CN109877859A - The pneumatic machinery finger that each joint can be move freely - Google Patents
The pneumatic machinery finger that each joint can be move freely Download PDFInfo
- Publication number
- CN109877859A CN109877859A CN201910197940.7A CN201910197940A CN109877859A CN 109877859 A CN109877859 A CN 109877859A CN 201910197940 A CN201910197940 A CN 201910197940A CN 109877859 A CN109877859 A CN 109877859A
- Authority
- CN
- China
- Prior art keywords
- joint
- spring
- finger
- move freely
- compressed air
- 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
Landscapes
- Manipulator (AREA)
Abstract
The present invention provides a kind of pneumatic machinery fingers that each joint can be move freely, manipulator field, including mechanical finger and compressed air line, mechanical finger includes at least two joints: the first joint and second joint, first joint is connected by first axle, the curved interior in the first joint is arranged in first axle, second joint is connected by second hinge, the curved interior of second joint is arranged in second hinge, first joint is equipped with the first extension airbag, first extension airbag the first compressed air line of corresponding connection, second extension airbag is housed at second joint, second extension airbag the second compressed air line of corresponding connection.The pressure that the present invention is managed by rational deployment compressed air realizes the bending of finger using the extension airbag of each joint so that controlling each joint realizes co-operating, and structure novel is easy to operate.
Description
Technical field
The invention belongs to manipulator fields, are related to a kind of pneumatic machinery finger that each joint can be move freely.
Background technique
The mechanical finger of existing market composition manipulator is totally divided into two classes, and one kind is using flexible material, in compression sky
Bending is realized under the action of gas, to realize the clamping and release to object, another kind of is using mechanical linkage, in cylinder
Or extremely press push rod under the action of, operation to object, common issue existing for these two types of manipulators are realized by link mechanism
It is the measurement that can not accurately realize aid power, the problem of another general character is the several joints for forming manipulator, as long as there is a pass
Section is dynamic, and due to the digital flexion realized using link mechanism, other joint can also bend, from bionics angle, human body hand
Articulations digitorum manus, truth are use of a certain joint in movement, other joints can be motionless, can also be moved.How machinery is designed
The movement of finger allows mechanical finger that can preferably meet bionic requirement, realizes that each joint moves respectively, while being also able to achieve
Each joint moves together, is the real problem that we face.
Summary of the invention
The problem to be solved in the present invention is to be to provide a kind of pressure by compressed air line, and it is real to control each joint
The pneumatic machinery finger that each joint of existing co-operating can be move freely.
In order to solve the above technical problems, the technical solution adopted by the present invention is that:
The pneumatic machinery finger that each joint can be move freely, including mechanical finger and compressed air line, the manipulator
Refer to and include at least two joints: the first joint and second joint, first joint is connected by first axle, first hinge
Chain is arranged in the curved interior in the first joint, and the second joint is connected by second hinge, and the second hinge setting is the
The curved interior in two joints, first joint are equipped with the first extension airbag, the corresponding connection first of first extension airbag
Compressed air line is equipped with the second extension airbag, second extension airbag the second compressed air of corresponding connection at second joint
Pipeline.
Further, first joint is equipped with the first spring, and first spring correspond to first axle and is arranged the
The curved outside in one joint, is equipped with second spring at the second joint, and the second spring correspond to second hinge and is arranged the
The curved outside in two joints.
Further, first extension airbag is arranged between the first spring and first axle, the second flexible gas
Capsule is arranged between second spring and second hinge.
Further, the pneumatic machinery finger includes third joint, and the third joint and second joint are disposed adjacent,
The third joint is equipped with third hinge, third extension airbag and third compressed air line, and the third joint, second are closed
It saves identical with connection type with the first joint structure.
Further, first compressed air line, the second compressed air line and third compressed air line with
The connection of outside air compression set, compressing gasbag drive corresponding joint bending rotation by compressed air line.
Further, first spring, second spring and third spring setting quantity are two to four.
