CN108673542B - Electric-gas composite driving series flexible hinge framework flexible manipulator - Google Patents
Electric-gas composite driving series flexible hinge framework flexible manipulator Download PDFInfo
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- CN108673542B CN108673542B CN201810419593.3A CN201810419593A CN108673542B CN 108673542 B CN108673542 B CN 108673542B CN 201810419593 A CN201810419593 A CN 201810419593A CN 108673542 B CN108673542 B CN 108673542B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- 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
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Abstract
The invention discloses an electric-pneumatic compound drive serial flexible hinge framework flexible manipulator which comprises a screw shaft motor, an upper seat plate, a guide connecting rod, a linear bearing, a drive plate, a push plate, a short push rod, a connecting rod, a base plate, a flexible finger, a long push rod of a rotating finger seat, a small support, a pull spring, single-end corrugated pipe muscles and a push plate with a ridge, wherein the framework of the flexible finger is a framework of serial flexible hinges, and the number of the serial flexible hinges is two or more than two. The angle between the root knuckle and the grasped object can be adjusted through the control of the motor, so that the adjustment of the contact point position is realized, the contact point position of the grasped object is adjusted, the action point of the contact force and the direction of the action force can be selected according to the conditions, and the grasping is more accurate and reliable; meanwhile, the angle between the root knuckle and the grasped object is adjusted, so that the method can adapt to the large change of the size of the grasped object; the pneumatic system of the invention has large gain, and the pneumatic corrugated pipe has light muscles, thereby having quick response and good buffer property.
Description
Technical Field
The invention belongs to the technical field of robot and electromechanical integration, and particularly relates to an electric-gas compound drive flexible manipulator with a serial flexible hinge framework.
Background
Aiming at the large-scale production conditions of light industry and food industry, the tail end gripper for gripping the logistics is needed in order to meet the logistics and packaging requirements of raw materials, semi-finished products and finished products with complex shapes and diverse physical properties and solve the problems of high labor cost, poor labor conditions and the like of simple labor. For the kind of complex object grabbed: objects (melons, fruits and vegetables) with irregular shapes and large size difference; brittle objects (eggs, glass-ceramic products); flexible objects (bread and soft packing articles) which are easy to deform; fourthly, objects (wine bottles and cosmetic bottles) which are special-shaped, disordered in position state and difficult to tidy; as can be seen from the above, the complex objects have large differences in material properties, shape dimensions, and positional states. The traditional industrial manipulator (tail end gripper) is of a clamp type or parallel moving type structure and can only grip rigid workpieces which have the same shape and size and consistent position state and cannot be damaged. The humanoid dexterous hand needs to sense the spatial position and the shape of a complex object, needs to accurately control the movement and the grabbing force, otherwise the complex object can be damaged or can not be reliably grabbed, but at present, the humanoid dexterous hand is still in a laboratory research stage.
The prior art has the following problems: the serial flexible hinge framework manipulator can not adapt to the large shape change and inconsistent size of the grasped complex object because the elastic deformation of the flexible hinge is small, and can not meet the special requirement that the complex object is reliably grasped without being damaged by contact force.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides an electric-pneumatic compound driving flexible manipulator with a serial flexible hinge framework, which can adjust the integral rotation angle of the serial flexible hinge framework by adding a motor to drive the root of the serial flexible hinge framework to rotate a hinge, i.e. the rotating hinge is connected with the serial flexible hinge framework in series, and the number of the flexible hinges connected in series in the serial flexible hinge framework is increased, so that the manipulator has the characteristics of wide grabbing effect and flexible self-adaptive effect.
