CN115781729B - An adaptive manipulator gripper structure - Google Patents
An adaptive manipulator gripper structure Download PDFInfo
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- CN115781729B CN115781729B CN202211376010.6A CN202211376010A CN115781729B CN 115781729 B CN115781729 B CN 115781729B CN 202211376010 A CN202211376010 A CN 202211376010A CN 115781729 B CN115781729 B CN 115781729B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
本发明公开了一种自适应的机械手夹爪结构，涉及机器人工程领域，解决了常见现有机械手夹爪所能稳定抓取的目标体的半径范围较小，且存在夹取时目标物受力面积小、夹取不稳定的问题，其技术方案要点是，包括：座体；第一主夹爪组件，其转动式设置于座体上；第二主夹爪组件，其转动式设置于座体上，其与第一主夹爪组件对向且交错布置；第一辅助夹爪组件，其转动式设置于第一主夹爪组件的旁侧，其能够被第二主夹爪组件驱动而转动；本发明的第一主夹爪组件、第二主夹爪组件、第一辅助夹爪组件、第二辅助夹爪组件四者对目标物形成四边形的稳定受力结构，进而实现对半径较小的目标物进行夹紧。
The invention discloses an adaptive manipulator gripper structure, which relates to the field of robot engineering and solves the problems that the radius range of the target object that can be stably grasped by the common existing manipulator grippers is small, and there is a small force-bearing area of the target object during clamping and unstable clamping. The key points of the technical solution are as follows: it comprises: a base body; a first main gripper assembly, which is rotatably arranged on the base body; a second main gripper assembly, which is rotatably arranged on the base body, and is opposite to the first main gripper assembly and arranged in a staggered manner; a first auxiliary gripper assembly, which is rotatably arranged on the side of the first main gripper assembly and can be driven to rotate by the second main gripper assembly; the first main gripper assembly, the second main gripper assembly, the first auxiliary gripper assembly and the second auxiliary gripper assembly of the invention form a quadrilateral stable force-bearing structure for the target object, thereby achieving clamping of the target object with a smaller radius.
Description
Technical Field
The invention relates to the field of robot engineering, in particular to a self-adaptive manipulator clamping jaw structure.
Background
The pure mechanical linkage clamp is one of clamps used with an excavator, and uses an excavator bucket oil cylinder as a power source to push the clamp to carry out mechanical linkage so as to clamp construction operation, the pure hydraulic participation control clamp, the motion of each hydraulic component, the excavator alone for providing oil path connection, the designated hydraulic component motion, the construction operation, the electrohydraulic composite control clamp, the electric control electromagnetic valve group for distributing hydraulic oil to each execution component motion, and the construction operation.
In the process of grabbing the manipulator target, the clamping jaw of the same manipulator is often required to stably grab the target body with larger radius span.
The existing manipulator clamping jaw can only clamp a target body close to the shape and the radius of the clamping jaw, so that the problem that the manipulator clamping jaw easily slips and is difficult to align when grabbing a target body with a smaller radius is solved, the radius range of the target body which can be stably grabbed by the existing manipulator clamping jaw is smaller, the problem that the stress area of the target body is small and the clamping is unstable when clamping exists, and the use requirement cannot be met is caused.
Disclosure of Invention
The invention aims to provide a self-adaptive mechanical arm clamping jaw structure, wherein a second main clamping jaw assembly can drive one end of a first auxiliary clamping jaw assembly to swing while rotating until the other end of the first auxiliary clamping jaw assembly swings to be abutted against a target body, and at the moment, the first main clamping jaw assembly, the second main clamping jaw assembly and the first auxiliary clamping jaw assembly form a triangular stable stress structure on the target object, so that the target object with a smaller radius is clamped.
