CN203380901U - Self-locking reinforcement supple tail end gripper with flexible hinges connected in series - Google Patents
Self-locking reinforcement supple tail end gripper with flexible hinges connected in series Download PDFInfo
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- CN203380901U CN203380901U CN201320283148.1U CN201320283148U CN203380901U CN 203380901 U CN203380901 U CN 203380901U CN 201320283148 U CN201320283148 U CN 201320283148U CN 203380901 U CN203380901 U CN 203380901U
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Abstract
The utility model relates to a self-locking reinforcement supple tail end gripper with flexible hinges connected in series. The end gripper is provided with a palm and three flexible fingers, wherein the palm is provided with a rectangular structure and a hexagonal structure; the structures of the fingers are identical; each finger consists of an inner guide air cylinder, a linear guide rail (a linear bearing) and a flexible hinge connected in series; the configuration parameters and configuration synthesis of the flexible hinges connected in series are optimized and designed according to the characteristics of grabbed objects; a gripping force is generated by the drive of the air cylinders. The end gripper is applied to the grabbing of a fragile brittleness object or a deformed object with changeable shape and size, and belongs to the technical field of robot and mechatronics application; the end gripper is connected with a robot body and is particularly suitable for the production and logistics fields of grabbing, sorting, packaging and the like of foods, agricultural products and light industrial products.
Description
Technical field:
The utility model relates to the submissive end grasping device of self-locking force booster type of the flexible hinge of connecting, and the end grasping device is comprised of a palm and three flexible fingers, and palm has rectangle and two kinds of structures of hexagon; Each flexible finger structure is identical, mainly contains an interior guide cylinder, line slideway (but also linear bearing) and a series connection flexible hinge and forms; The series connection structure parameters of flexible hinge and Structure Configuration Synthesis are according to the characteristics of crawled object and optimal design goes out; Produce grasping force by air cylinder driven, this end grasping device is applied to frangible brittle body, or the grasping of the Special-shaped object of shape, size variation, and belongs to the applied technical field of robot, electromechanical integration; Connect with robot body, be particularly useful for production and the logistics fields such as crawl, sorting and packing of food, agricultural product, light industrial goods.
Background technology:
Large-scale production situation for light industry and food service industry, the logistics of the raw material complex-shaped for meeting, that physical property is various, semi-finished product, finished product and the needs of packing, for problems such as the recruitment cost that solves simple work are high, working condition is poor, need logistics to capture the end grasping device.The kind of the complex object just captured: 1. yielding soft object (bread, soft package article); 2. frangible brittle body (birds, beasts and eggs, glass and ceramic product); 3. the object that in irregular shape, size differences is large (melon and fruit, vegetables); 4. abnormity, location status is chaotic and the difficult object (bottle, bottle for cosmetics) of making in order; From, the difference of the material character of complex object, geomery and location status is larger.Traditional industry end grasping device is clamp-type or parallel movable structure, can only capture that shape size is identical, location status unanimously, rigidity workpiece that can not be damaged.Humanoid dextrous hand needs locus and the shape of perception complex object, need accurate controlled motion and grasp force, otherwise can damage complex object or can not reliably capture, but humanoid dextrous hand still is in the laboratory research stage at present.
The rigid bar that conventional rigid mechanism is connected by kinematic pair forms, and is moved, the mechanical device of power or energy transmission or conversion.Compliant mechanism (Compliant Mechanisms) also can transmission or converting motion, power or energy, but different from rigid mechanism, and compliant mechanism, not only by kinematic pair transmission campaign, also at least obtains part motion from the distortion of its compliant member.Two large superiority of compliant mechanism: reduce costs (reduce number of parts, reduce assembling, simplify and manufacture, alleviate quality) and improve performance (improve precision, increase reliability, reduce wear, reduce maintenance).
The flexible finger of the utility model end grasping device is exactly a kind of compliant mechanism, the series connection flexible hinge is the deformation element of compliant mechanism, the characteristics of the utility model end grasping device are: external applied load is had to the good flexible free degree and shock-absorbing capacity, while therefore capturing complex object, flexible adaptivity is good.