Further, first joint, second joint and third joint add measurement hinge rotational angle
Angle measuring sensor, the angle measuring sensor and control analysis software are electrically connected.
Further, first joint, second joint and third joint add the dynamometry of measurement spring force
Sensor, the load cell and control analysis software are electrically connected.
Further, first joint, second joint and third joint add gas in measurement extension airbag
The gas pressure detection sensor of pressure, the gas pressure detection sensor and control analysis software are electrically connected.
Compared with prior art, the present invention has the advantage that as follows with good effect.
1, the present invention corresponds to respective compressed air line using the extension airbag of each joint, provides different pressures sky
Gas realizes the bending and self-movement in each joint, and structure is simple, novel, facilitates operation.
2, the present invention installs load cell, angle measuring sensor and gas pressure detection sensing additional by each joint
Device will test data feedback to control analysis software, and continuous correction motion progress forms closed-loop control.
3, the present invention makes the flexibility of mechanical finger more flexible, is more in line with the detailing requiments of human finger, is grabbing
Finger movement can become more closely and accurately when thing.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the structural schematic diagram for the pneumatic machinery finger that each joint of the present invention can be move freely；
Fig. 2 is the structural schematic diagram for the pneumatic machinery finger that each joint of the present invention can be move freely；
Fig. 3 is the structural schematic diagram of extension airbag of the present invention；
Fig. 4 is the connection schematic diagram of each sensor of the present invention and control analysis software.
Description of symbols:
1, the first joint；2, second joint；3, third joint；4, the first extension airbag；5, the second extension airbag；6, third
Extension airbag；7, first axle；8, second hinge；9, third hinge；10, the first spring；11, second spring；12, third bullet
Spring；13, the first compressed air line；14, the second compressed air line；15, third compressed air line；16, angle measurement passes
Sensor；17, load cell；18, gas pressure detection sensor；19, control analysis software.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply phase
To importance or implicitly indicate the quantity of indicated technical characteristic.The feature for defining " first ", " second " etc. as a result, can
To explicitly or implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
As shown in Figures 1 to 4, the pneumatic machinery finger that each joint can be move freely, including mechanical finger and compressed air
Pipeline, mechanical finger include at least two joints: the first joint 1 and second joint 2, and the first joint 1 is connected by first axle 7
It connects, the curved interior in the first joint 1 is arranged in first axle 7, and second joint 2 is connected by second hinge 8, and second hinge 8 is set
It sets the curved interior in second joint 2, the first extension airbag 4 is housed at first joint 1, the corresponding connection of the first extension airbag 4 the
One compressed air line 13, the second extension airbag 5 is equipped at second joint 2, and corresponding the second compression of connection of the second extension airbag 5 is empty
Air pipe 14, compressed air line provide the gas that extension airbag has pressure, and extension airbag realizes stretching motion, and provides a
Power required for arthrogryposis.
As illustrated in fig. 1, it is preferred that being equipped with the first spring 10 at the first joint 1, the corresponding first axle 7 of the first spring 10 is set
The curved outside in the first joint 1 is set, second spring 11 is equipped at second joint 2, the corresponding second hinge 8 of second spring 11 is arranged
In the curved outside of second joint 2, drawback movement is done by spring force band movable joint, realizes that mechanical finger stretches.
As shown in Figure 2, it is preferable that the first extension airbag 4 is arranged between the first spring 10 and first axle 7, and second stretches
Contracting air bag 5 is arranged between second spring 11 and second hinge 8, and extension airbag is arranged in joint middle position, provides joint
Power needed for being bent, facilitates shutdown bending force.
As depicted in figs. 1 and 2, it is preferable that pneumatic machinery finger includes third joint 3, third joint 3 and second joint 2
It is disposed adjacent, third hinge 9, third extension airbag 6 and third compressed air line 15, third joint is equipped at third joint 3
3, second joint 2 and 1 structure of the first joint are identical with connection type, and low manufacture cost is convenient for changing damaged parts.
