CN204725505U - Elastic bellows single-acting cylinder drives series connection leaf hinge skeleton manipulator - Google Patents
Elastic bellows single-acting cylinder drives series connection leaf hinge skeleton manipulator Download PDFInfo
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- CN204725505U CN204725505U CN201520305155.6U CN201520305155U CN204725505U CN 204725505 U CN204725505 U CN 204725505U CN 201520305155 U CN201520305155 U CN 201520305155U CN 204725505 U CN204725505 U CN 204725505U
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- hinge
- series connection
- elastic bellows
- acting cylinder
- manipulator
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Abstract
The utility model relates to elastic bellows single-acting cylinder and drives series connection leaf hinge skeleton manipulator, and this manipulator is by a palm and two flexible fingers, or a palm and three flexible fingers compositions; Each flexible finger structure is identical, primarily of an elastic bellows single-acting cylinder and a series connection leaf hinge composition; Each installation torsion spring in the hinge axle of series connection leaf hinge, optimal design goes out according to the feature of crawled object for the characterisitic parameter of torsion spring and pretension angle; Manipulator drives by elastic bellows single-acting cylinder and produces grasping force.This manipulator is applied to frangible brittle body, or shape, size variation the grasping of Special-shaped object, belong to the applied technical field of robot, electromechanical integration; Connect with robot body, be particularly useful for food, agricultural product, the crawl of light industrial goods, production and the logistics field such as sorting and packaging.
Description
Technical field:
The utility model relates to elastic bellows single-acting cylinder and drives series connection leaf hinge skeleton manipulator, and this manipulator is by a palm and two flexible fingers, or a palm and three flexible fingers compositions; Each flexible finger structure is identical, primarily of an elastic bellows single-acting cylinder and a series connection leaf hinge composition; Each installation torsion spring in the hinge axle of series connection leaf hinge, optimal design goes out according to the feature of crawled object for the characterisitic parameter of torsion spring and pretension angle; Manipulator drives by elastic bellows single-acting cylinder and produces grasping force.This manipulator is applied to frangible brittle body, or shape, size variation the grasping of Special-shaped object, belong to the applied technical field of robot, electromechanical integration; Connect with robot body, be particularly useful for food, agricultural product, the crawl of light industrial goods, production and the logistics field such as sorting and packaging.
Background technology:
For the large-scale production situation of light industry and food service industry, for meeting complex-shaped, that physical property is various raw material, semi-finished product, the logistics of finished product and the needs of packaging, for problems such as the recruitment cost solving simple work are high, working condition is poor, need logistics catching robot.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 (melon and fruit, vegetables) that in irregular shape, size differences is large; 4. abnormity, object (bottle, bottle for cosmetics) that the chaotic and difficulty of location status is made in order; From upper, the difference of the material character of complex object, geomery and location status is larger.Traditional industry manipulator is clamp-type or parallel movable structure, can only capture the rigid workpiece that shape size is identical, location status consistent, can not be damaged.Humanoid dextrous hand needs locus and the shape of perception complex object, need accurate controlled motion and grasp force, otherwise complex object can be damaged or can not reliably capture, but humanoid dextrous hand is still in the laboratory research stage at present, and cost is high, require high to environment for use.
The feature of the utility model elastic bellows single-acting cylinder driving series connection leaf hinge skeleton manipulator is: have the good flexible free degree and shock-absorbing capacity to external applied load, when therefore capturing complex object, flexible adaptivity is good; Meanwhile, owing to not having the frictional force of rubber seal on cylinder piston and piston rod, elastic bellows single-acting cylinder operates steadily, is quick on the draw.
