CN111015716A

CN111015716A - Soft manipulator opening and closing control driver

Info

Publication number: CN111015716A
Application number: CN201911355339.2A
Authority: CN
Inventors: 刘玉旺; 王鹏; 李晓虎; 张永超; 陈鹏
Original assignee: Shenyang Institute of Automation of CAS
Current assignee: Shenyang Institute of Automation of CAS
Priority date: 2019-12-25
Filing date: 2019-12-25
Publication date: 2020-04-17
Anticipated expiration: 2039-12-25
Also published as: CN111015716B

Abstract

The invention relates to the field of manipulators, in particular to a soft manipulator opening and closing control driver which comprises a push rod, a shell, a spring, a metal disc and an electromagnet, wherein the upper end of the push rod extends out of the shell, the middle part of the push rod is rotatably arranged in the shell, the lower end of the push rod is hinged with the upper end of the spring, the lower end of the spring is rotatably arranged in the shell, the electromagnet is arranged at the bottom of the shell, the metal disc is arranged on the upper side of the electromagnet, and the metal disc is connected with the lower. The invention realizes the opening and closing of the front end soft manipulator by utilizing the elastic force of the spring and the magnetic force of the electromagnet to drive the push rod, has higher reaction speed, can be repeatedly used, and can be freely used in various complex environments.

Description

Soft manipulator opening and closing control driver

Technical Field

The invention relates to the field of manipulators, in particular to a soft manipulator opening and closing control driver.

Background

With the wide application of various types of manipulators in daily work and life of people, the functional requirements of people on the manipulators are higher and higher, from the first "functional", to the man-machine integration which is always pursued by people later, various types of manipulators follow the same, wherein the soft manipulator is taken as a special manipulator and becomes an important research object in academic and industrial fields, and how to drive the soft manipulator naturally becomes an important problem.

Disclosure of Invention

The invention aims to provide a soft manipulator opening and closing control driver, which utilizes the spring elasticity and electromagnet magnetic force to drive a push rod to realize the opening and closing of a front-end soft manipulator.

The purpose of the invention is realized by the following technical scheme:

the utility model provides a software manipulator control driver that opens and shuts, includes push rod, casing, spring, metal disc and electro-magnet, wherein the push rod upper end stretches out outside the casing, and in the casing was rotationally located at the push rod middle part, the push rod lower extreme was articulated with the spring upper end, and in the casing was rotationally located to the spring lower extreme, the casing bottom was located to the electro-magnet, and the electro-magnet upside was equipped with the metal disc, and the metal disc with the spring lower extreme links to each other.

The middle part of the push rod is rotatably arranged in the shell through a first rotating shaft, the lower end of the spring is rotatably arranged in the shell through a second rotating shaft, a hinged base is arranged in the shell, and the first rotating shaft and the second rotating shaft are respectively arranged on the corresponding hinged base.

The lower end of the push rod is provided with a connecting rod connected with the upper end of the spring, the upper end of the connecting rod is fixedly connected with the push rod, and the lower end of the connecting rod is hinged with the upper end of the spring through a pin shaft

The upper end of the spring is provided with an upper connecting piece hinged with the lower end of the connecting rod, the upper connecting piece comprises a blocking disc and a stand column arranged in the middle of the blocking disc, and the stand column is arranged on the pin shaft.

The lower end of the spring is provided with a lower connecting piece which is rotatably arranged in the shell, the metal disc is provided with a connecting lug, and the lower connecting piece is connected with the connecting lug on the metal disc through a steel cable ring.

The lower connecting piece is a concave groove plate, and the steel cable ring is arranged on one side of the bottom surface of the concave groove plate.

An electromagnet base is arranged on the bottom surface of the shell, and the electromagnet is arranged on the electromagnet base.

