CN105563508A - Copying underactuated pneumatic robot finger device - Google Patents
Copying underactuated pneumatic robot finger device Download PDFInfo
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- CN105563508A CN105563508A CN201610147153.8A CN201610147153A CN105563508A CN 105563508 A CN105563508 A CN 105563508A CN 201610147153 A CN201610147153 A CN 201610147153A CN 105563508 A CN105563508 A CN 105563508A
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- China
- Prior art keywords
- joint
- pneumatic robot
- robot finger
- return
- drive lacking
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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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a copying underactuated pneumatic robot finger device which can be used for self-adaptively enveloping and grabbing the appearance of a grabbed object and mainly solves the technical problem of product damage caused by repeated single action of the original mechanical structure. The copying underactuated pneumatic robot finger device comprises a finger bottom joint, a front joint, a middle joint, an end joint, a power generation mechanism and a return mechanism, wherein the power generation mechanism comprises a high-elasticity expandable latex tube and an inner cavity of a joint air chamber; and the return mechanism comprises a stretchable rubber rope and a return covered channel. According to the copying underactuated pneumatic robot finger device, the latex tube is boosted to expand to extrude the joints to rotate so that underactuated grabbing is realized. The device is reasonable and simple in structure, convenient to operate, small in size, light in weight, low in production and maintenance costs and wide in application prospect.
Description
Technical field:
The present invention relates to a kind of robot finger apparatus, particularly a kind of structural design of profiling drive lacking pneumatic robot finger apparatus.
Background technology:
Along with the mankind's going deep into robot research in recent years, the research about robot mechanical arm also achieves many good achievements.The principal mode of manipulator is divided into full driving device hand and underactuated manipulator.Because full driving device hand-drive number is equal with number of degrees of freedom, general full driving device hand number of degrees of freedom, is large especially, and therefore the motion control of such manipulator seems especially complicated.But activation lacking mechanical hand-drive number is less than number of degrees of freedom, control the advantages such as simple, easy to maintenance, cost is cheap, this makes the research of this kind of manipulator become main flow.Existing underactuated manipulator multipurpose motor, spring, elastic rope etc. are as several modes of drive lacking, serious to damaged products during crawl, manufacturing cost is high, not easy care.Therefore, the present invention devises and a kind ofly the underactuated manipulator of adaptive envelope product design can effectively solve a current techniques difficult problem.
Summary of the invention:
The object of the invention is the difficult point existed for prior art, propose a kind of profiling under-actuated robot finger device.There is little to damaged products, that the free degree is few, control is simple, low cost of manufacture, easy care maintain feature.
A kind of profiling drive lacking pneumatic robot finger apparatus, comprises finger joint, the end (1), front joint (9), middle joint (7), last joint (5) and generator structure and automatic resetting mechanism; Generator structure comprises high resiliency expansion emulsion tube (20), DIPJ air chamber inner chamber (14), PIP air chamber inner chamber (15), metacarpophalangeal joints air chamber inner chamber (17); Automatic resetting mechanism comprises ridge rope (18) and return undercut (16).Finger joint, the end (1) connects by being connected pin (22) with between front joint (9), front joint (9) connects by being connected pin (22) with middle joint (7), connect by being connected pin (22) between middle joint (7) with last joint (5), high resiliency expansion emulsion tube (20) is successively through front joint air pipe passway (11), middle joint air pipe passway (12), last joint air pipe passway (13); Ridge rope (18) is successively through the return undercut (16) in each joint.
In some embodiments, be wherein: front joint (9), middle joint (7), last joint (5) inside are provided with air pipe passway and return undercut, and return undercut (16) is near joint abdomen end far away.Its beneficial effect is: when finger does not capture product, ridge rope (18) can make each joint effectively return to straight configuration.
In some embodiments, be wherein: ridge rope (18) is made up of high elastic rubber leather rope or high resilience extension spring or emulsion tube.