The critical component of the utility model end grasping device is flexible finger, also is called flexible joint.Before the utility model, patent application (a kind of articulated flexible manipulator, 200810023616.5) having proposed that a kind of rubber corrugated tube swelling loaded type Pneumatic artificial muscle is driver drives, the flexible bending joint flexible hinge skeleton, its shortcoming is: 1. the inner chamber pressure of rubber bellows Pneumatic artificial muscle driver is large not; 2. by the elastic reaction of flexible hinge, be returned to initial straight configuration; 3. the direction that driving force acts on the flexible hinge skeleton can not be regulated, and the versatility that captures object is good not; 4. the stress of flexible hinge is bad, artificial-muscle power output considerable part acts on flexible hinge, makes it distortion, thereby reduced the grasp force of flexible joint output, along with the deformation angle of flexible hinge is larger, the power accounting that spends in the flexible hinge distortion is larger; 5. the tension especially be subject to increases with artificial-muscle inner chamber pressure, need to increase the flexible hinge area of section and could meet requirement of strength, and can make the difficulty of flexible hinge angular deformation increase when increasing the flexible hinge sectional area, reduced the grasp force of flexible joint output.
Summary of the invention:
The utility model has overcome above-mentioned deficiency, the utility model end grasping device has three flexible fingers, each flexible finger structure is identical, flexible finger adopts six-bar mechanism, six bars are respectively: drive rod (piston rod of interior guide cylinder 1a and piston rod hinge seat 12a form), three bar (upper booms of series connection flexible hinge 4a, king-rod, the sliding bar that lower beam and line slideway chute 5a form), length-adjustable two power bars (left-hand thread hinge-rod 9a, thread bush 10a, right-hand thread hinge-rod 11a forms) and seat bar (the straight-line guide rail slide block 6a adjustable with the initial position of two power bars coordinations, rocker bar bearing 7a forms).
Drive rod does not rotatablely move, but the rectilinear motion of interior guide cylinder 1a piston rod.By regulating two power pole lengths, can set the initial angle of two power bars and the flexible hinge 4a that connects, shorter, the initial angle of two power bars is larger, and longer, the initial angle of two power bars is less; This initial angle directly affects the stressing conditions of series connection flexible hinge 4a, then determines its bending effect; When interior guide cylinder 1a starts, along with the elongation of its piston rod, straight-line guide rail slide block 6a slides along guide rail sliding chute 5a on the one hand, promotes on the other hand series connection flexible hinge 4a bending; The existence of line slideway makes not tension stress of series connection flexible hinge 4a, more easily crooked; After a crawl section 8a touches and grabbed object, straight-line guide rail slide block 6a is substantially motionless, and the final angle of two power bars and guide rail sliding chute 5a becomes large gradually.
Two power bars are larger with the angle of the flexible hinge 4a that connects, and it is larger that the flexible hinge 4a that makes to connect produces crooked component, and reinforcement effect is better.
According to crawled object, optimal design physical dimension, two torsion spring elastic parameters and pretension angle, meet the requirements of while grasping contact force, interior guide cylinder 1a internal gas pressure reaches system pressure, the angle of two power bars and guide rail sliding chute 5a constantly increases, and final angle surpasses angle of friction, produces self-locking, interior guide cylinder 1a, without the accumulation of energy pressurizer, also can keep the safe grasp state.
Main solution of the present utility model is achieved in that
As shown in accompanying drawing 1,2, a kind of structure of the utility model end grasping device: formed by three flexible fingers 1 and a rectangle palm 2, a flexible finger 1 is installed in the symmetrical centre place, left side of rectangle palm 2, and other two flexible fingers 1 are installed in respectively the both sides of rectangle palm 2 right side symmetrical centre.
As shown in accompanying drawing 3,4, the another kind of structure of the utility model end grasping device: three flexible fingers 1 and a hexagon palm 3, consist of, three flexible fingers 1 are installed in respectively three corresponding sides places of hexagon palm 3.The inscribed circle radius of three corresponding sides is larger, is applicable to the major diameter grasping body; The inscribed circle radius of three corresponding sides is less, is applicable to small diameter objects and captures.
