CN119319574B - Flexible gripper device and control method - Google Patents
Flexible gripper device and control method Download PDFInfo
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- CN119319574B CN119319574B CN202411863958.3A CN202411863958A CN119319574B CN 119319574 B CN119319574 B CN 119319574B CN 202411863958 A CN202411863958 A CN 202411863958A CN 119319574 B CN119319574 B CN 119319574B
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000000712 assembly Effects 0.000 claims description 15
- 238000000429 assembly Methods 0.000 claims description 15
- 239000004568 cement Substances 0.000 description 17
- 238000010276 construction Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 5
- 230000007547 defect Effects 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a flexible gripper device and a control method, wherein the flexible gripper device comprises a gripper base, a gripper assembly which is arranged in pairs, the gripper assembly comprises at least two side clamping units which are hinged end to end in sequence, each side clamping unit is respectively and correspondingly provided with a side driver for driving the corresponding side clamping unit to adaptively grip a gripped object from the side, one end of the side clamping unit positioned at a head is hinged with the gripper base, the telescopic end of the corresponding side driver is hinged with the side clamping unit and is hinged with the gripper base away from the telescopic end, an auxiliary clamping unit is correspondingly provided with an auxiliary driver, the telescopic end of the auxiliary driver is connected with the middle part of the auxiliary clamping unit, and the telescopic end of the auxiliary driver is connected with the middle part of the gripper base and is used for adaptively gripping the gripped object from the top.
Description
Technical Field
The invention relates to the technical field of electric power construction equipment, in particular to a flexible gripper device for gripping objects with different diameters/taper specifications, such as a street lamp pole, a telegraph pole, an engineering cement pile and the like, and a control method.
Background
In the construction processes of light poles, telegraph poles, engineering cement piles and the like, construction efficiency is often required to be improved by means of professional equipment, but as grabs have different diameter specifications and conicity, one of the grabbing devices in the prior art can be suitable for grabs with all diameter/conicity specifications.
Conventionally, a chinese patent with the patent number ZL2022107857477 discloses a special equipment for installing a power grid line pole, which comprises a grabbing mechanism, wherein the grabbing mechanism comprises a connector, a rotating part, a balancing seat, a balancer and an automatic clamping claw, since the power grid line pole has different diameter specifications and has taper, in order to improve the utilization rate of the equipment, the grabbing mechanism is provided with a Y-shaped mouth piece with a downward opening, the opening of the Y-shaped mouth piece is in contact with the cylindrical surface of the pole to provide supporting force, but the grabbing mechanism still has the following hidden dangers in the use process:
1. The telescopic adjustment of the Y-shaped mouth gag adopts a plug pin mode, so that constructors are required to adjust the position of the plug pin according to the type and the size of the cement electric pole to be assembled at the moment, the electric pole can be clamped in the construction process, otherwise, accidents of unclamping and slipping of the electric pole to hurt people are easy to occur;
2. In the pole clamping process, acting force applied to the pole by the Y-shaped mouth piece and the automatic clamping claw is not on the same plane, and the generated shearing force easily causes the cracking of the cement pole.
The other Chinese patent application with the application number 2023118689003 discloses an installation construction method of an electric power construction cement telegraph pole, and relates to a lateral grabbing mechanism, which comprises an installation seat, a rotating seat, clamping jaws, a driving piece and the like, wherein the clamping jaws comprise fixed clamping jaws, relatively fixed clamping jaws and a hydraulic cylinder for driving the clamping jaws to open and close, and the following problems also exist in the construction process of the clamping jaws:
1. the acting force of the fixed clamping jaw and the opposite fixed clamping jaw on the electric pole is not in the same plane in the clamping process, so that the electric pole is easy to damage;
2. because the electric pole has taper, the upper side and the lower side of the fixed clamping jaw are stressed unevenly, and the phenomenon of clamping deviation and clamping unclamping is easy to occur;
3. In order to ensure that the stress on the upper side and the lower side of the fixed clamping jaw is as uniform as possible, the upper structure and the lower structure of the fixed clamping jaw are as close as possible, so that the thickness of the fixed clamping jaw is thinner, the clamping process is easy to deform, the acting force applied to the electric pole is too concentrated, and the electric pole is easy to damage, and the clamping structure can only be used for clamping small-sized and light-weight cement electric poles.
