CN101209553A - Pneumatic power flexible three-finger paw - Google Patents
Pneumatic power flexible three-finger paw Download PDFInfo
- Publication number
- CN101209553A CN101209553A CNA2006101555629A CN200610155562A CN101209553A CN 101209553 A CN101209553 A CN 101209553A CN A2006101555629 A CNA2006101555629 A CN A2006101555629A CN 200610155562 A CN200610155562 A CN 200610155562A CN 101209553 A CN101209553 A CN 101209553A
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- China
- Prior art keywords
- pneumatic
- flexible
- rotating disk
- pneumatic flexible
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000002683 Foot Anatomy 0.000 title claims description 16
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 8
- 239000010959 steel Substances 0.000 claims abstract description 8
- 238000005452 bending Methods 0.000 claims description 7
- 210000000707 Wrist Anatomy 0.000 description 5
- 210000001503 Joints Anatomy 0.000 description 2
- 210000001847 Jaw Anatomy 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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Abstract
The invention provides a pneumatic flexible three-finger gripper, comprising a handle (1) and a rotary disc (5), three pneumatic flexible grippers (8) are arranged at one side of the rotary disc (5) of a torsion joint uniformly according to the angle of 120 DEG; a pipe joint (6) of the pneumatic flexible grippers (8) are arranged on the rotary disc (5); the pneumatic flexible grippers (8) are embedded into one side of a constrained steel wire and faces to the rotary axis line of the torsion joint; the other side of the rotary disc (5) is connected with a rotary shaft (2) through a bearing; the rotary shaft (2) is connected with the handle (1); two pneumatic flexible drivers (7) are bent in round shape and symmetrically and transversely arranged on the rotary disc (5), one end is fixed on a fixed disc (3) and the pipe interface (4) of the other end is fixed on the rotary disc (5). The invention has the advantages of simple and reasonable structure, flexible motion, simple control, good application effect and greater implementation value.
Description
Technical field
The present invention relates to a kind of manipulator, particularly Pneumatic manipulator.
Background technology
The design philosophy of conventional robot pawl is based on pure frame for movement carries out, and its major defect is to add transmission and reducing gear, needs motor or hydraulic pressure as driving, and bulk is big, complex structure, control difficulty; In addition, the paw of pure frame for movement causes damage to target easily, influences implementation result.Chinese patent ZL200410017444.2 " Pneumatic power flexible bending joint " air pressure drives, can realize actions such as the grasping of paw, clamping by charging into, discharge Compressed Gas, adopt the flexible rubber pipe as main member, has sufficient compliance and adaptability, can initiatively adapt to the profile that grasps target, can not cause damage it.But this technical scheme still can not realize reversing of wrist, and function is comprehensive inadequately, and application is restricted.
Summary of the invention
The present invention will solve the shortcoming that the wrist of existing Pneumatic manipulator can not be reversed, and provides that a kind of wrist can be rotated, simple in structure, Pneumatic power flexible three-finger paw flexibly moves.
Pneumatic power flexible three-finger paw of the present invention comprises handle 1, rotating disk 5, three Pneumatic flexible pawls refer to 8 by 120 ° of uniform sides that are installed in the rotating disk 5 of torsion knuckle, the pipe joint 6 that the Pneumatic flexible pawl refers to is positioned on the rotating disk 5, the Pneumatic flexible pawl refers to that 8 embed the rotation of a side of constraint steel wire towards torsion knuckle, the opposite side that it is characterized in that rotating disk 5 is connected with rotating shaft 2 by bearing, rotating shaft 2 connects handle 1, two symmetrical accumbency of Pneumatic flexible actuator 7 rounded bendings are on rotating disk 5, one end is fixed on the price fixing 3, and other end interface tube 4 is fixed on the rotating disk 5.
Advantage compared with prior art of the present invention is: wrist can be rotated, make the function of Pneumatic manipulator more comprehensive, true to nature, and it is simple and reasonable, adopt pneumatics, mainly constitute Pneumatic power flexible three-finger paw by five rubber tubes, motion is controlled simple flexibly, result of use is good, has bigger implementary value.
Description of drawings
Fig. 1 is the Pneumatic power flexible three-finger paw structural representation.
Fig. 2 is that the A-A of Fig. 1 is to cutaway view.
The specific embodiment
With reference to accompanying drawing: wherein: 1-handle, 2-rotating shaft, 3-price fixing, 4-elbow close interface, 5-rotating disk, 6-interface tube, 7-Pneumatic flexible actuator, 8-Pneumatic flexible pawl and refer to.
Pneumatic power flexible three-finger paw of the present invention comprises handle 1, rotating disk 5, three Pneumatic flexible pawls refer to 8 by 120 ° of uniform sides that are installed in the rotating disk 5 of torsion knuckle, the pipe joint 6 that the Pneumatic flexible pawl refers to is positioned on the rotating disk 5, the Pneumatic flexible pawl refers to that 8 embed the rotation of a side of constraint steel wire towards torsion knuckle, the opposite side of rotating disk 5 is connected with rotating shaft 2 by bearing, rotating shaft 2 connects handle 1, two symmetrical accumbency of Pneumatic flexible actuator 7 rounded bendings are on rotating disk 5, one end is fixed on the price fixing 3, and other end interface tube 4 is fixed on the rotating disk 5.Described Pneumatic flexible actuator (7) is the rubber tube that has the steel wire lining.
