CN203792353U - Bionic manipulator based on pneumatic muscle - Google Patents
Bionic manipulator based on pneumatic muscle Download PDFInfo
- Publication number
- CN203792353U CN203792353U CN201420221408.7U CN201420221408U CN203792353U CN 203792353 U CN203792353 U CN 203792353U CN 201420221408 U CN201420221408 U CN 201420221408U CN 203792353 U CN203792353 U CN 203792353U
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- finger
- pneumatic muscles
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- bar
- pneumatic muscle
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Abstract
The utility model relates to a bionic manipulator based on pneumatic muscle. The bionic manipulator comprises finger whiskers, fingers, reset springs, the pneumatic muscle and a manipulator base. Each whisker consists of a sucker, a universal-ball bearing, a cylindrical rod, a barrel and a support spring. The bionic manipulator is simple in structure and has good flexibility under coactions of the pneumatic muscle and the springs. The suckers on the finger whiskers can be subjected to position adjustment according to stress so as to contact with surfaces of objects sufficiently. The finger whiskers can extend and retract automatically according to surface shapes of the objects so as to be adaptable to irregular surfaces without excessive local stressing. The manipulator can be used for gripping fragile and slippery objects and objects easy to scratch, and is high in adaptability and wide in application.
Description
Technical field
The utility model belongs to robot field, and what relate to is a kind of based on pneumatic muscles, has the bionic mechanical hand of submissive self adaptation feature.
Background technology
The advantages such as pneumatic muscles is a kind of novel driver, has quality light, and bio-imitability and compliance are good, and power-weight ratio is high, cleanliness without any pollution, are widely used in robot field.Pneumatic muscles is used to construct arm joint, shank joint or device for healing and training mostly, and adopts multiple pneumatic muscles to drive a joint.Be rarely used in the little joint as finger.Because pneumatic muscles has certain volume and convergent force can only be provided, can not provide expansion force; Existing manipulator is the finger that adopts rod shape mostly, and contact area is little, and bad adaptability easily produces larger active force in part, the object being held is produced and destroyed.Chinese utility model patent 201120051826.2 is a kind of hook-shaped dangerous material collection machinery hands, very easily causes dangerous material to break.
Summary of the invention
The purpose of this utility model is for the deficiencies in the prior art, designs a kind of bionic mechanical hand with submissive adaptivity based on pneumatic muscles.
Based on a bionic mechanical hand for pneumatic muscles, comprising: finger antenna, finger, returning spring, pneumatic muscles, robot base.Finger antenna is made up of sucker, multi-directional ball bearing, cylinder straight-bar, cylindrical drum and support spring five parts.Support spring is in cylindrical drum, and lower end is fixed on the bottom of cylindrical drum, and upper end is fixed on the bottom of cylinder straight-bar.Cylinder straight-bar is inserted in cylindrical drum.The top of cylinder straight-bar is provided with multi-directional ball bearing, and the upper end of multi-directional ball bearing is provided with sucker.It is upper that finger antenna is arranged in finger with the form of array, and finger is that a rectangle bending has certain flexible steel plate.Point cross-articulation together and be arranged in robot base for two, finger pin joint bilateral symmetry is provided with two returning springs, and pneumatic muscles connects two finger lower ends.When use, by pneumatic muscles inflation, drive two finger gripping objects, the sucker on finger antenna can be according to force bearing adjustment attitude, fully contactant surface.Finger antenna can be according to the surperficial shape automatic telescopic of object, forms a cavity identical with gripping object body profile object is wrapped in wherein, makes stressed relatively evenly, can not produce the excessive situation of local pressure.When pneumatic muscles venting, under the effect of spring restoring force, two fingers open, and decontrol object.
