CN109304720A - One kind is novel to scratch electrical spring flexible manipulator - Google Patents
One kind is novel to scratch electrical spring flexible manipulator Download PDFInfo
- Publication number
- CN109304720A CN109304720A CN201811433833.1A CN201811433833A CN109304720A CN 109304720 A CN109304720 A CN 109304720A CN 201811433833 A CN201811433833 A CN 201811433833A CN 109304720 A CN109304720 A CN 109304720A
- Authority
- CN
- China
- Prior art keywords
- hinged
- spring
- drive rod
- pedestal
- rod
- 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
Links
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 15
- 239000000463 material Substances 0.000 claims abstract description 8
- 230000005684 electric field Effects 0.000 claims abstract description 6
- 230000000638 stimulation Effects 0.000 claims abstract description 5
- 239000004743 Polypropylene Substances 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000012913 prioritisation Methods 0.000 description 3
- -1 Polypropylene Polymers 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229920001155 polypropylene Polymers 0.000 description 2
- 238000006748 scratching Methods 0.000 description 2
- 230000002393 scratching effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005119 centrifugation Methods 0.000 description 1
- 238000010668 complexation reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/083—Gripping heads and other end effectors having finger members with means for locking the fingers in an open or closed position
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses it is a kind of it is novel scratch electrical spring flexible manipulator, include pedestal, two supporting rods, the first drive rod, the second drive rod, actuation spring and operating bar；The both ends of supporting rod are respectively hinged end and clamping end, and hinged end is and the pedestal is hinged；One end of first drive rod, one end of the second drive rod, one end of operating bar are hinged；The shaft of the other end of first drive rod and a supporting rod is hinged；The other end of second drive rod and the shaft of another supporting rod are hinged；The other end of operating bar and one end of actuation spring are connected；The other end and pedestal of actuation spring are connected, and include the flexure material layer on spring body and spring body surface.When work, actuation spring is elongated or shortened, according to the stimulation for applying electric field on it so that the clamping end of two supporting rods is clamped or unclamped.This invention simplifies the control modes of grip size, improve the practicability of device.
Description
Technical field
It is specifically a kind of novel to scratch electrical spring flexible manipulator the present invention relates to manipulator.
Background technique
In industrial automation, realize that grasping movement, Rigid Manipulators have biggish crawl commonly using manipulator
Power, but rigid finger is difficult to realize the lossless crawl to flexible objects, needs flexible manipulator to realize.But at present soft
Property manipulator structure it is complex, processing cost it is higher, installation and maintenance difficulty it is higher, reliability is low, and control
The structure in system crawl direction is complex, and installation and removal all waste time.
Summary of the invention
The technical problem to be solved by the present invention is to for involved defect in background technique, provide novel to scratch electric bullet
Spring flexible manipulator.
The present invention uses following technical scheme to solve above-mentioned technical problem
One kind is novel to scratch electrical spring flexible manipulator, includes pedestal, two supporting rods, the first drive rod, the second drive rod, actuation
Spring and operating bar；
The both ends of the supporting rod are respectively hinged end and clamping end, and the hinged end of two supporting rods is and the pedestal is hinged,
So that two supporting rods can around the pedestal rotate, so that two supporting rods clamping end can it is close to each other with into
Row clamping is located remotely from each other to unclamp gripped object；
One end of first drive rod, one end of the second drive rod, one end of operating bar are hinged；First drive rod it is another
The shaft of one end and a supporting rod is hinged；The other end of second drive rod and the shaft of another supporting rod are hinged；Institute
One end of the other end and the actuation spring of stating operating bar is connected；
The actuation spring is arranged between described two supporting rod hinged ends, and the other end and the pedestal are connected；
The actuation spring includes the flexure material layer on spring body and spring body surface, is used for according to application on it
The stimulation of electric field is elongated or shortened, so that the clamping end of two supporting rods is clamped or unclamped.
Novel the further prioritization scheme of electrical spring flexible manipulator, the clamping of the supporting rod are scratched as of the invention a kind of
End surfaces are equipped with sheet rubber and increase resistance piece, to increase the frictional force between clamping end and gripped object, convenient for crawl.
As it is of the invention a kind of it is novel scratch the further prioritization scheme of electrical spring flexible manipulator, the spring body uses
Polypropylene material is made.
As it is of the invention a kind of it is novel scratch the further prioritization scheme of electrical spring flexible manipulator, the spring body is cut
Face is rectangle.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
The configuration of the present invention is simple, crawl is sensitive, is changed by way of controlling applying electric field gradient and scratches electrical spring length, deformation
Amount is smaller, can be used for accurate clamping, and the displacement equations effect of external electrical field and brace, which cooperates, simplifies the control of grip size
Mode processed improves the practicability of device.