The technical aim of the invention is achieved by the following technical scheme that the self-adaptive manipulator clamping jaw structure comprises:
a base;
the first main clamping jaw assembly is rotatably arranged on the base;
The second main clamping jaw assembly is rotatably arranged on the base body, is opposite to the first main clamping jaw assembly and is staggered;
the first auxiliary clamping jaw assembly is rotationally arranged beside the first main clamping jaw assembly and can be driven to rotate by the second main clamping jaw assembly;
The first main clamping jaw assembly and the second main clamping jaw assembly are close to each other so as to carry out preliminary clamping on the target body, and the first auxiliary clamping jaw assembly is abutted to one side of the target body under the driving of the second main clamping jaw assembly.
Therefore, when the first main clamping jaw assembly and the second main clamping jaw assembly need to grab a target object with smaller radius, the second main clamping jaw assembly is driven to rotate after being mutually close to the first main clamping jaw assembly and the second main clamping jaw assembly in the scheme can drive one end of the first auxiliary clamping jaw assembly to swing while rotating until the other end of the first auxiliary clamping jaw assembly swings to be abutted to the target object, and at the moment, the first main clamping jaw assembly, the second main clamping jaw assembly and the first auxiliary clamping jaw assembly form a triangular stable stress structure for the target object, so that the target object with smaller radius is clamped, and the problems of small stress area and unstable clamping of the target object of the existing manipulator clamping jaw are solved.
And when grabbing the less target object of radius, because the effect of first auxiliary clamping jaw subassembly, the target object can be more away from the pedestal, makes the second main clamping jaw subassembly and the first auxiliary clamping jaw subassembly both the tip and the environment that the target object was located take place the interference's the possibility to make things convenient for the snatching and putting of the less target object of radius.
And when clamping a target object with larger diameter, the first auxiliary clamping jaw assembly is not driven by the second main clamping jaw assembly, so that the first auxiliary clamping jaw assembly can enlarge the contact area of the first main clamping jaw assembly, and the target object can be clamped conveniently.
In some embodiments, the method further comprises:
The second auxiliary clamping jaw assembly is rotatably arranged beside the second main clamping jaw assembly, is arranged opposite to the first auxiliary clamping jaw assembly and can be driven to rotate by the first main clamping jaw assembly;
The second auxiliary clamping jaw assembly is abutted against the other side of the target body under the driving of the first main clamping jaw assembly.
Because the second auxiliary clamping jaw assembly is positioned on one side of the target object, which is far away from the first auxiliary clamping jaw assembly, the second auxiliary clamping jaw assembly can be used as the supplement of the clamping acting force of the first auxiliary clamping jaw assembly, so that both sides of the target object can be effectively clamped.
In some embodiments, the first auxiliary jaw assembly rotational path is located on the rotational path of the second main jaw assembly, and the second auxiliary jaw assembly rotational path is located on the rotational path of the first main jaw assembly.
In some embodiments, the first main jaw assembly, the second main jaw assembly, the first auxiliary jaw assembly, and the second auxiliary jaw assembly are arcuate.
In some embodiments, the first auxiliary jaw assembly rotates eccentrically on the first main jaw assembly and the second auxiliary jaw assembly rotates eccentrically on the first main jaw assembly.
Therefore, the scheme can realize self-adaptive grabbing, namely, due to the eccentric rotation, the scheme can grab the target body with larger radius span, and the maximum grabbing radius of the target body is 16 times of the minimum grabbing radius.
In some embodiments, the method comprises:
The first auxiliary rotating shaft is arranged on the first main clamping jaw assembly, and the first auxiliary clamping jaw assembly is detachably connected to the first auxiliary rotating shaft in a rotating way;
The second auxiliary rotating shaft is arranged on the second main clamping jaw assembly, and the second auxiliary clamping jaw assembly is detachably connected to the second auxiliary rotating shaft in a rotating mode.
