CN101554730A - Articulated flexible manipulator - Google Patents
Articulated flexible manipulator Download PDFInfo
- Publication number
- CN101554730A CN101554730A CN 200810023616 CN200810023616A CN101554730A CN 101554730 A CN101554730 A CN 101554730A CN 200810023616 CN200810023616 CN 200810023616 CN 200810023616 A CN200810023616 A CN 200810023616A CN 101554730 A CN101554730 A CN 101554730A
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- Prior art keywords
- loose
- hinge
- leaf
- expansion muscle
- tailstock
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- Granted
Links
- 210000003205 muscle Anatomy 0.000 claims abstract description 37
- 239000012530 fluid Substances 0.000 claims abstract description 7
- 238000007789 sealing Methods 0.000 claims description 8
- 210000000078 claw Anatomy 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 230000010354 integration Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 238000009434 installation Methods 0.000 description 5
- 235000013399 edible fruits Nutrition 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 229910000639 Spring steel Inorganic materials 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 239000002537 cosmetic Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000013601 eggs Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052573 porcelain Inorganic materials 0.000 description 1
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Abstract
The invention relates to an articulated flexible manipulator which belongs to the technical field of the robots and the electromechanical integration. The manipulator is provided with three skillful fingers which are respectively arranged on three jaws of a three-jaw chuck, and the three skillful fingers produce chucking force by the function of fluid driving expansion muscle; each skillful finger is provided with single artificial expansion muscle and a plurality of articulations with single degree of freedom, the artificial expansion muscle is flexible, axially-expandable, each smart finger is assembled with a hinge framework or flexible hinge framework through the expansion muscle, the smart finger comprising a plurality of articulations with single degree of freedom is designed; the flexibility of the single expansion muscle and the structure of the articulations can realize the flexibility of the degree of freedom and the buffer of the chucking force, the skillful fingers have the characteristics of degree flexibility of freedom and chucking force buffer; and the manipulator is applied to chuck breakable brittle bodies and special bodies with shape and size change.
Description
Technical field:
The present invention relates to a kind of articulated flexible manipulator, manipulator has three skillful finger, all has single expansion muscle and a plurality of single-degree-of-freedoms joint on each skillful finger, and the effect that drives expansion muscle by fluid produces grasping force; This manipulator is applied to the grasping of special-shaped object of frangible brittle body and shape, size variation, belongs to the applied technical field of robot, electromechanical integration.
Background technology:
When grasping manipulator and being applied to the special-shaped object (as fruit, cosmetics bottle) of frangible brittle body (as birds, beasts and eggs, porcelain) and shape, size variation, need precisely controlling displacement and grasping force, otherwise can damage these class article, but because the cost problem is accurately controlled manipulator and is difficult in industry extensive uses such as agricultural, light industry.For overcoming the contradiction between accurate control requirement and the manufacturing cost, the existing mechanical hand also often adopts flexible structural member, leans on the strain of structural member to realize the flexibility of the free degree and the resiliency of grasping force; But the strain of structural member is non-linear Large Deflection Deformation, also is difficult to real-time accurate Calculation and control.
The present invention has overcome the real-time accurate control of existing machinery hand and the contradiction of manufacturing cost, utilize the characteristic of flexible joint and driving muscle, rather than the structural member of dependence strain, realization is to the flexible self adaptation of body form, size and grasping force, control of employing time or pressure control, to reduce the cost of robot manipulator structure and control section, be applied to the grasping of harvesting, letter sorting and special-shaped object of fruit better.
Summary of the invention:
The present invention has constituted skillful finger by expansion muscle and loose-leaf hinge skeleton or the assembling of flexible hinge skeleton by a plurality of single-degree-of-freedoms joint; Three skillful finger are installed on three claws of scroll chuck separately, form articulated flexible manipulator.
The present invention structure be have compliance, axial expansion type muscle, the expansion muscle main body is an elastic bellows, and in the expansion muscle wall, that can not extend, flexible organizine and tram are woven, and the axial elasticity expansion is effortless thereby the restriction elastic bellows is radially expanded.The compliance of expansion muscle shows as the compliance deformational behavior of expansion muscle under the restriction of hinge skeleton.
Main solution of the present invention is achieved in that
Shown in accompanying drawing 1,2, three skillful finger 1 are mounted obliquely within respectively on the claw 2 of scroll chuck 3, and grasping of every skillful finger 1 all is pasted with yielding rubber 4 on the acting surface.
