CN107042521A - Many finger parallel manipulators of soft drive - Google Patents
Many finger parallel manipulators of soft drive Download PDFInfo
- Publication number
- CN107042521A CN107042521A CN201710279922.4A CN201710279922A CN107042521A CN 107042521 A CN107042521 A CN 107042521A CN 201710279922 A CN201710279922 A CN 201710279922A CN 107042521 A CN107042521 A CN 107042521A
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- China
- Prior art keywords
- finger
- thrust
- spring
- workpiece
- oscillating deck
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- 230000007246 mechanism Effects 0.000 claims abstract description 44
- 201000006715 brachydactyly Diseases 0.000 claims description 36
- 239000011159 matrix material Substances 0.000 claims description 27
- 230000005057 finger movement Effects 0.000 claims description 8
- 230000003746 surface roughness Effects 0.000 claims description 6
- 230000003044 adaptive effect Effects 0.000 abstract description 3
- 239000000463 material Substances 0.000 abstract description 2
- 210000002683 foot Anatomy 0.000 description 15
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
Classifications
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
Abstract
The present invention relates to machine-building equipment, more specifically to the manipulator captured for material.A kind of many finger parallel manipulators of soft drive, including：For providing the support of support, for realizing the finger clamped to workpiece, for driving the finger to realize the clamping cylinder of grasping movement, the flexible thrust mechanism that workpiece configurations scale error can be adapted to automatically, the oscillating deck for accommodating the flexible thrust mechanism；The end of the piston rod of the clamping cylinder is fixed on connecting plate, and the connecting plate is connected to the oscillating deck by No. two articulates.The present invention is used for the workpiece for disposably capturing multiple same types, and with flexible adaptive ability, the error of workpiece configurations size can be adapted to automatically；Many finger parallel manipulators of soft drive of the present invention, the crawl by a clamping cylinder as power output realization to multiple workpiece, can be adapted to the error of workpiece configurations size automatically by flexible thrust mechanism, be captured while realization by multigroup finger to workpiece.
Description
Technical field
The present invention relates to machine-building equipment, more specifically to the manipulator captured for material.
Background technology
Existing manipulator is all motor driving, hydraulic oil cylinder driving, cylinder driving, still, the machine that a driver element drives
Tool hand can be only done the crawl to a workpiece.So as to cause the less efficient of manipulator.
The content of the invention
It is many for disposably capturing object of the present invention is to provide a kind of many finger parallel manipulators of soft drive
The workpiece of individual same type, and with flexible adaptive ability, the error of workpiece configurations size can be adapted to automatically.
A kind of many finger parallel manipulators of soft drive, including：For providing the support of support, for realizing to workpiece
The finger that is clamped, for driving the finger to realize the clamping cylinder of grasping movement, workpiece configurations chi can be adapted to automatically
The flexible thrust mechanism of very little error, the oscillating deck for accommodating the flexible thrust mechanism；The quantity of the finger be two groups extremely
Ten groups, the finger movement is connected to the support, and the flexible thrust mechanism and the finger match；The oscillating deck leads to
Cross an articulate and be connected to the support, the cylinder block of the clamping cylinder is fixed on the support, the clamping cylinder
The end of piston rod be fixed on connecting plate, the connecting plate is connected to the oscillating deck by No. two articulates；
The support includes：Base, side plate, cover plate, matrix, the finger movement are connected to described matrix, described matrix
The base is fixed on, the cover plate is fixed on the top of described matrix, and the side plate is fixed on the both sides of described matrix, described
A hinge is provided with side plate；The oscillating deck is connected to the side plate by an articulate.
Preferably, the finger includes：Length refers to, brachydactylia, left hand refer to, the right hand refers to, upper spring, lower spring, what the length referred to
One end is fixed with the left hand and referred to, and the other end that the length refers to is provided with the first bulb, and first bulb and the flexibility are pushed away
Force mechanisms match；One end of the brachydactylia is fixed with the right hand and referred to, and the other end of the brachydactylia is provided with the second bulb, institute
State the second bulb and flexible thrust mechanism matches；The length is provided with convex platform on referring to, and the convex platform is movably connected on institute
The upper hopper chute of matrix is stated, spring on described is set in the upper hopper chute, the upper spring has the long sensing is described soft
Property thrust mechanism where direction promote trend；Lower convex platform is provided with the brachydactylia, the lower convex platform is movably connected on described
The gliding groove of matrix, sets the lower spring in the gliding groove, and the lower spring has the brachydactylia to the flexibility
The trend that direction where thrust mechanism is promoted.
