CN112092002B - Pneumatic three-finger manipulator with multiple grabbing modes and driving modes - Google Patents
Pneumatic three-finger manipulator with multiple grabbing modes and driving modes Download PDFInfo
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- CN112092002B CN112092002B CN202011057914.3A CN202011057914A CN112092002B CN 112092002 B CN112092002 B CN 112092002B CN 202011057914 A CN202011057914 A CN 202011057914A CN 112092002 B CN112092002 B CN 112092002B
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- cylinder
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Classifications
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- 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
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
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- 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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Program-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a pneumatic three-finger manipulator with multiple grabbing modes and driving modes, which comprises a hand shell, a hand rotating cylinder, a rotary chassis, a power cylinder and a control cylinder. The invention uses the air cylinder to replace the motor, so that the cost is greatly reduced, the response speed is greatly accelerated, and the invention is simple and convenient to operate and control. The invention combines a plurality of grabbing modes, increases the adaptability of the manipulator, enables the manipulator to play a larger role in a complex grabbing environment, and simultaneously can replace the grabbing modes without disassembly, thereby greatly reducing errors caused by improper installation and reducing the installation time. The invention has the advantages of exquisite design, small occupied space of hands, low cost and easy control, and is suitable for daily service and even family use.
Description
Technical Field
The design relates to a manipulator structure, in particular to a flat clamp coupling self-adaptive under-actuated pneumatic three-finger manipulator.
Background
With the progress of science and technology, more and more robots replace manpower to play an important role in the production and life of people. The manipulator is used as an end effector of the robot, and the function and the precision of the manipulator determine the quality of one robot to a great extent. The manipulator in the market can be classified into a dexterous hand, an industrial gripper and an underactuated hand according to a grabbing mode. And the parallel clamp type grabbing PA is adopted, and the coupling type grabbing CO and the self-adaptive type SA grabbing are adopted.
The dexterous hand is representative of the full drive mode, and there is a motor at each joint to control the movement of the joint, which makes the dexterous hand grasp many objects of different shapes, but the cost is too high because of too many motors, and the input of a plurality of values and the processing of a plurality of process quantities are represented by too many motors, which makes the dexterous hand more complex to operate, more difficult to analyze errors and more bulky.
Industrial grippers are generally only suitable for one specific gripping mode, have strong specificity and low adaptability and precision, and cannot be used for higher-level production and manufacturing. The industrial clamp is often used when an industrial assembly line grabs an object, the finger has the function of parallel clamping, the parallel clamping (called flat clamping for short) is a very effective grabbing mode in many occasions, the object is grabbed on a desktop even in a unique grabbing mode, the centering grabbing is realized, the grabbing position is accurate, and a large number of applications are realized in industry. The industrial clamp holder has the advantages of simple structure, easy manufacture and reliable work, but the middle part of the finger of the industrial clamp holder is not provided with a rotary joint, so that objects with different shapes and sizes are difficult to grasp, and the application range is narrow, and the industrial clamp holder is not beneficial to being applied to a service robot;
the underactuated hand is used as a popular field of recent mechanical hand research, and is characterized in that one motor is used for controlling a plurality of joints, so that a system is simplified, input quantity is reduced, process quantity is reduced, and complexity is reduced. In addition, the underactuated hand has a wider application range and is suitable for different grabbing modes.
The coupling grabbing is used as a common mode of underactuated grabbing, and is characterized in that the movement directions of the first joint and the second joint are simultaneously consistent, the coupling grabbing has a good anthropomorphic effect, and the coupling grabbing is suitable for pinching with the tail end of a fingertip. The finger tail end of the flat clamp is kept vertical all the time in the clamping process, and the flat clamp is suitable for flat clamping of objects on a tabletop. Both of these gripping modes have advantages, but do not allow for a good completion of the envelope gripping of the object. The self-adaptive grabbing utilizes mechanical characteristics or sensors to complete the accompanying grabbing of the object. The movement is stopped when different knuckles contact the object, and the conformal grabbing of the object is completed in this way.
Most manipulators in the current market mainly comprise a flat clamp self-adaptive PASA and a coupling self-adaptive COSA, and the manipulator combining two grabbing modes is not common, and sometimes the grabbing precision deviation is caused after disassembly and assembly because of different grabbing modes with different requirements of grabbing environments. Therefore, it is important to design a manipulator with multiple gripping modes and driving modes.
Disclosure of Invention
The invention aims to provide a novel manipulator structure for simultaneously realizing multiple grabbing modes of flexible hand, flat clamp, coupling, self-adaption and underactuation. Cost and installation time are saved.