The critical component of the utility model manipulator is flexible finger, is also called flexible joint.Before the utility model, patent (a kind of articulated flexible manipulator, 200810023616.5) propose a kind of rubber corrugated tube swelling loaded type heat payload drive, the flexible bending joint of leaf hinge skeleton, its shortcoming is: 1. structure does not have radial load amplification, angular displacement along with leaf hinge under artificial-muscle drives is larger, the pressure increment of the artificial-muscle inner chamber needed for the unit increment of angular displacement is larger, leaf hinge is more difficult bending, that is the slope of curve of two angular displacement-air pressure of flexible finger series connection leaf hinge is all more and more less, 2. the position that driving force acts on leaf hinge skeleton can not regulate, and the versatility capturing object is good not.Patent application (Pneumatic boost serial loose hinge flexible multi-finger claw, 201310123157.9) be a kind of manipulator adopting air cylinder driven, its shortcoming is: 1. owing to there are these two force of sliding frictions of rubber seal on cylinder piston and piston rod, its kinematics and static friction coefficient difference is larger, and force of sliding friction size is also relevant to the force-bearing situation of piston rod, change in friction force is large, therefore the synchronism control of three finger cylinder piston movements is more complicated, and position servo control difficulty is large; 2. manipulator flexible finger is at right angle setting, is only only applicable to pinching of " finger tip contacts " and gets Grasp Modes, and can not adopt the envelope Grasp Modes of " finger contacts with palm many places ", range of application is less.
Summary of the invention:
The utility model overcomes above-mentioned deficiency, and the utility model manipulator has two flexible fingers or three flexible fingers, and each flexible finger structure is identical.In principle, flexible finger is the five-rod of four hinges, five bars respectively: three loose-leaf bars that drive rod (elastic bellows single-acting cylinder 10), series connection leaf hinge 4 with large torsion spring 5 and little torsion spring 6 are formed (combination of upper loose-leaf and the combination of bent plate 3, middle loose-leaf, lower loose-leaf and hinge seat 8), two power bars 9; Four hinges are respectively: with two hinges of series connection leaf hinge 4, two hinges at two power bar 9 two ends of large torsion spring 5 and little torsion spring 6.
Primary solutions of the present utility model is achieved in that
A kind of structure of the utility model manipulator is as shown in accompanying drawing 1,2, be made up of two identical flexible fingers and a palm dish 1, two identical flexible fingers are symmetrically arranged in the gathering sill of palm dish 1, the centre bore centre of location distance on armrest palm 1.Flexible finger is by referring to that root 2, bent plate 3, series connection leaf hinge 4, large torsion spring 5, little torsion spring 6, pressing plate 7, hinge seat 8, two power bar 9, elastic bellows single-acting cylinder 10 form.The feature of the utility model manipulator is: refer to that root 2 leads in the gathering sill of palm dish 1, screw is through the kidney slot referred on root 2, finger root 2 is fixed on palm dish 1, kidney slot on finger root 2 can regulate the centre-to-centre spacing of flexible finger, and the upper loose-leaf of series connection leaf hinge 4 is clamped in bent plate 3 and refers between root 2 by screw; Large torsion spring 5 and little torsion spring 6 are arranged on two hinge core shafts of series connection leaf hinge 4 respectively, the middle loose-leaf two ends of series connection leaf hinge 4 there is lug, connect leaf hinge 4 in straightened condition when ensureing original state, there is the pretightning force of large torsion spring 5 and little torsion spring 6 during leaf hinge 4 original state of therefore connecting, but there is no angular displacement; Pressing plate 7 there is the screwed hole of four screws, through hinge seat 8, the lower loose-leaf binder of series connection leaf hinge 4 is fastened on pressing plate 7 with four screws, the lower loose-leaf of series connection leaf hinge 4 do not have hole, be convenient to the installation site regulating hinge seat 8 on the lower loose-leaf of series connection leaf hinge 4, the lower loose-leaf of series connection leaf hinge 4 is curved surface bottom; The two ends of two power bars 9 are hinge, form hinge respectively connect with the rocker bar bearing 11a on hinge seat 8 and elastic bellows single-acting cylinder 10.