Preferably, the flexible thrust mechanism includes：Push pedal, bottom plate, the first thrust spring, the second thrust spring, it is described
Push pedal is movably connected on the thrust surface that the restricted push pedal sliding position is set on the oscillating deck, the oscillating deck；It is described
Bottom plate is fixed on the oscillating deck, and first thrust spring, the second thrust spring are set between the push pedal and bottom plate；Institute
The central axis for stating the first thrust spring is first axle, and the central axis that the first axle and the length refer to is overlapped；It is described
The central axis of second thrust spring is second axis, the central axis coincidence of the second axis and the brachydactylia.
Preferably, feet is provided with the push pedal, feet direction where from the push pedal to the bottom plate extends,
There is gap between the bottom plate in the feet.
Preferably, the quantity of the feet is two, and the feet is disposed in proximity to first thrust spring, second pushed away
The position of power spring.
Preferably, the size in the gap is one millimeter to five millimeters.
Preferably, in the state of the non-grabbing workpiece of the finger, the pretightning force of first thrust spring is equal to described
The pretightning force of second thrust spring.
Preferably, in the state of the non-grabbing workpiece of the finger, the pretightning force of first thrust spring is plus described
The pretightning force sum of second thrust spring is Fa, and the thrust of the clamping cylinder is Fb, and the group number of the finger is N, then meets
Below equation： 1.2×N×Fa≥Fb≥N×Fa.
Preferably, first bulb, the surface roughness of the second bulb are Ra0.8；The surface roughness of the push pedal
For Ra0.8.
Compared with conventional art, many finger parallel manipulators of soft drive of the present invention have following positive role and beneficial
Effect：
Many finger parallel manipulators of soft drive of the present invention be used for realize to multiple workpiece while crawl or simultaneously
Put down, mainly include：Support, finger, clamping cylinder, flexible thrust mechanism, oscillating deck.The finger movement is connected to the branch
Frame, the piston rod of the clamping cylinder stretches out and drives the oscillating deck to be swung around the first axle；The flexibility is pushed away
Force mechanisms turn an angle with the oscillating deck, and the flexible thrust mechanism driving length refers to, brachydactylia is done along described matrix
Linear motion, so that the left hand refers to, the right hand refers to the crawl closed up and realized to workpiece.On the contrary, the clamping cylinder
Piston rod is retracted, and drives the oscillating deck to be swung around the first axle；The flexible thrust mechanism drives the length to refer to,
Brachydactylia moves along a straight line along described matrix, so that the left hand refers to, the right hand refers to and opens and put down grabbed workpiece.
One workpiece of finger grip described in one group, the quantity of the finger could be arranged to multigroup, for example, be set to five groups,
So, then many finger parallel manipulators of soft drive of the present invention are used as power take-off unit, one by a clamping cylinder
Secondary property grabs five workpiece, so that operating efficiency is exponentially improved.
The course of work and operation principle of the finger are described below：
The finger includes：Length refers to, brachydactylia, left hand refer to, the right hand refers to, and the length refers to, brachydactylia does straight line fortune along described matrix
It is dynamic.The length is provided with convex platform on referring to, and spring on described is set in the upper hopper chute, and the upper spring has the length
The trend that direction where pointing to the flexible thrust mechanism is promoted, so that first bulb is affixed on the appearance of the push pedal
Face.Lower convex platform is provided with the brachydactylia, the lower spring is set in the gliding groove, and the lower spring has will be described short
The trend that direction where pointing to the flexible thrust mechanism is promoted, so that second bulb is affixed on the appearance of the push pedal
Face.The oscillating deck swings certain angle, the push pedal is swung around the first axle, so as to drive the length
Refer to, the relative position of brachydactylia changes, cause the left hand to refer to, the right hand refers to and mutually closes up with grabbing workpiece or open to put
Lower workpiece.
