CN206764802U - Apery Pneumatic flexible manipulator - Google Patents

Abstract

It the utility model is related to a kind of apery Pneumatic flexible manipulator,Including palm and thumb,Forefinger,Middle finger,It is nameless,Little finger of toe,Palm almost fan,Center of circle angular direction sets adpting flange,Thumb mounting flange is set above palm plane,Four in addition to thumb refer to palm distribution in the same plane,Angle between adjacent finger axis is 13.5 °,60 ° of thumb axis and palm plane included angle,50 ° of free state thumb middle finger axial plane and palm plane included angle,The extension of the five fingers axis is met at a bit,Thumb is just bending 210 ° of maximum bend angle of action,Thumb can be swung by the plane of symmetry of thumb middle finger axial plane,Wobbling action maximum bend angle ± 30 °,Forefinger can be realized and just bent,Recurvation and the action of side-sway,Just bending 290 ° of maximum bend angle of action,Recurvation and side-sway 15 ° of maximum bend angle of action,Middle finger,Nameless and little finger structure is completely the same,Just bending 290 ° of maximum bend angle of action.

Description

Apery Pneumatic flexible manipulator

Technical field

A kind of end effector of robot is the utility model is related to, more specifically to a kind of apery of air pressure driving The five fingers manipulator.

Background technology

In robot field, manipulator has a wide range of applications as end effector, appoints to adapt to different work Business, produce can as human hand flexible flexible manipulator come replace the mankind go completion work there is broad mass market prospect, Flexible manipulator is precisely in order to the developing goal for adapting to this needs and proposing.

At present, the manipulator with partially flexible function developed both at home and abroad is a lot, and driving element mainly has two major classes, and one Class servomotor drives, and is widely used in various machineries and robot, but its volume is larger, manipulator joint body is flexible Deficiency.Another kind of driven using fluid, and main driving element is Pneumatic artificial muscle, and finger-joint is pulled by steel wire rope, The basic function of hand is realized, but joint body is still rigidity, the comprehensive flexible deficiency of manipulator, it is difficult to meet general-purpose for mechanical arm With adaptability requirement, constrain manipulator and applied and development in service robot, medical robot and agricultural robot.

The content of the invention

The purpose of this utility model is the deficiency for overcoming prior art, there is provided a kind of apery Pneumatic flexible manipulator, pin To object of different shapes, it can complete to grab, hold, pinch, pressing from both sides, the human hand basic function such as bullet.

A kind of apery Pneumatic flexible manipulator, it is characterised in that provided with a palm and thumb, forefinger, middle finger, unknown Refer to, five fingers of little finger of toe, palm and finger are suitable with human hand dimensions；The apery Pneumatic flexible manipulator has 10 joints, 10 frees degree and 4 motor-driven degree, each finger are all in series by two joints, and four in addition to thumb refer to and palm distribution In the same plane, the four spindles line extension is met at a bit, and the angle between adjacent finger axis is 13.5 °, thumb axis Extension extends with four spindle lines intersects at same point, 60 ° of the thumb axis and palm plane included angle, and free state thumb-in Refer to 50 ° of axial plane and palm plane included angle；Palm almost fan, center of circle angular direction one end set adpting flange, can connected Mechanical arm, the adpting flange centre of form are overlapped with each finger axis extension intersection point, and thumb mounting flange is set above palm plane, Thumb mounting flange normal and 60 ° of palm plane included angle, thumb mounting flange normal-middle finger mounting flange plane normal and palm 50 ° of plane included angle, thumb mounting flange centroid point are higher than 10 millimeters of palm plane, and arc length direction one end sets four finger mounteds Flange, for installing four fingers in addition to thumb, flange normal overlaps with each finger axis, flange centroid point to each finger axle Line intersection point apart from equal, wherein forefinger mounting flange centroid point to each finger crossing point of axes distance than other three refer to it is small 20 millimeters, Each finger mounted Flange Plane sets mounting hole and finger control tracheae fairlead；The middle finger, the third finger and little finger Structure it is completely the same, base joint uses dual drive type bend in one direction joint, and remote joint uses bend in one direction joint, and base joint has Effect length is 2 times of remote joint, and middle finger, the third finger and little finger can just bend action, maximum bend angle to centre of the palm direction 290 °, the control source of the gas pipeline in the dual drive type bend in one direction joint is drawn from finger root, the bend in one direction joint Control source of the gas pipeline to pass through the confinement element in the dual drive type bend in one direction joint, drawn from finger root, forefinger base joint Bend in one direction joint is used using two-way active bending joint, remote joint, the remote joint effective length of forefinger is forefinger base joint 1.2 times, forefinger can realize just in the wrong, recurvation and the action of side-sway, just bend 290 ° of maximum bend angle of action, recurvation and side oscillation Make 15 ° of maximum bend angle, the control source of the gas pipeline of the two-way active bending joint is drawn from finger root, described unidirectional curved Qu Guanjie control source of the gas pipeline is drawn through the confinement element of the two-way active bending joint from finger root；Thumb Ji Guan Section uses dual drive type bend in one direction joint using one-dimensional compound bending joint, remote joint, and the remote joint effective length of thumb is thumb Refer to 2.7 times of base joint, thumb is just bending 210 ° of maximum bend angle of action, and thumb can be symmetrical using thumb-middle finger axial plane Face is swung, wobbling action maximum bend angle ± 30 °, and the control source of the gas pipeline in the one-dimensional compound bending joint is from finger root Draw, the fairlead that the control source of the gas pipeline in the dual drive type bend in one direction joint is set by two joint coupling part draws Go out；Combined by the controlled bending motion of each Pneumatic flexible joint body of finger, realize that class human hand grasps the basic functions such as pinching bullet, Each remote joint end of finger is provided with finger tip；

