Robotic hand, gripping apparatus having the same and method of use thereof

Abstract

The application discloses a mechanical hand, a clamping device with the mechanical hand and a use method of the clamping device. The mechanical hand comprises a grabbing mechanism, and the grabbing mechanism comprises a rack, a driving piece, a driving jaw assembly and a driven jaw assembly. The driving piece is rotatably connected to the rack, and a driving rod of the driving piece has multiple strokes. The driving jaw assembly comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a first jaw assembly. The driven jaw assembly comprises a fifth connecting rod, a sixth connecting rod, a seventh connecting rod, an eighth connecting rod and a second jaw. The driving piece drives the first jaw and the second jaw to open and close through the connecting rods. The greater the stroke of the driving rod is, the greater the opening angle of the first jaw and the second jaw is. The mechanical hand has the advantages of large opening and closing stroke, high clamping force, adaptability to uneven bottom surface or peripheral object interference, high carrying stability and high flexibility.

Description

Technical Field

[0001] The present invention relates to a clamping device, and more particularly to a manipulator, a clamping device having the manipulator and a method of using the manipulator. Background Art

[0002] With the continuous development of China's coal mining machinery industry, intelligent gangue picking mechanical gripper automation equipment is applied to various coal production fields.

[0003] (1) Gangue is often piled on coal, and the bottom or surrounding of the gangue is uneven. Traditional manipulators cannot adapt to the working conditions of the uneven bottom or surrounding, resulting in the gripper not being able to fully reach the bottom and grabbing nothing. The adaptability to the object placement surface or surrounding interference objects is poor. When the manipulator is blocked by the object next to the target object, the belt or gripper will be damaged if the gripper continues to press downward against the object next to the target object when it is normally gripping. It cannot swing as needed, resulting in abnormal equipment loss. Some gripper devices give up gripping after being blocked by the object next to the target object, resulting in a loose grip and affecting sorting.

[0004] (2) Currently, the gripper does not have the function of feedback on empty gripping or abnormal force, which affects the gripping and sorting rate and the service life of the equipment.

[0005] (3) Currently, the connecting rod assembly mainly transmits force through a vertical structure. The opening distance between the active and driven claws is not easy to adjust according to the size of the target object, and the opening distance of the mechanical claw cannot be increased or decreased according to the size of the coal gangue. In addition, the vertical structure of the connecting rod assembly occupies a large space, which is not conducive to the installation and use of the mechanical claw.

[0006] (4) The opening and closing stroke is fixed and cannot adapt to the size of the grasped object. As a result, when the grasped object is small, the large stroke affects the accurate grasping of the object. When grasping, the grasping claws cannot be lowered due to the resistance of the adjacent objects or the adjacent objects are grasped together.

[0007] (5) The gripper is driven individually, and the gripping pieces need to be opened and closed simultaneously. The gripping pieces cannot be opened and closed independently or with different opening degrees, and cannot adapt to the shape of the grasped object. Summary of the Invention

[0008] To solve the above problems, the present invention provides a manipulator, a clamping device having the manipulator, and a method of using the manipulator to at least solve the problem that the opening distance between the active claw and the driven claw is difficult to adjust.

[0009] The present invention adopts the following technical solutions.

[0010] A robot arm, comprising:

[0011] Grasping mechanism, including:

[0012] frame;

[0013] A driving member, the main body of which is rotatably connected to the frame, and the driving rod thereof has multiple strokes;

[0014] An active claw assembly includes a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a first clamping jaw, wherein one end of the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are rotatably connected together, the other end of the first connecting rod is rotatably connected to the driving rod, the other end of the second connecting rod is rotatably connected to the inner side of the upper portion of the first clamping jaw, and the other end of the third connecting rod and the outer side of the upper portion of the first clamping jaw are rotatably connected to the frame;

[0015] The driven jaw assembly includes a fifth link, a sixth link, a seventh link, an eighth link and a second clamping jaw, wherein one end of the fifth link is rotatably connected to the free end of the fourth link, and the other end is rotatably connected to one end of the sixth link, and the middle portion of the fifth link is rotatably connected to the frame; the other end of the sixth link is rotatably connected to one end of the seventh link and one end of the eighth link, the other end of the seventh link is rotatably connected to the inner side of the upper portion of the second clamping jaw, the middle portion of the eighth link is rotatably connected to the frame, and the other end of the eighth link is rotatably connected to the outer side of the upper portion of the second clamping jaw;

[0016] The driving member drives the first clamping jaw and the second clamping jaw to open and close through the connecting rod. The greater the stroke of the driving rod, the greater the opening angle of the first clamping jaw and the second clamping jaw.