As depicted in figs. 1 and 2, it is preferable that the first compressed air line 13, the second compressed air line 14 and third compression
Air pipe line 15 is connected to outside air compression set, and compressing gasbag drives corresponding joint bending to turn by compressed air line
It is dynamic.
As shown in Figure 2, it is preferable that it is two to four that quantity, which is arranged, in the first spring 10, second spring 11 and third spring 12
A, stretching for mechanical finger is realized in each joint under the collective effect of extension airbag and spring.
As shown in Figure 4, it is preferable that measurement hinge rotation is added at the first joint 1, second joint 2 and third joint 3
The angle measuring sensor 16 of angle, angle measuring sensor 16 and control analysis software 19 are electrically connected, and pass through angle measurement
The angle feed-back that sensor rotates the joint around hinge structure of measurement gives control analysis software, carries out operation and solves accordingly to ask
Topic, realizes the precise motion in each joint.
As shown in Figure 4, it is preferable that add measurement spring force at the first joint 1, second joint 2 and third joint 3
Load cell 17, load cell 17 and control analysis software 19 be electrically connected, by load cell measurement spring
Effect elastic force feeds back to control analysis software, carries out operation and solves the problems, such as corresponding, realizes the precise motion in each joint.
As shown in Figure 4, it is preferable that add measurement extension airbag at the first joint 1, second joint 2 and third joint 3
The gas pressure detection sensor 18 of interior gas pressure, gas pressure detection sensor 18 electrically connect with control analysis software 19
It connects, by gas pressure during gas pressure detection sensor detection extension airbag stretching motion, and feeds back to control analysis
Software carries out operation and continuous correction motion progress, forms closed-loop control, allows mechanical finger finger movement meeting when grabbing thing
Become more accurate and accurate.
Practical work process is the pneumatic machinery finger that each joint can be move freely, in normal state, empty by compression
Compressed air in air pipe to three joints extension airbag filled with the compressed air of certain pressure, while each joint
There are two extension springs for installation, in this way, stretching for finger is realized in each joint under the collective effect of extension airbag and extension spring
Directly, when needing each section arthrogryposis, the pneumatic proportional valve or electricity of the compressed air flexible conduit of corresponding control corresponding joint
Magnet valve provides the compressed air of higher pressure, and in corresponding joint, under the action of compressed air, air bag is sent out at corresponding joint
It is raw flexible, overcome spring force to do work, allows corresponding joint two sides to bend along linkage, that is, realize at corresponding joint
Corresponding control, this product make testing finger flexibility more flexible, more meet the detailing requiments of human finger, can be by installing spring additional
Load cell, joint rotation angle measurement sensor and gas press detection sensor carry out operation by control software, lead to
The continuous sensor of practicing Buddhism or Taoism of feedback is crossed, gas pressure detection sensor carries out the constantly amendment of operation feedback with each control software and transports
Dynamic progress, forms closed-loop control, mechanical finger can be allowed, which to act when grabbing thing, can become more accurate and accurate.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (9)
1. the pneumatic machinery finger that each joint can be move freely, it is characterised in that: including mechanical finger and compressed air line, institute
Mechanical finger is stated including at least two joints: the first joint (1) and second joint (2), first joint (1) pass through the first hinge
The curved interior in the first joint (1) is arranged in chain (7) connection, the first axle (7), and the second joint (2) passes through second
Hinge (8) connection, the second hinge (8) are arranged the curved interior in second joint (2), are equipped at first joint (1)
First extension airbag (4), first extension airbag (4) is corresponding to be connected to the first compressed air line (13), at second joint (2)
Equipped with the second extension airbag (5), the corresponding connection the second compressed air line (14) of second extension airbag (5).
2. the pneumatic machinery finger that each joint according to claim 1 can be move freely, it is characterised in that: described first closes
It saves and is equipped with the first spring (10) at (1), first spring (10) corresponding first axle (7) is arranged in the curved of the first joint (1)
On the outside of bent, second spring (11) are equipped at the second joint (2), the second spring (11) corresponding second hinge (8) setting
Curved outside in second joint (2).