The invention has the advantages and positive effects that:

1. the invention realizes the opening and closing of the front-end soft manipulator by utilizing the elastic force of the spring and the magnetic force of the electromagnet to drive the push rod, compared with other soft manipulators in an opening and closing mode, the invention has the advantages of higher reaction speed, reusability and free use in various complex environments.

2. The invention has simple and compact integral structure and simple appearance.

Drawings

Figure 1 is a schematic structural view of the present invention,

figure 2 is a schematic view of the electromagnet of figure 1,

figure 3 is a general schematic view of the invention in use,

figure 4 is a top view of the invention of figure 3 in use,

figure 5 is a schematic view of the present invention in the open position of the robot,

fig. 6 is a schematic view of the state of the present invention when the robot is closed.

Wherein, 1 is the outer tip, 2 is the casing, 3 is first axis of rotation, 4 is connecting bolt, 5 is the connecting rod, 6 is articulated base, 7 is the second axis of rotation, 8 is fastening screw, 9 is the electro-magnet, 10 is the metal disc, 11 is the stopper, 12 is the steel cable circle, 13 is the spring, 14 is the upper junction spare, 15 is the round pin axle, 16 is coupling nut, 17 is the bearing, 18 is fixing bolt, 19 is the electro-magnet base, 20 is fixing nut, 21 is the connection lug, 22 is the casing bottom surface, 23 is the push rod, 24 is lower connecting piece.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1 to 6, the present invention includes a push rod 23, a housing 2, a spring 13, a metal disc 10 and an electromagnet 9, wherein an outer end portion 1 of an upper end of the push rod 23 extends out of the housing 2, a middle portion of the push rod 23 is rotatably disposed in the housing 2 through a first rotating shaft 3, a lower end of the push rod 23 is hinged to an upper end of the spring 13 through a pin 15, a lower end of the spring 13 is rotatably disposed in the housing 2 through a second rotating shaft 7, the electromagnet 9 is disposed at a bottom of the housing 2, the metal disc 10 is disposed on an upper side of the electromagnet 9, and the metal disc 10 is connected. As shown in fig. 3 to 4, when the present invention is used, the plurality of housings 2 form a cylindrical shape, and the outer end 1 of each push rod 23 is connected to a corresponding soft manipulator, as shown in fig. 5, when the electromagnet 9 is energized to adsorb the metal disc 10, the metal disc 10 rotates the push rod 23 around the first rotating shaft 3 through the spring 13, so that the outer end 1 of each push rod 23 is closed, that is, the manipulator is closed, as shown in fig. 6, when the electromagnet 9 is de-energized, the metal disc 10 is disengaged from the electromagnet 9, the spring 13 restores the original state and rotates the push rod 23 around the first rotating shaft 3, so that the outer end 1 of each push rod 23 is opened, that is, the manipulator is opened.

As shown in fig. 1, two hinge bases 6 are disposed in the housing 2, the first rotating shaft 3 and the second rotating shaft 7 are respectively supported and mounted on the corresponding hinge bases 6 through bearings 17, and the hinge bases 6 are fixed in the housing 2 through fastening screws 8.

The lower end of the push rod 23 is provided with a connecting rod 5 connected with the upper end of the spring 13, as shown in fig. 1, the upper end of the connecting rod 5 is fixedly connected with the push rod 23 through a connecting bolt 4 and a connecting nut 16, and the lower end of the connecting rod 5 is hinged with the upper end of the spring 13 through the pin shaft 15.

As shown in fig. 1, an upper connector 14 and a lower hinge shaft of the connecting rod 5 are provided at the upper end of the spring 13, a lower connector 24 is provided at the lower end of the spring 13 and is mounted on the second rotating shaft 7, a plurality of connecting lugs 21 are provided on the metal plate 10, and the lower connector 24 is connected with the corresponding connecting lugs 21 on the metal plate 10 through a steel cable ring 12.