[0017] Furthermore, the first clamping jaw includes:

[0018] A plurality of clips are made of a rigid material, the plurality of clips are arranged in parallel and at intervals, and a serration structure is provided on a side of each clip facing the second clamping jaw;

[0019] A plurality of pads are made of soft material, each pad is sandwiched and fixed between two clips;

[0020] The second clamping jaw comprises:

[0021] A plurality of clips are made of a rigid material, the plurality of clips are arranged in parallel and at intervals, and a serration structure is provided on a side of each clip facing the first clamping jaw;

[0022] A plurality of pads are made of soft material, and each pad is sandwiched and fixed between two clips.

[0023] Furthermore, the manipulator further comprises:

[0024] Buffer mechanism, including:

[0025] A robotic arm connector, used for connecting to the robotic arm;

[0026] A connecting plate connected to the frame;

[0027] an elastic member, two ends of which elastically abut against the mechanical arm connecting member and the connecting plate respectively;

[0028] The connecting rod assembly includes at least two connecting rods, which are rotatably connected at the head and tail, and the connecting rods at both ends are also rotatably connected to the mechanical arm connecting piece and the connecting plate.

[0029] Furthermore, the buffer mechanism further includes an anti-falling component, including:

[0030] A triangular plate is provided on the connecting plate, and the triangular plate is provided with a first through hole;

[0031] An inverted triangular plate, provided on the robotic arm connecting member, wherein the inverted triangular plate is provided with a second through hole, and the aperture of the first through hole is different from the aperture of the second through hole;

[0032] The fixing member is passed through the first through hole and the second through hole.

[0033] Furthermore, the gripping mechanism includes two driving members, two active claw assemblies and two driven claw assemblies, and each driving member drives a corresponding group of active claw assemblies and driven claw assemblies to open and close; along the first direction, the active claw assemblies and the driven claw assemblies are arranged opposite to each other; along the second direction, the two active claw assemblies are arranged overlappingly, and the two driven claw assemblies are arranged overlappingly; the first direction and the second direction are perpendicular to the horizontal plane.

[0034] A clamping device comprises a mechanical arm and a mechanical hand arranged on the mechanical arm.

[0035] Furthermore, the clamping device further comprises:

[0036] A displacement sensor is used to detect the stroke of the driving rod;

[0037] Vision sensor, used to locate the material to be clamped and identify its volume;

[0038] The force sensor is used to detect the force status of various parts of the first clamping jaw and the second clamping jaw.

[0039] A material clamping method, using a clamping device, comprising:

[0040] S1: The visual sensor determines the position of the material to be clamped, and the robotic arm moves the manipulator to the top of the material;

[0041] S2: Determine the stroke of the driving rod of the driving member according to the identified material volume, so that the first clamping jaw and the second clamping jaw open to a corresponding angle;

[0042] S3: The robotic arm moves the manipulator toward the material until the force sensor detects that the force between the first gripper or the second gripper and the bottom surface of the material reaches a set value;

[0043] S4: The driving member drives the first clamping jaw and the second clamping jaw to close to clamp the material.

[0044] Furthermore, after step S4, the method further includes:

[0045] S5: The visual sensor detects whether the material has been clamped. If the clamping is successful, the robotic arm moves the material to the set position; if the clamping fails, S1-S4 are repeated.

[0046] Furthermore, in step S3, when the bottom surface of the material is uneven, the robotic arm drives the manipulator to move toward the bottom surface until one of the first jaw and the second jaw contacts the bottom surface. The robotic arm continues to drive the manipulator to move toward the bottom surface, and the side in contact with the bottom surface transmits the force of the bottom surface to compress the corresponding elastic part, and the connecting rod assembly rotates, driving the grasping mechanism to rotate, so that the side of the first jaw and the second jaw that does not contact the bottom surface continues to move toward the bottom surface until both the first jaw and the second jaw contact the bottom surface.

[0047] Furthermore, before step S1, the method further includes selecting an appropriate number of active claw assemblies and driven claw assemblies according to the size of the material to be clamped. In step S2, each set of active claw assemblies and driven claw assemblies is driven by a corresponding driving member.

