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A robot hand and robot

A robot hand and robot technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of unstable clamping, excessive force, slipping, etc., to prevent unstable clamping or damage to objects. Effect

Active Publication Date: 2019-01-25
CHERY AUTOMOBILE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to solve the problem that the robot hands in the prior art use the same strength to grasp the objects, it is easy to cause the objects with certain attributes to be unstable and slip, and the force for objects with certain attributes is obviously too large However, the problem of excessive deformation or damage to the object occurs, the embodiment of the present invention provides a robot hand and a robot

Method used

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  • A robot hand and robot
  • A robot hand and robot

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Effect test

Embodiment 1

[0041] Such as figure 1 As shown, the embodiment of the present invention provides a robot hand, which includes: a finger 1, a servo drive system 2, a mechanical transmission system 3, a pressure sensor 4, a PID controller 5 and a comparator 6;

[0042] The servo drive system 2 is connected to the finger 1 through the mechanical transmission system 3, and the mechanical transmission system 3 is driven by the servo drive system 2 to drive the finger 1 to move;

[0043] The pressure sensor 4 is arranged at the position where the finger 1 is in contact with the object 10, and the pressure sensor 4 is used to detect the interaction force between the finger 1 and the object 10;

[0044] The input end of the PID controller 5 is connected with the pressure sensor 4, and the output end of the PID controller 5 is connected with the servo drive system 2, and the PID controller 5 is used to obtain the value of the servo drive system 2 according to the detection result of the pressure sen...

Embodiment 2

[0065] see figure 1 , an embodiment of the present invention provides a robot, the robot includes the robot hand described in Embodiment 1.

[0066] In the embodiment of the present invention, the pressure sensor 4 is arranged at the position where the finger 1 of the robot is in contact with the object 10, and the pressure sensor 4 detects the interaction force between the finger 1 and the object 10 during the process of the finger 1 clamping the object 10, and PID controller 5 obtains the next cycle working parameter of servo drive system 2 according to the detection result of pressure sensor 4, and sends this next cycle working parameter to servo drive system 2, so that in the next working cycle, the servo drive The system 2 operates under the working parameters of the next cycle, so as to realize the adjustment of the force transmitted from the servo drive system 2 to the finger 1 through the mechanical transmission system 3, so that the interaction force between the finge...

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Abstract

The invention discloses a robot hand and a robot, belonging to the technical field of automatic control. The robot hand includes: fingers, a servo drive system, a mechanical transmission system, a pressure sensor, a PID controller and a comparator. In the embodiment of the present invention, a pressure sensor is provided at the position where the finger of the robot contacts the object, and the pressure sensor detects the interaction force between the finger and the object during the process of the finger clamping the object, and the PID controller according to the pressure sensor As a result of the detection, the next cycle working parameter of the servo drive system is obtained, and the next cycle working parameter is sent to the servo drive system, so that in the next working cycle, the servo drive system operates under the next cycle working parameter, thereby Realize the adjustment of the force transmitted to the finger by the servo drive system through the mechanical transmission system, so that the interaction force between the finger and the object adapts to the properties of the object, and prevents the occurrence of unstable clamping or damage to the object.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a robot hand and a robot. Background technique [0002] A robot is a device that can automatically perform work according to a preset program, and it is widely used in all aspects of human life, wherein the hand of the robot is mainly used for grasping objects. [0003] At present, the hand of the robot includes a finger, a touch sensor and a controller. The touch sensor is arranged on the finger, and the controller is connected to the touch sensor. The controller judges whether the finger is in contact with the object according to the information collected by the touch sensor array. When the hand is in contact with the object, the fingers are controlled to grasp the object according to a certain force. [0004] In the process of realizing the present invention, the inventor finds that there are at least the following problems in the prior art: [0005] Since objects ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/18B25J15/08
CPCB25J9/1633B25J15/08
Inventor 江涛高红博周倪青
Owner CHERY AUTOMOBILE CO LTD