CN109591039B - Hydraulic mechanical claw - Google Patents
Hydraulic mechanical claw Download PDFInfo
- Publication number
- CN109591039B CN109591039B CN201811552960.3A CN201811552960A CN109591039B CN 109591039 B CN109591039 B CN 109591039B CN 201811552960 A CN201811552960 A CN 201811552960A CN 109591039 B CN109591039 B CN 109591039B
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- CN
- China
- Prior art keywords
- knuckle
- wrist
- finger joint
- arm
- fixed
- 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
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Classifications
-
- 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
- B25J15/024—Gripping heads and other end effectors servo-actuated comprising articulated grippers having fingers directly connected to actuator
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of mechanical engineering, and discloses a hydraulic mechanical gripper, which comprises: two wrist arms which can swing oppositely; the moving end of each wrist arm is connected with a finger joint swinging structure; each finger joint swing structure is composed of n finger joint components which are sequentially connected, wherein n is a natural number which is more than or equal to 1; wherein each finger joint assembly comprises: a knuckle arm and a knuckle tilt cylinder; two adjacent finger joint arms are hinged and driven by finger joint oscillating cylinders to swing. The hydraulic mechanical paw provided by the invention can realize the modular design of finger joints and the flexible driving of each finger joint, and realize the flexible grabbing action similar to human finger joints, and the number of the finger joints can be increased according to the requirements of different occasions, so that the mechanical paw is more flexible and closer to the grabbing action of a human hand; meanwhile, the finger joint of the hydraulic mechanical gripper adopts a modular design, and has the advantages of compact structure, light weight and low energy consumption.
Description
Technical Field
The invention relates to the field of mechanical engineering, in particular to a hydraulic mechanical gripper.
Background
The mechanical paw has been developed to a certain extent in the global industry, the mechanical paw has gradually penetrated into various industries, and most of the traditional mechanical paws adopt motors to realize rotation at joints, but the moment provided by the mechanical paw is small. In order to solve such problems, chinese patent application No. CN205394584U discloses a hydraulic manipulator, which mainly realizes the rotation of joints by combining a linear hydraulic cylinder with a transmission structure, but still has the problem of a non-compact mechanism, and chinese patent application No. CN104690739A discloses an underwater hydraulic manipulator clamping mechanism, which improves the problem of compact structure but does not consider the flexibility problem at the joints of fingers.
Disclosure of Invention
Technical problem to be solved
The invention aims to solve the technical problems that a traditional hydraulic mechanical claw in the prior art is poor in flexibility and not compact in structure, and provides the hydraulic mechanical claw.
(II) technical scheme
Aiming at the technical problems in the prior art, the invention provides a hydraulic mechanical gripper, which comprises: a wrist joint swing mechanism and a finger joint swing mechanism; the wrist joint swing mechanism includes: two wrist arms which can swing oppositely; the moving end of each wrist arm is connected with one finger joint swinging structure; each finger joint swinging structure is composed of n finger joint components which are sequentially connected, wherein n is a natural number which is more than or equal to 1; wherein each of the knuckle assemblies comprises: a knuckle arm and a knuckle tilt cylinder; two adjacent finger joint arms are hinged and driven to swing by the finger joint swing cylinder.
Further, the knuckle tilt cylinder includes: a stator and a rotor that rotate relative to each other; two adjacent finger joint arms are hinged through one finger joint swing cylinder, wherein the hinged end of one finger joint arm is fixed on the stator, and the hinged end of the other finger joint arm is fixed on the rotor.
Furthermore, the first end of the knuckle arm of the 1 st knuckle assembly is fixed on the stator of the knuckle tilt cylinder of the 1 st knuckle assembly, and the rotor of the knuckle tilt cylinder of the 1 st knuckle assembly is fixed on the motion end corresponding to the wrist arm; the stators of the knuckle oscillating cylinders of the even-numbered knuckle assemblies are fixed at the second end of the knuckle arm of the previous knuckle assembly, and the first ends of the knuckle arms of the even-numbered knuckle assemblies are fixed on the rotors of the knuckle oscillating cylinders of the knuckle assemblies; stators of the knuckle tilt cylinders of the odd-numbered knuckle assemblies are fixed at the first end of a knuckle arm of the knuckle assembly, and rotors of the knuckle tilt cylinders of the odd-numbered knuckle assemblies are fixed at the second end of the knuckle arm of the previous knuckle assembly.
Further, each of the finger-joint arms includes: the hinged ends of the two finger templates of two adjacent finger joint arms are fixed at the two ends of the stator or the rotor.