The utility model has following beneficial effect than prior art:
(1) compared with the finger of rod shape, planar finger contact area is large, stressed relatively even.Simple in structure, adopt single pneumatic muscles to drive, provide restoring force by spring, there is good compliance;
(2) sucker of antenna front end can be adjusted attitude according to stressed oneself, and with abundant contactant surface, antenna meeting automatic telescopic, to adapt to irregular surface.Compared with the cushions such as sponge, adaptivity is stronger.Manipulator can capture frangible, easy cunning, easily produce the object of cut, and strong adaptability, is widely used;
Brief description of the drawings
Fig. 1 is general structure schematic diagram of the present utility model;
Fig. 2 is the expanded view of single finger;
Fig. 3 is the enlarged drawing of finger antenna;
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail.
Based on a bionic mechanical hand for pneumatic muscles, comprising: finger antenna 1, finger 2, returning spring 3, pneumatic muscles 4, robot base 5.Finger antenna is made up of sucker 11, multi-directional ball bearing 12, cylinder straight-bar 13, cylindrical drum 14 and support spring 15 5 parts.Support spring 15 is in cylindrical drum 14, and lower end is fixed on the bottom of cylindrical drum 14, and upper end is fixed on the bottom of cylinder straight-bar 13.Cylinder straight-bar 13 is inserted in cylindrical drum 14, can move up and down, and realizes flexible.The top of cylinder straight-bar 13 is provided with multi-directional ball bearing 12, and the upper end of multi-directional ball bearing 12 is provided with sucker 11.Finger antenna 1 is arranged on finger 2 with the form of array, and finger 2 is that a rectangle bending has certain flexible steel plate.Point 2 cross-articulation together and be arranged in robot base 5 for two, finger 2 pin joint bilateral symmetry are provided with two returning springs 3, and pneumatic muscles 4 connects two finger 2 lower ends, and as driving element, pneumatic muscles 4 itself has good compliance.When use, inflate by giving pneumatic muscles 4, drive two finger 2 gripping objects, sucker 11 on finger antenna 1 contacts object, according to stressing conditions, multi-directional ball bearing 12 rotates, and makes sucker 11 adjust the abundant contactant of attitude surface, sucker 11 has suction-operated to object, can prevent object landing.Finger antenna 1 can, according to the shape automatic telescopic of body surface, form a cavity identical with gripping object body profile object is wrapped in wherein, makes stressed relatively evenly, can not produce the excessive situation of local pressure.When pneumatic muscles 4 is exitted, under the effect of spring restoring force, two fingers 2 open, and decontrol object.This manipulator can capture object, the frangible easy sliding article etc. of animal, surface band bur, and strong adaptability, is widely used.
Although more used finger antenna 1 herein, finger 2, returning spring 3, pneumatic muscles 4, robot base 5, the terms such as sucker 11, multi-directional ball bearing 12, cylinder straight-bar 13, cylindrical drum 14 and support spring 15, but do not get rid of the possibility that uses other term.Use these terms to be only used to describe more easily and explain essence of the present utility model, they are construed to any additional restriction is all contrary with the utility model spirit.
Claims (1)
1. the bionic mechanical hand based on pneumatic muscles, comprise: finger antenna (1), finger (2), returning spring (3), pneumatic muscles (4), robot base (5), finger antenna is by sucker (11), multi-directional ball bearing (12), cylinder straight-bar (13), cylindrical drum (14) and support spring (15) five part compositions, support spring (15) is in cylindrical drum (14), lower end is fixed on the bottom of cylindrical drum (14), upper end is fixed on the bottom of cylinder straight-bar (13), cylinder straight-bar (13) is inserted in cylindrical drum (14), the top of cylinder straight-bar (13) is provided with multi-directional ball