CN1039525C - Adaptive Manipulator Gripper - Google Patents
Adaptive Manipulator Gripper Download PDFInfo
- Publication number
- CN1039525C CN1039525C CN92110053A CN92110053A CN1039525C CN 1039525 C CN1039525 C CN 1039525C CN 92110053 A CN92110053 A CN 92110053A CN 92110053 A CN92110053 A CN 92110053A CN 1039525 C CN1039525 C CN 1039525C
- Authority
- CN
- China
- Prior art keywords
- oil
- finger
- gripper
- root
- manipulator
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Fee Related
Links
- 230000003044 adaptive effect Effects 0.000 title description 6
- 239000003921 oil Substances 0.000 claims abstract description 27
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 5
- 244000060701 Kaempferia pandurata Species 0.000 claims description 6
- 235000016390 Uvaria chamae Nutrition 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 4
- 239000000446 fuel Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 241001061260 Emmelichthys struhsakeri Species 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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- Manipulator (AREA)
Abstract
本发明为一种机械手抓爪，主要由液压油缸，手指指根和指尖，与活塞杆相连接的摆杆、连杆以及供、回油油路等组成。两手指分别由左右液压油缸同时驱动，当一个手指接触到目标后，另一个手指可自动继续移动直至接触到目标物。故本发明所说的机械手抓爪有自适应能力强、随形性能好、工作范围大等优点。
The present invention is a gripper of a manipulator, which is mainly composed of a hydraulic oil cylinder, finger bases and fingertips, a swing rod connected with a piston rod, a connecting rod, oil supply and return oil passages, and the like. The two fingers are respectively driven by the left and right hydraulic cylinders. When one finger touches the target, the other finger can automatically continue to move until it touches the target. Therefore, the manipulator gripper of the present invention has the advantages of strong self-adaptability, good conformal performance, and large working range.
Description
The invention belongs to a kind of manipulator gripper.
Manipulator gripper of the prior art uses to such an extent that be the mechanism with single degree of freedom paw more widely, and this paw gripper thing contact is few, and inhomogeneous, unreliable, and the control accuracy to manipulator in the operating process is had relatively high expectations.The U.S. has published one piece and has been entitled as the article of " The Future of Atmospheric Diving Systems and AssociatedManipnlator Technology; with Special Reference to a NewMicrosubmersible; DEEP ROVER " nineteen eighty-three on MTS Journal No.3, the author Graham S.Hawkes of above-mentioned article in 1991 has write one piece again and be entitled as the article of " Advanced Manipolator Conceptsand Appiications ".These two pieces of articles disclose a kind of four functional machinery hand grippers, and according to the literal report of this paw, it refers to root and finger tip respectively by drive, so hydraulic oil structure and hydraulic system structure complexity thereof, the manufacturing cost costliness.
The objective of the invention is at weak point of the prior art, invent two free degree manipulator grippers of a kind of self-adaptation type.Make manipulator gripper have the ability of stronger adaptive targets and lower control system requirement, and reliable, uniform chucking power is arranged.
Main points of the present invention are, finger root (1), hydraulic jack (2) in the manipulator gripper finger link respectively on palm (3), at the front end that refers to root (1), can finish by four jointed gear units that fork (6) and connecting rod (7) constitute with the relative motion that refers to root (1) by finger tip (4) by Xiao's axle (5) hinge joint for the finger tip of gripper (4).Fork (6) links with the piston rod head (8) of hydraulic jack (2), and is installed on the finger root (1) in movable mode; Connecting rod (7) becomes manner to be connected with fork (6), and the other end of connecting rod (7) is installed on the finger tip (4) in movable mode.
About hydraulic jack (2) oil-feed and/or oil return circuit in the finger in parallel with the oil catcher (11) on the palm (3) respectively by the oil pipe assembly (10) on the cylinder body back shaft (9), and communicate with fuel feeding and/or oil return line (12) on the palm (3).
