Gripping device
By designing a gripping device with a clamping module with an automatic centering mechanism and a pressure sensor, the problem of low control accuracy of existing mechanical gripping jaws is solved, and safe operation and precise adjustment of clamping force are achieved for the grasping target object.
Patent Information
- Application Number
- CN202421154281.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-24
- Publication Date
- 2025-03-28
- Estimated Expiration
- 2034-05-24
AI Technical Summary
The existing mechanical jaws have low control accuracy and cannot accurately control clamping force, making it difficult to avoid damage in special occasions such as nuclear radiation areas or the handling of easily damaged objects.
A grasping device including a clamping module and a power module is designed. The clamping module is equipped with an automatic centering mechanism and a pressure sensor. The automatic centering mechanism automatically adjusts its posture under the action of the target object to be grasped through the left and right swing joints and the clamping sheet. The pressure sensor detects and adjusts the clamping force in real time.
It realizes safe operation for grabbing target objects, ensuring that the clamping force is always within the set safety range, and avoids secondary damage to easily damaged objects.
Smart Images
Figure CN222680960U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the field of engineering machinery, and more specifically, relates to a grabbing device. Background Art
[0002] In actual production and life, mechanical grippers are often needed to clamp and carry objects. However, the control accuracy of common mechanical grippers is generally low, and the clamping force cannot be accurately controlled. It is impossible to control the fragile objects without damaging them when clamping them, and it cannot meet the operational needs of some special rescue sites.
[0003] In a nuclear radiation area, personnel are generally unable to approach the object to be grasped and can only control the robot arm through a remote control. When carrying waste liquid barrels, secondary damage to the waste liquid barrels must not be caused to prevent the radioactive waste liquid from spilling. Therefore, the clamping force needs to be strictly controlled to ensure that the force on the object being transported is uniform and the clamping force always changes within the set safety range during the entire handling process.
[0004] In view of this, it is indeed necessary to provide a grasping device that can safely grasp the target to be grasped. Utility Model Content
[0005] The invention aims to overcome the defects of the prior art and provide a grabbing device which can safely grab a target to be grabbed.
[0006] In order to achieve the above-mentioned purpose of the invention, the utility model provides a grasping device, which includes:
[0007] A clamping module, provided with a clamping claw petal and an automatic centering mechanism installed on the clamping claw petal, the automatic centering mechanism comprising a left-right swing joint and a clamping piece, the left-right swing joint and the clamping piece are connected via a pressure sensor, the left-right swing joint automatically adjusts the posture of the clamping piece and the pressure sensor under the action of a target object to be grasped; and
[0008] A power module provides power for the clamping module.
[0009] According to an embodiment of the grabbing device of the utility model, the power module includes a support frame and a power cylinder, and the linear motion of the power cylinder drives the clamping module to open and close.
[0010] According to an embodiment of the gripping device of the utility model, the left and right swing joint is provided with a fixing plate installed on the clamping claw petal, and a rotating shaft installed on the fixing plate through a bearing and a fixing nut, and the clamping claw petal can rotate around the rotating shaft.
[0011] According to an embodiment of the grabbing device of the utility model, a limit plate is provided on the rotating shaft, and the limit plate is fixed on the rotating shaft and can swing left and right. During the swinging process, the position of the limit plate is limited by the fixed plate.
[0012] According to an embodiment of the grabbing device of the present invention, the clamping piece includes an inner clamping piece and an outer clamping piece in contact with the target object to be grabbed.
[0013] According to an embodiment of the grabbing device of the utility model, the inner clamping piece is made of a metal material, and the outer clamping piece is made of a flexible material with a large friction coefficient.
[0014] According to an embodiment of the grabbing device of the utility model, the inner clamping piece is made of a metal material, and the outer clamping piece is made of a rubber material.
[0015] According to an embodiment of the gripping device of the utility model, the gripping device further comprises a positioning module, which is integrated into the power module and acquires the posture and position of the target object to be gripped relative to the gripping device before gripping.
[0016] According to one embodiment of the grasping device of the utility model, the positioning module includes a camera and a laser, the laser projects a light spot of a specific pattern onto the surface of the target object to be grasped, the camera captures the light spot image on the target object to be grasped, and the three-dimensional coordinates of the target object to be grasped are obtained by extracting features and performing three-dimensional reconstruction calculations on the image.
