and the cable tail groove is also provided on the cylinder tail connector; the front adapter of the cylinder faces the linear cylinder One side is provided with limit boss C to ensure reliable connection with linear cylinder;
  • the output end of the linear cylinder is provided with a threaded hole, the threaded hole is connected with a cylinder rod adapter via a connecting screw on the cylinder shaft end, one side of the drive link adapter is fixedly connected to the cylinder rod adapter, and the other One side is hinged with one end of drive link A and drive link B respectively;
  • the bracket is divided into an upper bracket and a lower bracket.
  • One side of the upper bracket and the lower bracket is respectively connected to the other end of the linear cylinder, and the other side is hinged to one end of the left and right jaws, respectively.
  • the present invention uses a linear cylinder as a driving source, the gripper has good flexibility, and can avoid the impact on the rigidity of the clamping target and the damage to the clamping target during the clamping process.
  • the jaws of the present invention are provided with long finger tips, so that the objects in the moving state can be captured and grasped.
  • the finger ends of the clamping jaws of the present invention are provided with left and right complementary grooves, so as to realize the grasping and clamping of objects of different sizes.
  • the present invention uses a linear cylinder as a driving source, which is simple to control, easy to operate and easy to implement.
  • FIG. 1 is a schematic diagram of a three-dimensional structure of the invention
  • FIG. 2 is a schematic diagram of the front structure of the driving part of the present invention in an explosion state
  • FIG. 3 is a schematic diagram of the rear structure of the driving part of the present invention in an explosion state
  • FIG. 4 is a schematic diagram of the upper explosion state structure of the clamping portion of the present invention.
  • FIG. 5 is a schematic structural diagram of the lower explosion state of the clamping portion of the present invention.
  • 1 is the upper jaw A
  • 101 is the upper jaw finger end A
  • 102 is the cylindrical boss A
  • 103 is the limit boss A
  • 2 is the lower jaw A
  • 201 is the lower jaw finger end A
  • 202 It is cylindrical boss B
  • 3 is the upper bracket
  • 4 is the cylinder tail connector
  • 401 is the cable trough
  • 402 is the limit boss B
  • 5 is the end adapter of the robot arm
  • 6 is the end of the robot arm
  • 7 It is a linear cylinder
  • 701 is the air inlet A
  • 702 is the air inlet B
  • 8 is the front adapter of the cylinder
  • 801 is the limit boss C
  • 9 is the lower bracket
  • 10 is the lower jaw B
  • 1001 is the lower layer Claw finger end B
  • 11 is the upper jaw B
  • 1101 is the upper jaw finger end B
  • 12 is the drive link adapter
  • 13 is the upper bracket fixing screw
  • 14 is the cylinder shaft end connection screw
  • 15 is the cylinder tie
  • the present invention includes a left jaw, a right jaw, a bracket, a cylinder tail connector 4, a robot arm end adapter 5, a robot arm end indicator 6, a linear cylinder 7, a cylinder front turn Connection piece 8, drive connecting rod adapter 12, cylinder connecting rod adapter 15, drive connecting rod A19 and drive connecting rod B20, wherein one end of the linear cylinder 7 is connected with the cylinder tail connecting piece 4, the cylinder tail connecting piece 4 passes through
  • the cylinder tail fixing screw 22 is fixed to one end (tail) of the linear cylinder 7; one side of the mechanical arm end adapter 5 is fixedly connected to the cylinder tail connecting piece 4 through the cylinder tail connecting piece fixing screw 18, and the other side is connected by a machine
  • the arm end fixing screw 17 is fixedly connected with the mechanical arm end indicator 6.
  • a limit boss B402 is provided to ensure reliable connection with the linear cylinder 7.
  • the cylinder tail connector 4 is also provided with a wire groove 401.
  • the other end (front part) of the linear cylinder 7 is connected with a cylinder front adaptor 8.
  • a side of the cylinder front adaptor 8 facing the linear cylinder 7 is provided with a limit boss C801 to ensure reliable connection with the linear cylinder 7.
  • the bracket is installed on the front adapter 8 of the cylinder.
  • the bracket of this embodiment is divided into an upper bracket 3 and a lower bracket 9, one side of the upper bracket 3 and the lower bracket 9 are fixedly connected to the front adapter 8 of the cylinder by an upper bracket fixing screw 13, a lower bracket fixing screw 16 Together, the other side is hinged with one end of the left jaw and the right jaw, respectively, and the other end of the left jaw and the right jaw are the jaw finger ends that capture and hold the target object.
  • the linear cylinder 7 of the present invention is a double-acting ultra-thin cylinder, thereby reducing the axial dimension of the gripper; the output end of the linear cylinder 7 is provided with a threaded hole, and the threaded hole is transferred to the cylinder rod through the cylinder shaft end connecting screw 14
  • the pieces 15 are fixed together.
  • One side of the driving link adapter 12 is fixedly connected to the cylinder tie rod adapter 15 and the other side is hinged to one end of the driving link A19 and the driving link B20, respectively, and the other end of the driving link A19 and the driving link B20 Connected to the left and right jaws respectively.
  • the left and right clamping jaws are hinged with the upper bracket 3 and the lower bracket 9, and the hinge part 23 is arranged up and down.
  • the driving link A19 and the driving link B20 are located between the two hinge parts 23 and are arranged up and down.
  • a slot 24 for accommodating one of the driving links is formed on any one of the hinge portions 23, and a limiting boss A103 for restricting the rotation of the driving link is provided on the slot wall of the slot 24.