In order to achieve the purpose, the invention provides the following technical scheme: an electric-pneumatic compound drive flexible manipulator with a serial flexible hinge framework, which comprises a screw shaft motor, an upper seat plate, a guide connecting rod, a linear bearing, a drive plate, a push plate, a short push rod, a connecting rod, a base plate, a flexible finger, a long push rod of a rotary finger seat, a small support, a pull spring, single-end corrugated pipe muscles and a push plate with ridges, the screw shaft motor is arranged at the upper end of the upper seat plate, the upper seat plate and the base plate are fixed into a whole by two guide connecting rods, cylindrical sections are arranged at the two ends of the two guide connecting rods and are respectively in clearance fit with holes on the upper seat plate and the base plate, a bearing with a seat is arranged in the middle of the base plate, a screw nut seat driven by the screw shaft motor is fixed on the driving plate, two linear bearings are mounted on the driving plate, the two linear bearings are guided by corresponding guide connecting rods, and the driving plate moves up and down linearly; the fixed finger seat is arranged on the base plate through a screw, the upper end of the finger root section of the flexible finger on the left side is connected with the lower end of the fixed finger seat through a hinge, the push plate is fixedly arranged on the driving plate, the upper end of the finger root of the rotating finger seat in the middle of the right side is arranged at the lower end of the fixed finger seat through a hinge, the long push rod is fixed on the driving plate, the short push rods are arranged on the outer sides of the long push rod and the push plate, the short push rod is hinged with one end of the connecting rod, the other end of the connecting rod connected with the flexible finger is hinged with the hinge fixing seat on the flexible finger, the other end of the connecting rod connected with the rotating finger seat is connected with a hinge fixing seat on the rotating finger seat through a hinge, the driving plate drives the long push rod to move linearly up and down, a ridged push plate is arranged in the middle of the muscle of the single-head corrugated pipe, and circular pressing plates are arranged at two ends of the ridged push plate;
the upper ends of the finger root sections of the two flexible fingers on the right side are hinged with the rotary finger seat, the two flexible fingers on the right side integrally rotate along with the rotary finger seat and the rotary drive plate with the same axial lead, the drive comes from two single-head corrugated pipe muscles, the shaft section on the upper part of the rotary finger seat is sleeved in the shaft sleeve, the shaft sleeve props against the rotary inner ring of the small belt seat bearing of the base plate, the threaded part of the shaft section on the upper part of the rotary finger seat is screwed by a nut, the axial direction of the rotary finger seat is fixed on the small belt seat bearing on the base plate, the small belt seat bearing on the base plate is fixed on the base plate by a screw, the single-head corrugated pipe muscles are fixed on the wavy bayonet of the sealing head by a clamp, the sealing head with the air pipe joint is fixed on the small support, the small support is fixed on the drive plate, and one end of the two pull springs is hooked into the hole on the, the other end of the pull spring is hooked into a hole in the small support, and the other end of a connecting rod of a short push rod arranged on the outer side of the driving plate is connected with a hinge fixing seat on the flexible finger through a hinge;
the flexible finger is including series connection flexible hinge, hinge seat, hinge support, thick sealed head, air pipe joint, fixed clamp, double-end bellows muscle and thin sealed head, hinge seat fixed mounting is on the flexible hinge of series connection, the upper end of double-end bellows muscle is fixed on the wavy bayonet socket of thick sealed head by the clamp, air pipe joint passes through the screw and adorns soon on thick sealed head, the lower extreme of double-end bellows muscle is fixed on the wavy bayonet socket of thin sealed head by the clamp, thick sealed head, thin sealed head are all fixed at the support, the hinge support is fixed on the flexible hinge of series connection, the epaxial cover of hinge has thick torsional spring.
Preferably, the push plate drives the short push rod and the connecting rod to adjust an included angle between the finger root of the flexible finger and the base plate, and the push plate with the ridge drives the short push rod and the connecting rod to adjust the included angle between the finger root of the flexible finger and the base plate.
Preferably, the thickness of the rotary push plate is in clearance fit with the width of the guide groove on the outer side of the drive plate, and the rotary push plate rotates through the cylindrical pin hinge connection.
Preferably, the plane end of the single-head corrugated pipe muscle is clamped and fixed on the back of the ridged push plate.
Preferably, the muscle of the single-head corrugated pipe is inflated to expand to drive the small support and the right flexible finger to rotate.