The course of work and operation principle of the flexible thrust mechanism are described below：
It is now false because the workpiece being crawled has certain error in appearance and size in actual production link
If the size of this error is one millimeter.In order that many finger parallel manipulators of soft drive of the present invention can will be big and small
Workpiece captured simultaneously, prevent from that the big workpiece of appearance and size can only be grabbed, and the small work of appearance and size can not be grabbed
Part.Therefore, the flexible thrust mechanism is devised, finger described in each group is adapted to the workpiece that each size is not waited automatically.
The push pedal is movably connected on the oscillating deck, and the bottom plate is fixed on the oscillating deck.At the push pedal and bottom
First thrust spring, the second thrust spring are set between plate；The central axis of first thrust spring is first axle,
The central axis that the first axle and the length refer to is overlapped；The central axis of second thrust spring is second axis, institute
The central axis for stating second axis and the brachydactylia is overlapped.First thrust spring, the second thrust spring promote described swing
Plate is affixed on the thrust surface.Be provided with feet in the push pedal, the feet has a gap between the bottom plate, it is described between
The size of gap is one millimeter to five millimeters.The length refers to, brachydactylia can promote the push pedal to be moved to direction where the bottom plate,
The distance of motion is the gap.When the finger grip is to the different workpiece of size, the gap can make the finger
It is automatic to adapt to the error of workpiece dimensionally, so that the finger can grab workpiece.
It is now assumed that, the finger realizes the crawl to workpiece, the size of a workpiece be A, it is necessary to refer to the left hand,
It is A apart from A that the right hand, which refers to opening dimension,；The size of another workpiece is B, it is necessary to refer to the left hand, the right hand refers to and opens chi
Very little is B apart from B.It is more than apart from A apart from B.The piston rod of the clamping cylinder stretches out, and drives the oscillating deck and push pedal to occur
Rotate, will now be described apart from A and how to be produced apart from B：
When the opening dimension that the left hand refers to, the right hand refers to is apart from A, top block is equal to apart from the upper gap of the bottom plate
Bottom seat pad is apart from the lower gap of the bottom plate.
When the opening dimension that the left hand refers to, the right hand refers to is apart from B, top block is equal to apart from the upper gap of the bottom plate
Zero, so that the swing of greater angle occurs for the push pedal, so that the left hand refers to, the right hand refers to can press from both sides tighter.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of many finger parallel manipulators of soft drive of the present invention；
Fig. 2 is the cross-sectional view of many finger parallel manipulators of soft drive of the present invention in the loosened condition；
Fig. 3,4 are structural representation of many finger parallel manipulators of soft drive of the present invention under seized condition；
Fig. 5 is the structural representation of the oscillating deck of many finger parallel manipulators of soft drive of the present invention.
1 base, 2 side plates, 3 cover plates, 4 length refer to, 5 brachydactylias, 6 left hands refer to, 7 right hands refer to, 8 oscillating decks, No. 9 hinges, 10 2
Number hinge, 11 connecting plates, 12 clamping cylinders, 13 matrixes, spring, 15 lower springs, 16 first bulbs, 17 second bulbs, 18 on 14
It is push pedal, 19 bottom plates, 20 first thrust springs, 21 second thrust springs, 22 thrust surfaces, 23 convex platforms, 24 lower convex platforms, sliding on 25
Groove, 26 gliding grooves, 27 flexible thrust mechanisms, 28 feets, 29 gaps, 30 first axles, 31 second axis.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing, but does not constitute any limitation of the invention,
Similar element numbers represent similar element in accompanying drawing.As described above, the invention provides a kind of many fingers of soft drive
Parallel manipulator, the workpiece for disposably capturing multiple same types, and with flexible adaptive ability, can adapt to automatically
The error of workpiece configurations size；Many finger parallel manipulators of soft drive of the present invention, it is defeated as power by a clamping cylinder
Go out to realize the crawl to multiple workpiece, the error of workpiece configurations size can be adapted to automatically by flexible thrust mechanism, by multigroup hand
Refer to and captured while realization to workpiece.
