CN107127781A - A kind of soft drive manipulator - Google Patents
A kind of soft drive manipulator Download PDFInfo
- Publication number
- CN107127781A CN107127781A CN201710361139.2A CN201710361139A CN107127781A CN 107127781 A CN107127781 A CN 107127781A CN 201710361139 A CN201710361139 A CN 201710361139A CN 107127781 A CN107127781 A CN 107127781A
- Authority
- CN
- China
- Prior art keywords
- knuckle
- mechanical
- transmission structure
- flexible transmission
- soft drive
- 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.)
- Pending
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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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Abstract
The invention discloses a kind of soft drive manipulator, including：Mechanical palms and mechanical finger, the mechanical finger, which is symmetricly set in, has the connecting hole being connected with mechanical arm in mechanical palms both sides, the mechanical palms, the mechanical finger includes：First knuckle, second knuckle and third knuckle, the first knuckle and second knuckle are hinged and are driven by flexible transmission structure, the second knuckle and third knuckle are hinged and are driven by flexible transmission structure, the mechanical palms are provided with pwm pulse generating units, the pwm pulse generating units are electrically connected with flexible transmission structure, the pwm pulse generating units control the change in shape of flexible transmission structure, so as to realize opening and closing for mechanical finger, can be while Pose Control precision be ensured, accurately power control can be realized, the gripping operation to different articles can be completed, realize perfect soft drive, solve the problem of the accurate power control in traditional rigidity joint.
Description
Technical field
The present invention relates to mechanical field, more particularly to a kind of soft drive manipulator.
Background technology
, should in industry using rigid drive pattern more than existing joint of robot, it is impossible to realize the gripping of frangible, soft article
With aspect, cutting machines people is while accurate Pose Control, it is necessary to which accurate power control, meets the mill of different parts polishings
Power demand is cut, conventional rigid joint can not realize above-mentioned production and living demand, therefore, need a kind of variation rigidity robot of design badly and close
Section, meets the dual needs of Robot Force and pose accuracy.
The content of the invention
It is an object of the invention to：Overcome the above-mentioned problems in the prior art, propose a kind of soft drive manipulator,
Can be while Pose Control precision be ensured, it is possible to achieve accurately power is controlled, the work of the gripping to different articles can be completed
Industry, realizes perfect soft drive, solves the problem of the accurate power control in traditional rigidity joint.
The purpose of the present invention is realized by following technical proposals：
A kind of soft drive manipulator, including：Mechanical palms and mechanical finger, the mechanical finger are symmetricly set in mechanical palms
There is the connecting hole being connected with mechanical arm, the mechanical finger includes in both sides, the mechanical palms：First knuckle, second
Finger joint and third knuckle, the first knuckle and second knuckle are hinged and are driven by flexible transmission structure, and described second
Finger joint and third knuckle are hinged and are driven by flexible transmission structure, and the mechanical palms are filled provided with pwm pulse generations
Put, the pwm pulse generating units are electrically connected with flexible transmission structure, the pwm pulse generating units control Flexible Transmission knot
The change in shape of structure, so as to realize opening and closing for mechanical finger.
A kind of soft drive manipulator of the present invention, the flexible transmission structure includes：The first fixed part being hinged
With the second fixed part, it is provided with first coil fixed column, second fixed part on first fixed part and is provided with second
Coil fixed column, SMA wire circle is wound between the first coil fixed column and the second coil fixed column.
A kind of soft drive manipulator of the present invention, first fixed part and the second fixed part hinged place are led provided with coil
To device, the coil guider is available for SMA wire circle to pass through and slide wherein.
A kind of soft drive manipulator of the present invention, the mechanical palms are provided with air cooling equipment, the mechanical finger
Provided with air-cooled passage, the air-cooled passage runs through and connects first knuckle, the Flexible Transmission knot at second knuckle and third knuckle
Structure, the air cooling equipment is connected with air-cooled passage.