Therefore, a flexible gripper device and a control method are needed, which can adaptively grip objects such as light poles, telegraph poles, engineering cement piles and the like with different diameters/taper specifications, are especially suitable for cement telegraph pole gripping scenes, are uniformly stressed, and are not easy to damage.
Disclosure of Invention
The invention aims to provide a flexible gripper device and a control method, and aims to solve the technical problem that the traditional gripper mechanism cannot adaptively grip objects with different diameters/taper specifications, such as a street lamp pole, a telegraph pole, an engineering cement pile and the like, or the objects are easy to damage due to uneven stress during gripping.
To achieve the above object, in a first aspect, the present invention provides a flexible grip device comprising:
The gripper base is used for being connected with the equipment execution end;
the clamping assembly is arranged in pairs and at least comprises a first side clamping unit and a second side clamping unit which are sequentially hinged end to end, and each side clamping unit is respectively and correspondingly provided with a side driver for driving the corresponding side clamping unit to adaptively hold a grabbing object from the side;
one end of the first side clamping unit is hinged with the gripper base, and the telescopic end of the corresponding first side driver is hinged with the first side clamping unit and is far away from the telescopic end to be hinged with the gripper base;
The auxiliary clamping unit is correspondingly provided with an auxiliary driver, the telescopic end of the auxiliary driver is connected with the middle part of the auxiliary clamping unit, and the telescopic end is far away from the middle part of the gripper base to be connected with the middle part of the gripper base for holding and grabbing objects from the top in a self-adaptive mode.
As a further improvement of the above solution, the side of the auxiliary clamping unit facing the clamping center is provided with a force sensor for detecting the pressure exerted by the auxiliary drive.
As a further improvement of the scheme, the flexible gripper device further comprises a processor and a controller electrically connected with the processor, the side driver and the auxiliary driver are electrically connected with the controller, and the force sensor is electrically connected with the processor.
As a further improvement of the above solution, the side clamping units and the auxiliary clamping units are provided with elastic anti-slip pads on the sides facing the clamping center.
As a further improvement of the above scheme, the side clamping unit faces the clamping center and the auxiliary clamping unit faces the clamping center are arc-shaped faces which are convenient for holding the grabber.
As a further improvement of the above solution, the side clamping unit comprises a clamping body and a hinge seat arranged on the clamping body, wherein the hinge seat is arranged on a surface far away from the clamping center and is used for connecting the corresponding side driver.
As a further development of the above solution, the side drive is a pneumatic, hydraulic or electric cylinder.
As a further improvement of the above solution, the auxiliary drive is a pneumatic cylinder, a hydraulic cylinder or an electric cylinder.
In a second aspect, the present invention further provides a method for controlling a flexible gripper device as provided in the first aspect, including the steps of:
S1, enabling two clamping hand assemblies in an open state to be close to the periphery of a grabbing object, controlling a first side driver to extend to a first preset stroke, driving a first side clamping unit to converge from a side edge to a clamping center, and enabling the two clamping hand assemblies to be in a first preset clamping state;
S2, controlling the second side driver to extend to a first preset stroke, driving the second side clamping unit to converge from the side edge towards the clamping center, further driving the first side clamping unit to converge from the side edge towards the clamping center, and enabling the two clamping hand assemblies to be in a second preset clamping state;
s3, simultaneously controlling all side drivers to further extend, driving corresponding side clamping units to further converge from the side edges towards the clamping center and clamping, and enabling the two clamping hand assemblies to be in a third preset clamping state;
And S4, driving the auxiliary driver to extend, driving the auxiliary clamping unit to converge from the top to the clamping center, enabling the two clamping hand assemblies to be in a fourth preset clamping state, judging that the clamping state is reached until the force sensor detects that the pressure born by the auxiliary driver reaches a preset threshold value, and adjusting the extension amount of the side driver and/or the auxiliary driver until the preset threshold value is reached if the pressure does not reach the preset threshold value.