One end FPA end cap of two Pneumatic flexible actuators 7 passes through cross recessed countersunk head sscrew, symmetry is fixed on the price fixing 3, other end swan neck interface 4 in kind is fixed on the rotating disk 5, three Pneumatic flexible pawls refer to 8 by 120 ° of uniform opposite sides that are installed in the rotating disk 5 of torsion knuckle, and make each bending joint embed the rotation of a side of constraint steel wire, form pawl finger branch towards torsion knuckle.The Pneumatic flexible actuator 7 of torsion knuckle is accumbency, one end end cap is fixed on the price fixing 3, other end interface tube 4 is fixed on the rotating disk 5, feed air pressure by interface tube 4 to driver, can make driver elongation and contraction, because price fixing is motionless, so can only drive rotating disk 5 rotates. the pawl of bending joint part refers to that a side has a constraint steel wire, driver only can form curved jaws and refer to similar staff to the axial rotary bending in elongation process like this.
Operation principle of the present invention is: the torsion knuckle of three-finger paw be similar to the people in wrist, charge into the Compressed Gas of certain pressure to torsion knuckle, the joint turns over certain angle, and drives the paw section rotation; Discharge the torsion knuckle internal compressed gas, paw section is returned to initial position.Three bending joints of three-finger paw refer to that as pawl when charging into Compressed Gas, three bending joints curve inwardly simultaneously, actions such as the grasping of realization paw, clamping.
Claims (2)
1. Pneumatic power flexible three-finger paw comprises handle (1), rotating disk (5), three Pneumatic flexible pawls refer to that (8) are by 120 ° of uniform sides that are installed in the rotating disk (5) of torsion knuckle, the Pneumatic flexible pawl refers to that the pipe joint (6) of (8) is positioned on the rotating disk (5), the Pneumatic flexible pawl refers to that (8) embed the rotation of a side of constraint steel wire towards torsion knuckle, the opposite side that it is characterized in that rotating disk (5) is connected with rotating shaft (2) by bearing, rotating shaft (2) connects handle (1), the symmetrical accumbency of the rounded bending of two Pneumatic flexible actuators (7) is on rotating disk (5), one end is fixed on the price fixing (3), and other end interface tube (4) is fixed on the rotating disk (5).
2. Pneumatic power flexible three-finger paw as claimed in claim 1 is characterized in that described Pneumatic flexible actuator (7) is the rubber tube that has the steel wire lining.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101555629A CN100519102C (en) | 2006-12-28 | 2006-12-28 | Pneumatic power flexible three-finger paw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101555629A CN100519102C (en) | 2006-12-28 | 2006-12-28 | Pneumatic power flexible three-finger paw |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101209553A true CN101209553A (en) | 2008-07-02 |
| CN100519102C CN100519102C (en) | 2009-07-29 |
Family
ID=39609900
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006101555629A Expired - Fee Related CN100519102C (en) | 2006-12-28 | 2006-12-28 | Pneumatic power flexible three-finger paw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100519102C (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101803511B (en) * | 2009-12-29 | 2012-01-18 | 浙江工业大学 | Flexible end effector for cone picking robot |
| CN105856264A (en) * | 2015-01-22 | 2016-08-17 | 南京理工大学 | Software-driven radial opening and closing type pneumatic clamping device |
| CN106272383A (en) * | 2015-05-14 | 2017-01-04 | 天津市赫恩思体育用品有限公司 | A kind of Pneumatic flexible four refers to mechanical hand |
| CN107433615A (en) * | 2017-08-21 | 2017-12-05 | 北京精密机电控制设备研究所 | A kind of multiple degrees of freedom three of hard and soft mixing refers to software manipulator |
| CN110625641A (en) * | 2019-10-08 | 2019-12-31 | 何泽梁 | Pneumatic control equipment of flexible hand claw of multi-sensing robot |
| CN114043508A (en) * | 2021-11-05 | 2022-02-15 | 燕山大学 | Full flexible contact terminal holder |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1039525C (en) * | 1992-08-25 | 1998-08-19 | 华中理工大学 | Self-adaptation type manipulator gripper |
| TWI233832B (en) * | 2004-02-17 | 2005-06-11 | Yi-Chiang Yang | The ratchet is improved for the big model machine |
| CN1322962C (en) * | 2005-01-26 | 2007-06-27 | 浙江理工大学 | Robot pneumatic shillful hand |
| CN1824473A (en) * | 2005-02-24 | 2006-08-30 | 山东科技大学 | Pneumatic mechanical hand clamping tongs |
| CN200988224Y (en) * | 2006-12-28 | 2007-12-12 | 浙江工业大学 | Pneumatic flexible three finger hand claw |
-
2006
- 2006-12-28 CN CNB2006101555629A patent/CN100519102C/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101803511B (en) * | 2009-12-29 | 2012-01-18 | 浙江工业大学 | Flexible end effector for cone picking robot |
| CN105856264A (en) * | 2015-01-22 | 2016-08-17 | 南京理工大学 | Software-driven radial opening and closing type pneumatic clamping device |
| CN106272383A (en) * | 2015-05-14 | 2017-01-04 | 天津市赫恩思体育用品有限公司 | A kind of Pneumatic flexible four refers to mechanical hand |
| CN107433615A (en) * | 2017-08-21 | 2017-12-05 | 北京精密机电控制设备研究所 | A kind of multiple degrees of freedom three of hard and soft mixing refers to software manipulator |
| CN110625641A (en) * | 2019-10-08 | 2019-12-31 | 何泽梁 | Pneumatic control equipment of flexible hand claw of multi-sensing robot |
| CN114043508A (en) * | 2021-11-05 | 2022-02-15 | 燕山大学 | Full flexible contact terminal holder |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100519102C (en) | 2009-07-29 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090729 Termination date: 20111228 |