[0048] Beneficial effects

[0049] Compared with the prior art, the present invention has the following beneficial effects:

[0050] (1) The connecting rod transmission mechanism of the present invention transmits power, enabling the driving device to control the opening and closing movement of the active claw assembly and the driven claw assembly on both sides. The opening and closing stroke is large, the clamping force is high, and the handling stability and flexibility are high. It is suitable for the characteristics of high density and different sizes of coal gangue. It solves the problem that the existing gripper assembly has poor stability, poor adaptability to irregular shapes, and cannot accurately grasp objects.

[0051] (2) The inverted triangle plate structure at the bottom of the end connector of the robot arm is hinged to the triangle plate at the top of the frame through a through hole, and cooperates with the elastic element assembly including the elastic element and the connecting rod to ensure the stability of the robot claw. When it suddenly stops or is hit during movement, the elastic element can absorb the energy of vibration or impact, and the connecting rod can achieve the stability of the gripper when the elastic element is deformed, so that the robot arm can grasp the object flexibly when the surface is uneven or there is interference around the object.

[0052] (3) Vision sensors determine the gear position of the multi-position cylinder according to the size of the material, controlling the claw's opening angle and gripping force. The larger the material, the larger the gear position, the greater the claw's opening angle and gripping force. Controlling the opening angle reduces the claw's coal carrying rate and obstruction rate. Controlling the claw's gripping force prevents excessive gripping force from crushing the material and insufficient gripping force from preventing the claw from being unable to grasp the material.

[0053] (4) The connecting rod structure enables the active claw and the driven claw to open and close synchronously and precisely position. At the same time, the connecting rod assembly structure saves the working space of the mechanical claw. The conventional vertical structure of the mechanical claw connecting rod is changed to a horizontal structure. The transmission efficiency between the active claw and the driven claw is higher, and the installation angle of the active claw and the driven claw can be adjusted to adapt to different coal gangue sorting conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 3D is a schematic three-dimensional diagram of a manipulator according to an embodiment of the present invention.

[0055] Figure 2 for Figure 1 A cross-sectional view of the robot shown.

[0056] Figure 3 for Figure 1 Side view of the robot shown.

[0057] Figure 4 Flowchart of a material clamping method according to an embodiment of the present invention.

[0058] In the figure: 1, buffer mechanism; 2, gripping mechanism; 1-1, robot arm connecting member; 1-2, elastic member; 1-3, connecting rod assembly; 1-4, connecting plate; 1-5, triangular plate; 2-1, driving member; 2-2, driving rod; 2-3, first connecting rod; 2-5, second connecting rod; 2-7, third connecting rod; 2-9, first rotating shaft; 2-10, first clamping jaw; 2-10-1, first clamping piece; 2-10-2, second clamping piece; 2-10-3, third clamping piece; 2 -10-4, fourth clamp; 2-10-5, first cushion block; 2-10-6, second cushion block; 2-10-7, third cushion block; 2-11, fourth connecting rod; 2-12, second rotating shaft; 2-13, fifth connecting rod; 2-14, third rotating shaft; 2-15, sixth connecting rod; 2-16, fourth rotating shaft; 2-17, seventh connecting rod; 2-18, eighth connecting rod; 2-21, frame; 2-4, 2-6, 2-8, 2-19, 2-20, auxiliary connecting rod. DETAILED DESCRIPTION

[0059] The present invention is further described below with reference to specific embodiments and accompanying drawings.

[0060] See Figures 1 to 3An embodiment of the present invention provides a clamping device for clamping a material. In this embodiment, the material is coal gangue, but the present invention is not limited thereto. In other embodiments, the material may be other items that need to be clamped.

[0061] The gripping device includes a robotic arm (not shown) and a manipulator provided on the robotic arm. The robotic arm can adopt a common design in the industry and will not be described in detail here.