Fig. 1 is the dimensional structure diagram of many finger parallel manipulators of soft drive of the present invention, and Fig. 2 is of the invention flexible
The cross-sectional view of many finger parallel manipulators of driving in the loosened condition, Fig. 3,4 are many of soft drive of the present invention
Structural representation of the finger parallel manipulator under seized condition, Fig. 5 is many finger parallel manipulators of soft drive of the present invention
Oscillating deck structural representation.
A kind of many finger parallel manipulators of soft drive, including：For providing the support of support, for realizing to workpiece
The finger that is clamped, for driving the finger to realize the clamping cylinder 12 of grasping movement, workpiece configurations can be adapted to automatically
The flexible thrust mechanism 27 of scale error, the oscillating deck 8 for accommodating the flexible thrust mechanism 27；The quantity of the finger is
Two groups to ten groups, the finger movement is connected to the support, and the flexible thrust mechanism 27 and the finger match；It is described
Oscillating deck 8 is movably connected on the support by a hinge 9, and the cylinder block of the clamping cylinder 12 is fixed on the support,
The end of the piston rod of the clamping cylinder 12 is fixed on connecting plate 11, and the connecting plate 11 passes through the activity of No. two hinges 10
It is connected to the oscillating deck 8；
The support includes：Base 1, side plate 2, cover plate 3, matrix 13, the finger movement are connected to described matrix 13, institute
State matrix 13 and be fixed on the base 1, the cover plate 3 is fixed on the top of described matrix 13, and the side plate 2 is fixed on described
A hinge 9 is provided with the both sides of matrix 13, the side plate 2；The oscillating deck 8 passes through the activity of a hinge 9
It is connected to the side plate 2.
More specifically, the finger includes：It is long refer to 4, brachydactylia 5, left hand and refer to the 6, right hand refer to 7, upper spring 14, lower spring 15,
One end that the length refers to 4 is fixed with the left hand and refers to 6, and the other end that the length refers to 4 is provided with the first bulb 16, first ball
First 16 and the flexible thrust mechanism 27 match；One end of the brachydactylia 5 is fixed with the right hand and refers to 7, the brachydactylia 5 it is another
One end is provided with the second bulb 17, and second bulb 17 and flexible thrust mechanism 27 match；The length refers to be provided with 4
Boss 23, the convex platform 23 is movably connected on the upper hopper chute 25 of described matrix 13, is set in the upper hopper chute 25 on described
Spring 14, the upper spring 14 has refers to 4 trend promoted to the flexible place direction of thrust mechanism 27 by the length；It is described
Lower convex platform 24 is provided with brachydactylia 5, the lower convex platform 24 is movably connected on the gliding groove 26 of described matrix 13, is glided described
The lower spring 15 is set in groove 26, and the lower spring 15 has the brachydactylia 5 to the flexible place side of thrust mechanism 27
To the trend of promotion.
More specifically, the flexible thrust mechanism 27 includes：Push pedal 18, bottom plate 19, the first thrust spring 20, the second thrust
Spring 21, the push pedal 18, which is movably connected on the oscillating deck 8, the oscillating deck 8, sets the restricted push pedal 18 to slide
The thrust surface 22 of position；The bottom plate 19 is fixed on the oscillating deck 8, and described is set between the push pedal 18 and bottom plate 19
One thrust spring 20, the second thrust spring 21；The central axis of first thrust spring 20 is first axle 30, described first
The central axis that axis 30 and the length refer to 4 is overlapped；The central axis of second thrust spring 21 is second axis 31, described
The central axis of second axis 31 and the brachydactylia 5 is overlapped.
More specifically, be provided with feet 28 in the push pedal 18, the feet 28 is from the push pedal 18 to the bottom plate 19
Place direction extends, and the feet 28 has gap 29 between the bottom plate 19.
More specifically, the quantity of the feet 28 is two, the feet 28 is disposed in proximity to first thrust spring
20th, the position of the second thrust spring 21.
More specifically, the size in the gap 29 is one millimeter to five millimeters.
More specifically, in the state of the non-grabbing workpiece of the finger, the pretightning force of first thrust spring 20 is equal to
The pretightning force of second thrust spring 21.
