CN203665546U - Passive general manipulator based on vacuum state conversion of small particulate matter - Google Patents
Passive general manipulator based on vacuum state conversion of small particulate matter Download PDFInfo
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- CN203665546U CN203665546U CN201420030085.3U CN201420030085U CN203665546U CN 203665546 U CN203665546 U CN 203665546U CN 201420030085 U CN201420030085 U CN 201420030085U CN 203665546 U CN203665546 U CN 203665546U
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- particulate matter
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Abstract
The utility model provides a passive general manipulator based on the vacuum state conversion of small particulate matter, and belongs to the technical field of manipulators. The lower end of a base is fixedly connected with the upper end of a rigid holder, an upper opening of an elastic spherical thin film is clamped between the base and the rigid holder, particulate matter is contained in the elastic spherical thin film, a filter net is fixed to the lower end of a cavity in the base, and a gas inlet and a gas extraction port are formed in the upper portion of the cavity in the base. According to the passive general manipulator, the particulate matter does not change according to temperature but changes into the similar liquid state from the similar solid state so that the particulate matter can be gripped and released. Three operating modes are adopted for the manipulator, the first operating mode is performed through static friction force generated when the manipulator makes contact with the surfaces of objects, according to the second operating mode, geometrical shapes are restrained in the mode that the manipulator captures and is attached to objects, and according the third operating mode, when part of the surfaces of objects are tightly attached to the manipulator, vacuum gas extraction is performed. The static friction force is caused by slight shrinking of the size of the thin film in the vacuum state, and in the other way, proper gripping force is generated.
Description
Technical field
The utility model relates to a kind of passive type general-purpose machinery hand based on the conversion of small particle vacuum state, belongs to mechanical hand technical field.
Background technology
Traditional common mechanical hand is all the anthropomorphic multi-fingered robot hand being made up of multiple independent turning joint, need a large amount of labyrinth and calculating, thereby cause it expensive accordingly, simultaneously, owing to being subject to the restriction of computational speed, conventional machines hand not only grasping movement slowly and can not adapt to the shape of target object completely, captures efficiency low, even likely damages target object.
Summary of the invention
The purpose of this utility model is the problem existing in order to solve above-mentioned prior art, be that traditional common mechanical hand is all the anthropomorphic multi-fingered robot hand being made up of multiple independent turning joint, need a large amount of labyrinth and calculating, owing to being subject to the restriction of computational speed, not only grasping movement is slowly and can not adapt to the shape of target object completely for conventional machines hand, crawl efficiency is low, even likely damages target object.And then provide a kind of passive type general-purpose machinery hand based on small particle vacuum state conversion.
The purpose of this utility model is achieved through the following technical solutions:
A kind of passive type general-purpose machinery hand based on the conversion of small particle vacuum state, comprise: rigidity holder, spherical elastic film, particle, filter screen and pedestal, the lower end of described pedestal is fixedly connected with the upper end of rigidity holder, the upper opening of spherical elastic film is clamped between pedestal and rigidity holder, in spherical elastic film, particle is housed, cavity lower end in pedestal is fixed with filter screen, cavity in pedestal communicates with the inside of spherical elastic film, and the cavity top in pedestal is respectively equipped with air inlet and bleeding point.
The utility model is passive type general-purpose machinery hand, its utilize do not vary with temperature and occur " fluid-like state " arrive " class is solid-state " conversion particulate matter realize capture and release.This mechanical hand utilizes three kinds of modes of operation: 1, the stiction of Surface Contact; 2, carry out geometric constraints by the object that catches, fits; 3, in the time fitting tightly the part surface of object, carry out vacuum suction.Stiction is that the slight volume contraction of film causes while being occurred by vacuum state, and this has caused suitable grasp force to produce conversely.
The utility model is wrapped in a spherical elastic membrane by a large amount of finely ground particle substances, utilizes the combination of air positive pressure-negative pressure promptly to capture and discharge common machines hand to be difficult to the object capturing the object of such as flat, soft, complex geometry etc.In the time capturing object, first mechanical hand keeps relaxed state and the contour shape of the crawled object of fitting passively, then utilizes air negative pressure sclerosis, object is wrapped in tightly to the inner surface of elastic membrane, thereby captures object; In the time that needs discharge object, utilize air positive pressure can make mechanical hand turn back to previous status to reach the object that discharges object.
The utility model only need be filled small particle and can produce the action of crawl in a spherical elastic film, without the need for motor, cable and hinge, there is shape strong adaptability compared with conventional robot, control simple, reliability is high, execution efficiency is high and low cost and other advantages.
Accompanying drawing explanation
Fig. 1 is the structural representation of the passive type general-purpose machinery hand of the utility model based on the conversion of small particle vacuum state;
Fig. 2 is the schematic diagram that mechanical hand captures square object;
Fig. 3 is the schematic diagram that mechanical hand captures geometry object;
Fig. 4 is the schematic diagram that mechanical hand captures circular object;
Fig. 5 is that manipulator is installed in a schematic diagram on business machine arm.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail: the present embodiment is implemented under take technical solutions of the utility model as prerequisite, has provided detailed embodiment, but protection domain of the present utility model is not limited to following embodiment.