[0062] The manipulator includes a gripping mechanism 2. The gripping mechanism 2 includes:

[0063] Rack 2-21;

[0064] The driving member 2-1, the main body of which is rotatably connected to the frame 2-21, and the driving rod 2-2 thereof has multiple strokes;

[0065] An active claw assembly includes a first link 2-3, a second link 2-5, a third link 2-7, a fourth link 2-11 and a first clamping jaw 2-10, wherein one end of the first link 2-3, the second link 2-5, the third link 2-7 and the fourth link 2-11 are rotatably connected together, the other end of the first link 2-3 is rotatably connected to the driving rod 2-2, the other end of the second link 2-5 is rotatably connected to the inner side of the upper portion of the first clamping jaw 2-10, and the other end of the third link 2-7 and the outer side of the upper portion of the first clamping jaw 2-10 are rotatably connected to the frame 2-21;

[0066] The driven claw assembly includes a fifth link 2-13, a sixth link 2-15, a seventh link 2-17, an eighth link 2-18 and a second clamping jaw, one end of the fifth link 2-13 is rotatably connected to the free end of the fourth link 2-11, and the other end is rotatably connected to one end of the sixth link 2-15, and the middle part of the fifth link 2-13 is rotatably connected to the frame 2-21; the other end of the sixth link 2-15 is rotatably connected to one end of the seventh link 2-17 and one end of the eighth link 2-18, the other end of the seventh link 2-17 is rotatably connected to the inner side of the upper part of the second clamping jaw, the middle part of the eighth link 2-18 is rotatably connected to the frame 2-21, and the other end of the eighth link 2-18 is rotatably connected to the outer side of the upper part of the second clamping jaw;

[0067] The driving member 2-1 drives the first clamping jaw 2-10 and the second clamping jaw to open and close through the connecting rod. The greater the stroke of the driving rod 2-2, the greater the opening angle of the first clamping jaw 2-10 and the second clamping jaw.

[0068] The inner side of the upper part of the first jaw 2-10 refers to the side of the first jaw 2-10 close to the frame 2-21 and the second jaw, and the outer side of the upper part of the first jaw 2-10 refers to the side of the first jaw 2-10 close to the frame 2-21 and away from the second jaw; the inner side of the upper part of the second jaw refers to the side of the second jaw close to the frame 2-21 and the first jaw 2-10, and the outer side of the upper part of the second jaw refers to the side of the second jaw close to the frame 2-21 and away from the first jaw 2-10.

[0069] In the illustrated embodiment, the frame 2-21 is provided with a plurality of extensions, which extend out to be rotatably connected to the first clamping jaw 2-10, the second clamping jaw, the third connecting rod 2-7, the seventh connecting rod 2-17 and the fifth connecting rod 2-13, respectively.

[0070] In the illustrated embodiment, the rotational connection between the above-mentioned components is achieved by providing through holes in the corresponding components and inserting rotating shafts into the through holes. Specifically, one end of the third connecting rod 2-7, the outer upper portion of the first clamping jaw 2-10, and the frame 2-21 are provided with corresponding openings, and a first rotating shaft 2-9 is inserted through the openings to achieve rotatable connection; one end of the first connecting rod 2-3, the second connecting rod 2-5, the third connecting rod 2-7, and the fourth connecting rod 2-11 are rotatably connected via the second rotating shaft 2-12; the middle portion of the fifth connecting rod 2-13 is rotatably connected to the frame 2-21 via the third rotating shaft 2-14; and the middle portion of the eighth connecting rod 2-18 is rotatably connected to the frame 2-21 via the fourth rotating shaft 2-16.

[0071] The above description only describes the connection relationship of some components, and other parts are connected in a similar way.

[0072] In the illustrated embodiment, the driving member 2 - 1 is a multi-position cylinder, but is not limited thereto. In other embodiments, the driving member 2 - 1 may be a hydraulic cylinder, an electric cylinder, a linear motor, a linear module, etc.

[0073] The driver 2-1 is positioned transversely within the frame 2-21, and its drive rod 2-2 extends and retracts transversely. Transverse refers to the horizontal direction, i.e., movement parallel to the frame 2-21. Because the main body of the driver 2-1 is rotatably connected to the frame 2-21, the connecting rod causes the driver 2-1 to rotate a certain amount, causing the drive rod 2-2 to deviate from the horizontal direction by a certain angle.

[0074] In the illustrated embodiment, the active claw assembly further includes a plurality of auxiliary links 2-4, 2-6, and 2-8. The auxiliary link 2-4 is spaced apart from the first link 2-3 and connects to the same component. The auxiliary link 2-6 is spaced apart from the second link 2-5 and connects to the same component. The auxiliary link 2-8 is spaced apart from the third link 2-7 and connects to the same component. The auxiliary links are connected to the corresponding links to improve the stability of the connection.