More specifically, in the state of the non-grabbing workpiece of the finger, the pretightning force of first thrust spring 20 is added
The pretightning force sum of second thrust spring 21 is Fa, and the thrust of the clamping cylinder 12 is Fb, and the group number of the finger is
N, then meet below equation： 1.2×N×Fa≥Fb≥N×Fa.
More specifically, the surface roughness of first bulb 16, the second bulb 17 is Ra0.8；The table of the push pedal 18
Surface roughness is Ra0.8.
Below in conjunction with Fig. 1 to 4, further describe many finger parallel manipulators of soft drive of the present invention operation principle and
The course of work：
Many finger parallel manipulators of soft drive of the present invention be used for realize to multiple workpiece while crawl or simultaneously
Put down, mainly include：Support, finger, clamping cylinder 12, flexible thrust mechanism 27, oscillating deck 8.The finger movement is connected to
The support, the piston rod of the clamping cylinder 12 stretches out and drives the oscillating deck 8 to be swung around the first axle 9；
The flexible thrust mechanism 27 turns an angle with the oscillating deck 8, the flexible thrust mechanism 27 drives the length to refer to 4,
Brachydactylia 5 moves along a straight line along described matrix 13, refers to 7 so that the left hand refers to the 6, right hand and closes up and realize the crawl to workpiece.
On the contrary, the piston rod of the clamping cylinder 12 is retracted, the oscillating deck 8 is driven to be swung around the first axle 9；It is described
Flexible thrust mechanism 27 drives the length to refer to 4, brachydactylia 5 and moved along a straight line along described matrix 13, so that the left hand refers to the 6, right side
Finger 7 opens and puts down grabbed workpiece.
One workpiece of finger grip described in one group, the quantity of the finger could be arranged to multigroup, for example, be set to five groups,
So, then many finger parallel manipulators of soft drive of the present invention by a clamping cylinder 12 as power take-off unit,
Five workpiece disposably are grabbed, so that operating efficiency is exponentially improved.
The course of work and operation principle of the finger are described below：
The finger includes：It is long refer to 4, brachydactylia 5, left hand and refer to the 6, right hand refer to 7, the length refers to 4, brachydactylia 5 along described matrix 13
Move along a straight line.The length, which refers to, is provided with convex platform 23 on 4, set spring 14 on described in the upper hopper chute 25, it is described on
Spring 14 has refers to 4 trend promoted to the flexible place direction of thrust mechanism 27 by the length, so that first ball
First 16 are affixed on the outer surface of the push pedal 18.Lower convex platform 24 is provided with the brachydactylia 5, sets described in the gliding groove 26
Lower spring 15, the lower spring 15 has the trend for promoting the brachydactylia 5 to the flexible place direction of thrust mechanism 27, from
And second bulb 17 is affixed on the outer surface of the push pedal 18.The oscillating deck 8 swings certain angle, makes the push pedal
18 swing around the first axle 9, so that the relative position for driving the length to refer to 4, brachydactylia 5 changes, cause described
Left hand, which refers to the 6, right hand and refers to 7, mutually to be closed up with grabbing workpiece or opens to put down workpiece.
The course of work and operation principle of the flexible thrust mechanism 27 are described below：
It is now false because the workpiece being crawled has certain error in appearance and size in actual production link
If the size of this error is one millimeter.In order that many finger parallel manipulators of soft drive of the present invention can will be big and small
Workpiece captured simultaneously, prevent from that the big workpiece of appearance and size can only be grabbed, and the small work of appearance and size can not be grabbed
Part.Therefore, the flexible thrust mechanism 27 is devised, finger described in each group is adapted to the work that each size is not waited automatically
Part.
The push pedal 18 is movably connected on the oscillating deck 8, and the bottom plate 19 is fixed on the oscillating deck 8.Pushed away described
First thrust spring 20, the second thrust spring 21 are set between plate 18 and bottom plate 19；In first thrust spring 20
Heart axis is first axle 30, and the central axis that the first axle 30 and the length refer to 4 is overlapped；Second thrust spring
21 central axis is second axis 31, the central axis coincidence of the second axis 31 and the brachydactylia 5.First thrust
Spring 20, the second thrust spring 21 promote the oscillating deck 8 to be affixed on the thrust surface 22.Feet is provided with the push pedal 18
28, there is gap 29 in the feet 28, the size in the gap 29 is one millimeter to five millimeters between the bottom plate 19.