Preferably, the drive plate drives the long push rod to move linearly up and down, and the long push rod drives the short push rod and the connecting rod so as to adjust an included angle between the finger root and the base plate.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the angle between the root knuckle and the grasped object can be adjusted through the control of the motor, so that the adjustment of the contact point position is realized, the contact point position of the grasped object can be adjusted, the action point of the contact force and the direction of the action force can be selected according to the situation, the object is not deformed and damaged in the grasping process, and the grasping is more accurate and reliable; meanwhile, the angle between the root knuckle and the grabbed object is adjusted, so that the method can adapt to the large change of the size of the grabbed object.
2. The pneumatic single-head corrugated pipe is controlled by the high-speed switch valve, the muscle driving pressure of the pneumatic single-head corrugated pipe is accurately controlled, and the finger root transposition angle is accurately controlled, so that the finger transposition angle is accurately controlled, cylindrical, square, spherical and ellipsoidal objects can be vertically grabbed, or spherical, cylindrical and square objects can be horizontally grabbed, and the change of the shape, vertical and horizontal placement of the grabbed objects is adapted.
3. The pneumatic double-head corrugated pipe muscle driving pressure control device is controlled by a high-speed switch valve, the muscle driving pressure of the pneumatic double-head corrugated pipe is accurately controlled, and the accurate control of the grabbing force and the flexible self-adaptability of the acting point and the size of the grabbing force are realized.
4. The pneumatic system of the invention has large gain, and the pneumatic corrugated pipe has light muscles, thereby having quick response and good buffer property.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the D-D structure of the present invention;
FIG. 3 is a schematic view of the structure C-C of the present invention;
FIG. 4 is a schematic view of the structure B-B of the present invention;
FIG. 5 is a schematic diagram of the structure E-E of the present invention;
FIG. 6 is a schematic diagram of a flexible finger member of the present invention;
FIG. 7 is a schematic view of a tandem flexible hinge structure of the present invention;
FIG. 8 is a schematic left side view of the tandem flexible hinge of the present invention;
FIG. 9 is a front view of the rotatable finger rest of the present invention;
FIG. 10 is a side view of the rotatable finger rest of the present invention;
FIG. 11 is a front view of the small support of the present invention;
FIG. 12 is a side view of the small holder of the present invention;
FIG. 13 is a front view of the push plate with ridges of the present invention;
FIG. 14 is a schematic top view of a ridged push plate according to the present invention;
FIG. 15 is a schematic view of a single-ended bellows muscle configuration of the present invention;
FIG. 16 is a schematic view of four flexible hinge configurations of the flexible finger in-line flexible hinge of the present invention;
in the figure: 1. a screw shaft motor; 2. an upper seat plate; 3. a guide coupling rod; 4. a lead screw nut seat; 5. a linear bearing; 6. a drive plate; 7. pushing the plate; 8. a short push rod; 9. fixing a finger seat; 10. a connecting rod; 11. a pedestal bearing; 12. a base plate; 13. a flexible finger; 13a, a series flexible hinge; 13b, a hinge base; 13c, a hinge support; 13d, a bracket; 13e, thick sealing head; 13f, a gas pipe joint; 13g, fixing a hoop; 13h, double-head corrugated pipe muscles; 13i, thin sealing head; 14. rotating the finger seat; 15. a shaft sleeve; 16. a long push rod; 17. rotating the push plate; 18. a sealing head; 19. a small support; 20. pulling the spring; 21. single-ended bellows muscle; 22. a push plate with ridges; 23. and (5) pressing the plate circularly.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-15, the present invention provides the following technical solutions: an electric-pneumatic compound drive series flexible hinge framework flexible manipulator comprises a screw shaft motor 1, an upper seat plate 2, guide connecting rods 3, linear bearings 5, a drive plate 6, a push plate 7, a short push rod 8, a connecting rod 10, a base plate 12, flexible fingers 13, a long push rod 16 of a rotary finger seat 14, a small support 19, a pull spring 20, a single-end corrugated pipe muscle 21 and a ridged push plate 22, wherein the screw shaft motor 1 is arranged at the upper end of the upper seat plate 2, the upper seat plate 2 and the base plate 12 are fixed into a whole by the two guide connecting