Shown in accompanying drawing 3,4,5, a kind of structure of skillful finger 1 is to adopt flexible hinge skeleton, and flexible hinge skeleton can be two flexible hinges, also can be made of more flexible hinges; What accompanying drawing 3 provided is the form of two flexible hinge skeletons 8.Expansion muscle 13 is clamped on the ripple bayonet socket of headstock 5 and tailstock 11 by clip 12, the enclosed cavity that expansion muscle 13, headstock 5 and tailstock 11 constitute; Fluid enters enclosed cavity by joint 10, and joint 10 is spun on the tailstock 11, and there are sealing ring 9 sealings the centre; The two ends of two flexible hinge skeletons 8 are fixed on headstock 5 and the tailstock 11 by screw, and the centre accompanies regulating block 6 and phalanges 7; Annular tram 16 is arranged in expansion muscle 13 walls and, be with rigidity hoop 14 at the trough place of expansion muscle 13 ripples along organizine 15 contoured profile, that be woven together with annular tram 16.
Shown in accompanying drawing 6,7, two flexible hinge skeletons 8 are by the spring steel manufacturing.
As shown in Figure 8, the another kind of structure of skillful finger 1 is to adopt loose-leaf hinge skeleton, and loose-leaf hinge skeleton can be two loose-leaf hinges, also can be made of more loose-leaf hinges; What accompanying drawing 8 provided is the form of two loose-leaf hinge skeletons 18.Expansion muscle 13 is clamped on the ripple bayonet socket of headstock 5 and tailstock 11 by clip 12, the enclosed cavity that expansion muscle 13, headstock 5 and tailstock 11 constitute; Fluid enters enclosed cavity by joint 10, and joint 10 is spun on the tailstock 11, and there are sealing ring 9 sealings the centre; The two ends of two loose-leaf hinge skeletons 18 are fixed on headstock 5 and the tailstock 11 by screw, and the centre accompanies regulating block 6 and phalanges 7; Ditto described, annular tram 16 is arranged in expansion muscle 13 walls and, be with rigidity hoop 14 at the trough place of expansion muscle 13 ripples along organizine 15 contoured profile, that be woven together with annular tram 16.
Shown in accompanying drawing 9,10, two loose-leaf hinge skeletons 18 are made of hinge core shaft 18a, middle loose-leaf 18b and limit loose-leaf 18c.Torsion spring 17 is installed on the hinge core shaft 18a, and the middle part of loose-leaf 18b in the middle of torsion spring 17 is positioned at (accompanying drawing 9,10 is clear for expression, has dismantled torsion spring 17), the outside of middle loose-leaf 18b is limit loose-leaf 18c; Install four circle circles of hinge core shaft 18a except being used at four angles of middle loose-leaf 18b, also leaves four chimbs; The effect of chimb is when the hinge straight configuration, and torsion spring 17 is by pretension, and hinge can not clockwise rotate again, rotates counterclockwise the moment of torsion that need overcome torsion spring 17.
Compared with the prior art the present invention has the following advantages:
The claw of scroll chuck can manually be adjusted, and adapts to the object of different size; All have single expansion muscle and a plurality of single-degree-of-freedoms joint on each skillful finger; The compliance of single expansion muscle and the structure in a plurality of joints can realize the flexibility of the free degree and the resiliency of grasping force, and therefore, skillful finger has the characteristics of free degree flexibility and active force resiliency.Utilize the characteristic of flexible joint and driving muscle, rather than the structural member of dependence strain, realization is to the flexible self adaptation of body form, size and grasping force, control of employing time or pressure control, to reduce the cost of robot manipulator structure and control section, be applied to the grasping of harvesting, letter sorting and special-shaped object of fruit better.
Description of drawings:
Fig. 1 is the A-A cutaway view of articulated flexible manipulator structure diagram
Fig. 2 is the vertical view of articulated flexible manipulator structure diagram
Fig. 3 is the front view of the installation diagram of flexible hinge skeleton skillful finger
Fig. 4 is the B place partial enlarged view of the installation diagram of flexible hinge skeleton skillful finger
Fig. 5 is the C-C cutaway view of the installation diagram of flexible hinge skeleton skillful finger
Fig. 6 is the front view of two flexible hinge skeletons
Fig. 7 is the vertical view of two flexible hinge skeletons
Fig. 8 is the installation diagram of loose-leaf hinge skeleton skillful finger
Fig. 9 is the front view of two loose-leaf hinge skeletons
Figure 10 is the installation diagram of two loose-leaf hinge skeletons
The specific embodiment:
Be the operation principle of the present invention and the course of work below:
Fluid enters expansion muscle 13 inner chambers by joint 10, produces eccentric moment, and two flexible hinge skeletons 8 or two loose-leaf hinge skeletons 18 are rotated counterclockwise in the hinged place, three skillful finger bendings simultaneously, and object is grasped.The angle of each hinged place of skillful finger changes relevant with the size and the position of grasping force, because the compliance of expansion muscle, produces flexibility, grasps effect adaptively.The pressure of expansion muscle 13 inner chambers of three skillful finger can be identical, the control of employing time; Also can regulate the pressure of expansion muscle 13 inner chambers of each skillful finger separately, adopt pressure control.
