CN107650119A - The soft handgrip of intelligence - Google Patents
The soft handgrip of intelligence Download PDFInfo
- Publication number
- CN107650119A CN107650119A CN201711092976.6A CN201711092976A CN107650119A CN 107650119 A CN107650119 A CN 107650119A CN 201711092976 A CN201711092976 A CN 201711092976A CN 107650119 A CN107650119 A CN 107650119A
- Authority
- CN
- China
- Prior art keywords
- soft
- handgrip
- finger
- pedestal
- company
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
-
- 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
-
- 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
- B25J15/12—Gripping heads and other end effectors having finger members with flexible 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
Abstract
The soft handgrip of intelligence, the invention belongs to intelligence structure field, the problem of it will solve the complicated in mechanical structure of the soft handgrip of existing machinery, and control accuracy is relatively low.The soft handgrip of the intelligence includes multiple soft grabbing finger, handgrip pedestal, connecting rod, Pneumatic artificial muscle and muscle pedestal, handgrip pedestal is to be evenly arranged with multiple to grab finger groove in base body circumference, soft finger of grabbing is formed by connecting by grabbing finger portion and referring to portion of company, it is rounded to refer to portion of company, link slot is provided with the thickness direction for referring to portion of company, refer to portion of company by pin with grabbing finger groove to be connected, connecting rod is that multiple connecting portions coordinated with link slot are provided with one end of the body of rod, connecting portion is connected by the second pin with referring to portion of company, connecting rod is connected with Pneumatic artificial muscle, in Pneumatic artificial muscle insertion muscle pedestal.The present invention realizes the contraction of Pneumatic artificial muscle in various degree by encourage artificial pneumatic muscles, and so as to pull linkage to be moved along a straight line, control accuracy is higher.
Description
Technical field
The invention belongs to intelligence structure field, and in particular to a kind of intelligent software manipulator.
Background technology
Under the economic setting that human cost increases year by year, artificial carrying is replaced to become one kind not using artificial intelligence
Evitable trend.Many High-Tech results are applied in smart machine, and at the same time the manipulator of Various Functions is developed
Manufacture, constantly substitute manual labor, its application has been deep into the every field of human economy life.
Traditional mechanical soft handgrip is made up of purely mechanic part, and complicated, overall heavy, slow in one's movements, reaction is more
It is slow, control accuracy is low, affected by environment and workpiece quality influences to produce the great number of issues such as motion is not in place, influence workpiece and remove
Efficiency during fortune, and potential safety hazard be present.As pneumatics obtains fast development, wherein using cost-performance than low
The honest and clean and Pneumatic manipulator equipment that has many advantages simultaneously meets social production practice needs also more and more by weighing
Depending on Pneumatic manipulator technology has become a kind of important practical technology that disclosure satisfy that many industry production practice calls.
The content of the invention
The invention aims to solve the complicated in mechanical structure of the soft handgrip of existing machinery, the problem of control accuracy is relatively low,
And provide a kind of intelligence soft handgrip.
The soft handgrip of intelligence of the invention includes multiple soft grabbing finger, handgrip pedestal, connecting rod, Pneumatic artificial muscle and muscle base
Seat, handgrip pedestal be evenly arranged with base body circumference it is multiple grab finger groove, the seat bottom center of handgrip pedestal is provided with circular hole, soft
Grabbing finger is formed by connecting by grabbing finger portion and referring to company portion, refers to that portion of company is rounded, and link slot is provided with the thickness direction in portion of finger company,
Pin hole is provided with the circle centre position for referring to portion of company, the first pin is through pin hole and is fixed on the cell wall for grabbing finger groove；
Connecting rod is that multiple connecting portions coordinated with link slot are provided with one end of the body of rod, and connecting portion is inserted in embedded link slot
And be connected by the second pin with referring to company portion, connecting rod is placed through the seat bottom circular hole of handgrip pedestal, the other end of connecting rod and pneumatically
Artificial-muscle is connected, in the other end insertion muscle pedestal of Pneumatic artificial muscle.
The present invention carries out structure design to connecting joint, guider between robot base, pneumatic muscles.It is wherein described
Pneumatic artificial muscle be a kind of new power source, for traditional engine air cylinder structure, Pneumatic artificial muscle
Structure is simple, wide material sources, easy to manufacture, it is that the principle shunk using elastomeric material inflation is made, its specific machine
Structure is the cavity by the use of restrained deformation material as external stability, is the elastomeric material of inflatable contraction inside it, artificial pneumatic
The power of muscle is also larger, and with the further development of new material, the bearing capacity of elastomeric material deformation is gradual
Reinforcing, that is to say, that the bearing capacity of Pneumatic artificial muscle is lifted therewith, by the expansion of Pneumatic artificial muscle, its displacement
Change can accurately calculate the size of output power, while the flexibility of Pneumatic artificial muscle is stronger, and Pneumatic artificial muscle is swashed
The change encouraged, to realize a range of contraction of Pneumatic artificial muscle.