rods 3, cylindrical sections at two ends of the two guide connecting rods 3 are respectively in clearance fit with holes in the upper seat plate 2 and the base plate 12, the middle position of the base plate 12 is provided with the seated bearing 11, a screw nut seat 4 driven by the screw shaft motor 1 is fixed on the drive plate 6, the drive plate 6 is provided with the two linear bearings 5, the two linear bearings 5 are guided by the corresponding guide connecting rods 3, the driving plate 6 moves linearly up and down; the thickness of the rotating push plate 17 is in clearance fit with the width of the guide groove on the outer side of the drive plate 6 and rotates by being connected with a cylindrical pin hinge, the fixed finger seat 9 is installed on the base plate 12 through a screw, the upper end of the finger root section of the flexible finger 13 on the left side is connected with the lower end of the fixed finger seat 9 through a hinge, the push plate 7 is fixedly installed on the drive plate 6, the upper end of the finger root of the rotating finger seat 14 in the middle of the right side is installed at the lower end of the fixed finger seat 9 through a hinge, the long push rod 16 is fixed on the drive plate 6, the long push rod 16 and the outer side of the push plate 7 are both provided with the short push rod 8, the drive plate 6 drives the long push rod 16 to move up and down linearly, the long push rod 16 drives the short push rod 8 and the connecting rod 10 so as to adjust the included angle between the finger root and the base plate 12, the, the ridged push plate 22 drives the short push rod 8, the connecting rod 10 is used for adjusting an included angle between the root of the flexible finger 13 and the base plate 12, the other end of the connecting rod 10 connected with the flexible finger 13 is connected with a hinge fixing seat on the flexible finger 13 through a hinge, the other end of the connecting rod 10 connected with the rotating finger seat 14 is connected with a hinge fixing seat on the rotating finger seat 14 through a hinge, the drive plate 6 drives the long push rod 16 to move linearly up and down, the ridged push plate 22 is arranged in the middle of the single-head corrugated pipe muscle 21, the plane end of the single-head corrugated pipe muscle 21 is clamped and fixed on the ridge of the ridged push plate 22, the single-head corrugated pipe muscle 21 is inflated and expanded to drive the small support 19 and the flexible finger 13 on the right outer side to rotate, and the;
the upper ends of the finger root joints of the two outer flexible fingers 13 on the right side are hinged with a rotary finger seat 14, the two outer flexible fingers 13 on the right side integrally rotate along with the rotary finger seat 14 and a rotary driving plate 6 coaxially to drive two single-head corrugated pipe muscles 21, the shaft section at the upper part of the rotary finger seat 14 is sleeved in a shaft sleeve 15, the shaft sleeve 15 is propped against the rotary inner ring of a small belt seat bearing of a base plate 12, the threaded part of the shaft section at the upper part of the rotary finger seat 14 is screwed by a nut to fix the axial part of the rotary finger seat 14 on the small belt seat bearing on the base plate 12, the small belt seat bearing on the base plate 12 is fixed on the base plate 12 by a screw, the single-head corrugated pipe muscles 21 are fixed on a wavy bayonet of a sealing head 18 by a hoop, the sealing head 18 with an air pipe joint is fixed on a small support 19, the small support 19 is fixed on the driving plate 6, one end of two pull springs 20 is hooked into a hole on a back ridge with, the other end of the pull spring 20 is hooked into a hole on the small support 19, and the other end of the connecting rod 10 of the short push rod 8 arranged on the outer side of the driving plate 6 is connected with a hinge fixing seat on the flexible finger 13 through a hinge;
the flexible finger 13 comprises a hinge seat 13b of a serial flexible hinge 13a, a hinge support 13c, a support 13d, a thick sealing head 13e, an air pipe joint 13f, a fixed hoop 13g, a double-head corrugated pipe muscle 13h and a thin sealing head 13i, wherein the hinge seat 13b is fixedly arranged on the serial flexible hinge 13a, the upper end of the double-head corrugated pipe muscle 13h is fixed on a wavy bayonet of the thick sealing head 13e through the hoop, the air pipe joint 13f is rotatably arranged on the thick sealing head 13e through threads, the lower end of the double-head corrugated pipe muscle 13h is fixed on the wavy bayonet of the thin sealing head 13i through the hoop, the thick sealing head 13e and the thin sealing head 13i are both fixed on the support 13d, the hinge support 13c is fixed on the serial flexible hinge 13a, and a thick torsion spring is sleeved on a.