As shown in Figure 5, aforesaid flexible finger 1 is parts, its structure is: it is upper that the front end flange of interior guide cylinder 1a is fixed on bevel board 3a with hexagon socket head cap screw, and piston rod hinge seat 12a screw thread is arranged on the piston rod end of interior guide cylinder 1a and screws locking with nut; Refer to that root plate 2a is fixed on rectangle palm 2 or hexagon palm 3 by screw, the upper rod end of series connection flexible hinge 4a is fixed on and refers between root plate 2a and bevel board 3a by bolt and nut, the lower rod end of series connection flexible hinge 4a connects line slideway chute 5a with bolt and nut, the other end bolt of line slideway chute 5a has been fixed and has been captured section 8a, the front end that captures section 8a is curved surface, is convenient to contact crawled object; Between piston rod hinge seat 12a and right-hand thread hinge-rod 11a, be hinge-coupled, hinge-coupled between rocker bar bearing 7a and left-hand thread hinge-rod 9a, left-hand thread hinge-rod 9a and right-hand thread hinge-rod 11a all are spun in thread bush 10a and screw locking with nut; Suitable, be rotated counterclockwise thread bush 10a, can make the distance between left-hand thread hinge-rod 9a and right-hand thread hinge-rod 11a increase or shorten, rocker bar bearing 7a is screwed on straight-line guide rail slide block 6a.
Compared with the prior art the utility model has the following advantages:
(1) flexible finger adopts interior guide cylinder 1a to replace rubber bellows Pneumatic artificial muscle driver, and the gas pressure intensity born is large, and driving force grasp force large, that produce is large; Inner guide cylinder 1a piston rod acting in opposition, and, not by the torsion spring effect, be returned to initial straight configuration.
(2) the larger complex object to the difference of material character, geomery and location status, by crawl, test and analytical calculation, regulate again initial angle and the initial position of straight-line guide rail slide block 6a on guide rail sliding chute 5a of two power bars and the flexible hinge 4a upper boom of connecting, so not only guaranteed that flexibility reliably captured adaptively, but also can not damage and be grabbed object, so the versatility of end grasping device is good.
(3) along with interior guide cylinder 1a piston rod constantly extends, two power bars are larger with the angle of the flexible hinge 4a that connects, make to overcome series connection flexible hinge 4a elastic acting force and to produce crooked component larger, the power accounting that spends in series connection flexible hinge 4a distortion is less, and reinforcement effect is better; The stress of series connection flexible hinge 4a is good, the less partial action of interior guide cylinder 1a power output in series connection flexible hinge 4a, make it distortion, thereby increased the grasp force of flexible joint output.
(4) according to crawled object, optimal design physical dimension and two flat spring characterisitic parameters, meet the requirements of while grasping contact force, interior guide cylinder 1a internal gas pressure reaches system pressure, the angle of two power bars and line slideway chute 5a constantly increases, and final angle surpasses the angle of friction of straight-line guide rail slide block 6a on line slideway chute 5a, produces self-locking, interior guide cylinder 1a, without the accumulation of energy pressurizer, also can keep the safe grasp state.
The accompanying drawing explanation:
The A-A cutaway view of the submissive end grasping device of self-locking force booster type of the series connection flexible hinge that Fig. 1 is the rectangle palm
The top view of the submissive end grasping device of self-locking force booster type of the series connection flexible hinge that Fig. 2 is the rectangle palm
The B-B cutaway view of the submissive end grasping device of self-locking force booster type of the series connection flexible hinge that Fig. 3 is the hexagon palm
The top view of the submissive end grasping device of self-locking force booster type of the series connection flexible hinge that Fig. 4 is the hexagon palm
Fig. 5 is the front view of the flexible finger of the submissive end grasping device of self-locking force booster type of series connection flexible hinge
The specific embodiment:
Be below operation principle of the present utility model and the course of work:
As shown in Figure 1, 2, research and analysis process: to complex object microscler, rectangle, after theoretical and experimental study, excursion and material situation according to crawled body form, size, determine the safe range that captures contact force, optimal design physical dimension and two flat spring characterisitic parameters, determine hand sizes, regulates the two power bars length of (left-hand thread hinge-rod 9a, thread bush 10a, right-hand thread hinge-rod 11a form).