As shown in Figure 1, a kind of passive type general-purpose machinery hand based on the conversion of small particle vacuum state that the present embodiment is related, comprise: rigidity holder 1, spherical elastic film 2, particle 3, filter screen 4 and pedestal 5, the lower end of described pedestal 5 is fixedly connected with the upper end of rigidity holder 1, the upper opening of spherical elastic film 2 is clamped between pedestal 5 and rigidity holder 1, in spherical elastic film 2, particle 3 is housed, cavity lower end in pedestal 5 is fixed with filter screen 4, cavity in pedestal 5 communicates with the inside of spherical elastic film 2, cavity top in pedestal 5 is respectively equipped with air inlet 6 and bleeding point 7.
Described spherical elastic film 2 is latex balloon.
Described particle 3 is ground coffee, and granularity is 0.5 ~ 2mm.
Mechanical hand only need to be filled small particle and can produce the action (ground coffee and latex balloon) of crawl in a spherical elastic film, without the need for motor, cable and hinge.
Manipulator is installed in (see figure 5) on a business machine arm, is partly wrapping with a rigidity holder, also has in addition a bleeding point and air filter.The main benefit of this design is that its machine construction is simple.This structure causes its low cost and easily manufactures.Rigidity holder is an important design considerations, because it can grasp at object to quilt by auxiliary machinery finger, and the vertical contact area that can increase between object captures effect with reinforcement.
Latex balloon is sandwiched between pedestal and rigidity holder to reach gas-tight seal object, and the thickness of latex balloon is less than 0.33 millimeter, and the ground coffee particle of 350 cubic centimetres of capacity has been filled in its inside.Under this volume conditions, mechanical hand is that deformation does not occur the still latex balloon being just full of, and therefore, mechanical hand can easily be out of shape at relaxed state.Radius of shape approximation of mechanical hand is that 43mm is spherical.The low-density of coffee particles is favourable, because this material can use in a large number the material of avoiding as sand to affect grasp force because of deadweight or make the distortion of ball film simultaneously.
The above; it is only the preferably specific embodiment of the utility model; these specific embodiment are all the different implementations based under the utility model general idea; and protection domain of the present utility model is not limited to this; any be familiar with those skilled in the art the utility model disclose technical scope in; the variation that can expect easily or replacement, within all should being encompassed in protection domain of the present utility model.Therefore, protection domain of the present utility model should be as the criterion with the protection domain of claims.
Claims (3)
1. the passive type general-purpose machinery hand based on the conversion of small particle vacuum state, it is characterized in that, comprise: rigidity holder (1), spherical elastic film (2), particle (3), filter screen 4 and pedestal (5), the lower end of described pedestal (5) is fixedly connected with the upper end of rigidity holder (1), the upper opening of spherical elastic film (2) is clamped between pedestal (5) and rigidity holder (1), particle (3) is housed in spherical elastic film (2), cavity lower end in pedestal (5) is fixed with filter screen (4), cavity in pedestal (5) communicates with the inside of spherical elastic film (2), cavity top in pedestal (5) is respectively equipped with air inlet (6) and bleeding point (7).
2. the passive type general-purpose machinery hand based on the conversion of small particle vacuum state according to claim 1, is characterized in that, described spherical elastic film (2) is latex balloon.
3. the passive type general-purpose machinery hand based on the conversion of small particle vacuum state according to claim 1, is characterized in that, described particle (3) is ground coffee, and granularity is 0.5 ~ 2mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420030085.3U CN203665546U (en) | 2014-01-18 | 2014-01-18 | Passive general manipulator based on vacuum state conversion of small particulate matter |
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| CN201420030085.3U CN203665546U (en) | 2014-01-18 | 2014-01-18 | Passive general manipulator based on vacuum state conversion of small particulate matter |
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| CN203665546U true CN203665546U (en) | 2014-06-25 |
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| CN201420030085.3U Expired - Fee Related CN203665546U (en) | 2014-01-18 | 2014-01-18 | Passive general manipulator based on vacuum state conversion of small particulate matter |
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Cited By (16)
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| CN105729492A (en) * | 2016-04-22 | 2016-07-06 | 清华大学 | Spherical adaptive robot hand device |