As shown in fig. 7-8 and 16, the material of the serial flexible hinge (13a) is spring steel material, the number of the serial flexible hinges is 2 or more than 2, the configuration types of the flexible hinges are right-circular flexible hinges, right-angle flexible hinges, elliptical flexible hinges or triangular flexible hinges, and the serial flexible hinge (13a) can be any combination of the four flexible hinges.
The working principle and the using process of the invention are as follows: when the device is used, after optimized calculation is carried out on a specific grasped object, the grasping posture and the contact point position corresponding to the required grasping force can be calculated, and the grasping posture and the contact point position are accurately and cooperatively controlled by the rotation angle of the motor and the internal pressure of each corrugated pipe muscle. The method comprises the following steps: firstly, when complex objects of the same kind (such as apples) and inconsistent shapes and sizes are grabbed, the flexibility can be realized by selecting proper torsion spring parameters and finger structure sizes, and the complex objects of the kind can be reliably grabbed without being damaged; when complex objects with the same shape (such as spherical objects of apples, oranges, tangerines and the like or quadrate objects of big and small square boxes and the like) and large shape and size changes are grabbed, the complex objects with the same shape can be grabbed reliably without damaging and not only can the adaptability of the freedom degree be realized by selecting proper torsion spring parameters and the structure size of the fingers; and thirdly, when complex objects with different shapes (such as spherical objects like apples, oranges, tangerines and the like and quadrate objects like small square boxes and the like) and different shapes and sizes are simultaneously grabbed, the parameters of the torsion spring and the structural size of the finger can be properly selected, the internal pressure of the single-head corrugated pipe muscle 21 and the internal pressure of the accurate single-head corrugated pipe muscle 21 are overcome, and after the finger is adjusted to be rotated, the complex objects with different shapes can be grabbed without being damaged and reliably.
The eagle claw-like logistics packaging manipulator can vertically grab cylindrical, square, spherical and ellipsoidal objects or horizontally grab spherical, cylindrical and square objects through the accurate control of the finger transposition angle, thereby not only adapting to the shape of the grabbed objects, but also meeting the requirements of vertical and horizontal placement change.
According to the shape (such as a cylinder, a rectangle and the like) and the size of an object and the physical characteristics of materials, various configuration states of the fingers of the manipulator are simulated through ADAMS software, the adaptive shape and size range of various configurations and adaptive conditions which are not damaged and can be reliably grasped (not fall off) are determined, and the final grasping configuration, the contact point position and the magnitude and the direction of the contact force of the eagle claw-like logistics packaging manipulator are determined.
Because of the flexible finger structure, the manipulator state has: firstly, no-load movement of fingers under the condition of no contact; contacting force is zero after contacting; after the contact, the object does not move, but the contact force is increased, and the action point position and the contact force direction of the contact force are changed; fourthly, the object does not move after being contacted, and the contact force is in the maximum state; the object and the manipulator simultaneously move in an acceleration displacement manner, and the action point position, the size and the direction of the contact force are changed; holding the object and the manipulator at constant speed, and changing the position, size and direction of the action point of the contact force; seventhly, simultaneously decelerating and displacing the object and the mechanical arm to grasp, and changing the position, the size and the direction of the action point of the contact force; the object and the manipulator are in a static hovering state.