As shown in fig. 1, the upper connecting member 14 includes a blocking disc and a column disposed in the middle of the blocking disc, the column is mounted on the pin 15, the lower connecting member 24 is a concave slot plate, the vertical plates on two sides of the concave slot plate are mounted on the second rotating shaft 7, the spring 13 is disposed between the bottom surface of the concave slot plate and the blocking disc, and the steel cable ring 12 is disposed on one side of the bottom surface of the concave slot plate.

As shown in fig. 2, an electromagnet base 19 is disposed on the bottom surface 22 of the housing, the electromagnet base 19 is fixed on the bottom surface 22 of the housing by a fixing bolt 18 and a fixing nut 20, and the electromagnet 9 is disposed on the electromagnet base 19.

As shown in fig. 1, a stopper 11 is disposed inside the housing 2 to limit the displacement of the metal plate 10.

The working principle of the invention is as follows:

as shown in fig. 3-4, when the present invention is used, a plurality of housings 2 are formed in a cylindrical shape, and the outer end portion 1 of each push rod 23 is connected to a corresponding flexible manipulator, as shown in fig. 5, when the electromagnet 9 is energized to attract the metal plate 10, the metal plate 10 rotates around the first rotating shaft 3 through the spring 13 and the push rod 23, and closes each manipulator, as shown in fig. 6, when the electromagnet 9 is de-energized, the metal plate 10 is disengaged from the electromagnet 9, and the spring 13 returns to its original state, rotates the push rod 23 around the first rotating shaft 3, and opens each manipulator.

Claims

1. The utility model provides a software manipulator control driver that opens and shuts which characterized in that: including push rod (23), casing (2), spring (13), metal disc (10) and electro-magnet (9), wherein outside push rod (23) upper end stretches out casing (2), in casing (2) are rotationally located in push rod (23) middle part, push rod (23) lower extreme is articulated with spring (13) upper end, in casing (2) are rotationally located to spring (13) lower extreme, casing (2) bottom is located in electro-magnet (9), and electro-magnet (9) upside is equipped with metal disc (10), and metal disc (10) with spring (13) lower extreme links to each other.

2. The soft manipulator opening and closing control driver of claim 1, wherein: the middle part of the push rod (23) is rotatably arranged in the shell (2) through the first rotating shaft (3), the lower end of the spring (13) is rotatably arranged in the shell (2) through the second rotating shaft (7), the shell (2) is internally provided with a hinged base (6), and the first rotating shaft (3) and the second rotating shaft (7) are respectively arranged on the corresponding hinged base (6).

3. The soft manipulator opening and closing control driver of claim 1, wherein: the lower end of the push rod (23) is provided with a connecting rod (5) connected with the upper end of the spring (13), the upper end of the connecting rod (5) is fixedly connected with the push rod (23), and the lower end of the connecting rod (5) is hinged with the upper end of the spring (13) through a pin shaft (15).

4. The soft manipulator opening and closing control driver of claim 3, wherein: the upper end of the spring (13) is provided with an upper connecting piece (14) hinged with the lower end of the connecting rod (5), the upper connecting piece (14) comprises a blocking disc and an upright post arranged in the middle of the blocking disc, and the upright post is arranged on the pin shaft (15).

5. The soft manipulator opening and closing control driver of claim 1, wherein: the lower end of the spring (13) is provided with a lower connecting piece (24) which is rotatably arranged in the shell (2), the metal disc (10) is provided with a connecting lifting lug (21), and the lower connecting piece (24) is connected with the connecting lifting lug (21) on the metal disc (10) through a steel cable ring (12).

6. The soft manipulator opening and closing control driver of claim 5, wherein: the lower connecting piece (24) is a concave groove plate, and the steel cable ring (12) is arranged on one side of the bottom surface of the concave groove plate.

7. The soft manipulator opening and closing control driver of claim 1, wherein: an electromagnet base (19) is arranged on the bottom surface of the shell (2), and the electromagnet (9) is arranged on the electromagnet base (19).