A kind of soft drive manipulator of the present invention, the connection hole is made of magnetic material.
There is cushion pad on the inside of a kind of soft drive manipulator of the present invention, the third knuckle being oppositely arranged.
According to above-mentioned technical proposal, the beneficial effects of the invention are as follows：A kind of soft drive manipulator is proposed, can ensured
While Pose Control precision, it is possible to achieve accurately power is controlled, the gripping operation to different articles can be completed, is realized perfect
Soft drive, solve the problem of the accurate power control in traditional rigidity joint.
Brief description of the drawings
Fig. 1 is a kind of soft drive manipulator schematic diagram of the invention；
Fig. 2 is a kind of soft drive manipulator profile of the invention；
Fig. 3 is a kind of soft drive manipulator side view of the invention；
Fig. 4 is a kind of soft drive manipulator air-cooled pipeline schematic diagram of the invention；
Fig. 5 is a kind of soft drive manipulator flexible transmission structure diagram of the invention；
Fig. 6 is a kind of soft drive manipulator flexible transmission structure side view of the invention.
Embodiment
With reference to specific embodiments and the drawings, the present invention is further illustrated.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As Fig. 1-6 be a kind of embodiment of soft drive manipulator of the invention, a kind of soft drive manipulator, including：Machine
Tool palm 6 and mechanical finger, the mechanical finger, which is symmetricly set in the both sides of mechanical palms 6, the mechanical palms 6, to be had and machine
The connecting hole 102 of tool arm connection, the mechanical finger includes：First knuckle 1, second knuckle 2 and third knuckle 3, described
One finger joint 1 and second knuckle 2 are hinged and are driven by flexible transmission structure 5, and the second knuckle 2 and third knuckle 3 are cut with scissors
Connect and be driven by flexible transmission structure 5, the mechanical palms 6 are provided with pwm pulse generating units 101, the pwm arteries and veins
Generating means 101 is rushed to electrically connect with flexible transmission structure 5, the control of pwm pulse generating units 101 flexible transmission structure 5
Change in shape, so as to realize opening and closing for mechanical finger, the flexible transmission structure 5 includes：First be hinged is consolidated
Determine first coil fixed column 503 is installed on the fixed part 502 of portion 501 and second, first fixed part 501, described second consolidates
Determine the second coil fixed column 504 is installed in portion 502, between the coil fixed column 504 of first coil fixed column 503 and second
SMA wire circle 505 is wound with, the hinged place of 501 and second fixed part of the first fixed part 502 is provided with coil guider 506, institute
Stating coil guider 506 is available for SMA wire circle 505 to pass through and slide wherein, and the mechanical palms 6 are provided with air cooling equipment
103, the mechanical finger is provided with air-cooled passage 6, and the air-cooled passage 6 runs through and connects first knuckle 1, the and of second knuckle 2
Flexible transmission structure 5 at third knuckle 3, the air cooling equipment 103 is connected with air-cooled passage 6, is used at the connecting hole 102
Magnetic material is made, and the inner side of the third knuckle 3 being oppositely arranged has cushion pad 301.
The present invention uses new function material as power source, without complex transmissions such as motor reducers, simplifies machine
Xie Shou complete machines mechanism；SMA wire circle can be used for gripping frivolous breakables with driving mechanical finger soft drive and control；
SMA material has the characteristics such as power to weight ratio height, big displacement, and manipulator power to weight ratio can be effectively reduced using SMA, greatly mitigates certainly
Body is conducted oneself with dignity, and lifts load capacity.
Marmem（Shape Memory Alloys,）, abbreviation SMA is that one kind can disappear completely after heat temperature raising
Except the deformation that it occurs at a lower temperature, recover the alloy material of original-shape before its deformation, that is, possess " memory " effect
Alloy.
Pwm pulse generator, using pwm pulse width modulated, pwm pulse width modulated is the numeral using microprocessor
A kind of very effective technology for exporting to be controlled analog circuit, is widely used in from measurement, communicates to Power Control
With in many fields of conversion.