  • the fingers of the left jaw and the other end of the right jaw are respectively grooved along the length direction.
  • the groove of the left jaw is complementary to the groove of the right jaw, that is, the groove of the left jaw is the same as that of the right jaw.
  • the grooves are staggered, and the fingers of one jaw are inserted into the groove of the other jaw during clamping.
  • the left jaw and the right jaw of this embodiment are divided into upper and lower layers, that is, the right jaw is divided into an upper jaw A1 and a lower jaw A2, and the left jaw is divided into an upper jaw B11 and a lower jaw B10.
  • One end of the upper jaw A1, the lower jaw A2, the upper jaw B11 and the lower jaw B10 are hinges 23 respectively hinged with the upper bracket 3 and the lower bracket 9, four hinges are arranged up and down, and the other ends are respectively captured
  • the upper jaw finger end A101, the lower jaw finger end A201, the upper jaw finger end B1101 and the lower jaw finger end B1001 of the target object are clamped.
  • the upper jaw finger end A101, the lower jaw finger end A201, the upper jaw finger end B1101, and the lower jaw finger end B1001 are respectively grooved along the length direction, the groove of the upper jaw finger end A101 and the upper jaw finger
  • the grooves of the end B1101 are staggered, and the grooves of the lower jaw finger end A201 and the lower layer jaw finger end B1001 are staggered.
  • the upper jaw A1 and the lower jaw A2 are fixed together by screws, and the upper jaw B11 and the lower jaw B10 are fixed together by screws.
  • a cylindrical boss A102 is provided on the upper jaw A1 or the lower jaw A2, and a cylindrical boss B202 is provided on the upper jaw B11 or the lower jaw B10; the driving link A19 and the driving link B20 are located on the upper jaw A1 and the upper layer
  • the hinge part 23 of the jaw B11 and the hinge part 23 of the lower jaw A2 and the lower jaw B10 are provided up and down.
  • the other ends of the driving link A19 and the driving link B20 are respectively connected to the cylindrical boss A102 and the cylindrical boss Taiwan B202 is fixed.
  • the opposite sides of the two hinge parts 23 in the middle are respectively provided with slots 24 for accommodating the driving link A19 and the driving link B20.
  • Each slot 24 is provided with a limiting driving link A19 or a driving link on the slot wall.
  • the limiting boss A103 of the rotation of the lever B20 plays a limiting role during the movement of the driving link A19 and the driving link B20.
  • one hinge part 23 is provided with a slot 24, and the other end hinge part 23 is provided with a cylindrical boss A102;
  • the hinge of the lower jaw A2 Among the hinge portions 23 of the portion 23 and the lower jaw B10, one hinge portion 23 is provided with a slot 24, and the other end hinge portion 23 is provided with a cylindrical boss B202.
  • the hinge part 23 of the upper jaw A1 is provided with a cylindrical boss A102
  • the hinge part 23 of the upper jaw B11 is provided with a slot 24, the cylindrical boss A102 is located in the slot 24, and is in contact with the upper layer
  • the hinge part 23 of the claw B11 can rotate relatively
  • the hinge part 23 of the lower jaw A2 is provided with a cylindrical boss B202
  • the hinge part 23 of the lower jaw B10 is provided with a slot 24, and the cylindrical boss B202 is located in the slot 24
  • the hinge portion 23 with the lower jaw B10 can rotate relatively.
  • the slot 24 on the hinge portion 23 of the upper jaw B11 and the slot 24 on the hinge portion 23 of the lower jaw B10 face each other vertically, and the driving link A19 and the driving link B20 are located between the two hinge portions 23.
  • the working principle of the present invention is:
  • the linear cylinder 7 is connected to an external air source through an air inlet A701 and an air inlet B702, respectively, and the external device realizes the expansion and contraction of the output end of the linear cylinder 7 by controlling the opening and closing of the air inlet A701 and the air inlet B702.
  • the driving link A19 and the driving link B20 are connected to the cylindrical boss A102 and the cylindrical boss B202, respectively, the upper jaw A1, the lower jaw A2, the upper jaw B10, and the lower jaw B11 are connected to the upper bracket 3 and
  • the lower bracket 9 is hinged, so the driving link A19 and the driving link B20 rotate around the hinge joint with the driving link adapter 12 respectively; under the action of the driving link A19 and the driving link B20, the upper jaw A1 and the lower layer
  • the sandwich jaw A2, the upper jaw B10, and the lower jaw B11 rotate and contract inward around the hinges hinged with the upper bracket 3 and the lower bracket 9, respectively, and capture and hold the target object through the fingers of the respective jaws.
  • the external air source inflates the linear cylinder 7 through the air inlet B702, the output end of the linear cylinder 7 extends forward, and the driving link A19 is pulled through the cylinder tie rod connection 15 and the drive link connection 12 to drive The connecting rod B20 moves forward.
  • the driving link A19 and the driving link B20 are connected to the cylindrical boss A102 and the cylindrical boss B202, respectively, the upper jaw A1, the lower jaw A2, the upper jaw B10, and the lower jaw B11 are connected to the upper bracket 3 and
  • the lower bracket 9 is hinged, so the driving link A19 and the driving link B20 rotate around the hinge joint with the driving link adapter 12 respectively; under the action of the driving link A19 and the driving link B20, the upper jaw A1 and the lower layer
  • the sandwich jaw A2, the upper jaw B10, and the lower jaw B11 rotate outwardly about the hinges that are hinged with the upper bracket 3 and the lower bracket 9 to complete the release action.