The technical scheme of the invention is as follows:
A pneumatic three-finger manipulator with multiple grabbing modes and driving modes comprises a hand shell, a hand rotating cylinder, a rotating chassis 5, a power cylinder 1 and a control cylinder 2;
The hand shell is a cylinder shell at the rear end of the manipulator;
The hand rotating cylinder mainly comprises an air duct and a crank sliding block mechanism 8, and the reciprocating motion of a cylinder piston is converted into the rotating motion of a crank so as to drive the rotating chassis 5 to rotate;
The rotary chassis 5 carries rotatable means of two power cylinders 1, one control cylinder 2 and a middle knuckle 4, which by rotation change different hand shapes to adapt to different forms;
the power cylinder 1 is a screw cylinder for controlling the middle knuckle 4 to rotate;
the control cylinder 2 is a screw cylinder for controlling the front knuckle 3 to rotate;
The air duct comprises three small air ducts 6 and one large air duct 7, the small air ducts 6 and the large air ducts 7 are welded and connected into a crank slide block mechanism 8, a piston is arranged in the crank slide block mechanism 8, the piston is made to reciprocate by the air duct, the reciprocating motion is converted into rotary motion of a rotary chassis 5 by the crank slide block mechanism 8, and the rotary chassis 5 is connected with an output end of the crank slide block mechanism 8 through a shaft; three connecting ends are arranged on the rotary chassis 5; one end of the middle knuckle 4 is connected with a first connecting end of the rotary chassis 5 through a fixed hinge, and the front knuckle 3 is connected with the other end of the middle knuckle 4 through a free hinge constraint; the middle knuckle 4 can rotate around the shaft at the joint of the rotary chassis 5, and the front knuckle 3 rotates through the shaft at the joint of the middle knuckle 4 and rotates along with the middle knuckle 4 through the rotation between the middle knuckle 4 and the rotary chassis 5; one end of the control cylinder 2 is connected with a second connecting end of the rotary chassis 5 through a smooth hinge constraint and can rotate around a shaft at the connecting part of the rotary chassis 5; the other end of the control cylinder 2 is connected with the joint of the front knuckle 3 through smooth hinge constraint; one end of the two power cylinders 1 is connected with a third connecting shaft of the rotary chassis 5, and the other end is connected with two protruding connecting ends of the middle knuckle 4, and can freely rotate around a connecting point; the back and forth movement of the piston of the control cylinder 2 controls the rotation of the front knuckle 3 and the middle knuckle 4 about the connection point, and the movement of the piston of the power cylinder 1 controls the rotation of the middle knuckle 4 about the connection point.
The air guide rate is digitalized according to the characteristic point of the air guide pipe, namely, the air guide rate is divided into four main types of ultra-low speed, medium speed and high speed, wherein the ultra-low speed is divided into: a small air duct 6 for air intake or a large air duct 7 for air intake; the low speed is divided into: a small air duct 6 and a large air duct 7 or two small air ducts 6; the medium speed is divided into: three small air ducts 6 are used for air intake or two small air ducts 6 and one large air duct 7 are used for air intake; the high speed is divided into: three small air ducts 6 and one large air duct 7.
The invention has the beneficial effects that:
1. The invention uses the air cylinder to replace the motor, so that the cost is greatly reduced, the response speed is greatly accelerated, and the invention is simple and convenient to operate and control.
2. The invention combines a plurality of grabbing modes, increases the adaptability of the manipulator, enables the manipulator to play a larger role in a complex grabbing environment, and simultaneously can replace the grabbing modes without disassembly, thereby greatly reducing errors caused by improper installation and reducing the installation time.
3. The invention has the advantages of exquisite design, small occupied space of hands, low cost and easy control, and is suitable for daily service and even family use.
Drawings
FIG. 1 is a schematic diagram of a multi-grip and drive pneumatic three-finger manipulator illustrating the initial state in coupled and coupled adaptive grip modes; fig. 1 (a) is a bottom view, and fig. 1 (b) is an isometric view.
FIG. 2 is a schematic diagram of a multi-grip and drive pneumatic three-finger manipulator illustrating the initial state of the flat clamp and the self-adaptation of the flat clamp; fig. 2 (a) is a bottom view, and fig. 2 (b) is an isometric view.
FIG. 3 is a schematic diagram of a multi-grip and drive pneumatic three-finger manipulator illustrating an initial state during under-actuated adaptive control; fig. 3 (a) is a bottom view, and fig. 3 (b) is an isometric view.
Fig. 4 is an isometric view of the fingers of a multi-grip and drive pneumatic three-finger manipulator, illustrating its assembly relationship.
Fig. 5 is an isometric view of a hand rotating cylinder of a multi-grip and drive pneumatic three-finger manipulator. Indicating the assembly relationship thereof; fig. 5 (a) is an isometric view, and fig. 5 (b) is a bottom view.