In some embodiments, wherein be: high resiliency expansion emulsion tube (20) is closed near the one end in last joint (5), and high resiliency expansion emulsion tube (20) is thickening gradually to last joint (5) inwall from finger joint, the end (1).Its beneficial effect is: first the past joint (9) starts to bend when capturing product to ensure robot, and last joint (5) finally bend.Make the envelope product pointing maximum area, effectively can reduce the damage of manipulator to product, and improve the stability grasped.
In some embodiments, be wherein: 1-2mm place mounting limit block (3) respectively above the pin-and-hole of middle joint (7) two ends.Its beneficial effect is: prevent from when high resiliency expansion emulsion tube (20) expands making grasping force overrate because air pressure is excessive and part of damage.
In some embodiments, be wherein: friction buffer liner (4) is posted in front joint (9), middle joint (7), last joint (5) finger tip belly.Its beneficial effect is: can effectively reduce manipulator due to grasping force excessive and product surface is damaged.
In some embodiments, be wherein: finger joint, the end (1) geometric center is provided with gas-tpe fitting easy to plug (2).Its beneficial effect is, facilitates user to change robot finger at any time, effectively enhances productivity.
Accompanying drawing illustrates:
Fig. 1 is the overall schematic of profiling drive lacking pneumatic robot finger apparatus;
Fig. 2 is the complete section figure of profiling drive lacking pneumatic robot finger apparatus;
Fig. 3 is the high resiliency expansion emulsion tube complete section figure of profiling drive lacking pneumatic robot finger apparatus;
Fig. 4 is the exploded perspective view of profiling drive lacking pneumatic robot finger apparatus;
Fig. 5 is the finger grip product schematic diagram of profiling drive lacking pneumatic robot finger apparatus;
Schematic diagram when Fig. 6 is the placement product of profiling drive lacking pneumatic robot finger apparatus;
Fig. 7 is the front joint schematic diagram of profiling drive lacking pneumatic robot finger apparatus;
Fig. 8 is the middle joint schematic diagram of profiling drive lacking pneumatic robot finger apparatus;
Fig. 9 is the last joint schematic diagram of profiling drive lacking pneumatic robot finger apparatus.
In Fig. 1 to Fig. 4
1-to point in joint, the end, 2-gas-tpe fitting, 3-limited block, 4-friction buffer liner, 5-end joint 6-DIPJ air chamber cover, 7-air pipe passway 13-tail joint, joint air pipe passway in joint, 8-PIP air chamber cover, the front joint of 9-, 10-metacarpophalangeal joints air chamber cover, 11-front joint air pipe passway, 12-, 14-DIPJ air chamber inner chamber, 15-PIP air chamber inner chamber, 16-return undercut, 17-metacarpophalangeal joints air chamber inner chamber, 18-ridge rope,
19-emulsion tube connects pin by joint, end end, 20-high resiliency expansion emulsion tube, 21-emulsion tube by last joint end, 22-
Specific embodiments:
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further.
As shown in Figure 1 to Figure 3, a kind of profiling drive lacking pneumatic robot finger apparatus, comprises finger joint, the end (1), front joint (9), middle joint (7), last joint (5) and generator structure and automatic resetting mechanism; Generator structure comprises high resiliency expansion emulsion tube (20), DIPJ air chamber inner chamber (14), PIP air chamber inner chamber (15), metacarpophalangeal joints air chamber inner chamber (17); Automatic resetting mechanism comprises ridge rope (18) and return undercut (16).Connect by being connected pin (22) between joint (1) with front joint (9) at the bottom of described finger, front joint (9) connects by being connected pin (22) with middle joint (7), connect by being connected pin (22) between middle joint (7) with last joint (5), high resiliency expansion emulsion tube (20) is successively through front joint air pipe passway (11), middle joint air pipe passway (12), last joint air pipe passway (13); Ridge rope (18) is successively through the return undercut (16) in each joint.