[0075] The driven claw assembly also includes multiple auxiliary connecting rods 2-19, 2-20 (other auxiliary connecting rods are not marked in the figure), which will not be described here.

[0076] The following is a detailed description of how the driving member 2-1 drives the first clamping jaw 2-10 and the second clamping jaw to open and close:

[0077] Since one end of the third connecting rod 2-7 is fixed to the frame 2-21 through the first rotating shaft 2-9, the other end of the third connecting rod 2-7 (where the second rotating shaft 2-12 is located) can only make circular motion around the first rotating shaft 2-9.

[0078] When the driving rod 2-2 of the driving member 2-1 is extended (extended to the right in the figure, and is shown in the extended state in the figure): the first connecting rod 2-3 moves together with the end connected to the driving rod 2-2, and the other end of the first connecting rod 2-3 drives the second connecting rod 2-5, the third connecting rod 2-7 and one end of the fourth connecting rod 2-11 to move through the second rotating shaft 2-12; the second rotating shaft 2-12 limits the moving path to moving upward and outward (to the right in the figure) along the circumference, so that the other end of the second connecting rod 2-5 drives the inner side of the upper part of the first clamping jaw 2-10 to move upward and inward (to the left in the figure), thereby causing the first clamping jaw 2-10 to rotate inward.

[0079] Since the middle portion of the fifth connecting rod 2-13 is rotatably connected to the frame 2-21 via the third rotating shaft 2-14, the ends of the fifth connecting rod 2-13 rotate along a circle centered on the third rotating shaft 2-14. The middle portion of the eighth connecting rod 2-18 is rotatably connected to the frame 2-21 via the fourth rotating shaft 2-16, and the ends of the eighth connecting rod 2-18 rotate along a circle centered on the fourth rotating shaft 2-16.

[0080] One end of the fourth link 2-11 moves upward and outward along the circumference, and its other end drives one end of the fifth link 2-13 to also move upward and inward of the second clamping jaw (to the right in the figure). The other end of the fifth link 2-13 drives the sixth link 2-15 to move downward and outward of the second clamping jaw (to the left in the figure). The other end of the sixth link 2-15 moves upward and outward of the second clamping jaw (to the left in the figure), thereby causing the second clamping jaw to rotate inward.

[0081] When the driving rod 2-2 of the driving member 2-1 contracts, the connecting rod structure moves in the opposite direction, driving the first clamping jaw 2-10 and the second clamping jaw to rotate outward.

[0082] The present application utilizes the aforementioned connecting rod structure to convert the driving force of the lateral movement of the drive rod 2-2 into a rotational force for the first and second clamping jaws 2-10. The different distances to which the drive rod 2-2 extends correspond to different opening angles of the first and second clamping jaws 2-10. When the first and second clamping jaws 2-10 and 2-2 grip the material, the driving force of the drive rod 2-2 determines the gripping force of the mechanical claw. This results in a large jaw opening and closing stroke, high clamping force, high handling stability, and flexible and adjustable opening angles and clamping force.

[0083] The driving member 2-1 is arranged horizontally and is transmitted through a connecting rod, saving vertical space.

[0084] Furthermore, the first clamping jaw 2-10 includes:

[0085] A plurality of clips are made of a rigid material, the plurality of clips are arranged in parallel and at intervals, and a serration structure is provided on a side of each clip facing the second clamping jaw;

[0086] A plurality of pads are made of soft material, each pad is sandwiched and fixed between two clips;

[0087] The second clamping jaw comprises:

[0088] A plurality of clips are made of a rigid material, the plurality of clips are arranged in parallel and at intervals, and a serrated structure is provided on a side of each clip facing the first clamping jaw 2-10;

[0089] A plurality of pads are made of soft material, and each pad is sandwiched and fixed between two clips.

[0090] In at least one embodiment, the spacer is made of nylon or rubber, and the clamping jaws are made of high-strength alloy steel. The spacer is clamped and fixed between the clamping pieces by nuts and bolts.