Therefore, the center point of the first auxiliary clamping jaw assembly is taken as a reference, the first auxiliary rotating shaft is positioned at one end of the first auxiliary clamping jaw assembly, which is close to the base body, namely, according to the lever theorem, the first auxiliary rotating shaft is positioned at one end with a shorter force arm, and when the second main clamping jaw assembly applies driving force to one end of the first auxiliary clamping jaw assembly, the other end of the first auxiliary clamping jaw assembly can be more strongly abutted against a target object;
Similarly, the center point of the second auxiliary clamping jaw assembly is taken as a reference, the second auxiliary rotating shaft is positioned at one end of the second auxiliary clamping jaw assembly, which is close to the base body, namely, according to the lever theorem, the second auxiliary rotating shaft is positioned at one end with a shorter force arm, and when the first main clamping jaw assembly applies driving force to one end of the second auxiliary clamping jaw assembly, the other end of the second auxiliary clamping jaw assembly can be more strongly abutted against a target object;
in some embodiments, the first main jaw assembly comprises:
the first main clamping part is rotatably arranged on the seat body;
The second main clamping part is rotatably arranged on the seat body and is connected with the first main clamping part into a whole;
a driving force receiving link that can be connected to the linear driving mechanism and obtain a driving force;
And one end of the connecting short rod is rotationally connected with the driving force receiving connecting rod, and the other end of the connecting short rod is rotationally connected with the second main clamping part.
Therefore, the technical scheme provides a specific structure of the first main clamping jaw assembly, the first main clamping part and the second main clamping part are integrally formed, and when the driving force receiving connecting rod is driven by the linear driving mechanism, the driving force receiving connecting rod drives the connecting short rod to swing upwards so as to drive the first main clamping part and the second main clamping part to swing, so that the swinging action of the first main clamping jaw assembly is realized.
In some embodiments, the method further comprises:
the first rotating shaft penetrates through the seat body;
the second rotating shaft penetrates through the seat body;
a holding spacer detachably provided on the first rotating shaft and the second rotating shaft;
The first main clamping jaw assembly is rotationally connected to the first rotating shaft;
The second main clamping jaw assembly is rotatably connected to the second rotating shaft.
From this, this scheme provides the concrete implementation of the pivoted setting on the pedestal of first main clamping jaw subassembly and second main clamping jaw subassembly, keeps the gasket and can realize the locking on the pedestal of first pivot and second pivot to avoid first pivot and second pivot to take place to break away from the pedestal, and be convenient for first pivot and second pivot are installed and removed on the pedestal.
In some embodiments, the first shaft protrudes from the end of the base body and is provided with a first inserting groove, the second shaft protrudes from the end of the base body and is provided with a second inserting groove, and two ends of the holding gasket are respectively inserted into the first inserting groove and the second inserting groove.
In some embodiments, the method further comprises:
A locking member passing through the holding washer and screwed to the base;
And the sacrificial anode part is detachably arranged at the end part of the locking piece.
Thus, the locking member is a fastener that enables the retaining washer to be removably attached to the housing, and the sacrificial anode is made of an active metal that can be used to mitigate water erosion experienced by the present solution in an underwater environment.
In summary, the second main clamping jaw assembly can drive one end of the first auxiliary clamping jaw assembly to swing while rotating, until the other end of the first auxiliary clamping jaw assembly swings to be abutted against the target body, and at the moment, the first main clamping jaw assembly, the second main clamping jaw assembly, the first auxiliary clamping jaw assembly and the second auxiliary clamping jaw assembly form a quadrangular stable stress structure on the target object, so that the target object with a smaller radius is clamped, and the problems of small stress area and unstable clamping of the target object of the existing manipulator clamping jaw are solved.
Drawings
Fig. 1 is a schematic structural view of the present embodiment;
FIG. 2 is an enlarged view at A in FIG. 1;
fig. 3 is a right side view of the present embodiment;
FIG. 4 is a schematic diagram of the operation of the present embodiment when grabbing objects with smaller radii;
FIG. 5 is a schematic diagram of the operation of the present embodiment when grabbing a larger radius object;
FIG. 6 is a schematic view of an exploded construction of the protective washer and retaining member and sacrificial anode portion;
fig. 7 is an enlarged view at B in fig. 6.