The another kind of structure of the utility model manipulator as shown in Figure 3, be made up of three identical flexible fingers and a palm dish 1, three identical flexible fingers 120 ° are arranged in the gathering sill of palm dish 1 in uniform way, the centre bore centre of location distance on armrest palm 1.The structure of flexible finger is identical with noted earlier, is made up of finger root 2, bent plate 3, series connection leaf hinge 4, large torsion spring 5, little torsion spring 6, pressing plate 7, hinge seat 8, two power bar 9, elastic bellows single-acting cylinder 10.
As shown in accompanying drawing 4,5, elastic bellows single-acting cylinder 10 is made up of bottom 1a, rubber blanket 2a, cylinder block 3a, clip 4a, elastic bellows 5a, guide pin bushing 6a, linear bearing 7a, threaded cap 8a, guide rod 9a, guide rod seat 10a, rocker bar bearing 11a, Compress Spring 12a, nylon adjustment sheet 13a, spring cup 14a, soket head cap screw 15a, sealing ring 16a, union elbow 17a.It is characterized in that: bottom 1a, rubber blanket 2a, cylinder block 3a are fixed by screws in together, the flange of guide pin bushing 6a upper end is pressed on rubber blanket 2a by cylinder block 3a, cylinder below guide pin bushing 6a flange and the minimum aperture matched in clearance of cylinder block 3a, ensure the axiality of guide pin bushing 6a and cylinder block 3a; The elastic bellows 5a clip 4a of rubber is fixed on cylinder block 3a and guide rod seat 10a; The linear bearing 7a led for guide rod 9a is arranged in guide pin bushing 6a, and threaded cap 8a is spun on guide pin bushing 6a, axial restraint linear bearing 7a; Guide rod 9a is arranged on guide rod seat 10a, Compress Spring 12a is in guide pin bushing 6a, nylon adjustment sheet 13a and spring cup 14a is fixed on guide rod 9a by soket head cap screw 15a, spring cup 14a press against Compress Spring 12a, change the nylon adjustment sheet 13a of different-thickness, the pretightning force of Compress Spring 12a can be regulated, and the stroke of adjustable elastic bellows single-acting cylinder 10; Rocker bar bearing 11a is arranged in the symmetrical centre of guide rod seat 10a, the adjustment phase angle of elastic bellows 5a on guide rod seat 10a, ensures rocker bar bearing 11a and hinge seat 8, two power bar 9 altogether in one plane; Union elbow 17a screw thread is arranged on cylinder block 3a, has sealing ring 16a between union elbow 17a screw thread and cylinder block 3a.
As illustrated in 6,7, palm dish 1 has four gathering sills, the gathering sill on the left side and the gathering sill on the right symmetrical, the gathering sill on the left side and two gathering sills 120 ° up and down on the right uniform, four gathering sills have four screwed holes, the centre-to-centre spacing of four screwed holes is identical.
Compared with the prior art the utility model has the following advantages:
(1) elastic bellows single-acting cylinder 10 force of sliding friction that do not have rubber seal to produce, therefore the synchronism control of three finger cylinder piston movements is comparatively simple, and position servo control difficulty is little.
(2) elastic bellows single-acting cylinder 8 force of sliding friction that do not have rubber seal to produce, and adopt the guiding form of the rolling friction of linear bearing, therefore energy consumption is little, and reaction is fast, without low speed jerking motion phenomenon.
(3) manipulator flexible finger is oblique installation, is not only applicable to pinching of " finger tip contacts " and gets Grasp Modes, and also can adopt the envelope Grasp Modes of " finger contacts with palm many places ", range of application is larger.
(4) the rubber bellows uniform force of elastic bellows single-acting cylinder 10, the life-span is long.
(5) even if the rubber bellows of elastic bellows single-acting cylinder 10 and clip are thrown off, be also enclosed within guide pin bushing 6a and guide rod 9a, therefore structural safety is reliable.