Gripping structure is simple, and the structure that circle refers to portion of company is more smooth during exercise, and required power is small, frictional resistance
It is small, Gu the power consumed at handgrip is less, and it is low to the energy loss of entirety, save the energy.
Pneumatic artificial muscle in the soft handgrip of intelligence of the invention is activated to expand, and pulls connecting rod toward Pneumatic artificial muscle position
Shrinkage direction movement is moved, the soft handgrip of machinery is fixed on pin in the cavity of handgrip pedestal, it is rotated, while use pin
Connecting rod is connected with the soft handgrip of machinery, straight line is done simultaneously in connecting rod, drives closing up for soft handgrip.In the soft handgrip of intelligence of the invention when
Allow Pneumatic artificial muscle to shrink and pull link motion, every millimeter can drive soft handgrip to rotate 4.5 degree.When pneumatic muscles only shrink 20
Millimeter, then soft grab will be driven to rotate 90 degree, realize closing up for soft handgrip.
Brief description of the drawings
Fig. 1 is the main structure diagram of the soft handgrip of intelligence of the invention；
Fig. 2 is the overlooking the structure diagram of the soft handgrip of intelligence；
Fig. 3 is the cross section structure diagram of the soft handgrip of intelligence；
Fig. 4 is the dimensional structure diagram of the soft handgrip of intelligence.
Embodiment
Embodiment one：Present embodiment intelligently soft handgrip include it is multiple it is soft grab finger 1, handgrip pedestal 2, connecting rod 3,
Pneumatic artificial muscle 4 and muscle pedestal 5, handgrip pedestal 2 are to be evenly arranged with multiple grab in base body circumference to refer to groove 2-1, are grabbed
The seat bottom center of hand pedestal 2 is provided with circular hole, and soft finger 1 of grabbing is formed by connecting by grabbing finger portion 1-1 and referring to company portion 1-2, refers to company portion 1-2
It is rounded, link slot 1-3 is provided with the thickness direction for referring to company portion 1-2, pin hole is provided with the circle centre position for referring to company portion 1-2, the
One pin 6 is through pin hole and is fixed on the cell wall for grabbing finger groove 2-1；
Connecting rod 3 is that multiple connecting portion 3-1 coordinated with link slot 1-3 are provided with one end of the body of rod, and connecting portion 3-1 inserts embedding
Entering in link slot 1-3 and be connected by the second pin 7 with referring to company portion 1-2, connecting rod 3 is placed through the seat bottom circular hole of handgrip pedestal 2,
The other end of connecting rod 3 is connected with Pneumatic artificial muscle 4, in the other end insertion muscle pedestal 5 of Pneumatic artificial muscle 4.
Pneumatic artificial muscle is fixed on pedestal by present embodiment, while the soft handgrip of machinery is fixed on into cavity with pin
In, it is realized rotary motion, pass through the size encouraged to Pneumatic artificial muscle, the situation of change of displacement, to judge
The size of Pneumatic artificial muscle power output, so as to which accurately control grips the size of power, during Pneumatic artificial muscle shrinks,
The linear motion of drivening rod is come with the change of Pneumatic artificial muscle displacement, it is higher to move along a straight line in transmission efficiency, because
This uses the input of Pneumatic artificial muscle power so that efficiency is further lifted, and connecting rod is connected with the soft handgrip of machinery with pin,
So as to realize, driving mechanical soft handgrip closes up during link linear moves.
Embodiment two：Present embodiment is in base body from handgrip pedestal 2 unlike embodiment one
3~5 are evenly arranged with circumference and is grabbed and refers to groove 2-1.
Embodiment three：Present embodiment soft finger 1 of grabbing unlike embodiment one or two is by grabbing
Finger portion 1-1 and refer to company portion 1-2 and link into an integrated entity structure.
Embodiment four：Pneumatic artificial muscle unlike one of present embodiment and embodiment one to three
One end of 4 insertion muscle pedestals 5 is connected with airway tube.
Embodiment five：Present embodiment is from Pneumatic artificial muscle 4 unlike embodiment four by leading
Tracheae is connected with air compressor.
Embodiment six：It is described unlike one of present embodiment and embodiment one to five soft to grab finger
The finger portion 1-1 that grabs of part 1 is hollow soft material, wherein described soft material is silicon rubber or polyurethane material.