[0017] Compared with the prior art, in the gripping device of the utility model, a pressure sensor is provided between the left and right swing joints and the clamping plate. The pressure sensor can detect the clamping force of the gripping device in real time, and dynamically and accurately adjust the clamping force according to the feedback of the pressure sensor to ensure that the clamping force is always within the set range, thereby achieving safe operation of the target object to be grasped. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The following is a detailed description of the grabbing device of the utility model and its technical effects in conjunction with the accompanying drawings and specific embodiments, wherein:
[0019] Figure 1 It is a structural schematic diagram of the grabbing device of the utility model.
[0020] Figure 2 It is a cross-sectional schematic diagram of the grabbing device of the utility model.
[0021] Figure 3 It is another cross-sectional schematic diagram of the grabbing device of the utility model.
[0022] in:
[0023] 10--power module; 100--support frame; 102--power cylinder; 20--positioning module; 30--clamping module; 300--claw flap; 302--pressure sensor; 304--automatic centering mechanism; 306--left and right swing joints; 308--inner clamping plate; 310--outer clamping plate; 312--fixing plate; 314--bearing; 316--fixing nut; 318--rotating shaft; 320--limiting plate; 40--waste liquid barrel. DETAILED DESCRIPTION
[0024] In order to make the invention purpose, technical solution and technical effect of the utility model clearer, the utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be understood that the specific implementation methods described in this specification are only for explaining the utility model, not for limiting the utility model.
[0025] Please refer to Figures 1 to 3 As shown, the utility model provides a grabbing device.
[0026] The clamping module 30 is provided with a clamping claw 300 and an automatic centering mechanism 304 installed on the clamping claw 300. The automatic centering mechanism 304 includes a left-right swing joint 306 and a clamping piece. The left-right swing joint 306 and the clamping piece are connected via a pressure sensor 302. The left-right swing joint 306 automatically adjusts the posture of the clamping piece and the pressure sensor 302 under the action of the target object to be grasped; and
[0027] The power module 10 provides power for the clamping module 30 .
[0028] Please refer to Figure 2 and Figure 3 As shown, the power module 10 includes a support frame 100 and a power cylinder 102 , and the linear motion of the power cylinder 102 drives the clamping module 30 to open and close.
[0029] Please refer to Figure 2 and Figure 3 As shown, the left and right swing joint 306 is provided with a fixing plate 312 mounted on the clamping jaw 300, and a rotating shaft 318 mounted on the fixing plate 312 through a bearing 314 and a fixing nut 316, and the clamping jaw 300 can rotate around the rotating shaft 318. The automatic centering mechanism 304 can help the hydraulic clamping jaw 300 to better clamp the target object to be grasped without eccentricity. A limiting plate 320 is provided on the rotating shaft 318, and the limiting plate 320 is fixed on the rotating shaft 318 and can swing left and right. During the swinging process, the position of the limiting plate 312 is limited by the fixing plate 312, thereby ensuring the set swinging angle.
[0030] Please refer to Figure 3As shown, the clamping sheet includes an inner clamping sheet 308 and an outer clamping sheet 310 in contact with the target object to be grasped, wherein the inner clamping sheet 308 is made of a metal material, and the outer clamping sheet 310 is made of a flexible material with a large friction coefficient, and the shape is adapted to the shape of the target object to be grasped. According to an embodiment of the grasping device of the utility model, the inner clamping sheet 310 is made of a high-strength metal material, and the outer clamping sheet 310 is made of a rubber material, which not only has an ideal friction coefficient, but also provides a certain buffer and protection to the surface of the target object to be grasped, and can ensure that the outer clamping sheet 310 does not cause secondary damage to the target object to be grasped during the clamping process.
[0031] According to a preferred embodiment of the gripping device of the utility model, the gripping device further includes a positioning module 20, which is integrated in the support frame 100 of the power module 10. The positioning module 20 includes a camera and a laser, which are used to obtain the posture and position of the target object to be grasped relative to the gripping device before grasping, so as to feedback control and adjust the gripping device.
[0032] Under the premise of calibration, the positioning module 20 obtains the position and deformation of the light spot projected by the laser on the target to be grasped through the camera, performs image analysis, and obtains the distance from the clamping module 30 to the target to be grasped and the center position of the target to be grasped. The specific positioning method is: the laser projects a light spot of a specific pattern (such as a grid-shaped light spot, a spiral light spot) onto the surface of the target to be grasped, and the light spot pattern will be distorted and deformed on the surface of the target to be grasped. The camera captures the light spot image of the target to be grasped, and the three-dimensional coordinates of the target to be grasped are calculated by performing algorithm processing such as feature extraction and three-dimensional reconstruction on the image. With such a setting, the precise positioning of the jaw flap 300 can be achieved, ensuring that even in the case where personnel cannot reach the site, the remote control can automatically align with the grasped object.