Detailed description of the invention
Fig. 1 is the novel structural schematic diagram for scratching the non-working condition of electrical spring flexible manipulator of the application；
Fig. 2 is the novel structural schematic diagram scratched electrical spring flexible manipulator supporting rod and decontrol state of the application；
Fig. 3 is the novel structural schematic diagram scratched electrical spring flexible manipulator supporting rod and grasp state of the application.
In figure, 1- sheet rubber increases resistance piece, 2- supporting rod, 3- hinge, 4- actuation spring, 5- pedestal, 6- operating bar, 7- the
One drive rod.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
The present invention can be embodied in many different forms, and should not be assumed that be limited to the embodiments described herein.On the contrary, providing
These embodiments are thoroughly and complete to make the disclosure, and will give full expression to the scope of the present invention to those skilled in the art.
In the accompanying drawings, for the sake of clarity it is exaggerated component.
As shown in Figure 1, Figure 2, Figure 3 shows, the invention discloses it is a kind of it is novel scratch electrical spring flexible manipulator, include pedestal, two
A supporting rod, the first drive rod, the second drive rod, actuation spring and operating bar；
The both ends of the supporting rod are respectively hinged end and clamping end, and the hinged end of two supporting rods is and the pedestal is hinged,
So that two supporting rods can around the pedestal rotate, so that two supporting rods clamping end can it is close to each other with into
Row clamping is located remotely from each other to unclamp gripped object；
One end of first drive rod, one end of the second drive rod, one end of operating bar are hinged；First drive rod it is another
The shaft of one end and a supporting rod is hinged；The other end of second drive rod and the shaft of another supporting rod are hinged；Institute
One end of the other end and the actuation spring of stating operating bar is connected；
The actuation spring is arranged between described two supporting rod hinged ends, and the other end and the pedestal are connected；
The actuation spring includes the flexure material layer on spring body and spring body surface, is used for according to application on it
The stimulation of electric field is elongated or shortened, so that the clamping end of two supporting rods is clamped or unclamped.
The clamping end surfaces of the supporting rod are equipped with sheet rubber and increase resistance piece, to increase between clamping end and gripped object
Frictional force, convenient for crawl.
The spring body is made of polypropylene material, and section is rectangle.
It is recited above hingedly to be completed by hinge.
Novel electrical spring of scratching generates deformation under the stimulation of external electric-force gradient, bends electric flaky material and shrinks, to spring sheet
The inner ring of body generates centrifugation torque, and spring body curvature becomes larger, and spring as a whole shortens.Similarly, change electric-force gradient direction, spring
Elongation.To which spring band movement lever moves downward or upward, by brace, the displacement on vertical direction is become along brace
The displacement in direction, while displacement being scaled up, it is transmitted by hinge, so that left-right rotation of the supporting rod around bottom hinge,
So that the retaining part relative distance of each supporting rod becomes larger or becomes smaller, the relieving or grasping of manipulator are realized.Spring elongation, clamping
Bar is close to each other, and manipulator grasps, conversely, manipulator is decontroled.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art
The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (4)
1. novel electrical spring flexible manipulator is scratched a kind of, which is characterized in that includes pedestal, two supporting rods, the first drive rod, the
Two drive rods, actuation spring and operating bar；
The both ends of the supporting rod are respectively hinged end and clamping end, and the hinged end of two supporting rods is and the pedestal is hinged,
So that two supporting rods can around the pedestal rotate, so that two supporting rods clamping end can it is close to each other with into
Row clamping is located remotely from each other to unclamp gripped object；
One end of first drive rod, one end of the second drive rod, one end of operating bar are hinged；First drive rod it is another
The shaft of one end and a supporting rod is hinged；The other end of second drive rod and the shaft of another supporting rod are hinged；Institute
One end of the other end and the actuation spring of stating operating bar is connected；
The actuation spring is arranged between described two supporting rod hinged ends, and the other end and the pedestal are connected；
The actuation spring includes the flexure material layer on spring body and spring body surface, is used for according to application on it
The stimulation of electric field is elongated or shortened, so that the clamping end of two supporting rods is clamped or unclamped.
2. novel electrical spring flexible manipulator is scratched according to claim 1, which is characterized in that the clamping end of the supporting rod
Surface is equipped with sheet rubber and increases resistance piece, to increase the frictional force between clamping end and gripped object, convenient for crawl.
3. novel electrical spring flexible manipulator is scratched according to claim 1, which is characterized in that the spring body is using poly-
Propylene material is made.