Accompanying drawing illustrates:
Fig. 1 is the front view that elastic bellows single-acting cylinder drives series connection leaf hinge skeleton manipulator
Fig. 2 is the top view that elastic bellows single-acting cylinder drives series connection leaf hinge skeleton manipulator two finger mounted
Fig. 3 is the top view that elastic bellows single-acting cylinder drives series connection leaf hinge skeleton manipulator three finger mounted
Fig. 4 is the front view that elastic bellows single-acting cylinder drives the elastic bellows single-acting cylinder of series connection leaf hinge skeleton manipulator
Fig. 5 is the top view that elastic bellows single-acting cylinder drives the elastic bellows single-acting cylinder of series connection leaf hinge skeleton manipulator
Fig. 6 is the upward view that elastic bellows single-acting cylinder drives the palm dish of series connection leaf hinge skeleton manipulator
Fig. 7 is the front view that elastic bellows single-acting cylinder drives the palm dish of series connection leaf hinge skeleton manipulator
Detailed description of the invention:
Be operation principle of the present utility model and the course of work below:
As shown in Fig. 1-2 and 4-5, operation principle of the present utility model:
To complex object that is microscler, rectangle, after theoretical and experimental study, according to excursion and the material situation of crawled body form, size, determine the safe range capturing contact force, the characterisitic parameter of the characterisitic parameter of optimal design robot manipulator structure size, large torsion spring 5 and little torsion spring 6 and pretension angle, Compress Spring 12a and pretightning force, thus also determine the installation site size of flexible finger on palm dish 1, and determine the installation site size of hinge seat 8 on the lower loose-leaf of series connection leaf hinge 4.
Simultaneously; according to specifically capturing object; during the elastic parameter of comprehensive Design series connection leaf hinge skeleton manipulator physical dimension, large torsion spring 5, little torsion spring 6 and Compress Spring 12a; what when guaranteeing to reply, three spring forces produced on guide rod 9a make a concerted effort and resultant moment can not form self-locking (for preventing self-locking; have employed linear bearing 7a; to increase pressure angle;); thus the guide rod 9a of elastic bellows single-acting cylinder 10 can return back to original position, the series connection leaf hinge 4 of manipulator is returned to straight original state.
Further, elastic bellows original-shape is " U " shape, and when being assembled into elastic bellows single-acting cylinder 10, elastic bellows original state is " Ω " shape, can obtain larger stroke like this.
As shown in Fig. 1-2 and 4-5, the course of work of the present utility model: when the air pressure 1. in elastic bellows single-acting cylinder 10 is setting pressure, overcome the elastic force of the Compress Spring 12a in large torsion spring 5, little torsion spring 6 and elastic bellows single-acting cylinder 10, meet the requirements of and grasp contact force, and keep seized condition; During seized condition, the synergy of the elastic force of large torsion spring 5, little torsion spring 6, creates the flexibility of two hinge frees degree of series connection, therefore has adaptivity to crawl object.When 2. discharging the air pressure in elastic bellows single-acting cylinder 10, under the acting in conjunction of the Compress Spring 12a in large torsion spring 5, little torsion spring 6 and elastic bellows single-acting cylinder 10, original state replied by series connection leaf hinge skeleton manipulator.
As shown in Fig. 1,3 and 4-5, to the complex object of spheroidal, short cylindrical shape, equally according to above-mentioned steps, carry out designing and regulating after experimental study and theory analysis.
