Manipulator with adjustable grabbing force
By introducing a combination of cylinders, telescopic rods, V-pin and piezoelectric force sensors into the robot, the problem of difficult to control clamping force is solved, real-time detection and adjustment of clamping force is achieved, and the adaptation of the robot is improved. Sex and safety.
Patent Information
- Application Number
- CN202420554505.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-21
- Publication Date
- 2025-01-10
- Estimated Expiration
- 2034-03-21
AI Technical Summary
When existing robots clamp high-precision or soft or plastic items, the clamping force is difficult to control, which can easily lead to damage or clamping of the items, and the lack of pressure detection devices cannot adjust the clamping force in real time.
A robotic hand including cylinders, telescopic rods, V-pin, guide rods, sliding frames and piezoelectric force sensors is designed to achieve clamping by driving the V-pin and jaws of the cylinder, and uses the piezoelectric force sensor. Detect and adjust the clamping force, adjust the cylinder pressure through the air compressed air regulating valve to change the grip strength of the clamping jaws.
Real-time detection and adjustment of clamping force is achieved, the damage to the item is avoided, the flexibility and safety of the robot is improved, and the clamping needs of different types of items can be adapted to the clamping needs of different types of items.
Smart Images
Figure CN222328208U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator with adjustable gripping force. Background Art
[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms and is used to grab, move objects or operate tools according to a fixed procedure. Its characteristic is that it can be programmed to complete various expected tasks, and its structure and performance combine the advantages of both human and mechanical machines.
[0003] In the prior art, since high-precision workpieces are generally fragile and easily deformed, the clamping force of the robot is large and can easily cause damage. However, ordinary robots and grippers do not have pressure detection devices and cannot grasp the clamping force. When it is necessary to grasp softer and plastic objects, it is easy to damage the objects by excessive force.
[0004] Therefore, in view of this, the existing structural deficiencies are studied and improved, and a manipulator with adjustable gripping force is proposed. Utility Model Content
[0005] The purpose of the utility model is to provide a mechanical arm with adjustable gripping force to solve the problems raised in the above-mentioned background technology.
[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a manipulator with adjustable gripping force, comprising a base and a V-shaped pin, wherein a cylinder is fixed by bolts at the bottom of the base, and a telescopic rod is fixedly connected to the output end of the cylinder, the V-shaped pin is connected to the output end of the telescopic rod, and a guide rod at the bottom of the V-shaped pin is connected to the telescopic rod through a pin body, and sliding frames are integrally fixed on both sides of the top of the V-shaped pin, and the sliding frame is a frame structure with a hollow middle portion.
[0007] Furthermore, a column is welded and fixed on the top of the base, and a slide groove is opened in the middle of the column, and the V-shaped pin is slidably matched with the slide groove through a guide rod.
[0008] Furthermore, a piezoelectric force sensor is arranged at the top of the interior of the column. The piezoelectric force sensor includes an end plate and an insulating seat. The end plate is fixed to the top of the interior of the column by bolts, and insulating seats are arranged on both sides of the end plate.
[0009] Furthermore, the piezoelectric force sensor also includes a force transmission cover and a quartz plate. The force transmission cover is arranged at the bottom of the end plate, and the quartz plate is arranged on the inner side of the force transmission cover.
[0010] Furthermore, the piezoelectric force sensor also includes electrodes and lead-out plugs. A layer of electrodes is provided in the middle of the quartz plate, and the side surfaces of the electrodes are electrically connected to the lead-out plugs.
[0011] Furthermore, hinges are fixed on both sides of the top of the column, and clamping claws are rotatable on the tops of the hinges on both sides.
[0012] Furthermore, a back plate is integrally fixed to the back of the clamping jaw, and a lever that slidably cooperates with the sliding frame is fixed to the back plate.
[0013] Compared with the prior art, the utility model has the following beneficial effects:
[0014] 1. When the utility model is in use, the cylinder drives the V-shaped pin through the telescopic rod, so that the V-shaped pin is guided and slid in the slide groove in the middle of the column through the bottom guide rod. Furthermore, the V-shaped pin drives the clamping claws installed on both sides of the top of the column through the sliding cooperation of the sliding frames and the lever on the top to close synchronously to achieve clamping of objects. The clamping structure designed in this application serves as an actuator of the manipulator, and has a simple structure. Only one cylinder is needed to provide power to drive the synchronous clamping of the clamping claws on both sides, which is more practical.