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

Abstract

La présente invention porte sur un appareil de serrage, et en particulier sur un dispositif de serrage souple. Une extrémité d'un cylindre à air linéaire est pourvue d'un adaptateur d'extrémité de queue de bras de robot, l'autre extrémité de celui-ci étant reliée à un support. Une extrémité d'une mâchoire de serrage gauche et une extrémité d'une mâchoire de serrage droite sont respectivement articulées sur le support, et l'autre extrémité de la mâchoire de serrage gauche et l'autre extrémité de la mâchoire de serrage droite sont toutes deux des extrémités de doigts de mâchoire de serrage. Une extrémité de sortie du cylindre à air linéaire est reliée à un adaptateur de bielle d'entraînement, une extrémité de la bielle d'entraînement A et une extrémité de la bielle d'entraînement B sont respectivement articulées sur l'adaptateur de bielle d'entraînement, et l'autre extrémité de la bielle d'entraînement A et l'autre extrémité de la bielle d'entraînement B sont respectivement reliées à la mâchoire de serrage gauche et à la mâchoire de serrage droite. Le cylindre à air linéaire entraîne, au moyen de l'adaptateur de la bielle d'entraînement, la bielle d'entraînement A et la bielle d'entraînement B à tourner respectivement autour d'un point de charnière de l'adaptateur de la bielle d'entraînement, et entraîne ainsi la mâchoire de serrage gauche et la mâchoire de serrage droite respectivement autour d'un point de charnière entre les deux mâchoires de serrage et le support pour serrer ou libérer un objet cible. La présente invention est une nouvelle en termes de structure et de commande flexible, présente une bonne adaptation à un processus de serrage, et est appropriée pour capturer et saisir des objets de tailles différentes dans un état de flottaison à la surface de l'eau ou dans d'autres états de mouvement.
PCT/CN2018/125206 2018-12-20 2018-12-29 Dispositif de serrage souple WO2020124677A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811561487.5A CN109483583A (zh) 2018-12-20 2018-12-20 一种柔顺夹持器
CN201811561487.5 2018-12-20