Claims (3)
1. elastic bellows single-acting cylinder drives series connection leaf hinge skeleton manipulator, it is characterized in that: two identical flexible fingers are symmetrically arranged in the gathering sill of palm dish (1), centre bore centre of location distance on armrest palm (1), this is a kind of structure of manipulator, three identical flexible fingers 120 ° are arranged in the gathering sill of palm dish (1) in uniform way, the centre bore centre of location distance on armrest palm (1), and this is the another kind of structure of manipulator, flexible finger is by referring to root (2), bent plate (3), series connection leaf hinge (4), large torsion spring (5), little torsion spring (6), pressing plate (7), hinge seat (8), two power bars (9), elastic bellows single-acting cylinder (10) forms, specifically: refer to that root (2) leads in the gathering sill of palm dish (1), screw is through the kidney slot referred on root (2), to refer to that root (2) is fixed on palm dish (1), kidney slot on finger root (2) can regulate the centre-to-centre spacing of flexible finger, the upper loose-leaf of leaf hinge of connecting (4) is clamped in bent plate (3) and refers between root (2) by screw, large torsion spring (5) and little torsion spring (6) are arranged on two hinge core shafts of series connection leaf hinge (4) respectively, the middle loose-leaf two ends of series connection leaf hinge (4) there is lug, connect leaf hinge (4) in straightened condition when ensureing original state, there is the pretightning force of large torsion spring (5) and little torsion spring (6) during leaf hinge (4) original state of therefore connecting, but there is no angular displacement, pressing plate (7) there is the screwed hole of four screws, through hinge seat (8), the lower loose-leaf binder of leaf hinge of connecting (4) is fastened on pressing plate (7) with four screws, the lower loose-leaf of series connection leaf hinge (4) do not have hole, be convenient to the installation site regulating hinge seat (8) on the lower loose-leaf of series connection leaf hinge (4), the lower loose-leaf of series connection leaf hinge (4) is curved surface bottom, the two ends of two power bars (9) are hinge, form hinge respectively connect with the rocker bar bearing (11a) on hinge seat (8) and elastic bellows single-acting cylinder (10).
2. elastic bellows single-acting cylinder according to claim 1 drives series connection leaf hinge skeleton manipulator, it is characterized in that: elastic bellows single-acting cylinder (10) is by bottom (1a), rubber blanket (2a), cylinder block (3a), clip (4a), elastic bellows (5a), guide pin bushing (6a), linear bearing (7a), threaded cap (8a), guide rod (9a), guide rod seat (10a), rocker bar bearing (11a), Compress Spring (12a), nylon adjustment sheet (13a), spring cup (14a), soket head cap screw (15a), sealing ring (16a), union elbow (17a) forms, specifically: bottom (1a), rubber blanket (2a), cylinder block (3a) are fixed by screws in together, the flange of guide pin bushing (6a) upper end is pressed on rubber blanket (2a) by cylinder block (3a), the minimum aperture matched in clearance of the cylinder below guide pin bushing (6a) flange and cylinder block (3a), ensures the axiality of guide pin bushing (6a) and cylinder block (3a), the elastic bellows (5a) of rubber is fixed on cylinder block (3a) and guide rod seat (10a) with clip (4a), the linear bearing (7a) led for guide rod (9a) is arranged in guide pin bushing (6a), and threaded cap (8a) is spun on guide pin bushing (6a), axial restraint linear bearing (7a), guide rod (9a) is arranged on guide rod seat (10a), Compress Spring (12a) is in guide pin bushing (6a), nylon adjustment sheet (13a) and spring cup (14a) are fixed on guide rod (9a) by soket head cap screw (15a), spring cup (14a) press against Compress Spring (12a), change the nylon adjustment sheet (13a) of different-thickness, the pretightning force of Compress Spring (12a) can be regulated, and the stroke of adjustable elastic bellows single-acting cylinder (10), rocker bar bearing (11a) is arranged in the symmetrical centre of guide rod seat (10a), adjustment elastic bellows (5a) phase angle on guide rod seat (10a), ensures rocker bar bearing (11a) and hinge seat (8), two power bars (9) altogether in one plane, union elbow (17a) screw thread is arranged on cylinder block (3a), has sealing ring (16a) between union elbow (17a) screw thread and cylinder block (3a).