Brief description of the drawings

Fig. 1 is that apery Pneumatic flexible manipulator forms schematic diagram；

Fig. 2 is apery Pneumatic flexible manipulator palm shape schematic diagram；

Fig. 3 is apery Pneumatic flexible manipulator palm adpting flange schematic diagram；

Fig. 4 is apery Pneumatic flexible manipulator finger mounting flange schematic diagram；

Fig. 5 is that apery Pneumatic flexible manipulator middle finger, the third finger and little finger form schematic diagram；

Fig. 6 is that apery Pneumatic flexible manipulator forefinger forms schematic diagram；

Fig. 7 is apery Pneumatic flexible manipulator forefinger root end view；

Fig. 8 is bend in one direction articular cross section schematic diagram；

Fig. 9 is two-way active bending joint cross-sectional view；

Figure 10 is that apery Pneumatic flexible manipulator thumb forms schematic diagram；

Figure 11 is apery Pneumatic flexible manipulator thumb root end view；

Figure 12 is one-dimensional compound bending articular cross section schematic diagram；

Figure 13 is dual drive type bend in one direction joint.

Embodiment

The utility model is made with instantiation below in conjunction with the accompanying drawings and being further described in detail.

As illustrated, a kind of apery Pneumatic flexible manipulator, provided with a palm 1 and thumb 2, forefinger 3, middle finger 4, unknown Refer to 5,6 five fingers of little finger of toe, palm and finger are suitable with human hand dimensions；Five finger extension lines are met at a bit, palm 1, forefinger 3rd, middle finger 4, the third finger 5 and little finger of toe 6 are generally aligned in the same plane in palm 1, adjacent hand in forefinger 3, middle finger 4, the third finger 5 and little finger of toe 6 Angle between spindle line is 13.5 °, 60 ° of the axis of thumb 2 and palm plane included angle, free state, the axis of thumb 2- middle fingers 4 50 ° of plane and 1 plane included angle of palm；The almost fan of palm 1, center of circle angular direction one end set adpting flange 101, can connect machine Tool arm, the centre of form of adpting flange 101 overlap with each finger axis extension intersection point, and arc length direction sets four finger mounted methods Orchid, flange 12 are used to install forefinger 3, flange 13 for installing middle finger 4, flange 14 for installing the third finger 5, and flange 15 is for pacifying Little finger of toe 6 is filled, the plane of flange 13,14,15 sets installation screwed hole and control gas source pipe pass to portal, and flange normal meets at same Point, the centroid point of flange 13,14,15 to intersection point is apart from equal, and the centroid point of flange 12 to intersection point distance is than the centre of form of flange 13,14,14 Point is to intersection point apart from small 20 millimeters, the setting mounting flange 11 of thumb 2 above the plane of palm 1, the plane of flange 13,14,15 setting peace Dress screwed hole and control gas source pipe pass portal, 60 ° of the normal of flange 11 and palm plane included angle, 11 normals of flange-flange 14 Plane normal and 50 ° of palm plane included angle, the centroid point of flange 11 are higher than 10 millimeters of palm plane；The middle finger, the third finger and small The structure of thumb is completely the same, and base joint uses dual drive type bend in one direction joint 41,51,61, and remote joint uses bend in one direction Joint 42,52,62, the source of the gas pipeline in the bend in one direction joint 42,52,62 pass through the dual drive type bend in one direction joint 41st, 51,61 confinement element is drawn from finger root end face 44,54,64, the dual drive type bend in one direction joint 41,51,61 Source of the gas pipeline from finger root end face 44,54,64 draw, forefinger base joint using two-way active bending joint 31, remote joint Using bend in one direction joint 32, the bend in one direction joint 32 is by a sebific duct 322, a piece of Rectangular Spring steel plate 323 and multi-disc Confinement element 321 forms, sebific duct 322 and Rectangular Spring steel plate 323, and column distribution, diameter parallel, on