The length, which refers to 4, brachydactylia 5, can promote the push pedal 18 to be moved to the place direction of bottom plate 19, between the distance of motion is for described in
Gap 29.When the finger grip is to the different workpiece of size, the gap 29 can make the finger adapt to workpiece automatically to exist
Error in size, so that the finger can grab workpiece.
It is now assumed that, the finger realizes the crawl to workpiece, and the size of a workpiece is A, it is necessary to refer to the left hand
6th, it is A apart from A that the right hand, which refers to 7 opening dimensions,；The size of another workpiece is that B refers to 7, it is necessary to make the left hand refer to the 6, right hand
It is B apart from B to open size.It is more than apart from A apart from B.The piston rod of the clamping cylinder 12 stretches out, and drives the He of oscillating deck 8
Push pedal 18 rotates, and will now be described apart from A and how to be produced apart from B：
When the left hand, which refers to the 6, right hand, refers to 7 opening dimension for apart from A, top block is apart from the upper gap of the bottom plate 19
34 are equal to bottom seat pad 33 apart from the lower gap 35 of the bottom plate 19.
When the left hand, which refers to the 6, right hand, refers to 7 opening dimension for apart from B, top block is apart from the upper gap of the bottom plate 19
34 are equal to zero, so that the swing of greater angle occurs for the push pedal 18, refer to 7 so that the left hand refers to the 6, right hand and can press from both sides
It is tighter.
Finally it is pointed out that many finger parallel manipulators that above example is only soft drive of the present invention relatively have representative
The example of property.Obviously, many finger parallel manipulators of soft drive of the present invention are not limited to above-described embodiment, can also there is many changes
Shape.Any letter that the technical spirit of every many finger parallel manipulators according to soft drive of the present invention is made to above example
Single modification, equivalent variations and modification, are considered as belonging to the protection domain of many finger parallel manipulators of soft drive of the present invention.
Claims (8)
1. a kind of many finger parallel manipulators of soft drive, it is characterised in that including：For providing the support of support, being used for
Realize the finger clamped to workpiece, for driving the finger to realize the clamping cylinder of grasping movement, can adapt to automatically
The flexible thrust mechanism of workpiece configurations scale error, the oscillating deck for accommodating the flexible thrust mechanism；The number of the finger
Measure as two groups to ten groups, the finger movement is connected to the support, the flexible thrust mechanism and the finger match；Institute
State oscillating deck and the support is connected to by an articulate, the cylinder block of the clamping cylinder is fixed on the support, institute
The end for stating the piston rod of clamping cylinder is fixed on connecting plate, and the connecting plate is connected to described by No. two articulates
Oscillating deck；
The support includes：Base, side plate, cover plate, matrix, the finger movement are connected to described matrix, and described matrix is connected
In the base, the cover plate is fixed on the top of described matrix, and the side plate is fixed on the both sides of described matrix, the side plate
On be provided with a hinge；The oscillating deck is connected to the side plate by an articulate；
The finger includes：Length refers to, brachydactylia, left hand refer to, the right hand refers to, upper spring, lower spring, and one end that the length refers to is connected
State left hand to refer to, the other end that the length refers to is provided with the first bulb, first bulb and the flexible thrust mechanism match；
One end of the brachydactylia is fixed with the right hand and referred to, and the other end of the brachydactylia is provided with the second bulb, second bulb and
Flexible thrust mechanism matches；The length is provided with convex platform on referring to, and the convex platform is movably connected on the upper cunning of described matrix
Groove, sets spring on described in the upper hopper chute, and the upper spring has the long sensing flexible thrust mechanism institute
The trend promoted in direction；Lower convex platform is provided with the brachydactylia, the lower convex platform is movably connected on the gliding groove of described matrix,
The lower spring is set in the gliding groove, and the lower spring has the brachydactylia to the flexible thrust mechanism place side
To the trend of promotion.
