CN203665545U - Self-adaptation and self-balancing manipulator finger - Google Patents

Self-adaptation and self-balancing manipulator finger Download PDF

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Publication number
CN203665545U
CN203665545U CN201320881040.2U CN201320881040U CN203665545U CN 203665545 U CN203665545 U CN 203665545U CN 201320881040 U CN201320881040 U CN 201320881040U CN 203665545 U CN203665545 U CN 203665545U
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CN
China
Prior art keywords
finger
gasbag
rod
manipulator
adaptive equalization
Prior art date
Application number
CN201320881040.2U
Other languages
Chinese (zh)
Inventor
罗天洪
马翔宇
董绍江
罗家元
陈才
刘淼
张剑
Original Assignee
重庆交通大学
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Application filed by 重庆交通大学 filed Critical 重庆交通大学
Priority to CN201320881040.2U priority Critical patent/CN203665545U/en
Application granted granted Critical
Publication of CN203665545U publication Critical patent/CN203665545U/en

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Abstract

The utility model discloses a self-adaptation and self-balancing manipulator finger which comprises a finger seat, a finger body, a drive assembly used for driving the finger to work, and a self-adaptation fingertip assembly. The finger body comprises two finger rods oppositely arranged and hinged to the finger seat through a lever structure. The self-adaptation fingertip assembly comprises self-adaptation fingertips and an exhaust assembly, and the self-adaptation fingertips are arranged in one-to-one correspondence with the finger rods. Each self-adaptation fingertip comprises an air bag and a ball arranged in the air bag. The exhaust assembly comprises an upper exhaust pipe and a lower exhaust pipe communicated with the air bags. Each air bag and the corresponding ball contained in the air bag can form a hard whole by extracting air in the air bag, and the air bags can carry out grasp according to shape characters of workpieces, so the stability of the workpieces in the clamping process can be achieved; meanwhile, when the workpieces are interfered by the outside, the finger can further adjust distribution of the internal balls, and anti-interference of the finger can be achieved.

Description

Adaptive equalization manipulator finger
Technical field
The utility model relates to a kind of automated machine parts, particularly a kind of adaptive equalization manipulator finger.
Background technology
Manipulator is widely studied as critical equipment comparatively main in important manufacturing equipment, be mainly used in the industries such as automobile, boats and ships, naval vessels, aircraft, satellite, rocket, spaceship, heavy duty machine tools, large-scale production line and equipment group and Ferrous Metallurgy, the multiple multiclass of component shape of its clamping, especially widely applicable in to the clamping of the elongated body of rod.
In prior art, industrial machinery fixture (being manipulator) generally adopts by the type of drive of pneumatic or hydraulic pressure and completes clamping, the fixture (being finger part) of manipulator, often due to surperficial hardness, affects stationarity and the mechanical finger structure anti-interference when operation of workpiece in clamping; Secondly, because the shape of workpiece is not very regular, existing mechanical finger structure is poor to the adaptability of this type of workpiece, makes it not possess versatility.In a word, there is significant limitation in the application of the finger structure of existing manipulator.
Therefore need the manipulator finger that a kind of adaptive ability is stronger, increase the stationarity in piece-holder, especially the stationarity in clamping for elongate rod can anti-interference to external world further improve mechanical finger in the time of operation, has improved the self adaptation level of manipulator.
Utility model content
In view of this, the utility model provides a kind of adaptive equalization manipulator finger, solve the finger structure existing in prior art poor to the self adaptation of workpiece, and then affect the problem of the stationarity of workpiece in clamping and the anti-interference of finger in the time of operation, increase manipulator finger to the stationarity in piece-holder process, realized high reliability, flexibility, the adaptivity of manipulator finger.
Adaptive equalization manipulator finger of the present utility model, comprise refer to seat, finger and for driving the driven unit of finger work, described finger comprises two finger bodies of rod that are oppositely arranged and are articulated with finger block with lever construction; Also comprise self adaptation finger tip assembly, described self adaptation finger tip assembly comprises self adaptation finger tip and gas deflation assembly, the corresponding each finger body of rod of described self adaptation finger tip arranges one, each self adaptation finger tip includes gasbag and is placed in the sphere in described gasbag, the lower blast pipe that described gas deflation assembly comprises blast pipe and is communicated with gasbag.
Further, described driven unit comprise be set up in parallel refer to two guide rails on seat and with the guide rail slide block arranging that is slidably matched, also comprise the connecting rod that corresponding each finger body of rod arranges, described connecting rod one end and slide block are hinged, the other end is hinged with the corresponding finger body of rod.
Further, described finger body of rod middle part is articulated with and refers to that seat forms finger body of rod balance pivot.
Further, the corresponding each gasbag of described lower blast pipe respectively arranges one.
Further, described gas deflation assembly also comprises the inside exhaust pipe that is arranged in gasbag and stretches out gasbag and corresponding lower blast pipe connection, and described inside exhaust pipe correspondence gasbag respectively arranges one.
Further, twice blast pipes are communicated with described upper blast pipe by a bellows.
Further, on described slide block, be provided with the pull bar sliding for external drive band movable slider.
Further, described in two, gasbag is all fixedly connected with the corresponding finger body of rod by a contiguous block.
Further, described gasbag is made up of elastomeric material.
Further, the position sensor that on the clamping face of described gasbag, the displacement when the external interference and angle change for detection of workpiece.
The beneficial effects of the utility model: adaptive equalization manipulator finger of the present utility model, adopt self adaptation finger tip, in use, sphere packs in gasbag, but do not fill, by driven unit, gasbag is pressed on common part, meanwhile, by pumping the air in gasbag, the sphere that makes gasbag and hold forms a hard entirety, gasbag captures according to the resemblance of workpiece, realize workpiece by the stationarity in blessing process with this, simultaneously, in the time that outer bound pair workpiece disturbs to some extent, finger can further regulate the distribution of inner sphere, to realize the anti-interference of finger, and, gasbag the clamping contact area that can increase between workpiece is set, the surface quality that can ensure workpiece is not destroyed, the utility model, on the basis of realizing holding workpiece, has been realized high reliability, flexibility, the adaptivity of manipulator finger.
Brief description of the drawings
Below in conjunction with drawings and Examples, the utility model is further described.
Fig. 1 is the utility model structural representation.
Detailed description of the invention
Fig. 1 is the utility model structural representation, as shown in the figure: the adaptive equalization manipulator finger of the present embodiment, comprise referring to seat 1, finger and for driving the driven unit of finger work, described finger comprises two finger bodies of rod (in figure for the finger body of rod 2 and point body of rod 2a) that are oppositely arranged and are articulated with finger block taking lever construction; Also comprise self adaptation finger tip assembly, described self adaptation finger tip assembly comprises self adaptation finger tip and gas deflation assembly, the corresponding each finger body of rod of described self adaptation finger tip arranges one, each self adaptation finger tip includes gasbag 3 and is placed in the sphere 4 in described gasbag, the lower blast pipe 6 that described gas deflation assembly comprises blast pipe 5 and is communicated with gasbag.
In the present embodiment, described driven unit comprise be set up in parallel refer to seat on two guide rails 7 and with guide rail be slidably matched arrange slide block 8, also comprise that in the connecting rod 9(figure that corresponding each finger body of rod (being the finger body of rod 2 and finger body of rod 2a in figure) arranges be connecting rod 9 and connecting rod 9a), described connecting rod one end and slide block 8 are hinged, and the other end is hinged with the corresponding finger body of rod (being the finger body of rod 2 and finger body of rod 2a in figure); When use, when slide block is during along guide rail down sliding, two connecting rods outwards separate, thereby drive the finger body of rod inwardly to form clamp position, self adaptation finger tip forms clamp position equally, by object clamping, in the time of slide block upward sliding, drive two connecting rods inwardly close, the two finger bodies of rod are outwards separated, and self adaptation finger tip forms released state, and object is put down, simple in structure, be easy to realize.
In the present embodiment, the described finger body of rod (being the finger body of rod 2 and finger body of rod 2a in figure) middle part is articulated with and refers to that seat 1 forms finger body of rod balance pivot (being finger body of rod balance pivot 10 and finger body of rod balance pivot 10a in figure); Finger body of rod two sections form power arm and resistance arm, simple in structure and have a good adaptivity.
In the present embodiment, the corresponding each gasbag of described lower blast pipe (being lower blast pipe 6 and lower blast pipe 6a in figure) respectively arranges one; As shown in the figure, lower blast pipe arranges two.
In the present embodiment, described gas deflation assembly also comprises the inside exhaust pipe 11 that is arranged in gasbag and stretches out gasbag and corresponding time blast pipe connection, and the corresponding gasbag of described inside exhaust pipe 11 respectively arranges one; Inside exhaust pipe is placed in gasbag inside, and position and the effect of bleeding are more accurate, can improve and the adaptive speed of outer surface of workpiece, and ensure to adapt to accuracy.
In the present embodiment, twice blast pipe is communicated with described upper blast pipe by a bellows 12; There is damping, prevent from shaking impaired effect.
In the present embodiment, on described slide block, 8 are provided with the pull bar 13 sliding for external drive band movable slider 8; Pull bar moves by external driver device rotating band movable slider, and external driver device can be manpower, also can be the automation control assemblies such as hydraulic cylinder.
In the present embodiment, described in two, gasbag is all fixedly connected with the corresponding finger body of rod by a contiguous block 14; Install and change conveniently.
In the present embodiment, described gasbag is made up of elastomeric material; The flexibility that elastomeric material has and anti seismic efficiency, can better improve the adaptability of finger.
In the present embodiment, the position sensor 15 that on the clamping face of described gasbag, the displacement when the external interference and angle change for detection of workpiece; Displacement for detection of workpiece when the external interference and angle change, and in the time of external interference, detect by position sensor, adjust the position of sphere in gasbag, reach the object of adaptation.
Finally explanation is, above embodiment is only unrestricted in order to the technical solution of the utility model to be described, although the utility model is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement the technical solution of the utility model, and not departing from aim and the scope of technical solutions of the utility model, it all should be encompassed in the middle of claim scope of the present utility model.