Claims (4)
1. articulated flexible manipulator, it is characterized in that: three skillful finger (1) are mounted obliquely within respectively on the claw (2) of scroll chuck (3), and grasping of every skillful finger (1) all is pasted with yielding rubber (4) on the acting surface.
2. skillful finger according to claim 1 (1) is characterized in that: a kind of structure of skillful finger (1) is to adopt flexible hinge skeleton, and flexible hinge skeleton can be two flexible hinges, also can be made of more flexible hinges; Its concrete structure is:
Expansion muscle (13) is clamped on the ripple bayonet socket of headstock (5) and tailstock (11) by clip (12), the enclosed cavity that expansion muscle (13), headstock (5) and tailstock (11) constitute; Fluid enters enclosed cavity by joint (10), and joint (10) is spun on the tailstock (11), and there is sealing ring (9) sealing the centre; The two ends of two flexible hinge skeletons (8) are fixed on headstock (5) and the tailstock (11) by screw, and the centre accompanies regulating block (6) and phalanges (7); Annular tram (16) is arranged in expansion muscle (13) wall and, be with rigidity hoop (14) at the trough place of expansion muscle (13) ripple along organizine (15) contoured profile, that be woven together with annular tram (16).
3. skillful finger according to claim 1 (1) is characterized in that: the another kind of structure of skillful finger (1) is to adopt loose-leaf hinge skeleton, and loose-leaf hinge skeleton can be two loose-leaf hinges, also can be made of more loose-leaf hinges; Its concrete structure is:
Expansion muscle (13) is clamped on the ripple bayonet socket of headstock (5) and tailstock (11) by clip (12), the enclosed cavity that expansion muscle (13), headstock (5) and tailstock (11) constitute; Fluid enters enclosed cavity by joint (10), and joint (10) is spun on the tailstock (11), and there is sealing ring (9) sealing the centre; The two ends of two loose-leaf hinge skeletons (18) are fixed on headstock (5) and the tailstock (11) by screw, and the centre accompanies regulating block (6) and phalanges (7); Annular tram (16) is arranged in expansion muscle (13) wall and, be with rigidity hoop (14) at the trough place of expansion muscle (13) ripple along organizine (15) contoured profile, that be woven together with annular tram (16).
4. two loose-leaf hinge skeletons (18) according to claim 3 is characterized in that: torsion spring (17) is installed on the hinge core shaft (18a), the middle part of loose-leaf (18b) in the middle of torsion spring (17) is positioned at, and the outside of middle loose-leaf (18b) is limit loose-leaf (18c); Install four circle circles of hinge core shaft (18a) except being used at four angles of middle loose-leaf (18b), also leaves four chimbs, and the effect of chimb is when the hinge straight configuration, and torsion spring (17) is by pretension, and hinge can not clockwise rotate again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200810023616 CN101554730B (en) | 2008-04-11 | 2008-04-11 | Articulated flexible manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200810023616 CN101554730B (en) | 2008-04-11 | 2008-04-11 | Articulated flexible manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101554730A true CN101554730A (en) | 2009-10-14 |
| CN101554730B CN101554730B (en) | 2013-08-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200810023616 Expired - Fee Related CN101554730B (en) | 2008-04-11 | 2008-04-11 | Articulated flexible manipulator |
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| CN (1) | CN101554730B (en) |
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| CN102689309A (en) * | 2012-05-29 | 2012-09-26 | 江南大学 | Compliant passive gripper drawn by pneumatic ropes and provided with bent plate spring skeleton |
| CN102699925A (en) * | 2012-05-29 | 2012-10-03 | 江南大学 | Flexible passive catcher with serial bent flexible hinge framework tracked by pneumatic rope |
| CN103213139A (en) * | 2013-04-09 | 2013-07-24 | 江南大学 | Pneumatic boost serial loose hinge flexible multi-finger claw |
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| CN105643646A (en) * | 2016-03-17 | 2016-06-08 | 清华大学 | Flexible piece fluid parallel-clamping self-adaptive robot finger device |
| CN105904479A (en) * | 2016-06-14 | 2016-08-31 | 东莞市联洲知识产权运营管理有限公司 | Mechanical clamping jaw for clamping egg-shaped object |
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| CN112273053A (en) * | 2020-11-27 | 2021-01-29 | 南宁学院 | Flexible passion fruit picking manipulator end effector |
| CN114750187A (en) * | 2022-03-30 | 2022-07-15 | 江南大学 | Artificial muscle and air cylinder adopting radial flower-edge-shaped elastic corrugated pipe and control method |
| CN114954727A (en) * | 2022-06-14 | 2022-08-30 | 吉林大学 | Driving type bionic crawling robot based on paper folding structure |
| CN114954727B (en) * | 2022-06-14 | 2023-09-12 | 吉林大学 | Driving bionic crawling robot based on paper folding structure |
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| CN101554730B (en) | 2013-08-28 |
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