As Fig. 2, front joint (9) is positioned at same plane with middle joint (7) and last joint (5) deep seated blowhole passage (11,12,13) central axis, return undercut (16) and the air pipe passway (11,12,13) in each joint are in same plane, and air pipe passway is positioned between return undercut (16) and friction buffer liner (4).Under finger does not capture the original state of product, high resiliency emulsion tube (20) is in unswollen state, and ridge rope (18) is tensioned, and points each joint and naturally opens.
As shown in Figure 2,3, centrally line is thickening gradually to last joint (5) from finger joint, the end (1) for the wall thickness of high resiliency emulsion tube (20).Close near the one end in last joint (5).When mechanical finger work captures product, high resiliency emulsion tube (20) inside is full of the air of appropriate pressure, and the space due to the joint air chamber inner chamber (14,15,17) of two ends, joint setting is greater than air pipe passway (11,12,13) high resiliency emulsion tube (20) has large position, trend space to expand.Be subject to the restriction of each joint air chamber cover (6,8,10), high-performance emulsion tube (20) the extruding adjacent segment two ends of expansion, make can produce chucking power between joint.(as shown in Figure 5).In order to avoid, high-performance emulsion tube (20) pressure is excessive and protection product is not bad by folder, 1-2mm place mounting limit block (3) respectively above the pin-and-hole of middle joint (7) two ends.
During mechanical finger grasp handling, high resiliency emulsion tube (20) internal gas pressure keeps constant, can provide stable chucking power.The friction buffer liner (4) of the finger belly in each joint can effective jointing product surface, prevents because motional inertia product is thrown out of.
When needs manipulator puts down product, stop providing gas pressure intensity to high resiliency emulsion tube (20).The stressed releasing in two ends, joint, now joint air chamber inner chamber (14,15,17) volume diminishes under the effect of ridge rope (18), thus each joint of mechanical finger is stretched and reached initial position (as shown in Figure 6), product is put down.
Although above-mentioned accompanying drawing is described the specific embodiment of the present invention; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on technical solution of the present invention basis; those skilled in the art do not need to pay the various amendment or distortion that creative work can make, still in protection scope of the present invention.
Claims (7)
1. a profiling drive lacking pneumatic robot finger apparatus, comprises finger joint, the end (1), front joint (9), middle joint (7), last joint (5) and generator structure and automatic resetting mechanism; Generator structure comprises high resiliency expansion emulsion tube (20), DIPJ air chamber inner chamber (14), PIP air chamber inner chamber (15), metacarpophalangeal joints air chamber inner chamber (17); Automatic resetting mechanism comprises ridge rope (18) and return undercut (16).Connect by being connected pin (22) between joint (1) with front joint (9) at the bottom of described finger, front joint (9) connects by being connected pin (22) with middle joint (7), connect by being connected pin (22) between middle joint (7) with last joint (5), high resiliency expansion emulsion tube (20) is successively through front joint air pipe passway (11), middle joint air pipe passway (12), last joint air pipe passway (13); Ridge rope (18) is successively through the return undercut (16) in each joint.
2. a kind of profiling drive lacking pneumatic robot finger apparatus according to claim 1, it is characterized in that: described front joint (9), middle joint (7), last joint (5) inside are provided with air pipe passway and return undercut, and return undercut (16) is near joint abdomen end far away.
3. a kind of profiling drive lacking pneumatic robot finger apparatus according to claim 1, is characterized in that: described ridge rope (18) is made up of high-performance elastic rubber leather rope or high resilience extension spring or emulsion tube.
4. a kind of profiling drive lacking pneumatic robot finger apparatus according to claim 1, it is characterized in that: described high resiliency expansion emulsion tube (20) is closed near the one end in last joint (5), and high resiliency expansion emulsion tube (20) is thickening gradually to last joint (5) inwall from finger joint, the end (1).
5. a kind of profiling drive lacking pneumatic robot finger apparatus according to claim 1, is characterized in that: 1-2mm place mounting limit block (3) respectively above the pin-and-hole of middle joint (7) two ends.
6. a kind of profiling drive lacking pneumatic robot finger apparatus according to claim 1, is characterized in that: friction buffer liner (4) is posted in front joint (9), middle joint (7), last joint (5) finger tip belly.