The device comprises the following components of 1, a first main clamping jaw assembly, 11, a first main clamping part, 11a, a first rotating shaft, 11a1, a first inserting groove, 12, a second main clamping part, 13, a driving force receiving connecting rod, 14, a connecting short rod, 10, a first auxiliary clamping jaw assembly, 10a, a first auxiliary rotating shaft, 2, a second main clamping jaw assembly, 20, a second auxiliary clamping jaw assembly, 20a, a second auxiliary rotating shaft, 21a, a second rotating shaft, 21a1, a second inserting groove, 21b, a retaining gasket, 3, a base, 4, a locking piece, 5, a sacrificial anode part, 6 and an object.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Examples:
An adaptive manipulator clamping jaw structure, as shown in fig. 1 to 6, comprises a base 3, a first main clamping jaw assembly 1, a second main clamping jaw assembly 2, a first auxiliary clamping jaw assembly 10 and a second auxiliary clamping jaw assembly 20, and is specifically as follows:
The seat body 3 can be connected with other external mechanical equipment;
As shown in fig. 3, the first main jaw assembly 1 is rotatably provided on the base 3, and specifically, the first main jaw assembly 1 includes a first main grip portion 11, a second main grip portion 12, a driving force receiving link 13, and a connecting stub 14;
the first main clamping part 11 is rotatably arranged on the seat body 3;
the second main clamping part 12 is rotatably arranged on the base body 3 and is integrally connected with the first main clamping part 11, and specifically, the number of the first auxiliary clamping jaw assemblies 10 is two and are respectively rotatably arranged on the first main clamping part 11 and the second main clamping part 12.
A driving force receiving link 13 that can be connected to the linear driving mechanism and obtain a driving force;
A connecting stub 14, one end of which is rotatably connected to the driving force receiving link 13, and the other end of which is rotatably connected to the second main clamping portion 12.
Therefore, the scheme provides a specific structure of the first main clamping jaw assembly 1, the first main clamping jaw 11 and the second main clamping jaw 12 are integrally formed, and when the driving force receiving connecting rod 13 is driven by the linear driving mechanism, the driving force receiving connecting rod 13 drives the connecting short rod 14 to swing upwards so as to drive the first main clamping jaw 11 and the second main clamping jaw 12 to swing, so that the swinging motion of the first main clamping jaw assembly 1 is realized. The invention is convenient to maintain, namely, each part is convenient to install and assemble and disassemble.
The second main jaw assembly 2 is rotatably disposed on the base 3, and is opposite to the first main jaw assembly 1 and is staggered, and the second main jaw assembly 2 is similar to the first main jaw assembly 1 in shape and structure, and in this embodiment, the first main jaw assembly 1 is located in the middle of the second main jaw assembly 2, but not limited thereto, and the second main jaw assembly 2 can also be disposed in the middle of the first main jaw assembly 1.
A first auxiliary jaw assembly 10 rotatably provided at a side of the first main jaw assembly 1, which can be driven to rotate by the second main jaw assembly 2;
The first main clamping jaw assembly 1 and the second main clamping jaw assembly 2 are close to each other to primarily clamp a target body, and the first auxiliary clamping jaw assembly 10 is abutted against one side of the target body under the driving of the second main clamping jaw assembly 2.
A second auxiliary jaw assembly 20 rotatably provided at a side of the second main jaw assembly 2, which is disposed opposite to the first auxiliary jaw assembly 10, and which can be driven to rotate by the first main jaw assembly 1;
The second auxiliary jaw assembly 20 is abutted against the other side of the target body under the drive of the first main jaw assembly 1.
Because the second auxiliary clamping jaw assembly 20 is located at one side of the target object 6 facing away from the first auxiliary clamping jaw assembly 10, the second auxiliary clamping jaw assembly 20 can be used as a supplement to the clamping acting force of the first auxiliary clamping jaw assembly 10, so that two sides of the target object 6 can be subjected to an effective clamping action, and the first main clamping jaw assembly 1, the second main clamping jaw assembly 2, the first auxiliary clamping jaw assembly 10 and the second auxiliary clamping jaw assembly 20 form a quadrangular stable stress structure on the target object.