The operation principle of adaptive manipulator gripper of the present invention is: hydraulic oil enters oil feeding line (12) by the public inlet nozzle on the palm (3), pass through oil catcher (11) and oil pipe assembly (10) then respectively to left and right sides hydraulic jack (2) while fuel feeding, piston rod and drive refer to that root (1) and finger tip (4) move simultaneously; When a certain finger root touched object earlier, this referred to the root stop motion, and cylinder thrust turns to finger tip, made finger tip continue motion, until the contact target thing and make refer to root, just stop motion when the finger tip chucking power reaches balance.Since about the oil-feed and the oil return circuit parallel connection of finger hydraulic jack, so about the motion mode pointed identical, the priority of just touching object has difference.Therefore, clamping is carried out in the paw geometry external form and the fixed position thereof that can be adapted to object.
The present invention utilizes simple four jointed gear units and common hydraulic jack to drive to refer to that root and finger tip are to realize the gripper pattern of function same as the prior art.Because said finger root and finger tip are with being subjected to a power drive among the present invention, about the finger the hydraulic system parallel connection, the distribution of its chucking power and contact can be regulated voluntarily according to the geometry of gripped object, therefore the geometry of clamping object is unrestricted, so it is strong that adaptive manipulator gripper of the present invention has adaptive ability, the conformal performance is good, working range is big, applied range, advantages such as low cost of manufacture.When object departs from a certain angle in manipulator center, the position and the clamping object reliably of finger can be adjusted voluntarily, and the position of manipulator need not be accurately controlled, control system can be minimized the requirement of precision.In addition, grasping counter-force of the present invention is zero, and has the wrist function of certain angle.Can be widely used on underwater robot or the latent device and industrial transfer matic on manipulator.
Accompanying drawing 1: self-adaptation type manipulator gripper;
Accompanying drawing 1: self-adaptation type manipulator gripper A-A is to view.
Adaptive manipulator gripper of the present invention is shown in accompanying drawing 1. accompanying drawings 2.Its primary structure has finger root (1), hydraulic jack (2), and palm (3), finger tip (4), Xiao's axle (5) fork (6), connecting rod (7), hydraulic jack advances, oil return circuit, cylinder body back shaft (9), oil pipe assembly (10), oil catcher (11), sealing ring compositions such as (13).Said in this embodiment hydraulic jack advances.Oil return line, oil pipe assembly (10), oil catcher (11), sealing rings (13) etc. are the required device of sealing oil circuit, can be different forms.Other structure does not repeat them here as previously mentioned.
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN92110053A CN1039525C (en) | 1992-08-25 | 1992-08-25 | Adaptive Manipulator Gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN92110053A CN1039525C (en) | 1992-08-25 | 1992-08-25 | Adaptive Manipulator Gripper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1083427A CN1083427A (en) | 1994-03-09 |
| CN1039525C true CN1039525C (en) | 1998-08-19 |
Family
ID=4944581
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN92110053A Expired - Fee Related CN1039525C (en) | 1992-08-25 | 1992-08-25 | Adaptive Manipulator Gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1039525C (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100446938C (en) * | 2006-10-25 | 2008-12-31 | 哈尔滨工程大学 | Impact automatic grabbing manipulator |
| CN100519102C (en) * | 2006-12-28 | 2009-07-29 | 浙江工业大学 | Pneumatic power flexible three-finger paw |
| CN106541394B (en) * | 2017-01-23 | 2019-02-01 | 王安基 | Reinforcement clamping jaw and manipulator |
| CN113733129A (en) * | 2020-05-29 | 2021-12-03 | 广东天机机器人有限公司 | Clamping jaw device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4557660A (en) * | 1982-12-06 | 1985-12-10 | Fanuc Ltd. | Robot hand |
| US4660359A (en) * | 1984-10-23 | 1987-04-28 | Deere & Company | Air system for a cotton harvester |
| US4728137A (en) * | 1986-07-22 | 1988-03-01 | American Engineering And Trade, Inc. | Compound toggle robotic gripper |
-
1992
- 1992-08-25 CN CN92110053A patent/CN1039525C/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4557660A (en) * | 1982-12-06 | 1985-12-10 | Fanuc Ltd. | Robot hand |
| US4660359A (en) * | 1984-10-23 | 1987-04-28 | Deere & Company | Air system for a cotton harvester |
| US4728137A (en) * | 1986-07-22 | 1988-03-01 | American Engineering And Trade, Inc. | Compound toggle robotic gripper |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1083427A (en) | 1994-03-09 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |