CN203380902U - Series flexible hinge framework claw driven and controlled by electric push rods - Google Patents
Series flexible hinge framework claw driven and controlled by electric push rods Download PDFInfo
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- CN203380902U CN203380902U CN201320434468.2U CN201320434468U CN203380902U CN 203380902 U CN203380902 U CN 203380902U CN 201320434468 U CN201320434468 U CN 201320434468U CN 203380902 U CN203380902 U CN 203380902U
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Abstract
The utility model relates to a series flexible hinge framework claw driven and controlled by electric push rods. The claw comprises a palm and three flexible fingers, wherein one of the three flexible fingers 1 is installed at a symmetrical center on the left side of the rectangular palm 2, and the other two flexible fingers 1 are installed on two sides of a symmetrical center on the right side of the rectangular palm 2 respectively; and the three flexible fingers 1 are installed on three corresponding edges of the hexagonal palm 3 respectively. All flexible fingers are identical in structure, and each flexible finger mainly comprises the electric push rod and a series flexible hinge; characteristic parameters of two hinge configurations of each series flexible hinge are designed in an optimized manner, and the lowest end of each series flexible hinge is a curved surface section contacted with an object to be grasped; the multi-finger claw is used for grasping brittle objects or specially-shaped objects with changing shapes and sizes and belongs to the application technology field of robots and mechanical-electrical integration; and the claw is connected with a robot body and is particularly applicable to production and logistics sites of grasping, sorting, packaging and the like of food, agricultural products and light industrial products.
Description
Technical field:
The utility model belongs to the technical field of robot, electromechanical integration, relates to a kind of electric pushrod and drives the series connection flexible hinge skeleton paw of controlling, for production and the logistics occasions 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 many finger paws.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.The many finger paws of traditional industry are 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 utility model flexible finger is exactly a kind of compliant mechanism, and the series connection flexible hinge is the deformation element of compliant mechanism, is characterized in: external applied load is had to the good flexible free degree and shock-absorbing capacity, and while therefore capturing complex object, flexible adaptivity is good.
The critical component of the utility model paw is flexible finger, also is called flexible joint.Before the utility model, patent application (a kind of articulated flexible manipulator, 200810023616.5) 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, by the effect of series connection flexible hinge, be returned to initial straight configuration; 2. the arm of force length of flexible hinge of connecting can not be regulated, and the versatility that captures object is good not; 3. the deflection along with the series connection flexible hinge is larger, and the pressure increment of the artificial-muscle inner chamber that the unit increment of deflection is required is larger, the more difficult bending of series connection flexible hinge, that is the slope of curve of angle of bend one air pressure of flexible finger is more and more less; 4. under especially artificial-muscle drives, the tension that the series connection flexible hinge is subject to increases with artificial-muscle inner chamber pressure, need to increase series connection flexible hinge minimum cross-sectional area and could meet requirement of strength, and the difficulty of the flexible hinge distortion that can make when increasing series connection flexible hinge minimum sectional area to connect increases, increase the artificial-muscle power output and made the active force part of flexible hinge distortion of connecting, thereby reduced the grasp force that flexible joint is exported.
Summary of the invention:
The utility model electric pushrod drives the series connection flexible hinge skeleton paw of controlling, and paw 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 a series connection flexible hinge and an electric pushrod (being called again electric cylinder, linear actuator, Linear actuator, linear actuator), consists of; Drive to produce grasping force by electric pushrod, this paw is applied to frangible brittle body, or the grasping of the Special-shaped object of shape, size variation.
The utility model has overcome above-mentioned deficiency, the utility model paw has three flexible fingers, each flexible finger structure is identical, flexible finger adopts six-bar mechanism, six bars respectively: the seat bar (pressing plate 6a, rocker bar bearing 7a composition) that drive rod (electric pushrod 1a and hinge seat 5a form), series connection flexible hinge 4a, length-adjustable two power bars (left-hand thread hinge-rod 8a, thread bush 9a, right-hand thread hinge-rod 10a form) and position are adjustable.
Drive rod does not rotatablely move, but the rectilinear motion of electric pushrod 1a.By regulating two power pole lengths, the arm of force length of the flexible hinge that makes to connect can be regulated; Two power pole lengths are shorter, and arm of force length is shorter; Two power pole lengths are shorter, and the electric pushrod stroke is shorter, and during original state, two power bars are larger with the angle of the flexible hinge of connecting, and the bending effect of series connection flexible hinge is better.
Main solution of the present utility model is achieved in that
As shown in accompanying drawing 1,2, a kind of structure of the many finger paws of the utility model: 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 many finger paws of the utility model: formed by three flexible fingers 1 and a hexagon palm 3.Three flexible fingers 1 are installed in respectively three corresponding sides places of hexagon palm 3.Wherein 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, and its mounting structure is: the tailstock of electric pushrod 1a is screwed and is referring to that on root plate 2a, the head end of electric pushrod 1a and hinge seat 5a thread connection also screw locking with nut; The upper end of series connection flexible hinge 4a is fixed on and refers between root plate 2a and fixture block 3a by bolt and nut, series connection flexible hinge 4a hypomere is fixed between pressing plate 6a and rocker bar bearing 7a by bolt and nut, the curved sections bottom of series connection flexible hinge 4a is to capture section, is convenient to contact crawled object; Between the hinge seat 5a of electric pushrod 1a head end and right-hand thread hinge-rod 10a, it is hinge-coupled, hinge-coupled between rocker bar bearing 7a and left-hand thread hinge-rod 8a, left-hand thread hinge-rod 8a and right-hand thread hinge-rod 10a all are spun in thread bush 9a and screw locking with nut; Suitable, be rotated counterclockwise thread bush 9a, can make relative distance between left-hand thread hinge-rod 8a and right-hand thread hinge-rod 10a increase or shorten.
The installation form of the many finger paws of the utility model is: identical flexible finger 1 for each, it refers to that root plate 2a all is fixed on rectangle palm 2 or hexagon palm 3 by screw.
Compared with the prior art the utility model has the following advantages:
(1) flexible finger adopts electric pushrod to replace rubber bellows Pneumatic artificial muscle driver, and the driving force of generation grasp force large, that produce is large; By the electric pushrod counter motion, 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 the position that two power bars act on the hypomere of series connection flexible hinge, so not only guaranteed that flexibility reliably captured adaptively, but also can not damage, therefore the versatility of many finger paws is good.
(3) the flexible hinge stress is good, the less partial action of electric pushrod power output in flexible hinge, make it distortion, thereby increased the grasp force of flexible joint output, along with the angular displacement of flexible hinge is larger, the power accounting that spends in the torsion spring distortion is less.
(4) especially due to the effect of the utility model force-increasing mechanism, along with electric pushrod 1a constantly passes downwards, because two power bars constantly increase with the angle of the flexible hinge of connecting, the component of the flexible hinge bending that makes to connect constantly increases, and the series connection flexible hinge is more flexible; The deflection of series connection flexible hinge torsion spring is larger, and the required less increment of thrust of the unit increment of deflection is less, that is the slope of curve of the angle of bend of flexible finger-electric pushrod thrust is increasing.