[0015] 2. The utility model adopts the setting of piezoelectric force sensor. When the clamping jaws are closed, the V-shaped pin contacts the piezoelectric force sensor at the top of the column. When the force transmission cover is subjected to force, the force is transmitted to the quartz plate, causing the piezoelectric effect. Finally, the applied force is converted into electric charge and detected, thereby achieving the measurement of pressure. If you want to change the force of the cylinder, you only need to add an air compressor regulating valve between the control valve and the cylinder for adjustment. By controlling the pressure of the cylinder, you can indirectly adjust the force of the cylinder, thereby changing the gripping force of the clamping jaws. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the utility model;
[0017] Figure 2 This is a schematic diagram of the overall front view structure of the utility model;
[0018] Figure 3 The figure is a schematic diagram of the internal structure of the piezoelectric force sensor of the utility model.
[0019] In the figure: 1, base; 2, column; 3, slide; 4, piezoelectric force sensor; 401, end plate; 402, insulating seat; 403, force transmission cover; 404, quartz plate; 405, electrode; 406, lead plug; 5, hinge; 6, clamping claw; 7, back plate; 8, lever; 9, cylinder; 10, telescopic rod; 11, V-shaped pin; 12, guide rod; 13, slide frame. DETAILED DESCRIPTION
[0020] The following is a further detailed description of the implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.
[0021] like Figure 1 to Figure 2 As shown, a manipulator with adjustable gripping force includes a base 1 and a V-shaped pin 11. A cylinder 9 is bolted to the bottom of the base 1, and a telescopic rod 10 is fixedly connected to the output end of the cylinder 9. The V-shaped pin 11 is connected to the output end of the telescopic rod 10, and a guide rod 12 at the bottom of the V-shaped pin 11 is connected to the telescopic rod 10 through a pin body. Slide frames 13 are fixed to both sides of the top of the V-shaped pin 11 in an integrated manner, and the slide frame 13 is a frame structure with a hollow middle portion. The cylinder 9 drives the V-shaped pin 11 through the telescopic rod 10. , so that the V-shaped pin 11 is guided and slid in the slide groove 3 in the middle of the column 2 through the bottom guide rod 12. Further, the V-shaped pin 11 cooperates with the sliding lever 8 through the sliding frames 13 on both sides of the top, driving the clamping claws 6 on both sides of the top of the column 2 to be rotatably installed by the hinges 5 to close synchronously, so as to achieve the clamping of the object. The clamping structure designed in this application is used as the actuator of the manipulator, and the structure is simple. Only one cylinder 9 is needed to provide power to drive the synchronous clamping of the clamping claws 6 on both sides, which is more practical.
[0022] like Figures 2 to 3 As shown, a column 2 is welded and fixed on the top of the base 1, and a slide groove 3 is opened in the middle of the column 2, and the V-shaped pin 11 slides with the slide groove 3 through the guide rod 12. A piezoelectric force sensor 4 is arranged at the top of the inner part of the column 2, and the piezoelectric force sensor 4 includes an end plate 401 and an insulating seat 402. The end plate 401 is fixed to the top of the inner part of the column 2 by bolts, and insulating seats 402 are arranged on both sides of the end plate 401. The piezoelectric force sensor 4 also includes a force transmission cover 403 and a quartz plate 404. The force transmission cover 403 is arranged at the bottom of the end plate 401, and the quartz plate 404 is arranged on the inner side of the force transmission cover 403. The piezoelectric force sensor 4 also includes an electrode 405 and a lead-out plug 406. A layer of electrode 405 is arranged in the middle of the quartz plate 404, and the electrode 405 The side is electrically connected with a lead-out plug 406. When the clamping jaws 6 are closed, the V-shaped pin 11 contacts the piezoelectric force sensor 4 at the top of the column 2. When the force transmission cover 403 is subjected to force, the force is transmitted to the quartz plate 404, triggering a piezoelectric effect. Finally, the applied force is converted into an electric charge and detected, thereby achieving the measurement of the pressure. If you want to change the force of the cylinder 9, you only need to add an air compressor regulating valve between the control valve and the cylinder 9 for adjustment. The force of the cylinder 9 can be indirectly adjusted by controlling the pressure of the cylinder 9, thereby changing the gripping force of the clamping jaws 6. Hinges 5 are fixed on both sides of the top of the column 2, and clamping jaws 6 are rotatable on the top of the hinges 5 on both sides. A back plate 7 is fixed to the back of the clamping jaw 6 in an integrated manner, and a lever 8 that slides with the slide frame 13 is fixed to the back plate 7.