Furthermore, the two wrist arms are hinged through a wrist joint swing cylinder and driven to swing by the wrist joint swing cylinder.
Furthermore, the hinged end of one of the wrist arms is fixed on the stator of the wrist joint tilt cylinder, and the hinged end of the other wrist arm is fixed on the rotor of the wrist joint tilt cylinder.
Further, each of the wrist arms includes: the wrist template comprises two wrist templates which are arranged oppositely in parallel, and the hinged ends of the two wrist templates of the two wrist arms are fixed at the two ends of the stator or the rotor of the wrist swing cylinder.
Furthermore, oil inlets of the knuckle oscillating cylinders of the n knuckle assemblies are respectively communicated with oil outlets of the oil supply device.
Further, the actuation of the first knuckle tilt cylinder to the last knuckle tilt cylinder connected to the wrist arm can be driven in an increasing direction.
Further, n is 1 to 20.
(III) advantageous effects
The invention provides a hydraulic mechanical paw, wherein a finger joint part of the hydraulic mechanical paw is composed of a plurality of finger joint arms connected in series, each finger joint arm is respectively connected and driven through a finger joint oil cylinder, the modular design of the finger joint and the flexible driving of each finger joint are realized, a finger joint structure similar to a human body and composed of a plurality of sections realizes the flexible grabbing action similar to the finger joint of the human body, and the number of the finger joints can be increased according to the requirements of different occasions, so that the mechanical paw is more flexible and closer to the grabbing action of a human hand; meanwhile, the finger joint of the hydraulic mechanical gripper adopts a modular design, and has the advantages of compact structure, light weight and low energy consumption.
Drawings
FIG. 1 is a schematic structural diagram of a hydraulic gripper according to an embodiment of the present invention.
Wherein:
1: a wrist arm; 2: a finger joint assembly; 3: a wrist joint swing cylinder;
11: a wrist template; 21: a finger joint swing cylinder; 22: a finger joint arm;
22 a: a first end; 22 b: a second end; 221: a finger template.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Fig. 1 is a schematic structural diagram of an embodiment of the hydraulic mechanical gripper according to the present invention, and as shown in fig. 1, the hydraulic mechanical gripper according to the embodiment of the present invention is composed of a wrist joint swing mechanism and a finger joint swing mechanism, similar to wrist and finger joint portions of a human body. The wrist joint swinging mechanism comprises at least two wrist arms 1, one wrist arm 1 is correspondingly hinged with a finger joint swinging mechanism, an upper paw and a lower paw which form a mechanical paw are formed by n sequentially connected finger joint components, n is a natural number more than or equal to 1, and preferably n is 1-20; wherein each finger joint assembly 2 comprises: a knuckle arm 22 and a knuckle tilt cylinder 21; two adjacent finger joint arms are hinged through a finger joint swing cylinder and driven by the finger joint swing cylinder to swing, so that the relative rotation between the finger joint swing mechanism and the corresponding wrist arm 1 is realized. The knuckle oscillating cylinders 21 of the n knuckle assemblies can be independently controlled respectively, namely, the first knuckle arm 22 is controlled to move firstly, when an object is contacted and clamped, the second knuckle arm 22 is controlled to move, and the like, so that the object is clamped.
Specifically, the knuckle tilt cylinder 21 includes: a stator and a rotor that rotate relative to each other; two adjacent finger joint arms are hinged through a finger joint swing cylinder, wherein the hinged end of one finger joint arm is fixed on the stator, and the hinged end of the other finger joint arm is fixed on the rotor. It should be noted that all the joints between the knuckle arms 22 of the plurality of knuckle assemblies 2 may be connected by the knuckle tilt cylinders 21, some of the joints may be connected by the knuckle tilt cylinders 21, and the rest may be connected by other driving devices known in the art capable of driving the wrist arm 1 to move, which is within the protection scope of the present invention.
Further, the first end 22a of the knuckle arm 22 of the 1 st knuckle assembly 2 is fixed on the stator of the knuckle tilt cylinder 21 of the 1 st knuckle assembly 2, and the rotor of the knuckle tilt cylinder 21 of the 1 st knuckle assembly 2 is fixed on the motion end corresponding to the wrist arm 1.
The stators of the knuckle tilt cylinders 21 of the even-numbered knuckle assemblies 2 are fixed to the second ends 22b of the knuckle arms 22 of the preceding knuckle assembly 2, and the first ends 22a of the knuckle arms 22 of the even-numbered knuckle assemblies 2 are fixed to the rotors of the knuckle tilt cylinders 21 of the knuckle assemblies 2.