4. novel electrical spring flexible manipulator is scratched according to claim 1, which is characterized in that the section of the spring body
For rectangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811433833.1A CN109304720A (en) | 2018-11-28 | 2018-11-28 | One kind is novel to scratch electrical spring flexible manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811433833.1A CN109304720A (en) | 2018-11-28 | 2018-11-28 | One kind is novel to scratch electrical spring flexible manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109304720A true CN109304720A (en) | 2019-02-05 |
Family
ID=65223444
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811433833.1A Pending CN109304720A (en) | 2018-11-28 | 2018-11-28 | One kind is novel to scratch electrical spring flexible manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109304720A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202599A (en) * | 2019-06-25 | 2019-09-06 | 北京理工华汇智能科技有限公司 | Force-increasing mechanism and clamping device |
| CN112273053A (en) * | 2020-11-27 | 2021-01-29 | 南宁学院 | Flexible passion fruit picking manipulator end effector |
| CN114955021A (en) * | 2022-06-14 | 2022-08-30 | 南京航空航天大学 | Octopus tentacle-imitating space catching mechanism |
| CN115635468A (en) * | 2021-07-19 | 2023-01-24 | 北京云迹科技股份有限公司 | Intelligent object conveying robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3812026A1 (en) * | 1987-06-25 | 1989-01-05 | Szerszamgepipari Muevek | Tool-shank gripper for automatic tool change in machine tools |
| CN102263199A (en) * | 2011-08-10 | 2011-11-30 | 边义祥 | Distributed electrode type core-containing piezoelectric rod spring |
| CN104637859A (en) * | 2013-11-14 | 2015-05-20 | 先进科技新加坡有限公司 | WIRE clamp, method and apparatus for applying a preload force to a piezoelectric actuator |
| CN205552530U (en) * | 2016-01-22 | 2016-09-07 | 马鞍山远荣机器人智能装备有限公司 | Wheel is grabbed by manipulator |
| CN107081750A (en) * | 2017-06-23 | 2017-08-22 | 常州信息职业技术学院 | A kind of unidirectional self-lock formula manipulator |
| CN107160363A (en) * | 2017-06-07 | 2017-09-15 | 华南理工大学 | A kind of parallel clamping device |
| CN107718034A (en) * | 2017-11-06 | 2018-02-23 | 江门市众能电控科技有限公司 | A kind of anti-skidding conveying robot |
| CN209273461U (en) * | 2018-11-28 | 2019-08-20 | 南京航空航天大学 | One kind is novel to scratch electrical spring flexible manipulator |
-
2018
- 2018-11-28 CN CN201811433833.1A patent/CN109304720A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3812026A1 (en) * | 1987-06-25 | 1989-01-05 | Szerszamgepipari Muevek | Tool-shank gripper for automatic tool change in machine tools |
| CN102263199A (en) * | 2011-08-10 | 2011-11-30 | 边义祥 | Distributed electrode type core-containing piezoelectric rod spring |
| CN104637859A (en) * | 2013-11-14 | 2015-05-20 | 先进科技新加坡有限公司 | WIRE clamp, method and apparatus for applying a preload force to a piezoelectric actuator |
| CN205552530U (en) * | 2016-01-22 | 2016-09-07 | 马鞍山远荣机器人智能装备有限公司 | Wheel is grabbed by manipulator |
| CN107160363A (en) * | 2017-06-07 | 2017-09-15 | 华南理工大学 | A kind of parallel clamping device |
| CN107081750A (en) * | 2017-06-23 | 2017-08-22 | 常州信息职业技术学院 | A kind of unidirectional self-lock formula manipulator |
| CN107718034A (en) * | 2017-11-06 | 2018-02-23 | 江门市众能电控科技有限公司 | A kind of anti-skidding conveying robot |
| CN209273461U (en) * | 2018-11-28 | 2019-08-20 | 南京航空航天大学 | One kind is novel to scratch electrical spring flexible manipulator |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202599A (en) * | 2019-06-25 | 2019-09-06 | 北京理工华汇智能科技有限公司 | Force-increasing mechanism and clamping device |
| CN112273053A (en) * | 2020-11-27 | 2021-01-29 | 南宁学院 | Flexible passion fruit picking manipulator end effector |
| CN115635468A (en) * | 2021-07-19 | 2023-01-24 | 北京云迹科技股份有限公司 | Intelligent object conveying robot |
| CN115635468B (en) * | 2021-07-19 | 2024-10-18 | 北京云迹科技股份有限公司 | Intelligent object feeding robot |
| CN114955021A (en) * | 2022-06-14 | 2022-08-30 | 南京航空航天大学 | Octopus tentacle-imitating space catching mechanism |
| CN114955021B (en) * | 2022-06-14 | 2024-05-14 | 南京航空航天大学 | Octopus-like tentacle space capturing mechanism |
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