[0033] The following combination Figures 1 to 3 As shown, the working process of the grabbing device of the utility model is described in detail:
[0034] Firstly, the grabbing device of the utility model is connected with the multi-degree-of-freedom mechanical arm through a connecting mechanism;
[0035] In the non-working state, the automatic centering mechanism 304 of the clamping module 30 of the gripping device of the present invention will be constrained by the limit plate 320 to reach a balanced state;
[0036] When working, the positioning module 20 obtains the target object to be grasped ( Figure 3 The position information of the waste liquid barrel in the gripping device is fed back to the background control center to control the multi-degree-of-freedom manipulator to move according to the set trajectory so that the position of the gripping device relative to the target object to be gripped is within the adaptive adjustment range;
[0037] The power module 10 is activated to drive the clamping claw 300 to close. When the clamping piece (outer clamping piece 310) of the automatic centering mechanism 304 contacts the target object to be grasped, the clamping piece adjusts its posture under the reaction force of the target object to be grasped so that the clamping surface between the clamping piece and the target object to be grasped is maximized.
[0038] After the clamping piece is completely attached to the target object to be grasped, the output force of the power module 10 is increased until the pressure of the pressure sensor 302 of the clamping module 30 reaches the set value, and the multi-freedom robot moves the target object to the specified position according to the set trajectory.
[0039] In combination with the above detailed description of the implementation mode of the utility model, it can be seen that, compared with the prior art, in the gripping device of the utility model, a pressure sensor 302 is provided between the left and right swing joints 306 of the automatic centering mechanism 304 and the clamping plate. The pressure sensor 302 can detect the clamping force of the gripping device in real time, and dynamically and accurately adjust the clamping force according to the feedback of the pressure sensor 302, so as to ensure that the clamping force is always within the set range, thereby realizing safe operation of the target object to be grasped.
[0040] In addition, the left and right swing joints 306 automatically adjust the postures of the clamping plate and the pressure sensor 302 under the action of the target object to be grasped, and have functions such as target object posture detection and adaptive adjustment of the posture during the clamping process, which can realize low-overshoot grasping of the arc surface target object to be grasped under the set clamping force conditions, and the clamping claw petal 300 can adaptively adjust its own posture according to the arc surface during grasping, ensuring that the clamping surface is maximized and the force is uniform, and no secondary damage is caused to the object to be grasped.
[0041] According to the above principles, the present invention can also make appropriate changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the scope of protection of the claims of the present invention. In addition, although some specific terms are used in this specification, these terms are only for the convenience of description and do not constitute any limitation to the present invention.
Claims
1. A gripping device, characterized in that: The grabbing device comprises: A clamping module, provided with a clamping claw petal and an automatic centering mechanism installed on the clamping claw petal, the automatic centering mechanism comprising a left-right swing joint and a clamping piece, the left-right swing joint and the clamping piece are connected via a pressure sensor, the left-right swing joint automatically adjusts the posture of the clamping piece and the pressure sensor under the action of a target object to be grasped; and A power module provides power for the clamping module.
2. The gripping device according to claim 1, characterized in that: The power module comprises a support frame and a power cylinder, and the linear motion of the power cylinder drives the clamping module to open and close.
3. The gripping device according to claim 1, characterized in that: The left-right swing joint is provided with a fixing plate installed on the clamping claw petal, and a rotating shaft installed on the fixing plate through a bearing and a fixing nut, and the clamping claw petal can rotate around the rotating shaft.
4. The gripping device according to claim 3, characterized in that: A limit plate is provided on the rotating shaft. The limit plate is fixed on the rotating shaft and can swing left and right. During the swinging process, the position of the limit plate is limited by the fixed plate.
5. The gripping device according to claim 4, characterized in that: The clamping piece includes an inner clamping piece and an outer clamping piece in contact with the target object to be grasped.
6. The gripping device according to claim 5, characterized in that: The inner clamping piece is made of a metal material, and the outer clamping piece is made of a flexible material with a large friction coefficient.
7. The gripping device according to claim 6, characterized in that: The outer clamping piece is made of rubber material.
8. The gripping device according to any one of claims 1 to 7, characterized in that It further comprises a positioning module, which is integrated in the power module and acquires the posture and position of the target object to be grasped relative to the grasping device before grasping.
9. The gripping device according to claim 8, characterized in that: The positioning module includes a camera and a laser. The laser projects a light spot of a specific pattern onto the surface of the target object to be grasped. The camera captures the light spot image on the target object to be grasped, and obtains the three-dimensional coordinates of the target object to be grasped by performing feature extraction and three-dimensional reconstruction calculation on the image.