CN107398916A - A kind of flexible mechanical paw of hydraulic drives - Google Patents
A kind of flexible mechanical paw of hydraulic drives Download PDFInfo
- Publication number
- CN107398916A CN107398916A CN201710808580.0A CN201710808580A CN107398916A CN 107398916 A CN107398916 A CN 107398916A CN 201710808580 A CN201710808580 A CN 201710808580A CN 107398916 A CN107398916 A CN 107398916A
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- China
- Prior art keywords
- paw
- inner frame
- mechanical paw
- pressure
- software driver
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
-
- 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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Press Drives And Press Lines (AREA)
- Actuator (AREA)
Abstract
The invention discloses a kind of flexible mechanical paw of hydraulic drives, belong to the key components and parts of submarine mechanical arm, the flexible mechanical paw of water hydraulic driving is mainly made up of parts such as three software drivers, platen, wedges.Wherein, software driver is made up of fluosilicic rubber exocuticle and V-type inner frame.V-type inner frame cross sectional shape is ellipse, and multiple grooves are arranged at intervals between driver tip and driver joint.The flexible manipulator jaw system is simple in construction, using pure water as working media, when water under high pressure flows into the V-type inner frame of one end closing, because its truncation surface is ellipse, stress is different everywhere for its inside pipe wall, metal tube can gradually be straightened by bending, while outside fluosilicic rubber exocuticle also can be therewith from being changed into the shape that curves inwardly, so as to realize the grasping movement of paw straight.The present invention can be also extended according to the difference of working environment, obtained two fingers, three fingers, four fingers, six fingers and referred to flexible mechanical paw more.
Description
Technical field
The invention belongs to Fluid Transmission and Control field, is related to a kind of mechanical paw using pure water as working media, especially
Be related to a kind of hydraulic drives three refer to flexible mechanical paws, and can be extended to according to working environment two fingers, three refer to, four refer to
And multifinger mechanical paw.
Background technology
The research of tradition machinery paw has had based on rigid structure in numerous areas such as industry, medical treatment and special types
Extensive accumulation and application.But its is complicated, flexibility ratio is limited, security and adaptability are poor, in some special applications
In, such as complicated frangible object grasping, man-machine interaction and narrow space operation have greatly challenge.In the recent period, with 3D printing
The development of technology and novel intelligent material, have breakthrough progress to mechanical paw systematic research and derive one it is new
Subject --- flexible mechanical paw.Flexible mechanical paw body is process using soft material or flexible material, can continuous modification,
There is infinite degrees of freedom from principle, itself good security and compliance compensate for the deficiency of Rigid Manipulators.
Based on the research of flexible mechanical paw at this stage is mainly driven with traditional, pneumatic, using super-elasticity silica gel material as
Bulk material, with reference to the research of newest 3D printing technique, this kind of eventful pneumatic actuation of robot, pressure-bearing is small, and deformation is big.But
The development of flexible mechanical paw is also faced with many difficulties simultaneously, and because flexible mechanical paw is all gas-powered, system is necessary
It is designed to closed cycle structure and configures pressure compensator, with the increase of the depth of water, the back pressure that compensator needs are born is higher, makes
Into system bulky complex all the more, because the flexible mechanical paw pressure-bearing of gas-powered is small, can not be worked at deep-sea, so at this stage
It is badly in need of proposing a kind of flexible mechanical paw using water as working media.Water hydraulic driving flexible mechanical paw using pure water as
Working media, water directly being sucked from surrounding body using hydraulic pamp, system directly drains back to surrounding enviroment again after finishing work(, without
The problems such as considering encapsulation, pressure compensation, system configuration is simple, free from environmental pollution, therefore is adapted to especially big depth sea under water
Applied in foreign environment.
The content of the invention
The present invention provides a kind of flexible mechanical paw of hydraulic drives, and the flexible mechanical paw for avoiding air pressure from driving needs to press
Force compensating device.
To reach above-mentioned purpose, the technical solution adopted by the present invention is：
A kind of flexible mechanical paw of hydraulic drives, the mechanical paw is by paw mechanical component and fluid power system two
It is grouped into.Paw mechanical component include platen (1), wedge (2), software driver (3,4,5) and interior hexagonal cylindrical screw (6,7,
8)；Fluid power system includes water pressure plunger pump (10), submersible motor (11), filter (12), water hydraulic relief valve (13), pressure
Table (14), hydraulic pressure high-frequency electromagnetic switch valve (15,16), pressure sensor (18), cyclelog (19) and industrial computer (20).