bearing (12), the upper end of multi-directional ball bearing (12) is provided with sucker (11), finger antenna (1) is arranged on finger (2) with the form of array, finger (2) is that a rectangle bending has certain flexible steel plate, two fingers (2) cross-articulation together and be arranged in robot base (5), finger (2) pin joint bilateral symmetry is provided with two returning springs (3), pneumatic muscles (4) connects two fingers (2) lower end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420221408.7U CN203792353U (en) | 2014-04-25 | 2014-04-25 | Bionic manipulator based on pneumatic muscle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420221408.7U CN203792353U (en) | 2014-04-25 | 2014-04-25 | Bionic manipulator based on pneumatic muscle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203792353U true CN203792353U (en) | 2014-08-27 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420221408.7U Expired - Fee Related CN203792353U (en) | 2014-04-25 | 2014-04-25 | Bionic manipulator based on pneumatic muscle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203792353U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058372A (en) * | 2015-09-08 | 2015-11-18 | 清华大学 | Multi-dimensional rod group self-adaption robot grasping device |
| CN105856264A (en) * | 2015-01-22 | 2016-08-17 | 南京理工大学 | Software-driven radial opening and closing type pneumatic clamping device |
| CN105881588A (en) * | 2016-04-05 | 2016-08-24 | 佛山科学技术学院 | Intelligent tactile detection probe |
| CN106891286A (en) * | 2017-04-18 | 2017-06-27 | 成都乔依赛斯石油科技有限公司 | Fixed coupling of petroleum casing pipe recruitment dress |
| CN107042526A (en) * | 2017-03-28 | 2017-08-15 | 江阴兴澄特种钢铁有限公司 | A kind of general-purpose manipulator for capturing steel |
| CN107428011A (en) * | 2015-07-13 | 2017-12-01 | 三菱重工业株式会社 | Adsorbent equipment, gripping device and carrying method |
| CN107696056A (en) * | 2017-11-15 | 2018-02-16 | 华北理工大学 | A kind of Industrial robot arm grabbing device |
| CN108098629A (en) * | 2017-12-18 | 2018-06-01 | 郑州赫恩电子信息技术有限公司 | One kind is with pad petrochemical pipe heat treatment clamping device in buffering |
| CN112318542A (en) * | 2020-10-22 | 2021-02-05 | 重庆电讯职业学院 | Front end manipulator for automobile assembly |
| CN114310857A (en) * | 2021-12-21 | 2022-04-12 | 李天彪 | Based on industrial robot of intelligent manufacturing |
-
2014
- 2014-04-25 CN CN201420221408.7U patent/CN203792353U/en not_active Expired - Fee Related
Cited By (13)
| 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 |
| CN107428011A (en) * | 2015-07-13 | 2017-12-01 | 三菱重工业株式会社 | Adsorbent equipment, gripping device and carrying method |
| CN105058372A (en) * | 2015-09-08 | 2015-11-18 | 清华大学 | Multi-dimensional rod group self-adaption robot grasping device |
| CN105058372B (en) * | 2015-09-08 | 2020-12-01 | 清华大学 | Multi-dimensional rod cluster self-adaptive robot grasping device |
| CN105881588B (en) * | 2016-04-05 | 2018-08-24 | 佛山科学技术学院 | A kind of intelligence sense of touch detection probe |
| CN105881588A (en) * | 2016-04-05 | 2016-08-24 | 佛山科学技术学院 | Intelligent tactile detection probe |
| CN107042526A (en) * | 2017-03-28 | 2017-08-15 | 江阴兴澄特种钢铁有限公司 | A kind of general-purpose manipulator for capturing steel |
| CN106891286A (en) * | 2017-04-18 | 2017-06-27 | 成都乔依赛斯石油科技有限公司 | Fixed coupling of petroleum casing pipe recruitment dress |
| CN107696056A (en) * | 2017-11-15 | 2018-02-16 | 华北理工大学 | A kind of Industrial robot arm grabbing device |
| CN107696056B (en) * | 2017-11-15 | 2024-01-09 | 唐山市宝盈智能设备有限公司 | Industrial robot grabbing device |
| CN108098629A (en) * | 2017-12-18 | 2018-06-01 | 郑州赫恩电子信息技术有限公司 | One kind is with pad petrochemical pipe heat treatment clamping device in buffering |
| CN112318542A (en) * | 2020-10-22 | 2021-02-05 | 重庆电讯职业学院 | Front end manipulator for automobile assembly |
| CN114310857A (en) * | 2021-12-21 | 2022-04-12 | 李天彪 | Based on industrial robot of intelligent manufacturing |
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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: 20140827 Termination date: 20150425 |
|
| EXPY | Termination of patent right or utility model |