CN106671120A - Pervasive modularized air-aspiration type robot gripper - Google Patents
Pervasive modularized air-aspiration type robot gripper Download PDFInfo
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- CN106671120A CN106671120A CN201610930573.3A CN201610930573A CN106671120A CN 106671120 A CN106671120 A CN 106671120A CN 201610930573 A CN201610930573 A CN 201610930573A CN 106671120 A CN106671120 A CN 106671120A
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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Abstract
The invention discloses a pervasive modularized air-aspiration type robot gripper. The air-aspiration type robot gripper has the characteristics of being pervasive and modularized. The air-aspiration type robot gripper comprises sucking pipes, a negative pressure air cavity, communication air pipes and an exhaust pipe. The lower ends of the sucking pipes are provide with suction discs of ball joints; the upper end of the negative pressure air cavity is connected with the exhaust pipe, the upper end of the exhaust pipe is connected with an external air pump, and thus a stable air source can be provided for the negative pressure air cavity; the communication air pipes are connected with the periphery of the negative pressure air cavity correspondingly; and an air valve is installed at the tail end of each communication air pipe to control closing and opening of the corresponding communication air pipe. Two working modes are achieved correspondingly, and specifically, one air-aspiration type robot gripper works independently; multiple air-aspiration type robot grippers work cooperatively; the lower end of the negative pressure air cavity is connected with n*m sucking pipes; each sucking pipe has a degree of freedom and can conduct vertical movement; and the lower ends of the sucking pipes are connected with the suction discs of the ball joints. The pervasive modularized air-aspiration type robot gripper has the advantages that the structure is simple and compact, manufacturing cost is low, and interchangeability is good.
Description
Technical field
The invention belongs to robot application field, more particularly to a kind of pervasive modular aspirated-air type robot hand should
Aspirated-air type robot hand is a kind of aspirated-air type mechanical claw of utilization air-negative-pressure principle.
Background technology
Nowadays, with robot, in the industrial production demand constantly increases, and the continuous development of roboticses, machine
Device people has been widely used in the high-volume operation such as assembling, carrying, spray painting, carries out repeating trifling for substituting or helping people
Task.As the executor of robot end, robot hand be one it is highly integrated, with perceptive function and intelligentized
Electro-mechanical system, it is mainly used to capture object or holding tool, and the quality of its performance determines to a great extent machine
The function and performance of device people.
It is presently used for drawing the robot hand of object, two kinds of magnetic and aspiration can be divided into.Magnetic-type paw, using electricity
Magnetic force and packed changeable-shaped magnetic powder, can hold the magnetic object of tool, but not be suitable for not having magnetic object, and be inhaled
Attached object has remanent magnetism problem.Aspirated-air type paw, is, by negative-pressure adsorption object, in the way of negative pressure is formed squish can be divided into
Formula, jet-propelled and vacuum type.Aspirated-air type paw complex structure, the single function being widely used at present.
Due to the difference of the shape, size and weight of object, it is often necessary to design different machines for certain object
People's paw.And, the research and development special robot hand cycle is long, relatively costly.In actual applications, in the urgent need to a kind of structure
Simply, low cost, and the robot hand of different shape object can be processed.
Chinese publication number：CN2584315, title：A kind of curved surface graping chaw.The invention devises one kind and can capture
The paw of curved face object, it is firm by contact force control device and its control system, flexible positioning device and its control system, gapless
Property positioner and its control system composition.The beneficial effect of the invention is to realize reliability, safely capture curved face object, and
And the pose after effectively keeping grasping body and placing is constant all the time.But the invention Machine Design is excessively complicated, is manufactured into
This and maintenance cost are high；Working procedure is tediously long, it is impossible to ensure higher crawl efficiency, and a certain step malfunctions, and will affect whole
Individual crawl process cannot be normally carried out.