[0023] Working principle: When using this kind of manipulator with adjustable gripping force, the cylinder 9 drives the V-shaped pin 11 through the telescopic rod 10, so that the V-shaped pin 11 is guided and slid in the middle slide groove 3 of the column 2 through the bottom guide rod 12. Further, the V-shaped pin 11 cooperates with the sliding of the lever 8 through the sliding frames 13 on both sides of the top, driving the clamping claws 6 on both sides of the top of the column 2 to be synchronously closed by the hinge 5 to achieve the clamping of the object. The clamping structure designed in this application is used as the actuator of the manipulator. It has a simple structure and can be driven by only one cylinder 9 to provide power. The synchronous clamping of the jaws 6 on both sides is more practical. When the jaws 6 are closed, the V-shaped pin 11 contacts the piezoelectric force sensor 4 at the top of the column 2. When the force transmission cover 403 is subjected to force, the force is transmitted to the quartz plate 404, triggering the piezoelectric effect. Finally, the applied force is converted into an electric charge and detected, thereby achieving the measurement of the pressure. If you want to change the force of the cylinder 9, you only need to add an air compressor regulating valve between the control valve and the cylinder 9 for adjustment. By controlling the pressure of the cylinder 9, you can indirectly adjust the force of the cylinder 9, thereby changing the gripping force of the jaws 6.
[0024] The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.
Claims
1. A manipulator with adjustable gripping force, characterized in that: The invention comprises a base (1) and a V-shaped pin (11), wherein a cylinder (9) is fixedly provided at the bottom of the base (1) by bolts, and a telescopic rod (10) is fixedly provided at the output end of the cylinder (9), the V-shaped pin (11) is connected to the output end of the telescopic rod (10), and a guide rod (12) at the bottom of the V-shaped pin (11) is connected to the telescopic rod (10) through a pin body, and a sliding frame (13) is integrally fixedly provided at both sides of the top of the V-shaped pin (11), and the sliding frame (13) is a frame structure with a hollow middle portion.
2. The mechanical arm with adjustable gripping force according to claim 1, characterized in that: A column (2) is welded and fixed on the top of the base (1), and a slide groove (3) is provided in the middle of the column (2). The V-shaped pin (11) is slidably matched with the slide groove (3) through a guide rod (12).
3. The mechanical arm with adjustable gripping force according to claim 2, characterized in that: A piezoelectric force sensor (4) is arranged at the top end of the interior of the column (2), and the piezoelectric force sensor (4) comprises an end plate (401) and an insulating seat (402). The end plate (401) is fixed to the top end of the interior of the column (2) by means of bolts, and insulating seats (402) are arranged on both sides of the end plate (401).
4. The mechanical arm with adjustable gripping force according to claim 3, characterized in that: The piezoelectric force sensor (4) further comprises a force transmission cover (403) and a quartz plate (404); the force transmission cover (403) is arranged at the bottom of the end plate (401), and the quartz plate (404) is arranged inside the force transmission cover (403).
5. The mechanical arm with adjustable gripping force according to claim 4, characterized in that: The piezoelectric force sensor (4) further comprises an electrode (405) and a lead-out plug (406); a layer of electrode (405) is arranged in the middle of the quartz plate (404), and the side of the electrode (405) is electrically connected to the lead-out plug (406).
6. The mechanical arm with adjustable gripping force according to claim 2, characterized in that: Hinges (5) are fixed on both sides of the top of the column (2), and clamping claws (6) are rotatably arranged on the tops of the hinges (5) on both sides.
7. The mechanical arm with adjustable gripping force according to claim 6, characterized in that: A back plate (7) is integrally fixed to the back of the clamping claw (6), and a lever (8) that slidably cooperates with the sliding frame (13) is fixed to the back plate (7).