7. a kind of profiling drive lacking pneumatic robot finger apparatus according to claim 1, is characterized in that: at the bottom of described finger, joint (1) geometric center is provided with gas-tpe fitting easy to plug (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610147153.8A CN105563508A (en) | 2016-03-15 | 2016-03-15 | Copying underactuated pneumatic robot finger device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610147153.8A CN105563508A (en) | 2016-03-15 | 2016-03-15 | Copying underactuated pneumatic robot finger device |
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| CN105563508A true CN105563508A (en) | 2016-05-11 |
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| CN201610147153.8A Pending CN105563508A (en) | 2016-03-15 | 2016-03-15 | Copying underactuated pneumatic robot finger device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272527A (en) * | 2016-09-13 | 2017-01-04 | 苏州驱指自动化科技有限公司 | Band edge strip connector |
| CN110509301A (en) * | 2019-04-30 | 2019-11-29 | 西南交通大学 | A kind of temperature sense manipulator based on shape memory polyurethane material |
| CN114986556A (en) * | 2022-07-20 | 2022-09-02 | 苏州科技大学 | Pneumatic flexible joint grasping device and control method thereof |
| CN115056259A (en) * | 2022-08-16 | 2022-09-16 | 太仓奥林吉汽车零部件有限公司 | Novel flexible tongs for transferring non-metal parts |
| CN115847472A (en) * | 2022-12-31 | 2023-03-28 | 东北农业大学 | Pneumatic soft manipulator with pressure sensing function |
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| US20100050806A1 (en) * | 2008-09-01 | 2010-03-04 | Seiko Epson Corporation | Horizontal articulated robot |
| CN201822938U (en) * | 2010-07-23 | 2011-05-11 | 牛会新 | Prosthetic hand |
| CN102059707A (en) * | 2010-12-28 | 2011-05-18 | 重庆交通大学 | Finger-simulating self-adaptive flexible fixture assembly |
| 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 |
| WO2015139716A1 (en) * | 2014-03-17 | 2015-09-24 | F&P Robotics Ag | Gripper finger, gripper tip, gripper jaw, and a robot system |
| CN104985421A (en) * | 2014-11-25 | 2015-10-21 | 惊天智能装备股份有限公司 | Robot for dismantling connecting pieces |
-
2016
- 2016-03-15 CN CN201610147153.8A patent/CN105563508A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100050806A1 (en) * | 2008-09-01 | 2010-03-04 | Seiko Epson Corporation | Horizontal articulated robot |
| CN201822938U (en) * | 2010-07-23 | 2011-05-11 | 牛会新 | Prosthetic hand |
| CN102059707A (en) * | 2010-12-28 | 2011-05-18 | 重庆交通大学 | Finger-simulating self-adaptive flexible fixture assembly |
| 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 |
| WO2015139716A1 (en) * | 2014-03-17 | 2015-09-24 | F&P Robotics Ag | Gripper finger, gripper tip, gripper jaw, and a robot system |
| CN104985421A (en) * | 2014-11-25 | 2015-10-21 | 惊天智能装备股份有限公司 | Robot for dismantling connecting pieces |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272527A (en) * | 2016-09-13 | 2017-01-04 | 苏州驱指自动化科技有限公司 | Band edge strip connector |
| CN110509301A (en) * | 2019-04-30 | 2019-11-29 | 西南交通大学 | A kind of temperature sense manipulator based on shape memory polyurethane material |
| CN114986556A (en) * | 2022-07-20 | 2022-09-02 | 苏州科技大学 | Pneumatic flexible joint grasping device and control method thereof |
| CN115056259A (en) * | 2022-08-16 | 2022-09-16 | 太仓奥林吉汽车零部件有限公司 | Novel flexible tongs for transferring non-metal parts |
| CN115847472A (en) * | 2022-12-31 | 2023-03-28 | 东北农业大学 | Pneumatic soft manipulator with pressure sensing function |
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Application publication date: 20160511 |