[0091] Specifically, the first clamping jaw 2-10 includes a first clamping piece 2-10-1, a second clamping piece 2-10-2, a third clamping piece 2-10-3, a fourth clamping piece 2-10-4, a first pad 2-10-5, a second pad 2-10-6, and a third pad 2-10-7. The first pad 2-10-5 is arranged between the first clamping piece 2-10-1 and the second clamping piece 2-10-2 and is clamped and fixed by nuts and bolts. The second pad 2-10-6 is arranged between the second clamping piece 2-10-2 and the third clamping piece 2-10-3 and is clamped and fixed by nuts and bolts. The third pad 2-10-7 is arranged between the third clamping piece 2-10-3 and the fourth clamping piece 2-10-4 and is clamped and fixed by nuts and bolts.

[0092] The second clamping jaw has the same structure as the first clamping jaw 2-10.

[0093] Furthermore, the manipulator further comprises:

[0094] The buffer mechanism 1 comprises:

[0095] Robotic arm connector 1-1, used for connecting to the robotic arm;

[0096] Connecting plate 1-4, connected to rack 2-21;

[0097] The elastic member 1-2 has two ends elastically supported against the robotic arm connector 1-1 and the connecting plate 1-4 respectively;

[0098] The connecting rod assembly 1-3 includes at least two connecting rods, and the at least two connecting rods are rotatably connected at the head and tail, and the connecting rods at both ends are also rotatably connected to the robot arm connector 1-1 and the connecting plate 1-4.

[0099] Furthermore, the buffer mechanism 1 further includes an anti-falling component, including:

[0100] A triangular plate 1-5 is provided on the connecting plate 1-4, and the triangular plate 1-5 is provided with a first through hole;

[0101] An inverted triangular plate, provided on the robotic arm connector 1-1, wherein the inverted triangular plate is provided with a second through hole, and the aperture of the first through hole is different from the aperture of the second through hole;

[0102] The fixing member is passed through the first through hole and the second through hole.

[0103] It is understood that the elastic element may be a disc spring, an annular spring, a leaf spring, a coil spring, a truncated cone scroll spring, a torsion bar spring, etc.

[0104] Furthermore, the robotic arm connector 1-1 has 16 through holes reserved in the four directions of front, back, left and right, which are used to connect to the robotic arm through hinges to prevent the robotic arm device from falling off due to failure, thereby realizing secondary safety protection of the robotic arm device.

[0105] The buffer mechanism 1 ensures that when the gripper suddenly stops or encounters a collision during movement, it can swing left and right at a high frequency and low amplitude, reducing and eliminating the energy of vibration or impact. This ensures that the gripper can grasp and work even in harsh working conditions and improves the gripper's gripping stability.

[0106] When the bottom surface or periphery of the material is uneven, the mechanical claw can fine-tune the gripping angle when the lower claw is obstructed, adapt to the shape of irregular objects, and realize flexible multi-angle gripping of coal gangue, thereby improving the material gripping rate.

[0107] Furthermore, the gripping mechanism 2 includes two driving members 2-1, two active claw assemblies and two driven claw assemblies, and each driving member 2-1 drives a corresponding group of active claw assemblies and driven claw assemblies to open and close; along the first direction, the active claw assemblies and the driven claw assemblies are arranged opposite to each other; along the second direction, the two active claw assemblies are arranged overlappingly, and the two driven claw assemblies are arranged overlappingly; the first direction and the second direction are perpendicular to the horizontal plane.

[0108] The materials are grasped simultaneously by two active claw assemblies and two driven claw assemblies. Even if one group fails to grasp the material, the other group can still clamp and fix the material, thereby improving the success rate of grasping.

[0109] Furthermore, the clamping device also includes:

[0110] A displacement sensor, used to detect the stroke of the driving rod 2-2;

[0111] Vision sensor, used to locate the material to be clamped and identify its volume;

[0112] The force sensor is used to detect the force status of each part of the first clamping jaw 2-10 and the second clamping jaw.

[0113] The clamping device also includes an electric control device, which controls the clamping device to perform corresponding actions according to the signal fed back by the sensor.

[0114] Please also see Figure 4 The present application also provides a material clamping method using a clamping device. In this embodiment, the material is coal gangue, but is not limited thereto.

[0115] Material clamping methods, including:

[0116] S1: The visual sensor determines the position of the material to be clamped, and the robotic arm moves the manipulator to the top of the material.

[0117] S2: According to the identified material volume, the stroke of the driving rod 2-2 of the driving member 2-1 is determined so that the first clamping jaw 2-10 and the second clamping jaw are opened to a corresponding angle.