The stators of the knuckle tilt cylinders 22 of the odd-numbered knuckle assemblies 2 are fixed to the first ends 22a of the knuckle arms 22 of the odd-numbered knuckle assemblies 2, and the rotors of the knuckle tilt cylinders 21 of the odd-numbered knuckle assemblies 2 are fixed to the second ends 22b of the knuckle arms 22 of the previous knuckle assemblies 2.
Wherein, the even number of the finger joint components refers to the finger joint components 2 at the even number position in the n finger joint components which are connected in sequence, and the odd number of the finger joint components refers to the finger joint components 2 at the odd number position in the n finger joint components which are connected in sequence.
For example, when n is 2, the first end 22a of the knuckle arm 22 of the 1 st knuckle assembly 2 is fixed to the stator of the knuckle tilt cylinder 21 of the 1 st knuckle assembly 2, and the rotor of the knuckle tilt cylinder 21 of the 1 st knuckle assembly 2 is fixed to the motion end corresponding to the wrist arm 1; the stator of the knuckle tilt cylinder 21 of the 2 nd knuckle module 2 is fixed to the second end 22b of the knuckle arm 22 of the 1 st knuckle module 2, and the first end 22a of the knuckle arm 22 of the 2 nd knuckle module 2 is fixed to the rotor of the knuckle tilt cylinder 21 of the 2 nd knuckle module 2.
For example, when n is 3, the first end 22a of the knuckle arm 22 of the 1 st knuckle assembly 2 is fixed to the stator of the knuckle tilt cylinder 21 of the 1 st knuckle assembly 2, and the rotor of the knuckle tilt cylinder 21 of the 1 st knuckle assembly 2 is fixed to the motion end corresponding to the wrist arm 1; the stator of the knuckle tilt cylinder 21 of the 2 nd knuckle assembly 2 is fixed at the second end 22b of the knuckle arm 22 of the 1 st knuckle assembly 2, and the first end 22a of the knuckle arm 22 of the 2 nd knuckle assembly 2 is fixed on the rotor of the knuckle tilt cylinder 21 of the 2 nd knuckle assembly 2; the stator of the knuckle tilt cylinder 21 of the 3 rd knuckle module 2 is fixed to the first end 22a of the knuckle arm 22 of the 3 rd knuckle module 2, and the second end 22b of the knuckle arm 22 of the 2 nd knuckle module 2 is fixed to the rotor of the knuckle tilt cylinder 21 of the 3 rd knuckle module 2.
For example, when n is 4, the first end 22a of the knuckle arm 22 of the 1 st knuckle assembly 2 is fixed to the stator of the knuckle tilt cylinder 21 of the 1 st knuckle assembly 2, and the rotor of the knuckle tilt cylinder 21 of the 1 st knuckle assembly 2 is fixed to the motion end corresponding to the wrist arm 1; the stator of the knuckle tilt cylinder 21 of the 2 nd knuckle assembly 2 is fixed at the second end 22b of the knuckle arm 22 of the 1 st knuckle assembly 2, and the first end 22a of the knuckle arm 22 of the 2 nd knuckle assembly 2 is fixed on the rotor of the knuckle tilt cylinder 21 of the 2 nd knuckle assembly 2; the stator of the knuckle tilt cylinder 21 of the 3 rd knuckle assembly 2 is fixed on the first end 22a of the knuckle arm 22 of the 3 rd knuckle assembly 2, and the second end 22b of the knuckle arm 22 of the 2 nd knuckle assembly 2 is fixed on the rotor of the knuckle tilt cylinder 21 of the 3 rd knuckle assembly 2; the stator of the knuckle tilt cylinder 21 of the 4 th knuckle module 2 is fixed to the second end 22b of the knuckle arm 22 of the 3 rd knuckle module 2, and the first end 22a of the knuckle arm 22 of the 4 th knuckle module 2 is fixed to the rotor of the knuckle tilt cylinder 21 of the 3 rd knuckle module 2.
And so on when n is 5,6,7,8 … …. The plurality of finger joint components 2 are mutually connected in series to form a plurality of parallel oil circuits, the next finger joint arm 22 can follow up to perform grabbing-out action after the previous finger joint arm 22 performs grabbing-out action, the flexible grabbing action similar to the finger joints of a human body can realize that the mechanical gripper can automatically adapt to the appearance shape of a grabbed object or a transported object in the process of grabbing or transporting the object, a force feedback device is not required to be added into a control system, the number of the finger joint components 2 can be increased according to the requirements of different occasions, and the mechanical gripper is more flexible and more close to the grabbing action of a human hand.