As a further improvement of the above solution, in the processes of step S1, step S2 and step S3, the force sensor detects in real time whether the pressure applied to the auxiliary driver reaches the preset threshold, and if the pressure applied to the auxiliary driver does not reach the preset threshold, it is determined that the flexible gripper device does not grasp the gripping object and automatically enters the next preset gripping state.
As a further improvement of the above solution, between step S2 and step S3, if the hand clamping assembly includes three or more side clamping units, sequentially controlling the side drivers corresponding to the remaining side clamping units to extend to the first preset stroke until all the side drivers are completely extended to the first preset stroke;
In the process, the force sensor detects whether the pressure born by the auxiliary driver reaches the preset threshold in real time, and if the pressure does not reach the preset threshold, the flexible gripper device is judged to not grasp the grabber to automatically control the extension of the next-stage side driver.
As a further improvement of the above solution, step S1 is preceded by step S0, and before the flexible gripper device grips the gripping object, all the side drivers and the auxiliary drivers are detected and controlled to be in a contracted state, so that the gripper assembly is in an expanded state.
Due to the adoption of the technical scheme, the application has the beneficial effects that:
According to the flexible gripper device, the gripper assembly is matched with the at least two side clamping units and the auxiliary clamping unit in a sectional mode, so that the degree of freedom of the flexible gripper device in the clamping process and the contact area with the grabbed objects are increased, and the flexible gripper device can be better suitable for clamping and carrying the grabbed objects with different diameter types;
each clamping unit is correspondingly provided with a driver, so that the output force of the drivers of different clamping units can be controlled conveniently, and flexible control can be realized better;
The auxiliary clamping unit is arranged, the extension length of the auxiliary clamping unit can be adjusted automatically according to the diameter of the grabbed object, the defect that the traditional bolt structure needs to be adjusted manually is avoided, and the construction efficiency and the operation safety are improved;
in some embodiments, the side clamping unit is provided with the elastic anti-slip pad towards the clamping center and the auxiliary clamping unit is provided with the elastic anti-slip pad towards the clamping center, so that the stress area can be effectively increased, the friction force is increased, the anti-slip effect is achieved, and on the other hand, the elastic anti-slip pad has elasticity and a buffering effect, so that the adverse effect of the taper of the grabber on the tongs is reduced, and the grabber is effectively prevented from slipping.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings may be obtained from the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic front view of a flexible gripper according to embodiment 1 of the present disclosure;
FIG. 2 is an exploded view of a flexible gripper according to embodiment 1 of the present disclosure;
FIG. 3 is a force-bearing schematic view of a flexible gripper device according to embodiment 1 of the present disclosure;
FIG. 4 is a schematic front view of a flexible gripper according to embodiment 2 of the present disclosure;
FIG. 5 is a force-bearing schematic view of a flexible gripper according to embodiment 2 of the present disclosure;
fig. 6 is a schematic flow chart of a control method according to embodiment 3 of the present disclosure.
Reference numerals:
1. A gripper base; 2, a clamping assembly, 21, a first side clamping unit, 211, a clamping body, 212, a hinging seat, 22, a second side clamping unit, 23, a first side driver, 24, a second side driver, 3, an auxiliary clamping unit, 4, an auxiliary driver and 5, an elastic anti-slip pad.
The achievement of the object, functional features and advantages of the present invention will be further described with reference to the drawings in connection with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention.
It should be noted that all directional indications (such as upper and lower..once.. Times.) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a certain specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.
Moreover, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the embodiments, and when the technical solutions are contradictory or cannot be implemented, it should be considered that the combination of the technical solutions does not exist, and is not within the scope of protection claimed by the present invention.