Claims (10)

1. an adaptive equalization manipulator finger, is characterized in that: comprise refer to seat, finger and for driving the driven unit of finger work, described finger comprises two finger bodies of rod that are oppositely arranged and are articulated with finger block with lever construction; Also comprise self adaptation finger tip assembly, described self adaptation finger tip assembly comprises self adaptation finger tip and gas deflation assembly, the corresponding each finger body of rod of described self adaptation finger tip arranges one, each self adaptation finger tip includes gasbag and is placed in the sphere in described gasbag, the lower blast pipe that described gas deflation assembly comprises blast pipe and is communicated with gasbag.
2. adaptive equalization manipulator finger according to claim 1, it is characterized in that: described driven unit comprise be set up in parallel refer to seat on two guide rails and with guide rail be slidably matched arrange slide block, also comprise the connecting rod that corresponding each finger body of rod arranges, described connecting rod one end and slide block are hinged, and the other end is hinged with the corresponding finger body of rod.
3. adaptive equalization manipulator finger according to claim 2, is characterized in that: described finger body of rod middle part is articulated with and refers to that seat forms finger body of rod balance pivot.
4. adaptive equalization manipulator finger according to claim 3, is characterized in that: the corresponding each gasbag of described lower blast pipe respectively arranges one.
5. adaptive equalization manipulator finger according to claim 4, it is characterized in that: described gas deflation assembly also comprises the inside exhaust pipe that is arranged in gasbag and stretches out gasbag and corresponding lower blast pipe connection, and described inside exhaust pipe correspondence gasbag respectively arranges one.
6. adaptive equalization manipulator finger according to claim 5, is characterized in that: twice blast pipe is communicated with described upper blast pipe by a bellows.
7. adaptive equalization manipulator finger according to claim 6, is characterized in that: on described slide block, be provided with the pull bar sliding for external drive band movable slider.
8. adaptive equalization manipulator finger according to claim 7, is characterized in that: described in two, gasbag is all fixedly connected with the corresponding finger body of rod by a contiguous block.
9. adaptive equalization manipulator finger according to claim 8, is characterized in that: described gasbag is made up of elastomeric material.
10. according to the adaptive equalization manipulator finger described in the arbitrary claim of claim 1-9, it is characterized in that: the position sensor that on the clamping face of described gasbag, the displacement when the external interference and angle change for detection of workpiece.
CN201320881040.2U 2013-12-30 2013-12-30 Self-adaptation and self-balancing manipulator finger CN203665545U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320881040.2U CN203665545U (en) 2013-12-30 2013-12-30 Self-adaptation and self-balancing manipulator finger