Optimization aim is: meet the requirements of while grasping contact force, interior guide cylinder 1a internal gas pressure reaches system pressure, and final angle surpasses the angle of friction of straight-line guide rail slide block 6a on line slideway chute 5a, produces self-locking, interior guide cylinder 1a, without the accumulation of energy pressurizer, also can keep the safe grasp state.
Course of action of the present utility model: interior guide cylinder piston movement makes two power bars promote rocker bar bearing 7a, and with driving straight-line guide rail slide block 6a traveling priority on line slideway chute 5a; When a crawl section 8a contacts crawled object, straight-line guide rail slide block 6a substantially no longer moves, and the angle of two power bars and line slideway chute 5a constantly increases, and final angle surpasses angle of friction, produces self-locking, maintenance safe grasp state; Now grasp the size of contact force, both guaranteed safe crawl, do not damage again crawled object.
As shown in Figure 3,4, the complex object of circle, short cylindrical shape, equally according to above-mentioned steps, regulated after experimental study and theory analysis.
Claims (1)
- The series connection flexible hinge the submissive end grasping device of self-locking force booster type, it is characterized in that: it is upper that the front end flange of interior guide cylinder (1a) is fixed on bevel board (3a) with hexagon socket head cap screw, and piston rod hinge seat (12a) screw thread is arranged on the piston rod end of interior guide cylinder (1a) and screws locking with nut; Refer to that root plate (2a) is fixed on rectangle palm (2) or hexagon palm (3) by screw, the upper rod end of series connection flexible hinge (4a) is fixed on and refers between root plate (2a) and bevel board (3a) by bolt and nut, the lower rod end of series connection flexible hinge (4a) connects line slideway chute (5a) with bolt and nut, the other end bolt of line slideway chute (5a) has been fixed and has been captured section (8a), the front end that captures section (8a) is curved surface, is convenient to contact crawled object; Between piston rod hinge seat (12a) and right-hand thread hinge-rod (11a), it is hinge-coupled, hinge-coupled between rocker bar bearing (7a) and left-hand thread hinge-rod (9a), left-hand thread hinge-rod (9a) and right-hand thread hinge-rod (11a) all are spun in thread bush (10a) and screw locking with nut; Suitable, be rotated counterclockwise thread bush (10a), can make the distance between left-hand thread hinge-rod (9a) and right-hand thread hinge-rod (11a) increase or shorten, rocker bar bearing (7a) is screwed on straight-line guide rail slide block (6a); A flexible finger (1) is installed in the symmetrical centre place, left side of rectangle palm (2), and other two flexible fingers (1) are installed in respectively the both sides of rectangle palm (2) right side symmetrical centre, and this is a kind of version; Three flexible fingers (1) are installed in respectively three corresponding sides places of hexagon palm (3), and this is another kind of version.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320283148.1U CN203380901U (en) | 2013-05-23 | 2013-05-23 | Self-locking reinforcement supple tail end gripper with flexible hinges connected in series |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320283148.1U CN203380901U (en) | 2013-05-23 | 2013-05-23 | Self-locking reinforcement supple tail end gripper with flexible hinges connected in series |
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| CN203380901U true CN203380901U (en) | 2014-01-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320283148.1U Expired - Fee Related CN203380901U (en) | 2013-05-23 | 2013-05-23 | Self-locking reinforcement supple tail end gripper with flexible hinges connected in series |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104175324A (en) * | 2013-05-23 | 2014-12-03 | 江南大学 | Self-locking boosting type flexible and smooth tail end gripper for serial connection flexible hinge |
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2013
- 2013-05-23 CN CN201320283148.1U patent/CN203380901U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104175324A (en) * | 2013-05-23 | 2014-12-03 | 江南大学 | Self-locking boosting type flexible and smooth tail end gripper for serial connection flexible hinge |
| CN104175324B (en) * | 2013-05-23 | 2016-08-10 | 江南大学 | The self-locking force booster type submissive end grasping device of series connection flexible hinge |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140108 Termination date: 20140523 |