Fig. 6 is an overlapping view of a multi-grip and drive pneumatic three-finger manipulator, illustrating a flat grip.
Fig. 7 is an overlapping view of a multi-grip and drive pneumatic three-finger manipulator, illustrating a coupled grip.
Fig. 8 is an overlapping view of a multi-grip and drive pneumatic three-finger manipulator, illustrating a flat-grip adaptive grip.
FIG. 9 is an overlapping view of a multi-grip and drive pneumatic three-finger manipulator, illustrating a coupled adaptive grip
Fig. 10 is an overlapping view of a multi-grip and drive pneumatic three-finger manipulator. And an underactuated self-adaptive grabbing mode is shown.
In the figure: 1, a power cylinder; 2, controlling a cylinder; 3 front knuckle; 4 knuckle; 5, rotating the chassis; 6 small air ducts; 7 large air ducts; 8 crank slide block mechanism; 9 output shaft.
Detailed Description
The first embodiment is as follows: the flat clamp refers to a second drawing and a sixth drawing, and is characterized in that:
Step one: the front knuckle is always vertical to the rotary chassis, the control cylinder is not moved when the front knuckle contacts with the clamping instruction, the power cylinder drives the middle knuckle to approach an object around the rotating shaft of the rotary chassis, and the rotary chassis adjusts three fingers to be in a state suitable for grabbing
Step two: when the touch sensor of the current knuckle senses a touch object, a feedback signal is given, the power cylinder gives an excessive amount according to the situation so that the finger can tighten the object, and then all cylinders are locked to finish grabbing.
The second embodiment is as follows: flat clamp self-adaptation, refer to the figure two and the figure eight, its characterized in that:
Step one: the front knuckle is always vertical to the rotary chassis, the control cylinder is not moved when the front knuckle contacts with the clamping instruction, the power cylinder drives the middle knuckle to approach an object around the rotating shaft of the rotary chassis, and meanwhile, the rotary chassis adjusts three fingers to be in a state suitable for grabbing.
Step two: and when the contact sensing of the middle knuckle and the contact of the object are performed, a feedback quantity is given, so that the power cylinder stops outputting. And the control cylinder starts to output to drive the front knuckle to rotate around the connecting shaft with the middle knuckle.
Step three: the front knuckle sensor contacts the object, gives an excess so that the hand grips the object to complete gripping.
And a third specific embodiment: coupling, with reference to figures one and seven, characterized in that:
step one: when a grabbing instruction is received, the control cylinder does not output, and the power cylinder drives the front knuckle and the middle knuckle to move towards an object at the same time. Meanwhile, the rotary cylinder drives the rotary chassis to adjust the fingers to a proper grabbing position.
Step two: when the sensor of the front knuckle contacts the object, an excess is given so that the finger grips the object and the gripping ends.
The specific embodiment IV is as follows: coupling adaptation, see figures one and nine. The method is characterized in that:
step one: when a grabbing instruction is received, the control cylinder does not output, and the power cylinder drives the front knuckle and the middle knuckle to move towards an object at the same time. Meanwhile, the rotary cylinder drives the rotary chassis to adjust the fingers to a proper grabbing position.
Step two: when the middle knuckle sensor contacts an object, the power cylinder stops outputting, and the control cylinder is started to drive the front knuckle to move around the connecting shaft to the object.
Step three: when the front knuckle sensor contacts an object, an excessive amount is given to enable the manipulator to grasp the object, and the control cylinder is locked to complete grasping.
Fifth embodiment: underactuated adaptation, combining the third and tenth diagrams. The method is characterized in that:
Step one: the rotary cylinder controls the rotary chassis to rotate 180 degrees, when the manipulator receives a grabbing instruction, the control cylinder is only started, and the power cylinder does not output, so that the front knuckle and the middle knuckle move around the rotating shaft at the same time.
Step two: when the middle knuckle contacts an object, the front knuckle still can continuously move forwards due to the action of force to know that the middle knuckle contacts the object, and meanwhile, the control cylinder continuously outputs an excessive amount until the manipulator tightens the object. When the front knuckle contacts an object, the force is applied to stop the movement of the middle knuckle, and the control cylinder continuously outputs an excessive amount to enable the manipulator to grasp the object, so that the grabbing is completed.