2. many finger parallel manipulators of soft drive according to claim 1, it is characterised in that the flexible thrust machine
Structure includes：Push pedal, bottom plate, the first thrust spring, the second thrust spring, the push pedal are movably connected on the oscillating deck, described
The thrust surface of the restricted push pedal sliding position is set on oscillating deck；The bottom plate is fixed on the oscillating deck, is pushed away described
First thrust spring, the second thrust spring are set between plate and bottom plate；The central axis of first thrust spring is the
The central axis that one axis, the first axle and the length refer to is overlapped；The central axis of second thrust spring is second
The central axis of axis, the second axis and the brachydactylia is overlapped.
3. many finger parallel manipulators of soft drive according to claim 2, it is characterised in that set in the push pedal
There is feet, feet direction where from the push pedal to the bottom plate extends, and the feet exists between the bottom plate
Gap.
4. many finger parallel manipulators of soft drive according to claim 3, it is characterised in that the quantity of the feet
For two, the feet is disposed in proximity to first thrust spring, the position of the second thrust spring.
5. many finger parallel manipulators of soft drive according to claim 3, it is characterised in that the size in the gap
For one millimeter to five millimeters.
6. many finger parallel manipulators of soft drive according to claim 2, it is characterised in that do not grabbed in the finger
Take in the state of workpiece, the pretightning force of first thrust spring is equal to the pretightning force of second thrust spring.
7. many finger parallel manipulators of soft drive according to claim 2, it is characterised in that do not grabbed in the finger
Take in the state of workpiece, the pretightning force of first thrust spring adds the pretightning force sum of second thrust spring for Fa,
The thrust of the clamping cylinder is Fb, and the group number of the finger is N, then meets below equation：1.2×N×Fa≥Fb≥N×
Fa。
8. many finger parallel manipulators of soft drive according to claim 2, it is characterised in that first bulb,
The surface roughness of second bulb is Ra0.8；The surface roughness of the push pedal is Ra0.8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710279922.4A CN107042521A (en) | 2017-04-18 | 2017-04-18 | Many finger parallel manipulators of soft drive |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710279922.4A CN107042521A (en) | 2017-04-18 | 2017-04-18 | Many finger parallel manipulators of soft drive |
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| CN201710279922.4A Pending CN107042521A (en) | 2017-04-18 | 2017-04-18 | Many finger parallel manipulators of soft drive |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109202872A (en) * | 2018-11-07 | 2019-01-15 | 安庆师范大学 | A kind of programmable machine arm |
| CN109291065A (en) * | 2018-11-20 | 2019-02-01 | 北京墨狄科技有限公司 | A kind of mechanical gripper |
| CN111907757A (en) * | 2020-09-03 | 2020-11-10 | 青岛朗锐智能科技有限公司 | Tableware snatchs manipulator and automatic case packer |
| CN112122169A (en) * | 2020-09-21 | 2020-12-25 | 宝鸡法士特齿轮有限责任公司 | Workbench and method for detecting automobile parts |
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| CN106945061A (en) * | 2017-02-27 | 2017-07-14 | 温州市贝佳福自动化技术有限公司 | Manipulator additional LEDs full-automatic testing machine |
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| CN105479441A (en) * | 2016-01-13 | 2016-04-13 | 燕山大学 | Robot hand with three under-actuated fingers connected in parallel |
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| CN109202872A (en) * | 2018-11-07 | 2019-01-15 | 安庆师范大学 | A kind of programmable machine arm |
| CN109202872B (en) * | 2018-11-07 | 2023-12-19 | 安庆师范大学 | Programmable robot arm |
| CN109291065A (en) * | 2018-11-20 | 2019-02-01 | 北京墨狄科技有限公司 | A kind of mechanical gripper |
| CN111907757A (en) * | 2020-09-03 | 2020-11-10 | 青岛朗锐智能科技有限公司 | Tableware snatchs manipulator and automatic case packer |
| CN112122169A (en) * | 2020-09-21 | 2020-12-25 | 宝鸡法士特齿轮有限责任公司 | Workbench and method for detecting automobile parts |
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