The end of software driver (3,4,5) is provided with the recessed grain (34) of multiple software driver tips, and middle part is provided with multiple soft
Body driver central slot (32)；Software driver (3,4,5) is provided with boss (35) at the top of software driver.Software driver
(3,4,5) are made up of V-type inner frame (9) and exocuticle, and V-type inner frame (9) is wrapped up by exocuticle；The top of V-type inner frame (9)
Provided with boss (36) at the top of V-type inner frame.Software driver central slot (32) and software driver tip recessed poor (34) to
The frictional force of increase crawl object, meanwhile, it is capable to increase the degree of crook of software driver (3,4,5).
Water under high pressure enters inner passage from the entrance of platen (1), and inner passage is three way type structure, and three way type structure is distinguished
Lead to three software drivers, ensure that water under high pressure can flow into the inside of three software drivers (3,4,5) simultaneously, drive paw
Mechanical component is operated.Wedge (2) is provided with three grooves, at the top of software driver boss (35) with it is recessed on wedge (2)
Groove connects platen (1), wedge (2) with hexagonal cylindrical screw (6,7,8) in merga pass；Boss (36) at the top of V-type inner frame
Coordinate with the groove at the top of software driver on boss (35), sealed at cooperation using O-ring (31).Water under high pressure is from platen
(1) after inner passage flows into the V-type inner frame (9) in software driver (3,4,5), V-type inner frame (9) is straightened by bending,
Software driver (3,4,5) occurs bending and deformation under hydraulic pressure effect, realizes the grasping movement of paw.
Water pressure plunger pump (10) porch in fluid power system is provided with filter (12) and by submersible motor (11)
Driving, the exit of water pressure plunger pump (10) are provided with hydraulic pressure high-frequency electromagnetic switch valve (15) and water hydraulic relief valve (13), and hydraulic pressure overflows
The porch of stream valve (13) is provided with pressure gauge (14), hydraulic pressure high-frequency electromagnetic switch valve a (15) and hydraulic pressure high-frequency electromagnetic switch valve b
(16) outlet is divided into three tunnels, and this three tunnel with three software drivers (3,4,5) on flexible mechanical paw (17) respectively with connecting
Connecing, driving flexible mechanical paw (17) carries out grasping movement, and pressure sensor (18) is provided with inside flexible mechanical paw (17),
It is connected outside pressure sensor (18) with cyclelog (19), and industrial computer is transferred data to by cyclelog (19)
(20) on.
Platen (1) and wedge (2) are fabricated by corrosion resistance alloy to adapt to abyssal environment.
V-type inner frame (9) is the V-structure of one end closing, and V-type inner frame longitudinal cross-section (33) is shaped as ellipse, adopted
It is made of the high elastic alloy material such as 3J1,3J21, beryllium-bronze.
Exocuticle is made of materials such as fluosilicic rubber, and is molded with the mode of injection or 3D printing.
The quantity of mechanical paw is extended to two fingers, three fingers, four fingers even multifinger mechanical paw as needed.
Compared with prior art, beneficial effect possessed by the present invention is：
(1) flexible manipulator system of the hydraulic drives is simple in construction, and using pure water as working media, whole system is open type
Loop, water suction and draining, working media can be discharged directly directly from system context, the problems such as avoiding environmental pollution；
(2) manipulator that the flexible manipulator system of the hydraulic drives solves conventional gas driving may not apply under water
Problem, and can apply to a few km deep-seas, the flexible mechanical paw for avoiding air pressure from driving needs pressure compensator, and
And there is larger driving force and grasp force.
Brief description of the drawings
Fig. 1 a are a kind of external structures of the flexible mechanical paw for water hydraulic driving that the present invention designs；
Fig. 1 b are a kind of axial section structure charts of the flexible mechanical paw for water hydraulic driving that the present invention designs；
Fig. 2 is the schematic diagram for the fluid power system that the present invention designs；
Fig. 3 a are the software finger external structures that the present invention designs；
Fig. 3 b are the external structures at another visual angle of software finger that the present invention designs；
Fig. 3 c are the software finger axial section structure charts that the present invention designs；
Fig. 3 d are high elastic modulus alloy pipe longitudinal profile structure charts in the software finger that the present invention designs；
In figure：1- platens, 2- wedges, six in 3- software driver a, 4- software driver b, 5- software drivers c, 6-M5
Angle screw a, 7-M5 soket head cap screws b, 8-M5 soket head cap screw c, 9- high elastic modulus alloy pipe, 10- water pressure plunger pumps, 11- divings
Motor, 12- filters, 13- water hydraulic relief valves, 14- pressure gauges, 15- hydraulic pressure high-frequency electromagnetic switch valves, 16- hydraulic pressure high-frequency electromagnetics
Switch valve, 17- flexible mechanical paws, 18- pressure sensors, 19- cyclelogs, 20- industrial computers, 31-O type circles, 32- softwares
Driver central slot, 33-V type inner frames longitudinal cross-section, the recessed grain of 34- software driver tips, 35- softwares driver top are convex
Platform, 36-V types inner frame top boss.