Example 1
Referring to fig. 1-3, the present invention provides a flexible gripping device comprising:
The gripper base 1 is used for being connected with an equipment execution end;
The clamping assembly 2 is arranged in pairs, the clamping assembly 2 comprises a first side clamping unit 21 and a second side clamping unit 22 which are sequentially hinged end to end, the first side clamping unit 21 is correspondingly provided with a first side driver 23, the second side clamping unit 22 is correspondingly provided with a second side driver 24, and the clamping assembly is used for driving the corresponding side clamping unit to adaptively clamp a grabbing object such as a street lamp pole, a telegraph pole, an engineering cement pile and the like from the side;
One end of the first side clamping unit 21 is hinged with the gripper base 1, and the telescopic end of the corresponding first side driver 23 is hinged with the first side clamping unit 21 and is far away from the telescopic end to be hinged with the gripper base 1;
The auxiliary clamping unit 3 is correspondingly provided with an auxiliary driver 4, the telescopic end of the auxiliary driver 4 is connected with the middle part of the auxiliary clamping unit 3, and the telescopic end far away from the auxiliary driver is connected with the middle part of the gripper base 1 and is used for adaptively holding a gripping object such as a street lamp pole, a telegraph pole, an engineering cement pile and the like from the top;
In this embodiment, the gripper base 1 includes a base body, a U-shaped groove with a downward opening is formed in the base body, two groups of hinge holes are respectively provided at left and right sides of the U-shaped groove at intervals, one group of hinge holes is used for hinging with one end of the first side clamping unit 21 through a corresponding pin shaft, and the other group of hinge holes is used for hinging with a telescopic end, far away from the telescopic end, of the first side driver 23;
The gripper base 1 further comprises a connecting rod, wherein two ends of the connecting rod are connected with corresponding hinge holes on the left side and the right side, or in some embodiments, the connecting rod is arranged in the U-shaped groove in a welding mode, and the telescopic end far away from the auxiliary driver 4 is vertically arranged in the middle of the connecting rod so that the telescopic end of the auxiliary driver faces the clamping direction;
According to the invention, the clamping hand assembly 2 is provided with the segmented at least two side clamping units and the auxiliary clamping unit 3, so that the degree of freedom of the clamping process of the flexible clamping hand device and the contact area with the grabber are increased, and the flexible clamping hand device can be better suitable for clamping and carrying the grabber with different diameters;
each clamping unit is correspondingly provided with a driver, so that the output force of the drivers of different clamping units can be controlled conveniently, and flexible control can be realized better;
In addition, the auxiliary clamping unit 3 is arranged, and the extension length of the auxiliary clamping unit 3 can be adjusted automatically according to the diameter of the grabbed object, so that the defect that the traditional bolt structure needs to be adjusted manually is avoided, and the construction efficiency and the operation safety are improved.
The flexible gripper device further comprises a processor and a controller electrically connected with the processor, wherein the first side driver 23, the second side driver 24 and the auxiliary driver 4 are electrically connected with the controller, the force sensor is electrically connected with the processor, the force sensor can detect the stress condition of the auxiliary driver 4 in real time and feed back the obtained stress value to the processor, the processor and a preset threshold value stored in the processor are compared, the comparison result is fed back to the controller, and the controller sends control signals to the side driver and/or the auxiliary driver 4;
specifically, if the length of the gripping object is larger than the preset threshold value, judging to clamp the gripping object, and controlling all drivers to stop extending by a controller;
Otherwise, judging that the clamping is not performed, and continuing to send out an extension signal to the side driver and/or the auxiliary driver 4 by the controller until a preset threshold value is reached;
Referring to fig. 3, from the stress situation of the flexible gripper device provided by the invention when gripping objects such as a street lamp pole, a telegraph pole, an engineering cement pile and the like, two second side gripping units 22 contacted with the gripping objects respectively provide two gripping forces for the gripping objects AndDue toAndThe forces being of the same magnitude, the auxiliary drive 4 being subjected to pressure,Is a clamping forceAnd in the horizontal directionThe pressure value provided by the corresponding side driver can be obtained through calculation by the pressure value obtained by the force sensor;
The force sensor is arranged, so that whether grabbing objects such as a street lamp pole, a telegraph pole and an engineering cement pile are clamped or not and whether a control signal is sent to a next-stage side driver or not can be judged conveniently according to the stress condition of the auxiliary driver 4, and meanwhile, the flexible gripper device can automatically control and adaptively grab grabbing objects with different diameter specifications and/or different conicity.
As the preferred embodiment, the side clamping unit is provided with the elastic anti-slip pad 5 towards the clamping center and the auxiliary clamping unit 3 is provided with the elastic anti-slip pad 5 towards the clamping center, so that the force bearing area can be effectively increased, the friction force is increased, the anti-slip effect is achieved, and the buffer effect is achieved due to the elasticity of the elastic anti-slip pad, so that the adverse effect of the taper of the grabber on the tongs is reduced, and the grabber is effectively prevented from sliding off.