Chinese publication number：CN100999077, title：A kind of multipurpose shape adaptive robot hand and work
Method.The invention provides a kind of multipurpose shape adaptive robot hand and method of work, it mainly include framework and with
Mechanical attachment finger mechanism, drive branch drive mechanism and finger position adjustment mechanism, three torque motors and a step
Stepper motor.The robot hand has higher intelligent, and load capacity is strong, and adaptivity is good.But the inventive structure is complicated, into
This is higher, it is adaptable to robot for space, and cannot spread to the industrial robot in manufacture production.
The content of the invention
The purpose of the present invention is：Overcome existing rotor gripper structure complicated, the high cost of research and development and manufacture, versatility
The problem of the aspect such as not strong with adaptability, there is provided a kind of aspirated-air type robot hand based on air-negative-pressure principle, it can basis
Different curved surfaces adjusts the shape of suction pipe, captures different objects.The aspirated-air type robot hand is widely used in adsorbent,
The nonmetallic materials such as glass and the material that can not have remanent magnetism.
Technical scheme can be：A kind of pervasive modular aspirated-air type robot hand, the aspirated-air type machine
Device people's paw has generalization and modular feature, including：Suction pipe, negative pressure air cavity, connectivity trachea and exhaustor, the suction pipe
Lower end there is the sucker of ball-joint, wherein：
The upper end of negative pressure air cavity is connected with exhaustor, and the upper end of exhaustor is connected with the air pump of outside, is that negative pressure air cavity is carried
For stable source of the gas；
The surrounding of negative pressure air cavity is connected respectively with a connectivity trachea.The end of connectivity trachea is provided with an air valve, energy
Enough control the closing of connectivity trachea and open, two kinds of working methods are realized respectively：Single aspirated-air type robot hand works independently；
Multiple aspirated-air type robot hand cooperatings；
The lower end of negative pressure air cavity is connected with n × m root suction pipes.Each suction pipe has one degree of freedom, i.e., can move up and down
It is dynamic.Suction pipe lower end is connected with a sucker for being provided with ball-joint；
Sucker is used for and the body surface directly contact to be drawn, and by ball-joint the function of sucker angle adjustment, energy are provided
Corresponding attitude is adjusted according to the camber of body surface；
, when object is drawn, first according to the concave-convex surface degree of object, suction pipe is upper and lower for described aspirated-air type robot hand
Movement is adjusted to corresponding position, while sucker adjusts corresponding attitude；Then exhaustor connection can produce the air pump of source of the gas, be
The internal chamber of robot hand provides steady air flow from top to bottom.The direction of air-flow is：Terminal sucker under suction pipe --- suction pipe
Upper end --- inside air cavity --- exhaustor, so as to form certain negative pressure when air-flow sprays at a high speed, holds suction pipe
Object；When finally needing to discharge object, air pump will slowly reduce throughput, to allow the sucker of robot hand suction pipe lower end to stablize
Ground release object.
In a uniform distribution, described suction pipe one has n × m roots to described suction pipe, the matrix arrangement in n rows m row.Protect
Having demonstrate,proved adsorbed body surface has larger area absorption affinity, and uniform force, will not there is larger damage to object.
Described suction pipe has an one degree of freedom, and the lower end of suction pipe is used for absorbent bodies, and each suction pipe is all according to being inhaled
The concavo-convex difference of attached body surface, independently self adaptation move up and down, with the gap between reduction and surface, so as to increase absorption
Power.
The ball-joint can rotarily drive following handstand funnel-form sucker rotation；When contacting with body surface, make
Ball-joint makes the corresponding anglec of rotation, is adjusted to suitable attitude, with allow sucker lower end and object surface as much as possible
It coincide, therefore considerably reduces the gap between them, is conducive to strengthening absorption affinity.
Described suction pipe and air cavity connecting portion, straw diameter is compared in the position that the air cavity lower end is connected with suction pipe for one
Bigger circular hole so that minimum gap is there is between air cavity and suction pipe, it is ensured that the mobility of suction pipe is closed with air cavity
Property.