Pulse width modulation is a kind of analog control mode, its according to the change of respective loads come modulation transistor base stage or
The biasing of metal-oxide-semiconductor grid, to realize the change of transistor or metal-oxide-semiconductor ON time, so as to realize switching power supply output
Change.This mode can make the output voltage of power supply keep constant in operation conditions change, be the numeral using microprocessor
A kind of very effective technology that signal is controlled to analog circuit.
PWM control technologies are simple with its control, flexibly and the good advantage of dynamic response and to turn into Power Electronic Technique most wide
The control mode of general application, is also the focus of people's research.Because the development of current science and technology is without between subject
Boundary, with reference to modern control theory thought or realize resonance free ripple switching technique will turn into PWM control technologies develop master
Want one of direction.It changes come the biasing of modulation transistor base stage or metal-oxide-semiconductor grid according to respective loads, to realize transistor
Or the change of metal-oxide-semiconductor ON time, so as to realize the change of switching power supply output.This mode can make the output electricity of power supply
Keep constant when being pressed in operation conditions change, be using the data signal of microprocessor analog circuit is controlled it is a kind of non-
Normal effective technology.
SMA wire circle, be SMA wire in coil fixing axle wound thereon, after heating SMA shrink shorten, finger-joint
Between SMA silks shorten cause articulations digitorum manus to bend.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (6)
1. a kind of soft drive manipulator, it is characterised in that including：Mechanical palms and mechanical finger, the mechanical finger are symmetrical
Being arranged at has the connecting hole being connected with mechanical arm in mechanical palms both sides, the mechanical palms, the mechanical finger includes：
First knuckle, second knuckle and third knuckle, the first knuckle and second knuckle are hinged and carried out by flexible transmission structure
Transmission, the second knuckle and third knuckle are hinged and are driven by flexible transmission structure, and the mechanical palms are provided with
Pwm pulse generating units, the pwm pulse generating units are electrically connected with flexible transmission structure, the pwm pulse generating units control
The change in shape of flexible transmission structure processed, so as to realize opening and closing for mechanical finger.
2. a kind of soft drive manipulator according to claim 1, it is characterised in that：The flexible transmission structure includes：
First coil fixed column, described are installed on the first fixed part and the second fixed part being hinged, first fixed part
Second coil fixed column is installed on two fixed parts, is wound between the first coil fixed column and the second coil fixed column
SMA wire circle.
3. a kind of soft drive manipulator according to claim 2, it is characterised in that：First fixed part and second is consolidated
Portion hinged place is determined provided with coil guider, and the coil guider is available for SMA wire circle to pass through and slide wherein.
4. a kind of soft drive manipulator according to claim 3, it is characterised in that：The mechanical palms are provided with air-cooled
Device, the mechanical finger is provided with air-cooled passage, and the air-cooled passage runs through and connects first knuckle, second knuckle and the 3rd
Flexible transmission structure at finger joint, the air cooling equipment is connected with air-cooled passage.
5. a kind of soft drive manipulator according to claim 1, it is characterised in that：The connection hole uses magnetic material
Material is made.