| CN105818143A (en) * | 2016-05-26 | 2016-08-03 | 南京理工大学 | Flexible multi-arm pneumatic gripper based on active wrapping and passive shaping |
| 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 |
| JP2017080825A (en) * | 2015-10-23 | 2017-05-18 | 株式会社Ihi | Gripping apparatus and gripping method using the same |
| CN107297754A (en) * | 2017-08-25 | 2017-10-27 | 王泽宇 | A kind of variation rigidity filler burden device and the grasping device being made of this burden device |
| CN107457797A (en) * | 2017-06-08 | 2017-12-12 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Porous twolayer fluid adaptive robot arm device |
| CN108081293A (en) * | 2018-01-10 | 2018-05-29 | 秦宗准 | The variable morphology robot manipulator structure that a kind of flexible fluid is mixed with particle |
| CN108527409A (en) * | 2018-04-02 | 2018-09-14 | 北京科技大学 | A kind of pneumatic software manipulator and its application method of adaptive gripped object shape |
| CN108994865A (en) * | 2018-09-03 | 2018-12-14 | 苏州迪天机器人自动化有限公司 | A kind of grabbing device |
| CN109789561A (en) * | 2016-11-09 | 2019-05-21 | 株式会社东芝 | Holding tool and holding system |
| CN109789562A (en) * | 2017-03-13 | 2019-05-21 | 株式会社东芝 | Holding tool holds system and holds the evaluation method of performance |
| CN109968344A (en) * | 2019-04-30 | 2019-07-05 | 哈尔滨工业大学 | A kind of Pneumatic multifunctional flexible manipulator |
| CN111107964A (en) * | 2017-09-26 | 2020-05-05 | 株式会社东芝 | Gripping tool, gripping system, and method for manufacturing resin component |
| CN111405968A (en) * | 2017-11-27 | 2020-07-10 | 霓达株式会社 | Clamp, gripping device and industrial robot |
| CN112798206A (en) * | 2020-12-25 | 2021-05-14 | 深圳市宝测达科技有限公司 | Rigidity detection equipment for automobile fender |
| CN114043473A (en) * | 2021-09-24 | 2022-02-15 | 香港中文大学（深圳） | Touch sensor control method and device and computer readable storage medium |
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2014
- 2014-01-18 CN CN201420030085.3U patent/CN203665546U/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2017080825A (en) * | 2015-10-23 | 2017-05-18 | 株式会社Ihi | Gripping apparatus and gripping method using the same |
| CN105729492A (en) * | 2016-04-22 | 2016-07-06 | 清华大学 | Spherical adaptive robot hand device |
| CN105818143A (en) * | 2016-05-26 | 2016-08-03 | 南京理工大学 | Flexible multi-arm pneumatic gripper based on active wrapping and passive shaping |
| CN105818143B (en) * | 2016-05-26 | 2018-11-13 | 南京理工大学 | Based on active envelope and passive moulding flexible multi-arm pneumatic clamps holder |
| 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 |
| CN109789561A (en) * | 2016-11-09 | 2019-05-21 | 株式会社东芝 | Holding tool and holding system |
| US11712811B2 (en) | 2016-11-09 | 2023-08-01 | Kabushiki Kaisha Toshiba | Gripping tool and gripping system |
| CN109789562B (en) * | 2017-03-13 | 2022-08-16 | 株式会社东芝 | Gripping tool, gripping system, and method for evaluating gripping performance |
| CN109789562A (en) * | 2017-03-13 | 2019-05-21 | 株式会社东芝 | Holding tool holds system and holds the evaluation method of performance |
| CN107457797A (en) * | 2017-06-08 | 2017-12-12 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Porous twolayer fluid adaptive robot arm device |
| CN107457797B (en) * | 2017-06-08 | 2023-11-03 | 清研(洛阳)先进制造产业研究院 | Porous double-layer fluid self-adaptive robot hand device |
| CN107297754A (en) * | 2017-08-25 | 2017-10-27 | 王泽宇 | A kind of variation rigidity filler burden device and the grasping device being made of this burden device |
| CN111107964A (en) * | 2017-09-26 | 2020-05-05 | 株式会社东芝 | Gripping tool, gripping system, and method for manufacturing resin component |
| CN111107964B (en) * | 2017-09-26 | 2024-02-13 | 株式会社东芝 | Gripping tool, gripping system, and method for manufacturing resin member |
| CN111405968A (en) * | 2017-11-27 | 2020-07-10 | 霓达株式会社 | Clamp, gripping device and industrial robot |
| CN111405968B (en) * | 2017-11-27 | 2023-03-28 | 霓达株式会社 | Clamp, gripping device and industrial robot |
| CN108081293A (en) * | 2018-01-10 | 2018-05-29 | 秦宗准 | The variable morphology robot manipulator structure that a kind of flexible fluid is mixed with particle |
| CN108527409A (en) * | 2018-04-02 | 2018-09-14 | 北京科技大学 | A kind of pneumatic software manipulator and its application method of adaptive gripped object shape |
| CN108994865A (en) * | 2018-09-03 | 2018-12-14 | 苏州迪天机器人自动化有限公司 | A kind of grabbing device |
| CN109968344A (en) * | 2019-04-30 | 2019-07-05 | 哈尔滨工业大学 | A kind of Pneumatic multifunctional flexible manipulator |
| CN112798206A (en) * | 2020-12-25 | 2021-05-14 | 深圳市宝测达科技有限公司 | Rigidity detection equipment for automobile fender |
| CN114043473A (en) * | 2021-09-24 | 2022-02-15 | 香港中文大学（深圳） | Touch sensor control method and device and computer readable storage medium |
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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: 20140625 Termination date: 20160118 |
|
| EXPY | Termination of patent right or utility model |