Embodiment
The present invention provides a kind of flexible mechanical paw of water hydraulic driving, below in conjunction with accompanying drawing to specific embodiment
It is described further.As shown in Figure 1a, mainly including platen (1), wedge (2), software driver (3,4,5), interior hexagonal circle
Several parts such as post screw (6,7,8), platen (1) and wedge (2) are fabricated using corrosion resistance alloy, are adapted to deep-sea ring
Border.Platen (1) porch is designed to flange form or pipe joint type, can be adjusted according to different operating environment, water under high pressure
Inner passage is flowed into from hydraulic pressure high-frequency electromagnetic switch valve (15) by the entrance of platen (1), flows to three software drivers respectively
(3,4,5), and pressure suffered by three software internal drives and the flow of inflow are all identicals, it is possible to achieve three hands
The synchronization action of finger.Software driver (3,4,5) is made up of inside for V-type inner frame (9) and fluosilicic rubber exocuticle, and software drives
Dynamic device (3,4,5) is provided with boss (35) at the top of software driver and coordinated respectively with three grooves on wedge (2), meanwhile, V-type
Boss (36) coordinates with the groove at the top of software driver on boss (35) at the top of inner frame, is sealed using O-ring (31).
After water under high pressure flows into the V-type inner frame (9) in software driver (3,4,5) from the inner passage of platen (1), V-type inner frame
Straightened by bending, software driver occurs bending and deformation under hydraulic pressure effect, realizes the grasping movement of paw.
As shown in Fig. 2 water pressure plunger pump (10) porch in fluid power system installs filter (12) and by diving under water
Motor (11) drives, the outlet connection hydraulic pressure high-frequency electromagnetic switch valve (15) and water hydraulic relief valve (13) of water pressure plunger pump (10),
The wherein entrance installation pressure gauge (14) of water hydraulic relief valve, hydraulic pressure high-frequency electromagnetic switch valve (15) and hydraulic pressure high-frequency electromagnetic switch valve
(16) outlet is divided into three tunnels：Connected with three software drivers (3,4,5) of flexible mechanical paw, driving paw is captured
Action, the internal installation pressure sensor (18) of flexible mechanical paw (17), pressure sensor (18) outside and cyclelog
(19) connect, and transferred data to by cyclelog (19) on industrial computer (20).
All elements in the present invention can use under water, corrosion-resistant, and good airproof performance.Water can also be applied to
With other different models such as upper or underwater, different types of robot.
Claims (5)
- A kind of 1. flexible mechanical paw of hydraulic drives, it is characterised in that：The mechanical paw is driven by paw mechanical component and hydraulic pressure Dynamic system two parts composition；Paw mechanical component includes platen (1), wedge (2), software driver (3,4,5) and interior hexagonal circle Post screw (6,7,8)；Fluid power system includes water pressure plunger pump (10), submersible motor (11), filter (12), hydraulic pressure overflow Valve (13), pressure gauge (14), hydraulic pressure high-frequency electromagnetic switch valve (15,16), pressure sensor (18), cyclelog (19) and work Control machine (20)；The end of software driver (3,4,5) is provided with the recessed grain (34) of multiple software driver tips, and middle part is driven provided with multiple softwares Dynamic device central slot (32)；Software driver (3,4,5) is provided with boss (35) at the top of software driver；Software driver (3, 4,5) it is made up of V-type inner frame (9) and exocuticle, V-type inner frame (9) is wrapped up by exocuticle；V-type inner frame is set at the top of (9) There is boss (36) at the top of V-type inner frame；Software driver central slot (32) and software driver tip recessed poor (34) are increasing The frictional force of big crawl object, meanwhile, it is capable to increase the degree of crook of software driver (3,4,5)；Water under high pressure enters inner passage from the entrance of platen (1), and inner passage is three way type structure, and three way type structure is respectively led to Three software drivers, ensure that water under high pressure can flow into the inside of three software drivers (3,4,5), driving paw machinery simultaneously Component is operated；Wedge (2) is provided with three grooves, and boss (35) is matched somebody with somebody with the groove on wedge (2) at the top of software driver Hexagonal cylindrical screw (6,7,8) connects platen (1), wedge (2) in merga pass；At the top of V-type inner frame boss (36) with it is soft Groove at the top of body driver on boss (35) coordinates, and is sealed at cooperation using O-ring (31)；Water under high pressure is from platen (1) Inner passage flow into the V-type inner frame (9) in software driver (3,4,5) after, V-type inner frame (9) is straightened by bending, software Driver (3,4,5) occurs bending and deformation under hydraulic pressure effect, realizes the grasping movement of paw；Water pressure plunger pump (10) porch in fluid power system is provided with filter (12) and driven by submersible motor (11), The exit of water pressure plunger pump (10) is provided with hydraulic pressure high-frequency electromagnetic switch valve (15) and water hydraulic relief valve (13), water hydraulic relief valve (13) porch is provided with pressure gauge (14), hydraulic pressure high-frequency electromagnetic switch valve a (15) and hydraulic pressure high-frequency electromagnetic switch valve b (16) Outlet be divided into three tunnels, this three tunnel respectively with flexible mechanical paw (17) three software drivers (3,4,5) connect, drive Dynamic flexible mechanical paw (17) carries out grasping movement, and pressure sensor (18), pressure are provided with inside flexible mechanical paw (17) It is connected outside sensor (18) with cyclelog (19), and industrial computer (20) is transferred data to by cyclelog (19) On.