every confinement element 321 Provided with the through hole completely the same with the simultaneously sebific duct 322 of column distribution and the shaped position of Rectangular Spring steel plate 323, multi-disc confinement element 321 series connection are enclosed on sebific duct 322 and Rectangular Spring steel plate 323, are inflated into sebific duct 322, due to confinement element 321 and spring steel The effect of contraction of plate 323, bend in one direction joint 32 is to the lateral bend of steel spring plate 323, the gas source pipe in the bend in one direction joint 32 Road is drawn through the source of the gas through hole of the confinement element centre of form of the two-way active bending joint 31 from finger root, the two-direction, main Dynamic bending joint 31 is made up of four sebific ducts, 312, four cylindrical springs 313 and multi-disc confinement element 311, sebific duct 312 and cylinder Helical spring 313, alternate star distribution, diameter parallel, every confinement element 311 are provided with the sebific duct with the distribution of alternate star 312 and the completely the same through hole of the shaped position of cylindrically coiled spring 313, the centre of form be provided with source of the gas tubing through holes, multi-disc confinement element 311 series connection are enclosed on sebific duct 312 and cylindrically coiled spring 313, are inflated into adjacent two sebific duct, due to confinement element 321 and circle The effect of contraction of post helical spring 313, two-way active bending joint 31 to lateral bend, the two-way active bending joint 31 Source of the gas pipeline is drawn from finger root end face 34；Driven using one-dimensional compound bending joint 21, remote joint using double in thumb base joint Ejector half bend in one direction joint 22, the dual drive type bend in one direction joint 22 is by two sebific ducts 222, a piece of Rectangular Spring steel plate 223 and multi-disc confinement element 221 form, two sebific ducts 222 and a piece of Rectangular Spring steel plate 223, isosceles triangle distribution, axis puts down OK, every confinement element 221 is provided with the sebific duct 222 and the shaped position of Rectangular Spring steel plate 223 complete one set with isosceles triangle The through hole of cause, the series connection of multi-disc confinement element 221 are enclosed on sebific duct 222 and steel spring plate 223, inflated into sebific duct 222, due to about The effect of contraction of beam element 221 and Rectangular Spring steel plate 223, dual drive type bend in one direction joint 22 is to the lateral bending of steel spring plate 223 Song, the fairlead 24 that the source of the gas pipeline in the dual drive type bend in one direction joint 22 is set by two joint coupling part are drawn, The one-dimensional compound bending joint 21 is made up of four sebific ducts 212, a piece of Rectangular Spring steel plate 213 and multi-disc confinement element 211, Four sebific ducts 212 and a piece of Rectangular Spring steel plate 213, star distribution, steel spring plate 213 is placed in the middle, diameter parallel, every constraint member Part 211 is provided with the through hole completely the same with the sebific duct 212 of star setting and the shaped position of Rectangular Spring steel plate 213, more agreements that contracts a film or TV play to an actor or actress The series connection of beam element 211 is enclosed on sebific duct 212 and Rectangular Spring steel plate 213, is inflated into steel spring plate 213 homonymy, two sebific ducts, Due to confinement element 211 and the effect of contraction of steel spring plate 213, one-dimensional compound bending joint 21 is to steel spring plate 213 to lateral bending Song, the source of the gas pipeline in the one-dimensional compound bending joint 21 are drawn from finger root end face 205；Closed by each Pneumatic flexible of finger Controlled bending combination is saved, realizes that class human hand grasps the basic functions such as pinching bullet；Each remote joint end of finger be provided with finger tip 23,33, 43、53、63。

Claims (3)

1. apery Pneumatic flexible manipulator, it is characterised in that provided with a palm and thumb, index finger, middle finger, ring finger and little finger Five fingers, palm and finger are suitable with human hand dimensions；The apery Pneumatic flexible manipulator has 10 Pneumatic flexible joints, 10 frees degree and 4 motor-driven degree, four in addition to thumb refer to palm distribution in the same plane；The four spindles line extension Meet at a bit, the angle between adjacent finger axis is 13.5 °, and the extension of thumb axis intersects at same with the extension of four spindle lines 50 ° of 60 ° of point, the thumb axis and palm plane included angle, free state thumb-middle finger axial plane and palm plane included angle； Middle finger, the third finger and little finger can to centre of the palm direction just bend action, 290 ° of maximum bend angle, forefinger can realize just bend, Recurvation and side-sway action, 15 ° of 290 ° of maximum bend angle of action, recurvation and side-sway action maximum deflection angle are just being bent, thumb is just bent 210 ° of maximum bend angle is acted, thumb can be swung by the plane of symmetry of thumb-middle finger axial plane, swing maximum angle ± 30 °, combined by the controlled bending motion of each Pneumatic flexible joint body of finger, realize that class human hand grasps the basic functions such as pinching.

2. according to apery Pneumatic flexible manipulator described in claim 1, it is characterised in that palm almost fan, center of circle angular direction One end sets adpting flange, can connect mechanical arm, and the adpting flange centre of form overlaps with each finger axis extension intersection point, palm 60 ° of setting thumb mounting flange above plane, thumb mounting flange normal and palm plane included angle, thumb mounting flange normal- Middle finger mounting flange plane normal and 50 ° of palm plane included angle, thumb mounting flange centroid point are higher than 10 millimeters of palm plane, arc Length direction one end sets four finger mounted flanges, for installing four fingers in addition to thumb, flange normal and each finger axle Line overlaps, and flange centroid point to each finger crossing point of axes is apart from equal, wherein forefinger mounting flange centroid point to each finger axis Intersection point distance is smaller 20 millimeters than other three fingers, and each finger mounted Flange Plane sets installation screwed hole and finger control tracheae Fairlead.

3. according to apery Pneumatic flexible manipulator described in claim 1, it is characterised in that each finger is all connected by two joints Form；The structure of the middle finger, the third finger and little finger is completely the same, and base joint uses dual drive type bend in one direction joint, far Joint uses bend in one direction joint, and base joint effective length is 2 times of remote joint, the control gas source pipe in the bend in one direction joint Road passes through the confinement element in the dual drive type bend in one direction joint, is drawn from finger root, the dual drive type bend in one direction The control source of the gas pipeline in joint is drawn from finger root；Forefinger base joint is using two-way active bending joint, remote joint using single To bending joint, the remote joint effective length of forefinger is 1.2 times of forefinger base joint, the control gas source pipe in the bend in one direction joint Road is drawn through the confinement element of the two-way active bending joint from finger root, the control of the two-way active bending joint Source of the gas pipeline is drawn from finger root；Thumb base joint uses one-dimensional compound bending joint, and remote joint uses dual drive type unidirectional Bending joint, the remote joint effective length of thumb are 2.7 times of thumb base joints, the control gas in the dual drive type bend in one direction joint The fairlead that source capsule road is set by two joint coupling part is drawn, the control source of the gas pipeline in the one-dimensional compound bending joint from Finger root is drawn；Each remote joint end of finger is provided with finger tip.