During dynamic control, firstly, determining a path plan of a finger tip for avoiding interference with a conveying belt or an operation table top when the finger does no-load motion under the condition of no contact, and forming a dynamic control strategy of motor rotation and corrugated pipe muscle pressure driving; secondly, when the object does not move after being contacted and the contact force is the maximum, the contact force changes suddenly when the object is lifted, and the internal pressure of each bellows muscle can be adjusted through the control of a pressure transmitter and a high-speed switch valve; and thirdly, when the object and the manipulator simultaneously perform acceleration displacement or deceleration displacement, the pressure in the muscle of each corrugated pipe can be adaptively adjusted.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. The utility model provides an electricity-gas combined drive flexible hinge skeleton flexible manipulator of establishing ties, includes screw shaft motor (1), goes up seat board (2), direction connecting rod (3), linear bearing (5), drive plate (6), push pedal (7), short push rod (8), connecting rod (10), base plate (12), flexible finger (13), rotates finger seat (14) long push rod (16), little support (19), draw spring (20), single-end bellows muscle (21) and take spine push pedal (22), its characterized in that: the screw shaft motor (1) is installed at the upper end of the upper seat plate (2), the upper seat plate (2) and the base plate (12) are fixed into a whole by two guide connecting rods (3), cylindrical sections are arranged at two ends of the two guide connecting rods (3) and are in clearance fit with holes in the upper seat plate (2) and the base plate (12) respectively, a bearing (11) with a seat is arranged in the middle of the base plate (12), a screw nut seat (4) driven by the screw shaft motor (1) is fixed on a driving plate (6), two linear bearings (5) are installed on the driving plate (6), the two linear bearings (5) are guided by the corresponding guide connecting rods (3), and the driving plate (6) moves up and down linearly; the seat bottom plate (12) is provided with a fixed finger seat (9) through a screw, the upper end of the finger root section of the left flexible finger (13) is connected with the lower end of the fixed finger seat (9) through a hinge, the push plate (7) is fixedly arranged on the drive plate (6), the upper end of the finger root of the right rotary finger seat (14) is arranged at the lower end of the seat bottom plate (12) through a hinge, the long push rod (16) is fixed on the drive plate (6), the short push rod (8) is connected with one end of the connecting rod (10) through a hinge, the other end of the connecting rod (10) connected with the flexible finger (13) is connected with the hinge fixing seat on the flexible finger (13) through a hinge, the other end of the connecting rod (10) connected with the rotary finger seat (14) is connected with the hinge fixing seat on the rotary finger seat (14) through a hinge, the drive plate (6) drives the long push rod, a ridged push plate (22) is arranged in the middle of the single-head corrugated pipe muscle (21), and circular press plates (23) are arranged at two ends of the ridged push plate (22);
the upper ends of the finger root sections of the two flexible fingers (13) on the right side are hinged with the rotating finger seat (14), the two flexible fingers (13) on the right side rotate integrally along with the rotating finger seat (14) and the driving plate (6) with the same axial lead, the driving comes from two single-head corrugated pipe muscles (21), the shaft section on the upper part of the rotating finger seat (14) is sleeved into the shaft sleeve (15), the shaft sleeve (15) is propped against the rotating inner ring of the small belt seat bearing of the base plate (12), the threaded part of the shaft section on the upper part of the rotating finger seat (14) is screwed by a nut, the axial direction of the rotating finger seat (14) is fixed on the small belt seat bearing on the base plate (12), the small belt seat bearing on the base plate (12) is fixed on the base plate (12) by a screw, the single-head corrugated pipe muscles (21) are fixed on the wavy bayonet of the sealing head (18) by a hoop, a sealing head (18) with an air pipe joint is fixed on a small support (19), the small support (19) is fixed on a driving plate (6), one end of each of two pull springs (20) is hooked into a hole in the ridge of a ridge push plate (22), and the other end of each pull spring (20) is hooked into a hole in the small support (19);