The soft grip surfaces of present embodiment are hollow soft materials, and not only the degree of injury on surface is decreased, and are worked as
When gripping object receiving force, because pressure considerations soft material carries out elastic deformation, because inside is hollow structure, therefore by same
During pressure, elastic deformation easily occurs for the soft material of hollow type, is more easy to step up object.Simultaneously because the elastic performance of soft material,
Therefore Pneumatic artificial muscle can carry out elastic deformation with the shape of object when capturing object, the soft handgrip of machinery and object are increased
Between contact area so that the scope for capturing object is further lifted, be not limited solely to rule object, to irregular thing
Body can also be captured further.
Embodiment seven：Connecting rod 3 unlike one of present embodiment and embodiment one to six with it is pneumatic
The connected mode of artificial-muscle 4 is pin connection, threaded connection or welding.
Embodiment eight：In the bar of connecting rod 3 unlike one of present embodiment and embodiment one to seven
It is arranged with compression spring in vitro.
The spring that present embodiment is compressed on connecting rod, when not needing grasp force, Pneumatic artificial muscle is encouraged
Reduce, because there is spring force so that spring recovers the long pulling link motion of original, so that the soft handgrip of machinery is in certainly
The state so stretched.
Embodiment nine：Unlike one of present embodiment and embodiment one to eight finger 1 is grabbed soft
Grab and be provided with pressure sensor on finger portion 1-1.
Embodiment：Intelligently soft handgrip includes 3 and soft grabs finger 1, handgrip pedestal 2, connecting rod 3, artificial pneumatic flesh the present embodiment
Meat 4 and muscle pedestal 5, handgrip pedestal 2 are to be evenly arranged with 3 in base body circumference and grab to refer to groove 2-1, the seat of handgrip pedestal 2
Bottom center is provided with circular hole, and soft finger 1 of grabbing is formed by connecting by grabbing finger portion 1-1 and referring to company portion 1-2, and it is rounded to refer to company portion 1-2, is referring to
Link slot 1-3 is provided with company portion 1-2 thickness direction, is provided with pin hole 1-4 in the circle centre position for referring to company portion 1-2, the first pin 6 is worn
Cross pin hole 1-4 and be fixed on and grab on the cell wall for referring to groove 2-1；
Connecting rod 3 is that multiple connecting portion 3-1 coordinated with link slot 1-3 are provided with one end of the body of rod, and connecting portion 3-1 inserts embedding
Entering in link slot 1-3 and be connected by the second pin 7 with referring to company portion 1-2, connecting rod 3 is placed through the seat bottom circular hole of handgrip pedestal 2,
The other end of connecting rod 3 is connected with Pneumatic artificial muscle 4, in the other end insertion muscle pedestal 5 of Pneumatic artificial muscle 4, is grabbed soft
Grabbing for finger 1 is provided with pressure sensor on finger portion 1-1.
The present embodiment using Pneumatic artificial muscle as power source, drive by the compressed air that Pneumatic artificial muscle is provided by outside
It is dynamic, make push pull maneuver, muscular movement of its process similar to human body.Pneumatic artificial muscle can provide very big strength, and weight
Smaller, minimum Pneumatic artificial muscle weight only has 10g.
Power sensing feedback device is arranged on soft grip portion by the present embodiment, when gripping object, passes through the big of clamping force
It is small to judge whether to clamp, data are transmitted to computer, pneumatic muscles are inflated by analysis, a kind of folder is reached with this
Take the critical value of object so that being of moderate size for power is gripped, because of the interference in the external world object will not be made to come off, also will not be because of folder
Macrolesion body surface is crossed in power taking.Sensor is added at intelligent handgrip end, detects to be crawled the essence of object by sensor
True position, accurately grips object.
Claims (9)
1. the soft handgrip of intelligence, it is characterised in that the soft handgrip of the intelligence soft grabs finger (1), handgrip pedestal (2), connecting rod including multiple
(3), Pneumatic artificial muscle (4) and muscle pedestal (5), handgrip pedestal (2) are that multiple grab is evenly arranged with base body circumference
Refer to groove (2-1), the seat bottom center of handgrip pedestal (2) is provided with circular hole, and soft finger (1) of grabbing is by grabbing finger portion (1-1) and referring to company portion (1-
2) it is formed by connecting, refers to that portion of company (1-2) is rounded, link slot (1-3) is provided with the thickness direction for referring to company portion (1-2), is referring to company
The circle centre position in portion (1-2) is provided with pin hole, and the first pin (6) is through pin hole and is fixed on the cell wall for grabbing finger groove (2-1)；
Connecting rod (3) is that multiple connecting portions (3-1) coordinated with link slot (1-3), connecting portion (3-1) are provided with one end of the body of rod
Insert in embedded link slot (1-3) and be connected by the second pin (7) with referring to company portion (1-2), connecting rod (3) is placed through handgrip pedestal
(2) seat bottom circular hole, the other end of connecting rod (3) are connected with Pneumatic artificial muscle (4), and the other end of Pneumatic artificial muscle (4) is inserted
Enter in muscle pedestal (5).