Claims (2)
1. The pneumatic three-finger manipulator with the multiple grabbing modes and the driving modes is characterized by comprising a hand shell, a hand rotating cylinder, a rotary chassis (5), a power cylinder (1) and a control cylinder (2);
The hand shell is a cylinder shell at the rear end of the manipulator;
the hand rotating cylinder mainly comprises an air duct and a crank sliding block mechanism (8), and the reciprocating motion of a cylinder piston is converted into the rotating motion of a crank so as to drive the rotating chassis (5) to rotate;
The rotary chassis (5) is provided with a rotatable device which is connected with two power cylinders (1), one control cylinder (2) and a middle knuckle (4) and can change different hand shapes by rotation so as to be applicable to different forms;
the power cylinder (1) is a screw cylinder for controlling the middle knuckle (4) to rotate;
the control cylinder (2) is a screw cylinder for controlling the front knuckle (3) to rotate;
The air duct comprises three small air ducts (6) and one large air duct (7), the small air ducts (6) and the large air ducts (7) are welded and communicated into the crank slide block mechanism (8), a piston is arranged in the crank slide block mechanism (8), the air is introduced into the air duct to enable the piston to reciprocate, the reciprocating motion is converted into rotary motion of the rotary chassis (5) by the crank slide block mechanism (8), and the rotary chassis (5) is connected with the output end of the crank slide block mechanism (8) through a shaft; three connecting ends are arranged on the rotary chassis (5); one end of the middle knuckle (4) is connected with a first connecting end of the rotary chassis (5) through a fixed hinge, and the front knuckle (3) is connected with the other end of the middle knuckle (4) through a free hinge constraint; the middle knuckle (4) can rotate around the shaft at the joint of the rotary chassis (5), and the front knuckle (3) rotates through the shaft at the joint of the middle knuckle (4) and rotates along with the middle knuckle (4) through the rotation between the middle knuckle (4) and the rotary chassis (5); one end of the control cylinder (2) is connected with the second connecting end of the rotary chassis (5) through a smooth hinge constraint and can rotate around a shaft at the connecting part of the rotary chassis (5); the other end of the control cylinder (2) is connected with the joint of the front knuckle (3) through smooth hinge constraint; one end of each power cylinder (1) is connected with a third connecting shaft of the rotary chassis (5), and the other end of each power cylinder is connected with two protruding connecting ends of the middle knuckle (4) and can freely rotate around the connecting point; the piston of the control cylinder (2) moves back and forth to control the rotation of the front knuckle (3) and the middle knuckle (4) around the connecting point, and the movement of the piston of the power cylinder (1) can control the rotation of the middle knuckle (4) around the connecting point.
2. The multi-grasping and driving pneumatic three-finger manipulator according to claim 1, wherein the air guiding rate is digitized according to the feature point of the air guiding pipe, namely, the air guiding rate is divided into four main types of ultra-low speed, medium speed and high speed, wherein the ultra-low speed is divided into: a small air duct (6) for air intake or a large air duct (7) for air intake; the low speed is divided into: a small air duct (6) and a large air duct (7) for air intake or two small air ducts (6) for air intake; the medium speed is divided into: three small air guide pipes (6) are used for air intake or two small air guide pipes (6) and one large air guide pipe (7) are used for air intake; the high speed is divided into: three small air ducts (6) and one large air duct (7) are used for air intake.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011057914.3A CN112092002B (en) | 2020-09-30 | 2020-09-30 | Pneumatic three-finger manipulator with multiple grabbing modes and driving modes |
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| CN202011057914.3A CN112092002B (en) | 2020-09-30 | 2020-09-30 | Pneumatic three-finger manipulator with multiple grabbing modes and driving modes |
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| CN112092002A CN112092002A (en) | 2020-12-18 |
| CN112092002B true CN112092002B (en) | 2024-07-12 |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN213616765U (en) * | 2020-09-30 | 2021-07-06 | 大连理工大学 | Pneumatic three-finger manipulator with multiple grabbing modes and driving modes |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5762390A (en) * | 1996-07-16 | 1998-06-09 | Universite Laval | Underactuated mechanical finger with return actuation |
| CN102873689B (en) * | 2012-10-24 | 2017-04-12 | 中南大学 | Multimode under-actuated human finger simulation device with quick reflex grabbing function |
| CA2958893A1 (en) * | 2017-02-23 | 2018-08-23 | Krishna D. Kumar | Design of fault-tolerant dexterous hand with multi-fingers |
| CN109648589B (en) * | 2019-01-22 | 2021-05-11 | 北京邮电大学 | A Dexterous Robot Finger Device Based on Cylinder Drive |
| WO2020190164A1 (en) * | 2019-03-19 | 2020-09-24 | Obshchestvo S Ogranichennoy Otvetstvennostyu "Tra Robotics" | Gripper device for a robotic arm capable of operating in two grasp modes |
| CN111421566A (en) * | 2020-05-22 | 2020-07-17 | 西安建筑科技大学 | Belt type under-actuated three-joint mechanical finger structure and operation method thereof |
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| CN213616765U (en) * | 2020-09-30 | 2021-07-06 | 大连理工大学 | Pneumatic three-finger manipulator with multiple grabbing modes and driving modes |
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