the flexible finger (13) comprises a flexible hinge (13a), a hinge seat (13b), a hinge support (13c), a bracket (13d), a thick sealing head (13e), a trachea joint (13f), a fixed hoop (13g), a double-head corrugated pipe muscle (13h) and a thin sealing head (13i) which are connected in series, the hinge seat (13b) is fixedly arranged on the flexible hinge (13a) connected in series, the upper end of the double-head corrugated pipe muscle (13h) is fixed on the wavy bayonet of the thick sealing head (13e) by a hoop, the air pipe joint (13f) is screwed on the thick sealing head (13e) through threads, the lower end of the double-head corrugated pipe muscle (13h) is fixed on the wavy bayonet of the thin sealing head (13i) by a hoop, the thick sealing head (13e) and the thin sealing head (13i) are fixed on a support (13d), and the hinge support (13c) is fixed on the serial flexible hinge (13 a); the serial flexible hinges (13a) are made of spring steel materials, the number of the serial flexible hinges is two or more, the configuration types of the flexible hinges are right-circular flexible hinges, right-angle flexible hinges, elliptic flexible hinges and triangular flexible hinges, and the serial flexible hinges (13a) are any combination of the four flexible hinges.
2. The electric-gas compound drive serial flexible hinge framework flexible manipulator of claim 1, characterized in that: the device is characterized by further comprising a rotating push plate (17) arranged in the driving plate (6), wherein the thickness of the rotating push plate (17) is in clearance fit with the width of a guide groove on the outer side of the driving plate (6), and the rotating push plate rotates through the hinge connection of a cylindrical pin.
3. The electric-gas compound drive serial flexible hinge framework flexible manipulator of claim 1, characterized in that: the plane end of the single-head corrugated pipe muscle (21) is clamped and fixed on the back of the push plate (22) with the back.
4. The electric-gas compound drive serial flexible hinge framework flexible manipulator of claim 1, characterized in that: the single-head corrugated pipe muscle (21) is inflated to expand to drive the small support (19) and the flexible finger (13) on the outer side of the right side to rotate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810419593.3A CN108673542B (en) | 2018-05-04 | 2018-05-04 | Electric-gas composite driving series flexible hinge framework flexible manipulator |
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| CN201810419593.3A CN108673542B (en) | 2018-05-04 | 2018-05-04 | Electric-gas composite driving series flexible hinge framework flexible manipulator |
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| CN108673542B true CN108673542B (en) | 2021-04-27 |
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| CN108673541B (en) * | 2018-05-04 | 2021-04-27 | 江南大学 | Electric composite drive thickness special-shaped plate spring skeleton flexible manipulator |
| CN111300473B (en) * | 2020-03-16 | 2021-08-03 | 江南大学 | Electric-pneumatic driving flexible claw capable of rotating position and adjusting rigidity of plate spring framework finger |
| CN116061215A (en) * | 2023-01-11 | 2023-05-05 | 北京软体机器人科技股份有限公司 | Flexible finger based on bellows |
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| WO2014074840A1 (en) * | 2012-11-09 | 2014-05-15 | Irobot Corporation | Compliant underactuated grasper |
| CN104924319A (en) * | 2015-07-03 | 2015-09-23 | 赵子恒 | Flexible end gripper allowing pinching and wrapping gripping |
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2018
- 2018-05-04 CN CN201810419593.3A patent/CN108673542B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014074840A1 (en) * | 2012-11-09 | 2014-05-15 | Irobot Corporation | Compliant underactuated grasper |
| CN107756425A (en) * | 2012-11-09 | 2018-03-06 | 艾罗伯特公司 | Compliance owes to actuate grasper |
| CN104924319A (en) * | 2015-07-03 | 2015-09-23 | 赵子恒 | Flexible end gripper allowing pinching and wrapping gripping |
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| CN108673542A (en) | 2018-10-19 |
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