3. elastic bellows single-acting cylinder according to claim 1 drives series connection leaf hinge skeleton manipulator, it is characterized in that: palm dish (1) has four gathering sills, the gathering sill on the left side and the gathering sill on the right symmetrical, the gathering sill on the left side and two gathering sills 120 ° up and down on the right uniform, four gathering sills have four screwed holes, the centre-to-centre spacing of four screwed holes is identical.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520305155.6U CN204725505U (en) | 2015-05-12 | 2015-05-12 | Elastic bellows single-acting cylinder drives series connection leaf hinge skeleton manipulator |
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| CN201520305155.6U CN204725505U (en) | 2015-05-12 | 2015-05-12 | Elastic bellows single-acting cylinder drives series connection leaf hinge skeleton manipulator |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104802178A (en) * | 2015-05-12 | 2015-07-29 | 江南大学 | Elastic corrugated pipe single-acting cylinder-driven serial hinge framework manipulator |
| CN106144583A (en) * | 2016-08-30 | 2016-11-23 | 吴中区横泾嘉运模具厂 | The block rubber feeding jaw unit of core assembly assemble mechanism |
| CN107433615A (en) * | 2017-08-21 | 2017-12-05 | 北京精密机电控制设备研究所 | A kind of multiple degrees of freedom three of hard and soft mixing refers to software manipulator |
| 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 |
| CN111450705A (en) * | 2020-05-11 | 2020-07-28 | 江门市崖门新财富环保工业有限公司 | Immersed membrane module ultrafiltration filter device |
| CN111571631A (en) * | 2020-06-01 | 2020-08-25 | 江苏安全技术职业学院 | Industrial robot arm clamping device |
| CN112811182A (en) * | 2021-01-15 | 2021-05-18 | 北京物资学院 | Grid type logistics carrying mechanical arm |
-
2015
- 2015-05-12 CN CN201520305155.6U patent/CN204725505U/en not_active Withdrawn - After Issue
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104802178A (en) * | 2015-05-12 | 2015-07-29 | 江南大学 | Elastic corrugated pipe single-acting cylinder-driven serial hinge framework manipulator |
| WO2016180337A1 (en) * | 2015-05-12 | 2016-11-17 | 江南大学 | Grapple device having serial hinged structure and driven by single-acting cylinders with elastic bellows |
| CN104802178B (en) * | 2015-05-12 | 2017-05-10 | 江南大学 | Elastic corrugated pipe single-acting cylinder-driven serial hinge framework manipulator |
| US10016899B2 (en) | 2015-05-12 | 2018-07-10 | Jiangnan University | Elastic corrugated pipe single-acting cylinder-driven mechanical gripper with series-connection loose-leaf hinge framework |
| CN106144583A (en) * | 2016-08-30 | 2016-11-23 | 吴中区横泾嘉运模具厂 | The block rubber feeding jaw unit of core assembly assemble mechanism |
| CN107433615A (en) * | 2017-08-21 | 2017-12-05 | 北京精密机电控制设备研究所 | A kind of multiple degrees of freedom three of hard and soft mixing refers to software manipulator |
| 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 |
| JP2020518480A (en) * | 2018-02-27 | 2020-06-25 | ジィァンナン ユニバーシティー | Electric-pneumatic combined drive Robot hand for physical distribution packaging simulating eagle claw of flexible finger |
| CN111450705A (en) * | 2020-05-11 | 2020-07-28 | 江门市崖门新财富环保工业有限公司 | Immersed membrane module ultrafiltration filter device |
| CN111571631A (en) * | 2020-06-01 | 2020-08-25 | 江苏安全技术职业学院 | Industrial robot arm clamping device |
| CN112811182A (en) * | 2021-01-15 | 2021-05-18 | 北京物资学院 | Grid type logistics carrying mechanical arm |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20151028 Effective date of abandoning: 20170510 |
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| AV01 | Patent right actively abandoned |