[0118] The gear position of the drive element 2-1 is determined based on the size of the material, controlling the opening angle and gripping force of the first and second gripping jaws 2-10. The larger the material, the larger the gear position, which increases the gripping angle and gripping force of the gripper. Controlling the gripping angle reduces the chance of coal being carried over and the chance of the gripper being blocked. Controlling the gripping force of the gripper prevents excessive force from crushing the material and insufficient force from preventing the gripper from being unable to grasp the material.

[0119] S3: The robot arm moves the robot arm toward the material until the force sensor detects that the force between the first clamping jaw 2-10 or the second clamping jaw and the bottom surface of the material reaches a set value.

[0120] When the bottom surface of the material is uneven, the robotic arm drives the manipulator to move toward the bottom surface until one of the first jaw 2-10 and the second jaw contacts the bottom surface. The robotic arm continues to drive the manipulator to move toward the bottom surface. The side in contact with the bottom surface transmits the force of the bottom surface, causing the corresponding elastic member 1-2 to be compressed, and the connecting rod assembly 1-3 rotates, driving the grasping mechanism 2 to rotate, so that the side of the first jaw 2-10 and the second jaw that does not contact the bottom surface continues to move toward the bottom surface until both the first jaw 2-10 and the second jaw contact the bottom surface.

[0121] When the robot arm suddenly stops or encounters a collision during movement, the manipulator can swing left and right at high frequency and low amplitude through the buffer mechanism 1, reducing and eliminating the energy of vibration or impact. This ensures that the robot claw can grasp and work even in harsh working conditions and improves the stability of the robot claw's grip.

[0122] S4: The driving member 2-1 drives the first clamping jaw 2-10 to close with the second clamping jaw to clamp the material.

[0123] The displacement sensor determines whether the driving member 2-1 opens and closes according to the prescribed procedure, whether it effectively clamps the target object, or whether it misses. If it misses, the control system controls the mechanical claw to repeat the above operation.

[0124] S5: The visual sensor detects whether the material has been clamped. If the clamping is successful, the robotic arm moves the material to the set position; if the clamping fails, S1-S4 are repeated.

[0125] It can be understood that in at least one embodiment, S5 can be omitted.

[0126] Before step S1, the method further includes the following steps: selecting an appropriate number of active claw assemblies and driven claw assemblies according to the size of the material to be clamped; and in step S2, each set of active claw assemblies and driven claw assemblies is driven by a corresponding driving member.

[0127] The number of active claw assemblies and driven claw assemblies is adjusted according to the size of the material to be clamped. When clamping, the corresponding set of active claw assemblies and driven claw assemblies are driven separately by the driving member to clamp, which can better adapt to the uneven surface of the material and better grasp the material at multiple points.

[0128] The examples described in the present invention are merely descriptions of the preferred embodiments of the present invention and are not intended to limit the concept and scope of the present invention. Without departing from the design concept of the present invention, various modifications and improvements made to the technical solutions of the present invention by engineers and technicians in this field should fall within the scope of protection of the present invention.

Claims

1. A robot, characterized in that: include: Grasping mechanism, including: frame; A driving member, the main body of which is rotatably connected to the frame, and the driving rod thereof has multiple strokes; An active claw assembly includes a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a first clamping jaw, wherein one end of the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are rotatably connected together, the other end of the first connecting rod is rotatably connected to the driving rod, the other end of the second connecting rod is rotatably connected to the inner side of the upper portion of the first clamping jaw, and the other end of the third connecting rod and the outer side of the upper portion of the first clamping jaw are rotatably connected to the frame; The driven jaw assembly includes a fifth link, a sixth link, a seventh link, an eighth link and a second clamping jaw, wherein one end of the fifth link is rotatably connected to the free end of the fourth link, and the other end is rotatably connected to one end of the sixth link, and the middle portion of the fifth link is rotatably connected to the frame; the other end of the sixth link is rotatably connected to one end of the seventh link and one end of the eighth link, the other end of the seventh link is rotatably connected to the inner side of the upper portion of the second clamping jaw, the middle portion of the eighth link is rotatably connected to the frame, and the other end of the eighth link is rotatably connected to the outer side of the upper portion of the second clamping jaw; The driving member drives the first clamping jaw and the second clamping jaw to open and close through the connecting rod. The greater the stroke of the driving rod, the greater the opening angle of the first clamping jaw and the second clamping jaw.