2. the soft handgrip of intelligence according to claim 1, it is characterised in that handgrip pedestal (2) is uniform in base body circumference
It is provided with 3~5 and grabs and refers to groove (2-1).
3. the soft handgrip of intelligence according to claim 1, it is characterised in that soft finger (1) of grabbing is by grabbing finger portion (1-1) and referring to
Portion of company (1-2) links into an integrated entity structure.
4. the soft handgrip of intelligence according to claim 1, it is characterised in that Pneumatic artificial muscle (4) insertion muscle pedestal (5)
One end be connected with airway tube.
5. the soft handgrip of intelligence according to claim 4, it is characterised in that Pneumatic artificial muscle (4) passes through airway tube and air
Compressor is connected.
6. the soft handgrip of intelligence according to claim 1, it is characterised in that it is described it is soft grab finger (1) grab finger portion (1-1)
For hollow soft material, wherein described soft material is silicon rubber or polyurethane material.
7. the soft handgrip of intelligence according to claim 1, it is characterised in that the connection of connecting rod (3) and Pneumatic artificial muscle (4)
Mode is pin connection, threaded connection or welding.
8. the soft handgrip of intelligence according to claim 1, it is characterised in that be arranged with compression bullet outside the body of rod of connecting rod (3)
Spring.
9. the soft handgrip of intelligence according to claim 1, it is characterised in that grab grabbing for finger (1) soft and set in finger portion (1-1)
It is equipped with pressure sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711092976.6A CN107650119A (en) | 2017-11-08 | 2017-11-08 | The soft handgrip of intelligence |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711092976.6A CN107650119A (en) | 2017-11-08 | 2017-11-08 | The soft handgrip of intelligence |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107650119A true CN107650119A (en) | 2018-02-02 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711092976.6A Pending CN107650119A (en) | 2017-11-08 | 2017-11-08 | The soft handgrip of intelligence |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107650119A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108275464A (en) * | 2018-03-16 | 2018-07-13 | 重庆大学 | Pneumatic software manipulator |
| CN109483587A (en) * | 2019-01-10 | 2019-03-19 | 福州大学 | Pneumatic software clamper and its application method |
| CN112376520A (en) * | 2020-11-10 | 2021-02-19 | 哈尔滨工业大学 | Flexible foldable large-deformation catching mechanism |
| CN113370239A (en) * | 2021-06-07 | 2021-09-10 | 北京理工大学 | Energy barrier adjustable bistable passive triggering soft gripper |
| CN113618771A (en) * | 2021-10-13 | 2021-11-09 | 中南大学湘雅医院 | Flexible rigidity-variable robot tongs along with shape |
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| CN106625550A (en) * | 2017-01-17 | 2017-05-10 | 成都聚智工业设计有限公司 | Novel manipulator |
| CN106926186A (en) * | 2017-03-15 | 2017-07-07 | 国网安徽省电力公司阜阳供电公司 | Tiny parts for narrow space pick up pawl |
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| CN101973036A (en) * | 2010-10-21 | 2011-02-16 | 赵东辉 | Three-jaw grip device |
| CN202278586U (en) * | 2011-09-28 | 2012-06-20 | 巨石集团有限公司 | Taking/placing gripper of manipulator |
| CN203045736U (en) * | 2013-02-19 | 2013-07-10 | 中山火炬职业技术学院 | Three-claw manipulator |
| CN203185352U (en) * | 2013-03-22 | 2013-09-11 | 深圳职业技术学院 | Pneumatic centering inside-supporting clamping device |
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| CN203972731U (en) * | 2014-06-05 | 2014-12-03 | 重庆有孚乾泰铝锻造有限公司 | Small-sized forging three-jaw stripper tungs |
| CN105643649A (en) * | 2014-11-15 | 2016-06-08 | 张桂春 | Six-joint three-finger manipulator for grabbing apples |
| CN204414109U (en) * | 2014-12-24 | 2015-06-24 | 中国人民解放军济南军区72465部队 | Repair workshop's tire catching robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108275464A (en) * | 2018-03-16 | 2018-07-13 | 重庆大学 | Pneumatic software manipulator |
| CN109483587A (en) * | 2019-01-10 | 2019-03-19 | 福州大学 | Pneumatic software clamper and its application method |
| CN112376520A (en) * | 2020-11-10 | 2021-02-19 | 哈尔滨工业大学 | Flexible foldable large-deformation catching mechanism |
| CN113370239A (en) * | 2021-06-07 | 2021-09-10 | 北京理工大学 | Energy barrier adjustable bistable passive triggering soft gripper |
| CN113618771A (en) * | 2021-10-13 | 2021-11-09 | 中南大学湘雅医院 | Flexible rigidity-variable robot tongs along with shape |
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Application publication date: 20180202 |
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