As a preferred embodiment, the side clamping unit faces towards the clamping center and the auxiliary clamping unit 3 faces towards the clamping center are arc-shaped faces which are convenient for clamping the grabber; the arc-shaped surface is convenient to attach to the outer surface of the grabber and provides stable and uniform supporting force, and specifically, the radian of the arc-shaped surface of each side clamping unit facing the clamping center can be adaptively adjusted according to the contact position.
As a preferred embodiment, the side clamping unit comprises a clamping body 211 and a hinge base 212 arranged on the clamping body 211, the hinge base 212 being arranged on a face remote from the clamping center for connecting a corresponding side driver;
Specifically, the shapes of the clamping bodies 211 can be differently set according to the section positions where the head and the tail are hinged, specifically, referring to fig. 2, in this embodiment, the shapes of the clamping bodies 211 of the first side clamping unit 21 and the clamping bodies 211 of the second side clamping unit 22 are crescent shapes, the clamping bodies 211 of the tail are provided with a hinge seat 212, the other clamping bodies 211 are provided with two hinge seats 212, one is hinged to the telescopic end of the present stage side driver, and the other is hinged to the telescopic end of the next stage side driver.
As a preferred embodiment, the side driver and the auxiliary driver 4 are one of pneumatic cylinders, hydraulic cylinders or electric cylinders, and are further configured with corresponding electromagnetic control valves, and the electromagnetic control valves are electrically connected with the controller.
Example 2
Referring to fig. 4 and 5, the present invention provides a flexible hand grip device, on the basis of embodiment 1, the hand grip assembly 2 includes a first side gripping unit 21, a second side gripping unit 22 and a third side gripping unit that are hinged end to end in sequence, the first side gripping unit 21 is correspondingly provided with a first side driver 23, the second side gripping unit 22 is correspondingly provided with a second side driver 24, and the third side gripping unit is correspondingly provided with a third side driver for driving the corresponding side gripping unit to adaptively grip objects such as a lamp post, a telegraph pole, an engineering cement pile, etc. from the side;
One end of the first side clamping unit 21 is hinged with the gripper base 1, the telescopic end of the corresponding first side driver 23 is hinged with the first side clamping unit 21, and the telescopic end is far away from the telescopic end and hinged with the gripper base 1; the telescopic end of the second side driver 24 is hinged with the second side clamping unit 22, and is hinged with the first side clamping unit 21 away from the telescopic end;
In the embodiment, the grip assembly 2 is configured as a three-section type gripping unit, and compared with the two-section type gripping unit in the embodiment 1, the degree of freedom of the gripping process of the flexible grip device and the contact area between the gripping unit and the gripping object are further increased, so that the flexible grip device can be better suitable for gripping and carrying the gripping object with a larger diameter model;
each clamping unit is correspondingly provided with a driver, so that the output force of the drivers of different clamping units can be controlled conveniently, and flexible control can be realized better;
It should be noted that the number of the setting sections of the clamping units of the hand clamping assembly 2 may be set to be more than three according to the diameters of the objects to be grabbed, such as the light pole, the telegraph pole, the engineering cement pile, etc., so as to increase the degree of freedom of the clamping process of the flexible hand clamping device, the contact area with the object to be grabbed, and increase more stress points, so as to avoid damaging the object to be grabbed, and since the other features are the same as those described in embodiment 1, the description is omitted in this embodiment.