3. the pneumatic machinery finger that each joint according to claim 1 can be move freely, it is characterised in that: described first stretches
Contracting air bag (4) is arranged between the first spring (10) and first axle (7), and the second flexible gas (5) is arranged in second spring
(11) between second hinge (8).
4. the pneumatic machinery finger that each joint according to claim 1 can be move freely, it is characterised in that: the pneumatic motor
Tool finger includes third joint (3), and the third joint (3) and second joint (2) are disposed adjacent, at the third joint (3)
Equipped with third hinge (9), third extension airbag (6) and third compressed air line (15), the third joint (3), second are closed
It is identical with connection type with the first joint (1) structure to save (2).
5. the pneumatic machinery finger that each joint according to claim 1 can be move freely, it is characterised in that: first pressure
Contracting air pipe line (13), the second compressed air line (14) and third compressed air line (15) with outside air compression set
Connection.
6. the pneumatic machinery finger that each joint according to claim 1 can be move freely, it is characterised in that: first bullet
Spring (10), second spring (11) and third spring (12) setting quantity are two to four.
7. the pneumatic machinery finger that each joint according to claim 1 can be move freely, it is characterised in that: described first closes
The angle measuring sensor (16) for measuring hinge rotational angle is added at section (1), second joint (2) and third joint (3),
The angle measuring sensor (16) and control analysis software (18) are electrically connected.
8. the pneumatic machinery finger that each joint according to claim 1 can be move freely, it is characterised in that: described first closes
The load cell (17) for measuring spring force, the dynamometry are added at section (1), second joint (2) and third joint (3)
Sensor (17) and control analysis software (19) are electrically connected.
9. the pneumatic machinery finger that each joint according to claim 1 can be move freely, it is characterised in that: described first closes
The gas pressure detection for measuring gas pressure in extension airbag is added at section (1), second joint (2) and third joint (3)
Sensor (18), the gas pressure detection sensor (18) and control analysis software (19) are electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910197940.7A CN109877859A (en) | 2019-03-15 | 2019-03-15 | The pneumatic machinery finger that each joint can be move freely |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910197940.7A CN109877859A (en) | 2019-03-15 | 2019-03-15 | The pneumatic machinery finger that each joint can be move freely |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109877859A true CN109877859A (en) | 2019-06-14 |
Family
ID=66932429
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910197940.7A Pending CN109877859A (en) | 2019-03-15 | 2019-03-15 | The pneumatic machinery finger that each joint can be move freely |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109877859A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1662349A (en) * | 2002-06-24 | 2005-08-31 | 松下电器产业株式会社 | Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism |
| CN2764573Y (en) * | 2005-01-26 | 2006-03-15 | 浙江理工大学 | Pneumatic manipulator of robot |
| CN101015493A (en) * | 2007-02-28 | 2007-08-15 | 浙江工业大学 | Air-actuated flexible finger motion rehabilitation equipment |
| CN101402200A (en) * | 2008-11-03 | 2009-04-08 | 浙江工业大学 | Multi-finger dexterous hand of robot based on pneumatic flexible driver |
| CN101804633A (en) * | 2010-04-06 | 2010-08-18 | 清华大学 | Tendon rope parallel skillful under-driven bionic robot finger device |
| US20110118635A1 (en) * | 2009-10-05 | 2011-05-19 | Keijirou Yamamoto | Joint motion facilitation device |
| CN105710887A (en) * | 2016-04-29 | 2016-06-29 | 中国矿业大学 | Hooped mine elevator patrol robot mechanism based on electromagnetic chucks |