In T-shaped, the T-shaped is embedded in air cavity the inside, and is connected with the lower end of air cavity for the upper end of the suction pipe.Due to
T-shaped upper end is bigger than air cavity lower end circular hole, so as to ensure that suction pipe under any circumstance, all without departing from air cavity.
The top and bottom of described negative pressure air cavity are connected respectively with suction pipe and exhaustor, the surrounding of described negative pressure air cavity
It is respectively provided with the connectivity trachea of a cylinder, there is control the end of the connectivity trachea, and it opens air valve with locking；The gas
When suction robot hand is used alone, air valve is closed, and realizes that single aspirated-air type robot hand works independently；The aspirated-air type
When robot hand connects with other aspirated-air type robot hands, air valve is opened, and is connected with the trachea of other robot paw, real
Existing multiple aspirated-air type robot hand cooperatings.Conveniently assembling mode realizes the module of aspirated-air type robot hand
Change.
The lower end of described exhaustor is connected with air cavity, and seal is good；The upper end of described exhaustor is connected with air pump,
For producing stable air-flow, between the pressure allowed in air cavity and atmospheric pressure certain pressure differential, absorbent bodies are produced.When multiple
Robot hand links together when using, and makes each exhaustor only leave an exhaustor and is connected with air pump, and remaining is by gas
Valve control shut-off, with the air-tightness for keeping connecting.
Technical scheme can also be：A kind of aspirated-air type mechanical claw based on air-negative-pressure principle, main bag
Include suction pipe, negative pressure air cavity and these three parts of exhaustor.
The composition and operation principle of each several part is as follows：
Suction pipe one has n × m roots, in the perpendicular m roots arrangement of horizontal n roots.Every tubing length, diameter is all identical, and has
One degree of freedom, can move up and down according to the feature of curved surface.So that every suction pipe can well connect with body surface
Touch, enhance the versatility of robot hand.
The lower end of suction pipe is provided with a ball-joint in the funnel-form stood upside down.As shown in Figure 1 d, ball-joint is to roll
, it can make the funnelform sucker rotation of handstand, so that sucker can adapt to the object in Different Plane.
As shown in Figure 2 b, when the object of convex surface is run into, on the one hand, the degree of freedom of suction pipe can be moved it up, with
Adapt to the convexity of curved surface；On the other hand, the ball-joint of suction pipe makes sucker rotate, and more presses close to body surface, substantially reduce with
Gap between body surface.
The upper end of suction pipe, the one end in negative pressure air cavity is in T-shaped, it is ensured that suction pipe is without departing from air cavity.Suction pipe
Quantitative commitments can draw the object of certain mass, and the degree of freedom of suction pipe ensure that to body form with the degree of freedom of sucker
It is adaptable.
Negative pressure air cavity is in cuboid, and its lower end connects with suction pipe, and upper end connects with air inlet-outlet pipe.Wherein, it is to ensure to inhale
Pipe can be moved up and down, and have tiny gap between air cavity and suction pipe, and one side frictional force is minimum, does not hinder the motion of suction pipe, separately
One side gas leakage is few, and the weight to drawing object is negligible.
In order to the bigger object of preferably quality of adsorption, negative pressure air cavity is respectively arranged with a trachea in surrounding.It is single
When solely using, the air valve of each trachea is closed, and the air valve of exhaustor opens connection air pump.When needing to adsorb bigger object, often
The air valve of individual trachea will be opened, and be attached using the screw thread of junction.And only need to open one of robot hand
Exhaustor connect with air pump, remaining exhaustor is closed, you can the bigger object of quality of adsorption.As shown in Figure 3 a and Figure 3 b shows,
The big object of one square of absorption, is connected using 2 × 2 robot hands, you can absorption.
Exhaustor is connected to produce the air pump of stable source of the gas, using bernoulli principle, allows the air velocity of suction pipe porch
Lifted and be exceedingly fast, required negative pressure is defined when air-flow sprays at a high speed, so that suction pipe holds object.
The principle of the present invention needs a restriction for calculating small diameter pipeline based on the principle of negative pressure in hydrodynamics
Value -- how many air can flow through it, go to draw object to produce enough pressure differentials.To ensure that the invention is optimal design,
To go to discuss the parameter of the present invention in terms of three below：
(1) air-pressure drop of suction pipe pipeline；
(2) impact of suction pipe bound thickness.
1. the air-pressure drop of suction pipe pipeline；
Pressure drop：The pressure differential of suction pipe two ends air is the reason for making robot hand produce absorption affinity to object.According to reaching
Western formula, the air-pressure drop in each suction pipe is：
In formula, Δ p is the pressure drop at suction pipe two ends, and ρ is atmospheric density in suction pipe, and L is the length of suction pipe, and v is viscosity, and D is
Diameter, f is the coefficient of friction resistance, only relevant with fluidised form in pipe laminar motion.Coefficient of friction resistance f and tubing length L is discussed below.
1.1 coefficient of friction resistances f；
Because the air-flow in pipeline is laminar flow, therefore gas friction coefficient can determine by below equation：
In formula, ReFor Reynolds number, can be used to characterize flow of fluid situation.Can be determined by below equation：
In formula, ρ is atmospheric density, and υ is the flow velocity of gas, and D is diameter of section, and μ is dynamic viscosity, is and gas temperature phase
Close.
1.2 tubing length；
Suction pipe is made up of bottom chuck and upper cylindrical pipeline, because their diameter of section is differed, therefore need to be divided
Go to calculate into two parts.If the depth of bottom chuck is L1, its diameter takes average diameter D1.If the rotatable portion of upper end suction pipe
Length is divided to be L2, diameter D2.If suction pipe partial-length moving up and down in upper end is L3, diameter D3。
Here, the length of suction pipe refers to suction pipe lower end to the length between air cavity bottom.Due to each suction pipe meeting
Moved up according to the shape of body surface, the length for moving up is set to into Δ L, therefore the tube voltage drop length of suction pipe is (L3-
ΔL).Here it is divided into three parts to go to calculate the tube voltage drop of a whole suction pipe, in following formula, ρ is atmospheric density in suction pipe, L
It is the length of suction pipe, v is viscosity, and D is diameter, and f is the coefficient of friction resistance.
Part I is the tube voltage drop Δ p of sucker1, L=L1, D=D1, substitute into equation (1) and obtain：
Part II is the tube voltage drop Δ p of rotatable suction pipe2, Part II for suction pipe tube voltage drop, L=L2, D=D2, such as
The angle of rotation is set as θ, then effective tube voltage drop length is L shown in figure2cosθ。
Part III is the tube voltage drop Δ p of moveable suction pipe3, L=(L3- Δ L), D=D3, substitute into equation (1) and obtain：
Therefore the tube voltage drop Δ p of a whole suction pipe is：
In sum, total tube voltage drop Δ P of n roots suction pipe offer is：
In discussion in this section, the pass of suction pipe two ends air pressure change and air pressure between suction pipe change in depth has been obtained
System, thus can calculate the draught head between suction pipe inside and outside.
2. the adsorbable biggest quality of suction pipe；
Pressure differential between chamber and air is the principal element for picking up weight, and the weight weight of absorption can be by following equations
It is determined that：
In formula, m is the object biggest quality that can adsorb, and C is discharge coefficient, and A is circulation area, i.e. the average horizontal stroke of suction pipe
Sectional area, ρ is the density of gas, and k is constant, can be measured by experiment, P1For suction pipe lower end air pressure, the i.e. air pressure of air, P2To inhale
The air pressure of pipe upper end, can be determined by following formula equation：
P2=P1+ Δ P,
Wherein, Δ P is determined by equation (8).
3. the impact of suction pipe bound thickness；
Impact of the straw diameter to air current flow can fully be analyzed according to Bernoulli equation, but due to the diameter of suction pipe
It is less, it is necessary to consider boundary layer thickness impact in this process.Then effective diameter can be calculated according to boundary layer thickness
Pipeline.
Boundary layer thickness can be according to Prandtl Equation for Calculating：
In formula, δ is boundary layer thickness, and K is the constant of Prandtl equation, and D takes the average diameter of sucker, i.e. D=D1.According to
Prandtl equation is it is recognised that first δ length of the viscosity influence between air and pipe surface, afterwards air-flow is only by air itself
Attribute limited, the viscosity between pipeline is unrelated.In this section in impacted pipeline, the effective diameter of pipeline is：
D0=D-2 δ, (11)
In formula, D0For the effective diameter of pipeline, D is the average diameter of sucker, and δ is boundary layer thickness.
Due to δ ＜ ＜ D, so boundary layer thickness affects very little to the cross-sectional area of suction pipe.And, affecting first
After dividing suction pipe, air-flow afterwards is unrelated with bound thickness, is only limited by the attribute of air itself, so suction pipe bound thickness pair
The quality of suction pipe absorption weight affects very little.
To sum up shown in three partial contents, Part I discusses negative pressure and the coefficient of friction that suction pipe is produced because of air current flow,
The relation of the factors such as the length (moving up and down comprising suction pipe and the anglec of rotation) of suction pipe, chamber and air when giving absorbent bodies
Between (i.e. between suction pipe lower end and chamber interior lower end) air-pressure drop computing formula；Part II is discussed because of air pressure
Drop produce absorption affinity and institute energy absorbent bodies the biggest quality between relation, obtained quantitative relationship therebetween；The
Three parts then discuss suction pipe bound thickness to adsorbing the impact of weight, have shown that suction pipe bound thickness adsorbs weight shadow to suction pipe
The minimum conclusion of sound.
A kind of aspirated-air type robot hand that the present invention is designed using principle of negative pressure, the aspirated-air type robot hand is main
Including n × m root suction pipes, negative pressure air cavity and the part of exhaustor three constitute.Described suction pipe has upper and lower one degree of freedom, applicable
In the object of absorption different curve.And suction pipe lower end is provided with rotatable ball-joint, the controllable suction contacted with object
Disk more adapts to the surface of different objects.Described air cavity is in cuboid, and on the one hand inner hollow can temporarily store a certain amount of
Gas, on the other hand the pressure differential for meeting demand can be provided.And air cavity surrounding is respectively furnished with one and can lead to the trachea that can be closed, can
It is connected by the trachea robot hand same with other, so as to realize the modularity of robot hand.Described exhaustor
In cylinder, it is connected to air cavity and air pump, endlessly steady air flow can be provided during absorbent bodies, it is ensured that absorbent bodies
When reliability and stability.Present configuration is simply compact, low cost of manufacture, stable and reliable in work, versatility and interchangeability
Well, it is capable of achieving modularity, it is adaptable to draw the object of various different curves.
Relative to prior art, the present invention has the advantage that and beneficial effect：
1st, suction pipe of the invention can be moved up and down according to body form, and sucker is also rotated with, therefore versatility of the present invention
And strong adaptability, curved face object can safer and more effectively be drawn, and the predetermined position accuracy demand of adsorbed object is not high.
2nd, present invention achieves modularity, can carry out cordwood assembling according to the difference of absorbent bodies.Air cavity surrounding point
Respectively there is not a trachea, can be according to the difference of absorbent bodies size shape, the multiple same robots of flexible and convenient ground collocation
Paw, with suitable for the different object of absorption.
3rd, the present invention has multiple suction pipes so that absorption affinity branch is uniform, and larger damage is not resulted in body surface.
4th, present configuration design is simple dexterous, and lightweight, low cost of manufacture is easy to use and reliable, meets various productions
The requirement of manufacture.
Description of the drawings
Fig. 1 a are the front view of the aspirated-air type robot hand of the present invention.
Fig. 1 b are the left view of the aspirated-air type robot hand of the present invention.
Fig. 1 c are the top view of the aspirated-air type robot hand of the present invention.
Fig. 1 d are suction pipe lower end ball-joint principle schematic of the present invention.
Fig. 2 a are the schematic diagram that the present invention draws planar object.
Fig. 2 b are the schematic diagram that the present invention draws convex surface object.
Fig. 3 a are the front view that modularity of the present invention draws big object.
Fig. 3 b are the top view that modularity of the present invention draws big object.
Specific embodiment
To make purpose, technical scheme and the advantage of patent of the present invention clearer, below in conjunction with patent of the present invention
Accompanying drawing, is clearly and completely described to the technical scheme in patent of the present invention.Obviously, described embodiment is the present invention
The a part of embodiment of patent, rather than the embodiment of whole.Based on the embodiment in patent of the present invention, ordinary skill people
The every other embodiment that member is obtained under the premise of creative work is not made, belongs to the model of patent protection of the present invention
Enclose.
Embodiment
The principle of the present invention is based on the principle of negative pressure in hydrodynamics, even if existing between suction pipe and body surface minimum
Gap, but air-flow can produce enough pressure differentials by the pipeline of minor diameter, so as to pick up object.Additionally, robot
The suction pipe of paw has one degree of freedom, and lower terminal sucker is provided with a ball-joint, and this is allowed it to according to body surface
Camber changes the position of suction pipe and the attitude of sucker, so that it is suitably applied diversified part.Meanwhile, the present invention
Being provided with by negative pressure air cavity can connect the trachea of other same type robot hands, realize modularized design.
As shown in Figure 1a, aspirated-air type robot hand is by exhaustor 1, connectivity trachea 2, negative pressure air cavity 4, suction pipe 5, wherein inhaling
The lower end of pipe includes ball-joint 3 and sucker 6, and the structure of aspirated-air type robot hand is as shown in Figure 1 d.As shown in Figure 1 b, it is this
The left view of the aspirated-air type robot hand of invention；As illustrated in figure 1 c, it is the top view of aspirated-air type robot hand of the invention.
Described exhaustor is connected to the air pump of outside, is to produce larger air pressure in robot hand to go to draw object.Described company
Breather, when individual machine people's paw is used, will close air valve, to form the air cavity of closing；When multiple robot hands one
When playing work, air valve will be opened, for the connection two-by-two between robot hand.Described suction pipe has the freedom for moving up and down
Degree, the sucker of lower end can have three degree of freedom, can adjust the attitude of itself.
As shown in Figure 2 a, when aspirated-air type robot hand draws the object that contact surface is plane, suction pipe lower end connects with object
Touch so that suction pipe is adjusted to certain position, and sucker keeps initial attitude.Now, exhaustor is connected to produce stable gas
The air pump in source so that suction pipe produces enough suction, and object is drawn.When robot hand draws object, and by the machine for connecting
When tool arm moves to the position specified, air pump will gradually decrease air-flow so that object smoothly departs from suction pipe.
As shown in Figure 2 b, when aspirated-air type robot hand draws the object that contact surface is convex surface, suction pipe lower end connects with object
When tactile, the sucker with ball-joint will be adaptively adjusted the attitude of itself so that the lower end of sucker as best one can with body surface
Contact, greatly expands contact area and effectively reduces the gap between sucker and object.Other courses of work and suction
The course of work for taking the object that contact surface is plane is identical.
As shown in Fig. 3 a (front view) and Fig. 3 b (top view), when the object that contact area is big, quality is big is drawn, aspiration
Formula robot hand itself has modular feature, can realize that several aspirated-air type robot hands work simultaneously.Schematic diagram shows
Show that 2 × 2 robot hands draw the operation principle of a big planar object of contact area.Now, robot hand leads to
The connectivity trachea for crossing negative pressure air cavity is connected with each other so that several negative pressure air cavitys have same air pressure.According to the matter for drawing object
Measure big I and open the air pump that one or more exhaustor goes connection respective numbers, to provide sufficiently large suction.
In sum, aspirated-air type rotor gripper structure is simple, and versatility and strong applicability, and can draw contact surface is
The object of plane, male and fomale(M＆F), while being uniformly distributed so that be uniformly distributed to the suction of object for suction pipe, will not make easily to object
Into damage.Additionally, aspirated-air type robot hand itself has modular feature, cordwood assembling, flexible and convenient can be carried out
The multiple same robot hands of ground collocation, to be applied to the object that quality of adsorption is big, contact area is big.
Embodiments of the present invention are simultaneously not restricted to the described embodiments, under other any principles without departing from the present invention
Change, modification, replacement, combination, the simplification made, should be equivalent substitute mode, be included in protection scope of the present invention
Within.
Claims (8)
1. a kind of pervasive modular aspirated-air type robot hand, it is characterised in that the aspirated-air type robot hand has general
Suitableization and modular feature, including：There is ball to close for suction pipe, negative pressure air cavity, connectivity trachea and exhaustor, the lower end of the suction pipe
The sucker of section, wherein：
The upper end of negative pressure air cavity is connected with exhaustor, and the upper end of exhaustor is connected with the air pump of outside, provides surely for negative pressure air cavity
Fixed source of the gas；
The surrounding of negative pressure air cavity is connected respectively with a connectivity trachea；The end of connectivity trachea is provided with an air valve, can control
The closing of connectivity trachea processed and unlatching, realize respectively two kinds of working methods：Single aspirated-air type robot hand works independently；It is multiple
Aspirated-air type robot hand cooperating；
The lower end of negative pressure air cavity is connected with n × m root suction pipes；Each suction pipe has one degree of freedom, i.e., can move up and down；Inhale
Pipe lower end is connected with a sucker for being provided with ball-joint；
Sucker is used for and the body surface directly contact to be drawn, and by ball-joint the function of sucker angle adjustment is provided, can basis
The camber of body surface adjusts corresponding attitude；
When object is drawn, first according to the concave-convex surface degree of object, suction pipe is moved up and down described aspirated-air type robot hand
Corresponding position is adjusted to, while sucker adjusts corresponding attitude；Then exhaustor connection can produce the air pump of source of the gas, be machine
The internal chamber of people's paw provides steady air flow from top to bottom；The direction of air-flow is：Terminal sucker under suction pipe --- on suction pipe
End --- inside air cavity --- exhaustor, so as to form certain negative pressure when air-flow sprays at a high speed, makes suction pipe hold thing
Body；Finally need discharge object when, air pump will slowly reduce throughput, with allow robot hand suction pipe lower end sucker stably
Release object.
2. according to the pervasive modular aspirated-air type robot hand of claim 1, described suction pipe in a uniform distribution, its feature
It is that described suction pipe one has n × m roots, the matrix arrangement in n rows m row.
3. according to the pervasive modular aspirated-air type robot hand of claim 1, described suction pipe has one degree of freedom, and it is special
Levy and be, the lower end of suction pipe is used for absorbent bodies, each suction pipe all according to the difference of institute's absorbent bodies concave-convex surface, independently
Self adaptation is moved up and down.
4. according to the pervasive modular aspirated-air type robot hand of claim 1, it is characterised in that the ball-joint can rotate
Drive following handstand funnel-form sucker rotation；When contacting with body surface, make ball-joint make the corresponding anglec of rotation, adjust
It is whole to allow the lower end of sucker and the surface profiles of object, therefore to considerably reduce the gap between them to suitable attitude,
Be conducive to strengthening absorption affinity.
5. according to the pervasive modular aspirated-air type robot hand of claim 1, described suction pipe and air cavity connecting portion, it is special
Levy and be, the position that the air cavity lower end is connected with suction pipe is a circular hole bigger than straw diameter.
6. according to the pervasive modular aspirated-air type robot hand of claim 1, it is characterised in that the upper end of the suction pipe is in fourth
Font, the T-shaped is embedded in air cavity the inside, and is connected with the lower end of air cavity.
7. according to the pervasive modular aspirated-air type robot hand of claim 1, it is characterised in that described negative pressure air cavity it is upper
End and lower end are connected respectively with suction pipe and exhaustor, and the surrounding of described negative pressure air cavity is respectively provided with the connection gas of a cylinder
Pipe, there is control the end of the connectivity trachea, and it opens air valve with locking；When the aspirated-air type robot hand is used alone,
Air valve is closed, and realizes that single aspirated-air type robot hand works independently；The aspirated-air type robot hand and other aspirated-air type machines
When device people's paw connects, air valve is opened, and is connected with the trachea of other robot paw, realizes that multiple aspirated-air type robot hands are matched somebody with somebody
Close work.
8. according to the pervasive modular aspirated-air type robot hand of claim 1, it is characterised in that the lower end of described exhaustor
It is connected with air cavity；The upper end of described exhaustor is connected with air pump, for producing stable air-flow, the pressure allowed in air cavity with it is big
Certain pressure differential, absorbent bodies are produced between air pressure；When multiple robot hands link together work, each exhaustor
An exhaustor is only stayed to be connected with air pump, remaining is turned off by Air Valve Control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610930573.3A CN106671120A (en) | 2016-10-31 | 2016-10-31 | Pervasive modularized air-aspiration type robot gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610930573.3A CN106671120A (en) | 2016-10-31 | 2016-10-31 | Pervasive modularized air-aspiration type robot gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106671120A true CN106671120A (en) | 2017-05-17 |
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| CN201610930573.3A Pending CN106671120A (en) | 2016-10-31 | 2016-10-31 | Pervasive modularized air-aspiration type robot gripper |
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| CN107791272A (en) * | 2017-11-23 | 2018-03-13 | 东莞市李群自动化技术有限公司 | A kind of suction jig with soft pawl |
| CN108705861A (en) * | 2018-04-28 | 2018-10-26 | 重庆川之舟印务设计有限公司 | Printing machine drying device |
| CN109514312A (en) * | 2018-12-29 | 2019-03-26 | 重庆亿普机电有限公司 | Part machining tool |
| CN110031205A (en) * | 2019-05-24 | 2019-07-19 | 安徽江淮汽车集团股份有限公司 | A kind of automobile tail gate test-bed |
| CN110871244A (en) * | 2019-11-28 | 2020-03-10 | 安徽江淮汽车集团股份有限公司 | Servo control stamping part end pickup and servo control stamping part pickup method |
| CN111924534A (en) * | 2020-08-16 | 2020-11-13 | 海南海玻工程玻璃有限公司 | Special-shaped glass processing device |
| CN113352344A (en) * | 2021-07-14 | 2021-09-07 | 重庆大学 | Modularization electrostatic adsorption tongs on self-adaptation laminating object surface |
| CN116921240A (en) * | 2023-09-15 | 2023-10-24 | 江苏锐盾警用装备制造有限公司 | Automatic mechanism of selecting of case and bag for security inspection machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107791272A (en) * | 2017-11-23 | 2018-03-13 | 东莞市李群自动化技术有限公司 | A kind of suction jig with soft pawl |
| CN108705861A (en) * | 2018-04-28 | 2018-10-26 | 重庆川之舟印务设计有限公司 | Printing machine drying device |
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| CN111924534A (en) * | 2020-08-16 | 2020-11-13 | 海南海玻工程玻璃有限公司 | Special-shaped glass processing device |
| CN111924534B (en) * | 2020-08-16 | 2021-11-23 | 海南海玻工程玻璃有限公司 | Special-shaped glass processing device |
| CN113352344A (en) * | 2021-07-14 | 2021-09-07 | 重庆大学 | Modularization electrostatic adsorption tongs on self-adaptation laminating object surface |
| CN116921240A (en) * | 2023-09-15 | 2023-10-24 | 江苏锐盾警用装备制造有限公司 | Automatic mechanism of selecting of case and bag for security inspection machine |
| CN116921240B (en) * | 2023-09-15 | 2023-11-24 | 江苏锐盾警用装备制造有限公司 | Automatic mechanism of selecting of case and bag for security inspection machine |
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