2. The manipulator according to claim 1, characterized in that: The first clamping jaw comprises: A plurality of clips are made of a rigid material, the plurality of clips are arranged in parallel and at intervals, and a serration structure is provided on a side of each clip facing the second clamping jaw; A plurality of pads are made of soft material, each pad is sandwiched and fixed between two clips, the pads protrude from the clips and can be replaced individually; The second clamping jaw comprises: A plurality of clips are made of a rigid material, the plurality of clips are arranged in parallel and at intervals, and a serration structure is provided on a side of each clip facing the first clamping jaw; A plurality of pads are made of soft materials. Each pad is clamped and fixed between two clips. The pads protrude from the clips and can be replaced individually.

3. The manipulator according to claim 1, characterized in that: The manipulator further comprises: Buffer mechanism, including: A robotic arm connector, connected to the robotic arm; A connecting plate connected to the frame; an elastic member, two ends of which elastically abut against the mechanical arm connecting member and the connecting plate respectively; The connecting rod assembly includes at least two connecting rods, which are rotatably connected at the head and tail, and the connecting rods at both ends are also rotatably connected to the mechanical arm connecting piece and the connecting plate.

4. The manipulator according to claim 3, characterized in that: The buffer mechanism further includes an anti-falling component, including: A triangular plate is provided on the connecting plate, and the triangular plate is provided with a first through hole; An inverted triangular plate, provided on the robotic arm connecting member, wherein the inverted triangular plate is provided with a second through hole, and the aperture of the first through hole is different from the aperture of the second through hole; The fixing member is passed through the first through hole and the second through hole.

5. The robot according to claim 1, characterized in that: The gripping mechanism includes at least two driving members, at least two active claw assemblies and at least two driven claw assemblies, and each driving member drives a corresponding set of active claw assemblies and driven claw assemblies to open and close; Along the first direction, the active claw assembly and the driven claw assembly are arranged opposite to each other; Along the second direction, at least two active claw assemblies are overlapped, and at least two driven claw assemblies are overlapped; the first direction and the second direction are perpendicular to each other in a horizontal plane.

6. A clamping device comprising a robotic arm and a robotic hand provided on the robotic arm, characterized in that: The manipulator is the manipulator according to any one of claims 1 to 5.

7. The clamping device according to claim 6, characterized in that The clamping device also includes: A displacement sensor is used to detect the stroke of the driving rod; Vision sensor, used to locate the material to be clamped and identify its volume; The force sensor is used to detect the force status of various parts of the first clamping jaw and the second clamping jaw.

8. A material clamping method, characterized in that: A clamping device according to claim 7 is used, comprising: S1: The visual sensor determines the position of the material to be clamped, and the robotic arm moves the manipulator to the top of the material; S2: Determine the stroke of the driving rod of the driving member according to the identified material volume, so that the first clamping jaw and the second clamping jaw open to a corresponding angle; S3: The robotic arm moves the manipulator toward the material until the force sensor detects that the force between the first gripper or the second gripper and the bottom surface of the material reaches a set value; S4: The driving member drives the first clamping jaw and the second clamping jaw to close to clamp the material.

9. The material clamping method according to claim 8, characterized in that: After step S4, the following steps are also included: S5: The visual sensor detects whether the material has been clamped. If the clamping is successful, the robotic arm moves the material to the set position; if the clamping fails, S1-S4 are repeated.

10. The material clamping method according to claim 8, characterized in that: In step S3, when the bottom surface of the material is uneven, the robotic arm drives the manipulator to move toward the bottom surface until one of the first jaw and the second jaw contacts the bottom surface. The robotic arm continues to drive the manipulator to move toward the bottom surface, and the side in contact with the bottom surface transmits the force of the bottom surface to compress the corresponding elastic part, and the connecting rod assembly rotates, driving the grasping mechanism to rotate, so that the side of the first jaw and the second jaw that does not contact the bottom surface continues to move toward the bottom surface until both the first jaw and the second jaw contact the bottom surface.

11. The material clamping method according to claim 8, characterized in that: Before step S1, the method further includes the following steps: selecting an appropriate number of active claw assemblies and driven claw assemblies according to the size of the material to be clamped; and in step S2, each set of active claw assemblies and driven claw assemblies is driven by a corresponding driving member.

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