The first auxiliary jaw assembly 10 rotational path is located in the rotational path of the second main jaw assembly 2 and the second auxiliary jaw assembly 20 rotational path is located in the rotational path of the first main jaw assembly 1.
The first main jaw assembly 1, the second main jaw assembly 2, the first auxiliary jaw assembly 10, and the second auxiliary jaw assembly 20 are arc-shaped.
The first auxiliary jaw assembly 10 rotates eccentrically on the first main jaw assembly 1 and the second auxiliary jaw assembly 20 rotates eccentrically on the first main jaw assembly 1.
Therefore, the scheme can realize self-adaptive grabbing, namely, due to the eccentric rotation, the scheme can grab the target body with larger radius span, and the maximum grabbing radius of the target object 6 is 16 times of the minimum grabbing radius.
The embodiment further comprises a first auxiliary rotating shaft 10a and a second auxiliary rotating shaft 20a, which are specifically as follows:
A first auxiliary rotating shaft 10a disposed on the first main jaw assembly 1, wherein the first auxiliary jaw assembly 10 is detachably connected to the first auxiliary rotating shaft 10 a;
the second auxiliary rotating shaft 20a is disposed on the second main clamping jaw assembly 2, and the second auxiliary clamping jaw assembly 20 is detachably and rotatably connected to the second auxiliary rotating shaft 20 a.
Therefore, with the center point of the first auxiliary jaw assembly 10 as a reference, the first auxiliary rotating shaft 10a is located at one end of the first auxiliary jaw assembly 10 close to the base 3, that is, according to the lever theorem, the first auxiliary rotating shaft 10a is located at one end with a shorter moment arm, and at this moment, when the second main jaw assembly 2 applies a driving force to one end of the first auxiliary jaw assembly 10, the other end of the first auxiliary jaw assembly 10 can be more strongly abutted against the target object 6.
Similarly, with the center point of the second auxiliary jaw assembly 20 as a reference, the second auxiliary rotating shaft 20a is located at one end of the second auxiliary jaw assembly 20 close to the base 3, that is, according to the lever theorem, the second auxiliary rotating shaft 20a is located at one end with a shorter moment arm, and at this moment, when the first main jaw assembly 1 applies a driving force to one end of the second auxiliary jaw assembly 20, the other end of the second auxiliary jaw assembly 20 can be more strongly abutted against the target object 6.
Specifically, the embodiment further includes a first rotating shaft 11a, a second rotating shaft 21a, and a holding spacer 21b;
the first main clamping jaw assembly 1 is rotatably connected to the first rotating shaft 11 a;
the second rotating shaft 21a penetrates through the base body 3, and the second main clamping jaw assembly 2 is rotatably connected to the second rotating shaft 21 a.
Thus, the present solution provides an embodiment of the rotary arrangement of the first and second main jaw assemblies 1,2 on the housing 3.
Preferably, the first auxiliary rotating shaft 10a, the second auxiliary rotating shaft 20a, the first rotating shaft 11a and the second rotating shaft 21a are in interference fit with the shaft sleeve to realize rotating connection, so that friction force in rotation is reduced.
The retaining washer 21b is detachably disposed on the first shaft 11a and the second shaft 21a, and the retaining washer 21b can lock the first shaft 11a and the second shaft 21a on the seat 3 to prevent the first shaft 11a and the second shaft 21a from being separated from the seat 3 and facilitate the assembly and disassembly of the first shaft 11a and the second shaft 21a on the seat 3.
Specifically, the end portion of the first rotating shaft 11a protruding from the seat body 3 is provided with a first inserting groove 11a1, the end portion of the second rotating shaft 21a protruding from the seat body 3 is provided with a second inserting groove 21a1, and two ends of the retaining washer 21b are respectively inserted into the first inserting groove 11a1 and the second inserting groove 21a1 so as to limit the axial movement of the retaining washer 21 b.
Preferably, the present embodiment further includes a lock member 4 and a sacrificial anode portion 5;
the locking member 4 passes through the retaining washer 21b and is screwed to the seat body 3;
the sacrificial anode portion 5 is detachably provided at an end portion of the lock member 4.
