CN1039525C - Self-adaptation type manipulator gripper - Google Patents
Self-adaptation type 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
- finger
- oil
- root
- hydraulic jack
- gripper
- 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
Images
Landscapes
- Manipulator (AREA)
Abstract
The present invention relates to a manipulator gripper which is mainly composed of hydraulic oil cylinders, finger roots, fingertips, a swing rod connected with a piston rod, a connecting rod connected with the piston rod, oil paths for supplying and returning oil, etc. Two fingers are simultaneously driven by a left hydraulic oil cylinder and a right hydraulic oil cylinder respectively. After one finger is in contact with a target, the other finger can automatically continuously move until the finger is in contact with the target; therefore, the manipulator gripper of the present invention has the advantages of strong adaptive capability, favorable shape following performance, large working range, etc.
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)
1. manipulator gripper, mainly by palm, hydraulic jack, refer to root, finger tip, fork, connecting rod, fluid cylinder advances, oil return circuit, cylinder body back shaft, oil pipe assembly, sealing ring, Xiao's axle, compositions such as confession, oil return circuit is characterized in that, the finger root (1) of manipulator gripper, hydraulic jack (2) link respectively on palm (3), the finger tip of gripper (4) passes through Xiao's axle (5) hinge joint at the front end that refers to root (1), and 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).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN92110053A CN1039525C (en) | 1992-08-25 | 1992-08-25 | Self-adaptation type manipulator gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN92110053A CN1039525C (en) | 1992-08-25 | 1992-08-25 | Self-adaptation type 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 | Self-adaptation type 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 type automatic catching robot |
| 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US3901547A (en) | Multiple prehension mechanism | |
| JP5313094B2 (en) | Fluid pressure transmission device and robot hand device | |
| CN107791266B (en) | Hydraulic drive five-finger dexterous hand of robot | |
| CN103538070B (en) | A kind of five-freedom-degree hydraulic servo manipulator | |
| CN109648589B (en) | Robot dexterous manipulator finger device based on cylinder driving | |
| EP0115544A1 (en) | Double hand for industrial robot | |
| CN1039525C (en) | Self-adaptation type manipulator gripper | |
| Ko et al. | Underactuated four-fingered hand with five electro hydrostatic actuators in cluster | |
| CN109129548B (en) | Variable-geometry linear parallel clamping self-adaptive robot finger device | |
| CN108189055B (en) | Rack cosine telescopic straight-line parallel clamping self-adaptive finger device | |
| CN109877868A (en) | A kind of drive lacking humanoid dexterous finger of coupling adaptive | |
| CN115503013B (en) | Multi-finger hydraulic humanoid manipulator | |
| Bogdanov et al. | Synthesis of structural scheme of drive of adaptive multiple-link gripper | |
| CN113305874B (en) | Three-finger multi-degree-of-freedom dexterous hand mechanism | |
| SU812571A1 (en) | Load-engaging device | |
| CN216299295U (en) | Mechanical arm with multiple degrees of freedom | |
| TWM461525U (en) | Driving device of humanoid robotic arm | |
| CN110153998B (en) | Zero-coupling-degree two-translation three-rotation parallel mechanism with analytic position positive solution | |
| Shufeng et al. | Structural design and optimization of modular underactuated multi-fingered manipulator | |
| CN110154000B (en) | Three-translation one-rotation parallel robot with zero coupling degree and analytic position positive solution | |
| CN210307854U (en) | Under-actuated manipulator | |
| CN113580125A (en) | Mechanical arm with multiple degrees of freedom | |
| SU1399116A1 (en) | Work-performing member | |
| CN108818580B (en) | Coaxial connecting rod gear sliding shaft type linear parallel clamping self-adaptive finger device | |
| Quan et al. | A planetary gear based underactuated self-adaptive robotic finger |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| 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 |