Example 3
Referring to fig. 6, the present invention further provides a control method of the flexible gripper device as provided in embodiment 1, comprising the steps of:
S1, enabling two clamping hand assemblies 2 in an open state to be close to the periphery of a grabbing object such as a street lamp pole, a telegraph pole and an engineering cement pile, firstly controlling a first side driver 23 to extend to a first preset stroke to drive a first side clamping unit 21 to converge from a side edge to a clamping center, and enabling the two clamping hand assemblies 2 to be in a first preset clamping state, wherein the first preset stroke is preferably half of that formed by the first side driver 23;
S2, controlling the second side driver 24 to extend to a first preset stroke, driving the second side clamping unit 22 to converge from the side edge towards the clamping center, and further driving the first side clamping unit 21 to converge from the side edge towards the clamping center, wherein the two clamping assemblies 2 are in a second preset clamping state, and preferably, the second preset stroke is half of that formed by the first side driver 23;
S3, simultaneously controlling all side drivers to further extend, driving corresponding side clamping units to further converge from the side edges towards the clamping center and clamping, and enabling the two clamping hand assemblies 2 to be in a third preset clamping state;
s4, driving the auxiliary driver 4 to extend, driving the auxiliary clamping unit 3 to converge from the top to the clamping center, and enabling the two clamping hand assemblies 2 to be in a fourth preset clamping state;
In the control method provided by the invention, the output forces of the side drivers corresponding to the different side clamping units are controlled step by step, so that the clamping assembly 2 can be in various preset clamping states so as to better realize flexible control, meanwhile, in the processes of the step S1, the step S2 and the step S3, the force sensor detects whether the pressure born by the auxiliary driver 4 reaches the preset threshold value in real time, if the pressure does not reach the preset threshold value, the flexible clamping device is judged to automatically enter the next preset clamping state without grasping a grabber, meanwhile, the force sensor detects the stress value of the auxiliary driver 4 in real time, and the detected stress value is compared with the preset threshold value, so that the extension length of each stage of side driver is adjusted, thereby realizing flexible control of the flexible clamping device, and the extension length of the auxiliary clamping unit 3 can be adjusted autonomously according to the diameter of the grabber, thereby avoiding the defect that the traditional bolt structure needs manual adjustment, and improving the construction efficiency and the operation safety.
As a preferred embodiment, if the hand clamping assembly 2 includes three or more side clamping units between the step S2 and the step S3, the side drivers corresponding to the remaining side clamping units are sequentially controlled to extend to the first preset stroke until all the side drivers are completely extended to the first preset stroke;
In this process, the force sensor detects in real time whether the pressure applied by the auxiliary driver 4 reaches the preset threshold value, and if the pressure does not reach the preset threshold value, the flexible gripper device is judged to not grasp the grabber and the next-stage side driver is automatically controlled to extend.
As a preferred embodiment, step S0 is further included before step S1, and before the flexible gripper device grips objects such as a street lamp pole, a telegraph pole, an engineering cement pile, etc., all side drivers and auxiliary drivers 4 are detected and controlled to be in a contracted state, so that the gripper assembly 2 is in an expanded state.
The foregoing description of the preferred embodiments of the present invention should not be construed as limiting the scope of the invention, but rather as utilizing equivalent structural changes made in the description of the present invention and the accompanying drawings or directly/indirectly applied to other related technical fields under the inventive concept of the present invention.
Claims (9)
1. A method of controlling a flexible gripper apparatus, comprising a flexible gripper apparatus comprising:
the clamping assembly is arranged in pairs and at least comprises a first side clamping unit and a second side clamping unit which are sequentially hinged end to end, and each side clamping unit is respectively and correspondingly provided with a side driver;
the auxiliary clamping unit is correspondingly provided with an auxiliary driver, the telescopic end of the auxiliary driver is connected with the middle part of the auxiliary clamping unit and used for self-adaptively holding a grabbing object from the top, and a force sensor is arranged on the surface of the auxiliary clamping unit facing the clamping center;
the control method comprises the following steps:
S1, enabling two clamping hand assemblies in an open state to be close to the periphery of a grabbing object, controlling a first side driver to extend to a first preset stroke, driving a first side clamping unit to converge from a side edge to a clamping center, and enabling the two clamping hand assemblies to be in a first preset clamping state;
S2, controlling the second side driver to extend to a first preset stroke, driving the second side clamping unit to converge from the side edge towards the clamping center, further driving the first side clamping unit to converge from the side edge towards the clamping center, and enabling the two clamping hand assemblies to be in a second preset clamping state;
s3, simultaneously controlling all side drivers to further extend, driving corresponding side clamping units to further converge from the side edges towards the clamping center and clamping, and enabling the two clamping hand assemblies to be in a third preset clamping state;
And S4, driving the auxiliary driver to extend, driving the auxiliary clamping unit to converge from the top to the clamping center, enabling the two clamping hand assemblies to be in a fourth preset clamping state, judging that the clamping state is reached until the force sensor detects that the pressure born by the auxiliary driver reaches a preset threshold value, and adjusting the extension amount of the side driver and/or the auxiliary driver until the preset threshold value is reached if the pressure does not reach the preset threshold value.