- A kind of 2. flexible mechanical paw of hydraulic drives according to claim 1, it is characterised in that：Platen (1) and wedge (2) fabricated by corrosion resistance alloy to adapt to abyssal environment.
- A kind of 3. flexible mechanical paw of hydraulic drives according to claim 1, it is characterised in that：V-type inner frame (9) is The V-structure of one end closing, V-type inner frame longitudinal cross-section (33) is shaped as ellipse, high-elastic using 3J1,3J21, beryllium-bronze etc. Property alloy material is made.
- A kind of 4. flexible mechanical paw of hydraulic drives according to claim 1, it is characterised in that：Exocuticle uses fluosilicic Elastomeric material is made, and is molded with the mode of injection or 3D printing.
- A kind of 5. flexible mechanical paw of hydraulic drives according to claim 1, it is characterised in that：The quantity of mechanical paw Two fingers, three fingers, four fingers even multifinger mechanical paw are extended to as needed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710808580.0A CN107398916B (en) | 2017-09-09 | 2017-09-09 | Hydraulic pressure driven flexible mechanical gripper |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710808580.0A CN107398916B (en) | 2017-09-09 | 2017-09-09 | Hydraulic pressure driven flexible mechanical gripper |
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| CN107398916A true CN107398916A (en) | 2017-11-28 |
| CN107398916B CN107398916B (en) | 2020-07-03 |
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| CN201710808580.0A Active CN107398916B (en) | 2017-09-09 | 2017-09-09 | Hydraulic pressure driven flexible mechanical gripper |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108274485A (en) * | 2018-02-28 | 2018-07-13 | 深圳臻迪信息技术有限公司 | A kind of software finger, grabbing device and crawl control system |
| CN108925225A (en) * | 2018-08-28 | 2018-12-04 | 浙江理工大学 | A kind of agricultural product picking mechanical arm of rigidity and flexibility joint driving |
| CN109454665A (en) * | 2018-09-30 | 2019-03-12 | 浙江大学 | A kind of hydraulic software manipulator of two-way linear driving |
| CN109648595A (en) * | 2019-01-14 | 2019-04-19 | 南京航空航天大学 | A kind of end flexible mechanical grabbing device for industrial robot |
| CN110131228A (en) * | 2019-05-14 | 2019-08-16 | 北京工业大学 | A kind of Speed On-off Valve flexible machinery gripping tool system and device and control method |
| CN110202728A (en) * | 2019-04-12 | 2019-09-06 | 浙江大学 | Software mechanical arm and preparation method thereof is strengthened in one kind three cavity outer wall fibers winding |
| CN113370242A (en) * | 2021-06-28 | 2021-09-10 | 燕山大学 | Horizontal-longitudinal coupling pneumatic type multi-finger soft manipulator |
| CN114161470A (en) * | 2021-12-28 | 2022-03-11 | 上海大学 | Underwater flexible manipulator |
| CN115836003A (en) * | 2020-04-30 | 2023-03-21 | 港大科桥有限公司 | Compact, lightweight hydraulic steering system for subsea applications |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108274485A (en) * | 2018-02-28 | 2018-07-13 | 深圳臻迪信息技术有限公司 | A kind of software finger, grabbing device and crawl control system |
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| CN109648595A (en) * | 2019-01-14 | 2019-04-19 | 南京航空航天大学 | A kind of end flexible mechanical grabbing device for industrial robot |
| CN110202728A (en) * | 2019-04-12 | 2019-09-06 | 浙江大学 | Software mechanical arm and preparation method thereof is strengthened in one kind three cavity outer wall fibers winding |
| CN110131228A (en) * | 2019-05-14 | 2019-08-16 | 北京工业大学 | A kind of Speed On-off Valve flexible machinery gripping tool system and device and control method |
| CN115836003A (en) * | 2020-04-30 | 2023-03-21 | 港大科桥有限公司 | Compact, lightweight hydraulic steering system for subsea applications |
| CN113370242A (en) * | 2021-06-28 | 2021-09-10 | 燕山大学 | Horizontal-longitudinal coupling pneumatic type multi-finger soft manipulator |
| CN114161470A (en) * | 2021-12-28 | 2022-03-11 | 上海大学 | Underwater flexible manipulator |
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