6. a kind of soft drive manipulator according to claim 1, it is characterised in that：The third knuckle being oppositely arranged
Inner side has cushion pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710361139.2A CN107127781A (en) | 2017-05-22 | 2017-05-22 | A kind of soft drive manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710361139.2A CN107127781A (en) | 2017-05-22 | 2017-05-22 | A kind of soft drive manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107127781A true CN107127781A (en) | 2017-09-05 |
Family
ID=59731960
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710361139.2A Pending CN107127781A (en) | 2017-05-22 | 2017-05-22 | A kind of soft drive manipulator |
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| CN (1) | CN107127781A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108480908A (en) * | 2018-06-13 | 2018-09-04 | 韩智强 | A kind of welding piece one hand control clamp device |
| CN108748127A (en) * | 2018-06-08 | 2018-11-06 | 苏州大学 | The multiple driver soft robot of imitative tiger beetle larva |
| CN111452030A (en) * | 2019-01-23 | 2020-07-28 | 哈尔滨工业大学 | Space capturing manipulator based on SMA wire drive |
| CN111761595A (en) * | 2020-05-28 | 2020-10-13 | 西南石油大学 | Self-adaptive hand driven by SMA and rope in combined mode |
Citations (8)
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|---|---|---|---|---|
| US5312152A (en) * | 1991-10-23 | 1994-05-17 | Martin Marietta Corporation | Shape memory metal actuated separation device |
| CN102873690A (en) * | 2012-09-27 | 2013-01-16 | 浙江大学 | Dexterous hand driven by shape memory alloy |
| CN102896637A (en) * | 2012-05-11 | 2013-01-30 | 中南大学 | Coupling-self-adaptive under-actuated prosthetic finger device with function of rapidly reflecting to grab |
| CN104037030A (en) * | 2014-07-02 | 2014-09-10 | 南昌航空大学 | Safety device with U-shaped memory alloy |
| CN104847611A (en) * | 2015-05-15 | 2015-08-19 | 中国科学技术大学 | Shape memory alloy actuator based on micro pipe cooling |
| CN105726274A (en) * | 2016-01-28 | 2016-07-06 | 侯韫晖 | Automatic back scratcher capable of changing touch sense and speed |
| CN106166747A (en) * | 2016-08-11 | 2016-11-30 | 浙江工业大学 | Artificial-muscle drives and the joint of robot of structure decoupling |
| CN205870568U (en) * | 2016-06-28 | 2017-01-11 | 中国科学院沈阳自动化研究所 | Dexterous cell -phone of imitative people's five fingers of light constructs |
-
2017
- 2017-05-22 CN CN201710361139.2A patent/CN107127781A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5312152A (en) * | 1991-10-23 | 1994-05-17 | Martin Marietta Corporation | Shape memory metal actuated separation device |
| CN102896637A (en) * | 2012-05-11 | 2013-01-30 | 中南大学 | Coupling-self-adaptive under-actuated prosthetic finger device with function of rapidly reflecting to grab |
| CN102873690A (en) * | 2012-09-27 | 2013-01-16 | 浙江大学 | Dexterous hand driven by shape memory alloy |
| CN104037030A (en) * | 2014-07-02 | 2014-09-10 | 南昌航空大学 | Safety device with U-shaped memory alloy |
| CN104847611A (en) * | 2015-05-15 | 2015-08-19 | 中国科学技术大学 | Shape memory alloy actuator based on micro pipe cooling |
| CN105726274A (en) * | 2016-01-28 | 2016-07-06 | 侯韫晖 | Automatic back scratcher capable of changing touch sense and speed |
| CN205870568U (en) * | 2016-06-28 | 2017-01-11 | 中国科学院沈阳自动化研究所 | Dexterous cell -phone of imitative people's five fingers of light constructs |
| CN106166747A (en) * | 2016-08-11 | 2016-11-30 | 浙江工业大学 | Artificial-muscle drives and the joint of robot of structure decoupling |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748127A (en) * | 2018-06-08 | 2018-11-06 | 苏州大学 | The multiple driver soft robot of imitative tiger beetle larva |
| CN108480908A (en) * | 2018-06-13 | 2018-09-04 | 韩智强 | A kind of welding piece one hand control clamp device |
| CN111452030A (en) * | 2019-01-23 | 2020-07-28 | 哈尔滨工业大学 | Space capturing manipulator based on SMA wire drive |
| CN111452030B (en) * | 2019-01-23 | 2020-12-11 | 哈尔滨工业大学 | Space capturing manipulator based on SMA wire drive |
| CN111761595A (en) * | 2020-05-28 | 2020-10-13 | 西南石油大学 | Self-adaptive hand driven by SMA and rope in combined mode |
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| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20170905 |