2. The control method according to claim 1, wherein in the process of step S1, step S2 and step S3, the force sensor detects in real time whether the pressure applied to the auxiliary driver reaches the preset threshold, and if the pressure does not reach the preset threshold, it is determined that the flexible gripper device does not grasp the gripped object and automatically enters the next preset gripping state.
3. The control method according to claim 1, wherein between the step S2 and the step S3, if the gripper assembly includes three or more side gripping units, the side drivers corresponding to the remaining side gripping units are sequentially controlled to extend to the first preset stroke until all the side drivers are completed to extend to the first preset stroke, the force sensor detects in real time whether the pressure applied to the auxiliary driver reaches the preset threshold, and if the pressure applied to the auxiliary driver does not reach the preset threshold, it is determined that the flexible gripper device does not grip the gripper and automatically controls the next-stage side driver to extend.
4. The control method according to claim 1, further comprising step S0, before step S1, of detecting and controlling all side drivers and auxiliary drivers to be in a contracted state to bring the gripper assembly to an expanded state before the gripper device grips the gripping object.
5. The control method according to any one of claims 1 to 4, wherein the flexible gripper device further includes:
The gripper base is used for being connected with the equipment execution end;
one end of the first side clamping unit is hinged with the gripper base, and the telescopic end of the corresponding first side driver is hinged with the first side clamping unit and is far away from the telescopic end to be hinged with the gripper base;
The side clamping unit faces the clamping center and the auxiliary clamping unit faces the clamping center are arc-shaped faces which are convenient for holding the grabber.
6. The method of claim 5, wherein the flexible gripper device further comprises a processor and a controller electrically connected to the processor, the side driver and the auxiliary driver are both electrically connected to the controller, and the force sensor is electrically connected to the processor.
7. The control method according to claim 5, characterized in that the side gripping units are provided with elastic anti-slip pads on both the side facing the gripping center and the side facing the gripping center.
8. The control method according to claim 5, wherein the side clamping unit includes a clamping body and a hinge seat provided on the clamping body, the hinge seat being provided on a face remote from a clamping center for connecting the corresponding side driver.
9. The control method according to claim 5, wherein the side driver and the auxiliary driver are each a pneumatic cylinder, a hydraulic cylinder, or an electric cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411863958.3A CN119319574B (en) | 2024-12-18 | 2024-12-18 | Flexible gripper device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411863958.3A CN119319574B (en) | 2024-12-18 | 2024-12-18 | Flexible gripper device and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN119319574A CN119319574A (en) | 2025-01-17 |
| CN119319574B true CN119319574B (en) | 2025-04-11 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5863086A (en) * | 1994-11-21 | 1999-01-26 | Mcneilus Truck And Manufacturing, Inc. | Container holding and lifting device |
| CN109465840A (en) * | 2018-11-26 | 2019-03-15 | 清华大学 | A sucker-grip composite grasping device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3782567A (en) * | 1969-04-10 | 1974-01-01 | A Likas | Combined boom, grapple and bunk assembly |
| US4452479A (en) * | 1979-04-14 | 1984-06-05 | Kabushiki Kaisha Komatsu Seisakusho | Gripping device with interdigitating, articulate fingers |
| CN107671883B (en) * | 2017-09-20 | 2020-08-11 | 西安航空学院 | Stone grabbing operation device |
| CN112497248B (en) * | 2021-01-11 | 2024-04-26 | 广东海洋大学 | Flexible sorting clamping mechanical claw |
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- 2024-12-18 CN CN202411863958.3A patent/CN119319574B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5863086A (en) * | 1994-11-21 | 1999-01-26 | Mcneilus Truck And Manufacturing, Inc. | Container holding and lifting device |
| CN109465840A (en) * | 2018-11-26 | 2019-03-15 | 清华大学 | A sucker-grip composite grasping device |
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