Further, the finger joint arm 22 may be specifically composed of two finger templates 221 arranged in parallel and opposite to each other, and the hinged ends of the two finger templates 211 of two adjacent finger joint arms 22 are fixed at the two ends of the stator or the rotor. Specifically, the knuckle tilt cylinder 21 is disposed between the two finger templates 221, and the first ends 22a of the two finger templates 221 are fixed to both ends of the stator, respectively.
The two wrist arms 1 can be respectively connected through a wrist joint swing cylinder 3 and driven to rotate by the wrist joint swing cylinder 3, wherein the hinged end of one of the wrist arms 1 is fixed on a stator of the wrist joint swing cylinder 3, and the hinged end of the other wrist arm 1 is fixed on a rotor of the wrist joint swing cylinder. Specifically, each wrist arm 1 includes: two wrist templates 11 which are arranged oppositely in parallel, and the hinged ends of the two wrist templates 11 of the two wrist arms 1 are fixed at the two ends of the stator or the rotor of the wrist joint swing cylinder 3.
It should be noted that, both the finger joint tilt cylinder 21 and the wrist joint tilt cylinder 3 can adopt a hydraulic driving device capable of providing mechanical kinetic energy to drive the rotor and the stator to rotate relatively, which is known by those skilled in the art, for example, a vane type swing hydraulic cylinder with a fully-closed cage type sealing system disclosed in the invention patent with chinese patent application No. CN 201710486335.2.
The process of grabbing an object by the hydraulic mechanical gripper is as follows: the wrist joint swing cylinder 3 is used for providing the rotation motion of the wrist part of the mechanical gripper, the mechanical gripper is rotated to be in the same line with the object to be gripped, and when the wrist arm 1 of the mechanical gripper contacts the object, the finger joint swing cylinder 21 drives the finger joint arm 22 to contact and clamp the object.
The invention provides a hydraulic mechanical paw, wherein the finger joint part of the hydraulic mechanical paw is composed of a plurality of finger joint arms 22 connected in series, each finger joint arm 22 is respectively connected and driven through a finger joint oil cylinder 21, the modular design of the finger joint and the flexible driving of each finger joint are realized, the hydraulic mechanical paw is similar to a human body finger joint structure composed of a plurality of sections, the flexible grabbing action similar to the human body finger joint is realized, the number of the finger joints can be increased according to the requirements of different occasions, the mechanical paw is more flexible and is closer to the grabbing action of a human hand; meanwhile, the finger joint of the hydraulic mechanical gripper adopts a modular design, and has the advantages of compact structure, light weight and low energy consumption.
On the basis of the above embodiment, in the present embodiment, the oil inlets of the knuckle oscillating cylinders 21 of the n knuckle assemblies 2 are respectively communicated with the oil outlets of the oil supply device, wherein the oil supply device usually adopts an oil pump, the oil outlet of the oil pump is respectively communicated with the oil inlet of each knuckle oscillating cylinder 21 to realize the parallel connection of the oil circuit of each knuckle, namely, parallel hydraulic circuit control is adopted among the finger joint swing cylinders 21, the starting pressure of the finger joint swing cylinders 21 of the n finger joint assemblies is different, from the first finger joint swing cylinder 21 to the last finger joint swing cylinder 21, which starts an increasing pressure presenting trend, when the first knuckle arm 22 contacts and clamps the object, the hydraulic system pressure is increased, and the next knuckle oscillating cylinder 21 is directly driven to rotate, which in turn causes the associated knuckle arm 22 to rotate and clamp the object, and this movement causes each knuckle arm 22 to move in turn and clamp the object. The mechanical gripper of the embodiment can control each finger joint tilt cylinder 21 independently without adding a force feedback device in a control system, and the starting pressure of each finger joint tilt cylinder 21 presents an increasing trend, which is similar to the flexible grabbing action of human finger joints.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A hydro-mechanical gripper, comprising: a wrist joint swing mechanism and a finger joint swing mechanism; the wrist joint swing mechanism includes: two wrist arms which can swing oppositely; the moving end of each wrist arm is connected with one finger joint swinging structure;
each finger joint swing mechanism is composed of n finger joint components which are sequentially connected, wherein n is a natural number which is more than or equal to 1;
wherein each of the knuckle assemblies comprises: a knuckle arm and a knuckle tilt cylinder; two adjacent finger joint arms are hinged and driven to swing by the finger joint swing cylinder;
oil inlets of the knuckle oscillating cylinders of the n knuckle assemblies are respectively communicated with oil outlets of the oil supply device, and starting driving energy from a first knuckle oscillating cylinder to a last knuckle oscillating cylinder connected with the wrist arm is increased.