Thus, the locking member 4 is a fastener which enables the retaining washer 21b to be removably attached to the seat 3, the sacrificial anode being made of active metal which can be used to mitigate the chemical attack of the present solution by the body of water in an underwater environment.
With respect to the object 6 having a small gripping radius
As shown in fig. 4, when the first main clamping jaw assembly 1 and the second main clamping jaw assembly 2 need to grab a target object 6 with a smaller radius, the second main clamping jaw assembly 2 is driven to rotate when the first main clamping jaw assembly 1 and the second main clamping jaw assembly 2 are close to each other, and the second main clamping jaw assembly 2 in the scheme can also drive one end of the first auxiliary clamping jaw assembly 10 to swing while rotating until the other end of the first auxiliary clamping jaw assembly 10 swings to be abutted to the target object, at this time, the first main clamping jaw assembly 1, the second main clamping jaw assembly 2 and the first auxiliary clamping jaw assembly 10 form a triangular stable stress structure on the target object 6, so as to clamp the target object 6 with a smaller radius, thereby solving the problems of small stress area and unstable clamping of the target object 6 of the existing manipulator clamping jaws.
Moreover, when the object 6 with smaller radius is grabbed, the object 6 can be further away from the base 3 due to the action of the first auxiliary clamping jaw assembly 10, so that the possibility that the ends of the second main clamping jaw assembly 2 and the first auxiliary clamping jaw assembly 10 interfere with the environment where the object 6 is located is reduced, and grabbing and placing of the object 6 with smaller radius are facilitated.
Regarding the object 6 with a larger grabbing radius
As shown in fig. 5, the first main jaw assembly 1 and the second main jaw assembly 2 are close to each other, and the first auxiliary jaw assembly 10 is not driven by the second main jaw assembly 2, so that the first auxiliary jaw assembly 10 can increase the contact area of the first main jaw assembly 1, so as to clamp the target object 6.
The present embodiment is only for explanation of the present invention and is not to be construed as limiting the present invention, and modifications to the present embodiment, which may not creatively contribute to the present invention as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present invention.
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211376010.6A CN115781729B (en) | 2022-11-04 | 2022-11-04 | An adaptive manipulator gripper structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211376010.6A CN115781729B (en) | 2022-11-04 | 2022-11-04 | An adaptive manipulator gripper structure |
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| CN115781729A CN115781729A (en) | 2023-03-14 |
| CN115781729B true CN115781729B (en) | 2025-04-15 |
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| CN202211376010.6A Active CN115781729B (en) | 2022-11-04 | 2022-11-04 | An adaptive manipulator gripper structure |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210335982U (en) * | 2019-04-19 | 2020-04-17 | 武汉智仁传控技术有限公司 | Mechanical arm |
| CN212399583U (en) * | 2020-05-26 | 2021-01-26 | 芜湖市法瑞机电有限责任公司 | Movable frock clamp based on triaxial industrial robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7980612B2 (en) * | 2005-07-12 | 2011-07-19 | Schlumberger Technology Corporation | Clamping assembly |
| US8141924B2 (en) * | 2008-12-29 | 2012-03-27 | Foster-Miller, Inc. | Gripper system |
| CN208231824U (en) * | 2018-04-25 | 2018-12-14 | 深圳市大疆创新科技有限公司 | Capture apparatus and robot suit |
| CN215511091U (en) * | 2021-07-13 | 2022-01-14 | 济南光先数控机械有限公司 | Workpiece grabbing device |
| CN216464653U (en) * | 2021-10-21 | 2022-05-10 | 知行高科（北京）科技有限公司 | Multi-finger profiling manipulator |
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2022
- 2022-11-04 CN CN202211376010.6A patent/CN115781729B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210335982U (en) * | 2019-04-19 | 2020-04-17 | 武汉智仁传控技术有限公司 | Mechanical arm |
| CN212399583U (en) * | 2020-05-26 | 2021-01-26 | 芜湖市法瑞机电有限责任公司 | Movable frock clamp based on triaxial industrial robot |
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