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WO2020124677A1 true WO2020124677A1 (fr) 2020-06-25

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Cited By (2)

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Publication number Priority date Publication date Assignee Title
CN112140087A (zh) * 2020-09-27 2020-12-29 北京航天发射技术研究所 一种多功能车载自动化机械手
IT202100030899A1 (it) * 2021-12-09 2023-06-09 Azionaria Costruzioni Acma Spa Equipaggio di trasporto per trattenere e trasportare un contenitore

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CN109926271A (zh) * 2019-04-10 2019-06-25 武汉锐科光纤激光技术股份有限公司 一种点胶系统
CN110093887A (zh) * 2019-05-23 2019-08-06 巢湖学院 一种垃圾拾捡与分类机器人
CN110666768A (zh) * 2019-09-27 2020-01-10 山东科技大学 一种自动取药机器人
CN110849526B (zh) * 2019-11-25 2021-12-07 上海航天控制技术研究所 一种机械臂力柔顺算法测试系统及测试方法
CN114228962A (zh) * 2021-12-22 2022-03-25 合肥工业大学 一种基于stm32的水下智能设备
CN114311011A (zh) * 2021-12-26 2022-04-12 盐城旭捷自动化设备有限公司 一种汽车焊装生产线的机器人抓具

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US4522439A (en) * 1983-08-12 1985-06-11 Walker-Neer Manufacturing Co., Inc. Automatic pipe elevator
US6361095B1 (en) * 2000-06-29 2002-03-26 Delaware Capital Formation, Inc. Adjustable stroke gripper assembly
US20020092731A1 (en) * 2000-11-09 2002-07-18 Osterfeld Gary J. Gripper mechanism for handling a cylindrical workpiece
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CN207359095U (zh) * 2017-11-09 2018-05-15 广东鼎湖山泉有限公司 一种新型机器人夹具

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US3371953A (en) * 1967-03-16 1968-03-05 Leland F. Blatt Gripper
US4522439A (en) * 1983-08-12 1985-06-11 Walker-Neer Manufacturing Co., Inc. Automatic pipe elevator
US6361095B1 (en) * 2000-06-29 2002-03-26 Delaware Capital Formation, Inc. Adjustable stroke gripper assembly
US20020092731A1 (en) * 2000-11-09 2002-07-18 Osterfeld Gary J. Gripper mechanism for handling a cylindrical workpiece
CN205969098U (zh) * 2016-08-23 2017-02-22 嘉兴市立丰机械制造有限公司 一种改进型的机械手夹紧装置
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112140087A (zh) * 2020-09-27 2020-12-29 北京航天发射技术研究所 一种多功能车载自动化机械手
IT202100030899A1 (it) * 2021-12-09 2023-06-09 Azionaria Costruzioni Acma Spa Equipaggio di trasporto per trattenere e trasportare un contenitore
EP4194371A1 (fr) * 2021-12-09 2023-06-14 Azionaria Costruzioni Macchine Automatiche A.C.M.A. S.p.A. Dispositif de transport pour tenir et transporter un récipient

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