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320881040.2U CN203665545U (en) 2013-12-30 2013-12-30 Self-adaptation and self-balancing manipulator finger

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CN203665545U true CN203665545U (en) 2014-06-25

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105364939A (en) * 2015-12-18 2016-03-02 上海理工大学 Air bag type flexible finger and flexible hand
CN105479479A (en) * 2016-02-26 2016-04-13 昆山—邦泰汽车零部件制造有限公司 Mechanical arm capable of stably moving device
CN105479480A (en) * 2016-02-26 2016-04-13 昆山—邦泰汽车零部件制造有限公司 Manipulator
CN105598988A (en) * 2016-02-26 2016-05-25 昆山—邦泰汽车零部件制造有限公司 Manipulator avoiding device damage
CN105856264A (en) * 2015-01-22 2016-08-17 南京理工大学 Software-driven radial opening and closing type pneumatic clamping device
CN106003133A (en) * 2016-07-28 2016-10-12 成都普崔克机电有限公司 Adaptive soft cushion for mechanical arm
CN108501007A (en) * 2018-03-30 2018-09-07 宁波高新区神台德机械设备有限公司 Industrial robot clamper and industrial robot
CN109230469A (en) * 2018-10-29 2019-01-18 浙江厚达智能科技股份有限公司 Light disk lower thread mechanism and fiber reel inserting method

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105856264A (en) * 2015-01-22 2016-08-17 南京理工大学 Software-driven radial opening and closing type pneumatic clamping device
CN105364939A (en) * 2015-12-18 2016-03-02 上海理工大学 Air bag type flexible finger and flexible hand
CN105479479A (en) * 2016-02-26 2016-04-13 昆山—邦泰汽车零部件制造有限公司 Mechanical arm capable of stably moving device
CN105479480A (en) * 2016-02-26 2016-04-13 昆山—邦泰汽车零部件制造有限公司 Manipulator
CN105598988A (en) * 2016-02-26 2016-05-25 昆山—邦泰汽车零部件制造有限公司 Manipulator avoiding device damage
CN106003133A (en) * 2016-07-28 2016-10-12 成都普崔克机电有限公司 Adaptive soft cushion for mechanical arm
CN108501007A (en) * 2018-03-30 2018-09-07 宁波高新区神台德机械设备有限公司 Industrial robot clamper and industrial robot
CN109230469A (en) * 2018-10-29 2019-01-18 浙江厚达智能科技股份有限公司 Light disk lower thread mechanism and fiber reel inserting method
CN109230469B (en) * 2018-10-29 2020-05-15 浙江厚达智能科技股份有限公司 Optical fiber coil inserting mechanism and optical fiber coil inserting method

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C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20140625

Termination date: 20141230

EXPY Termination of patent right or utility model