2. The hydro-mechanical gripper of claim 1,
the knuckle tilt cylinder includes: a stator and a rotor that rotate relative to each other; two adjacent finger joint arms are hinged through one finger joint swing cylinder, wherein the hinged end of one finger joint arm is fixed on the stator, and the hinged end of the other finger joint arm is fixed on the rotor.
3. The hydro-mechanical gripper of claim 2,
the first end of a knuckle arm of the 1 st knuckle component is fixed on a stator of a knuckle tilt cylinder of the 1 st knuckle component, and a rotor of the knuckle tilt cylinder of the 1 st knuckle component is fixed on a motion end corresponding to the wrist arm;
the stators of the knuckle oscillating cylinders of the even-numbered knuckle assemblies are fixed at the second end of the knuckle arm of the previous knuckle assembly, and the first ends of the knuckle arms of the even-numbered knuckle assemblies are fixed on the rotors of the knuckle oscillating cylinders of the knuckle assemblies;
stators of the knuckle tilt cylinders of the odd-numbered knuckle assemblies are fixed at the first end of a knuckle arm of the knuckle assembly, and rotors of the knuckle tilt cylinders of the odd-numbered knuckle assemblies are fixed at the second end of the knuckle arm of the previous knuckle assembly.
4. The hydro-mechanical gripper of claim 2, wherein each of the finger-jointed arms comprises: the hinged ends of the two finger templates of two adjacent finger joint arms are fixed at the two ends of the stator or the rotor.
5. The hydro-mechanical gripper of claim 1, wherein the two wrist arms are articulated by and driven to oscillate by a wrist tilt cylinder.
6. The hydro-mechanical gripper of claim 5, wherein an articulated end of one of the wrist arms is fixed to a stator of the wrist tilt cylinder and an articulated end of the other wrist arm is fixed to a rotor of the wrist tilt cylinder.
7. The hydro-mechanical gripper of claim 6, wherein each of the wrist arms comprises: the wrist template comprises two wrist templates which are arranged oppositely in parallel, and the hinged ends of the two wrist templates of the two wrist arms are fixed at the two ends of the stator or the rotor of the wrist swing cylinder.
8. The hydromechanical gripper according to any one of claims 1 to 7, wherein n is 1 to 20.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811552960.3A CN109591039B (en) | 2018-12-18 | 2018-12-18 | Hydraulic mechanical claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811552960.3A CN109591039B (en) | 2018-12-18 | 2018-12-18 | Hydraulic mechanical claw |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109591039A CN109591039A (en) | 2019-04-09 |
| CN109591039B true CN109591039B (en) | 2020-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811552960.3A Expired - Fee Related CN109591039B (en) | 2018-12-18 | 2018-12-18 | Hydraulic mechanical claw |
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| Country | Link |
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| CN (1) | CN109591039B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272328A (en) * | 2016-09-30 | 2017-01-04 | 国网山东省电力公司商河县供电公司 | A kind of Bird's Nest automatic cleaning machine tool hands for angle steel tower |
| CN108081304A (en) * | 2018-02-08 | 2018-05-29 | 西北农林科技大学 | One kind three refers to picking mechanical arm |
| CN108656149A (en) * | 2018-07-09 | 2018-10-16 | 武汉科技大学 | A kind of novel joint of mechanical arm |
| KR20180128731A (en) * | 2017-05-24 | 2018-12-04 | 한국생산기술연구원 | Hydaulic gripper |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180264660A1 (en) * | 2017-03-20 | 2018-09-20 | Kindred Systems Inc. | Systems, devices, articles, and methods for prehension |
-
2018
- 2018-12-18 CN CN201811552960.3A patent/CN109591039B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272328A (en) * | 2016-09-30 | 2017-01-04 | 国网山东省电力公司商河县供电公司 | A kind of Bird's Nest automatic cleaning machine tool hands for angle steel tower |
| KR20180128731A (en) * | 2017-05-24 | 2018-12-04 | 한국생산기술연구원 | Hydaulic gripper |
| CN108081304A (en) * | 2018-02-08 | 2018-05-29 | 西北农林科技大学 | One kind three refers to picking mechanical arm |
| CN108656149A (en) * | 2018-07-09 | 2018-10-16 | 武汉科技大学 | A kind of novel joint of mechanical arm |
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| Publication number | Publication date |
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| CN109591039A (en) | 2019-04-09 |
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