The accompanying drawing explanation:
The electric pushrod that Fig. 1 is the rectangle palm drives A-A master's cutaway view of the series connection flexible hinge skeleton paw of controlling
The electric pushrod that Fig. 2 is the rectangle palm drives the top view of the series connection flexible hinge skeleton paw of controlling
The electric pushrod that Fig. 3 is the hexagon palm drives B-B master's cutaway view of the series connection flexible hinge skeleton paw of controlling
The electric pushrod that Fig. 4 is the hexagon palm drives the top view of the series connection flexible hinge skeleton paw of controlling
Fig. 5 is the front view that electric pushrod drives the flexible finger of the series connection flexible hinge skeleton paw of controlling
The specific embodiment:
Be below operation principle of the present utility model and the course of work:
Series connection flexible hinge 4a's is curved sections bottom, and the crawl of complex object just contacts the curved sections bottom at series connection flexible hinge 4a.After the characterisitic parameter optimal design of two hinge configurations of series connection flexible hinge 4a, the coordination of totally four angular displacements at two hinge places of two hinges (bearing), series connection flexible hinge 6a, for flexible self-adapting grasping provides the foundation.
Electric pushrod 1a energising, its push rod moves downward, thereby drive two power bars (left-hand thread hinge-rod 8a, thread bush 9a, right-hand thread hinge-rod 10a form), overcome the elastic force of series connection flexible hinge 4a, the flexible hinge 4a bending that makes to connect, object is grabbed in series connection flexible hinge 4a curved sections contact bottom; Electric pushrod 1a continues motion, and series connection flexible hinge 4a distortion increases, and grasp force also increases; When meeting the requirements of grasp force, electric pushrod 1a outage, the self-locking of electric pushrod 1a internal screw nut body, keep grasp force constant.
1. original state is regulated
To aforementioned special object, grab minimum, the maximum crawl object that captures object or crawl object in irregular shape or the stressed variation of material size, need flexible adaptive structure, more need to carry out the fine adjustment of structure original state.
The fine adjustment of structure original state: as shown in Figure 1, 2, according to complex object microscler, rectangle, after experimental study and theory analysis, regulate the length of two power bars (left-hand thread hinge-rod 8a, thread bush 9a, right-hand thread hinge-rod 10a form), then adjust the appropriate location that pressing plate 6a and rocker bar bearing 7a are fixed on series connection flexible hinge 4a hypomere.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.
2. duty calibration
Because the difference of material character, geomery and the location status of aforementioned complex object is larger, the flexible paw of the utility model series connection flexible hinge skeleton adopts has the self-adapting flexible structure.Flexible paw meets the demands as follows: the contact of 1. grabbing minimum, maximum crawl object changes as far as possible little, capture minimum crawl object and do not damage the maximum force request that captures object to meet safety, crawl object in irregular shape is also had to adaptivity; 2. electric pushrod directly drives, and drive system is without feedback; 3. paw structure, driving control system are simple and reliable; While 4. capturing, on the paw height, location is constant all the time, and supporting robot body is controlled convenient.
To concrete complex object, first according to the Elasticity of structure, estimated; The crawl object of selecting again minimum to capture size, maximum crawl size is tested, final definite the selection: adopt the concrete displacement parameter of electric pushrod displacement control or the concrete driving force parameter that electric pushrod thrust (direct current generator output torque) is controlled.
To concrete complex object, the concrete driving force parameter that the concrete displacement parameter that the electric pushrod displacement of selecting is previously controlled or electric pushrod thrust are controlled is well-determined in application, starts to set, and no longer change, so control system is simple and reliable.
3. motor control method
The utility model adopts the miniature electromotive handspike of DC driven, and in the occasion that needs speed to control, speed is controlled the switch power element that adopts full-control type and carried out pulsewidth modulation (pu1se width modu1ation is called for short PWM).This speed regulating method has that the switching frequency high, low speed is stable, dynamic property is good, the efficiency advantages of higher.
Because the structure of the flexible paw of the utility model series connection flexible hinge skeleton has self-adapting flexible, the control accuracy of grasp force is less demanding, and its straightforward procedure has two kinds: the 1. position probing of the position-sensor-free based on the line voltage difference and control; 2. the moment of torsion Detection & Controling based on line voltage or the unable sensor based on the winding inductance variation characteristic.
Claims (1)
1. electric pushrod drives the series connection flexible hinge skeleton paw of controlling, it is characterized in that: the tailstock of electric pushrod (1a) is screwed and is referring to that root plate (2a) is upper, and the head end of electric pushrod (1a) and hinge seat (5a) thread connection also screw locking with nut; The upper end of series connection flexible hinge (4a) is fixed on and refers between root plate (2a) and fixture block (3a) by bolt and nut, series connection flexible hinge (4a) hypomere is fixed between pressing plate (6a) and rocker bar bearing (7a) by bolt and nut, the curved sections bottom of series connection flexible hinge (4a) is to capture section, is convenient to contact crawled object; Between the hinge seat (5a) of electric pushrod (1a) head end and right-hand thread hinge-rod (10a), it is hinge-coupled, hinge-coupled between rocker bar bearing (7a) and left-hand thread hinge-rod (8a), left-hand thread hinge-rod (8a) and right-hand thread hinge-rod (10a) all are spun in thread bush (9a) and screw locking with nut; Suitable, be rotated counterclockwise thread bush (9a), can make relative distance between left-hand thread hinge-rod (8a) and right-hand thread hinge-rod (10a) increase or shorten; Aforesaid these parts form flexible fingers (1), identical flexible finger (1) for each, and it refers to that root plate (2a) all is fixed on rectangle palm (2) or hexagon palm (3) by screw; 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 |
|---|---|---|---|
| CN201320434468.2U CN203380902U (en) | 2013-07-22 | 2013-07-22 | Series flexible hinge framework claw driven and controlled by electric push rods |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320434468.2U CN203380902U (en) | 2013-07-22 | 2013-07-22 | Series flexible hinge framework claw driven and controlled by electric push rods |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203380902U true CN203380902U (en) | 2014-01-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320434468.2U Expired - Fee Related CN203380902U (en) | 2013-07-22 | 2013-07-22 | Series flexible hinge framework claw driven and controlled by electric push rods |
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| CN (1) | CN203380902U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103317520A (en) * | 2013-07-22 | 2013-09-25 | 江南大学 | Electric push rod drive controlled gripper with tandem flexible hinge frameworks |
| CN104816303A (en) * | 2015-05-12 | 2015-08-05 | 江南大学 | Manipulator with elastic bellows single-acting cylinder driving serial flexible hinge framework |
| CN108436952A (en) * | 2018-02-27 | 2018-08-24 | 江南大学 | A kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger |
| WO2019094937A1 (en) * | 2017-11-10 | 2019-05-16 | Soft Robotics, Inc. | End of arm tools for soft robotic systems |
| US11045959B2 (en) | 2016-01-20 | 2021-06-29 | Soft Robotics, Inc. | End of arm tools for soft robotic systems |
-
2013
- 2013-07-22 CN CN201320434468.2U patent/CN203380902U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103317520A (en) * | 2013-07-22 | 2013-09-25 | 江南大学 | Electric push rod drive controlled gripper with tandem flexible hinge frameworks |
| CN104816303A (en) * | 2015-05-12 | 2015-08-05 | 江南大学 | Manipulator with elastic bellows single-acting cylinder driving serial flexible hinge framework |
| US11045959B2 (en) | 2016-01-20 | 2021-06-29 | Soft Robotics, Inc. | End of arm tools for soft robotic systems |
| WO2019094937A1 (en) * | 2017-11-10 | 2019-05-16 | Soft Robotics, Inc. | End of arm tools for soft robotic systems |
| CN108436952A (en) * | 2018-02-27 | 2018-08-24 | 江南大学 | A kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger |
| CN108436952B (en) * | 2018-02-27 | 2019-07-23 | 江南大学 | A kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger |
| WO2019165878A1 (en) * | 2018-02-27 | 2019-09-06 | 江南大学 | Claw-like logistics packaging mechanical arm with electric-gas hybrid drive flexible fingers |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140108 Termination date: 20140722 |
|
| EXPY | Termination of patent right or utility model |