| CN106863333A (en) * | 2016-11-30 | 2017-06-20 | 合肥瑞硕科技有限公司 | A kind of flexible pneumatic mechanical gripper |
| CN209919907U (en) * | 2019-03-15 | 2020-01-10 | 天津交通职业学院 | Pneumatic mechanical finger with freely movable joints |
-
2019
- 2019-03-15 CN CN201910197940.7A patent/CN109877859A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1662349A (en) * | 2002-06-24 | 2005-08-31 | 松下电器产业株式会社 | Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism |
| CN2764573Y (en) * | 2005-01-26 | 2006-03-15 | 浙江理工大学 | Pneumatic manipulator of robot |
| CN101015493A (en) * | 2007-02-28 | 2007-08-15 | 浙江工业大学 | Air-actuated flexible finger motion rehabilitation equipment |
| CN101402200A (en) * | 2008-11-03 | 2009-04-08 | 浙江工业大学 | Multi-finger dexterous hand of robot based on pneumatic flexible driver |
| US20110118635A1 (en) * | 2009-10-05 | 2011-05-19 | Keijirou Yamamoto | Joint motion facilitation device |
| CN101804633A (en) * | 2010-04-06 | 2010-08-18 | 清华大学 | Tendon rope parallel skillful under-driven bionic robot finger device |
| CN105710887A (en) * | 2016-04-29 | 2016-06-29 | 中国矿业大学 | Hooped mine elevator patrol robot mechanism based on electromagnetic chucks |
| CN106863333A (en) * | 2016-11-30 | 2017-06-20 | 合肥瑞硕科技有限公司 | A kind of flexible pneumatic mechanical gripper |
| CN209919907U (en) * | 2019-03-15 | 2020-01-10 | 天津交通职业学院 | Pneumatic mechanical finger with freely movable joints |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106239497B (en) | Fluid bone flexible mechanical arm assembly | |
| US10548745B2 (en) | Portable prosthetic hand with soft pneumatic fingers | |
| Trivedi et al. | Geometrically exact models for soft robotic manipulators | |
| CN101564841B (en) | Soft manipulator based on pneumatic artificial muscles | |
| Gaiser et al. | Compliant robotics and automation with flexible fluidic actuators and inflatable structures | |
| Trivedi et al. | Geometrically exact dynamic models for soft robotic manipulators | |
| Wang et al. | Integration, sensing, and control of a modular soft-rigid pneumatic lower limb exoskeleton | |
| CN101543997B (en) | Joint driving device of flexible manipulator and flexible manipulator thereof | |
| CN104369191B (en) | For the manipulator of automation single-point leak detection | |
| CN108422418A (en) | A kind of variation rigidity gasbag-type omnidirectional is bent flexible robot | |
| Gao et al. | Variable stiffness structural design of a dual-segment continuum manipulator with independent stiffness and angular position | |
| CN107511837A (en) | A kind of bionic mechanical hand of whole line driver driving | |
| CN210650736U (en) | Mechanical arm joint assembly and mechanical arm | |
| CN107791266A (en) | A kind of robot hydraulic-driven five-needle pines blister rust | |
| CN202592389U (en) | Single-curvature flexible joint device for limbs of bionic machines and robots | |
| CN104913925B (en) | A kind of extravehicular space suit upper limb joint life test apparatus | |
| CN109877859A (en) | The pneumatic machinery finger that each joint can be move freely | |
| CN206869879U (en) | Bellows fluid drive lacking articulated robot finger apparatus | |
| CN205343163U (en) | Pneumatic bend in one direction flexible joint of dual drive | |
| CN209919907U (en) | Pneumatic mechanical finger with freely movable joints | |
| CN101915651B (en) | Push-type displacement feedback pneumatic deviation correction mechanism of vibrating platform used under centrifugal environment | |
| CN105364940A (en) | Joint drive device of flexible mechanical arm of robot and flexible mechanical arm with joint drive device | |
| Xue et al. | Design and modeling of omni-directional bending pneumatic flexible arm | |
| Bolignari et al. | Design and experimental characterisation of a hydrostatic transmission for upper limb exoskeletons | |
| CN107283393A (en) | Exoskeleton robot and its hip joint |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |