CN207630057U - A kind of pneumatic software manipulator - Google Patents
A kind of pneumatic software manipulator Download PDFInfo
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- CN207630057U CN207630057U CN201721756689.6U CN201721756689U CN207630057U CN 207630057 U CN207630057 U CN 207630057U CN 201721756689 U CN201721756689 U CN 201721756689U CN 207630057 U CN207630057 U CN 207630057U
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- pneumatic software
- finger
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- pneumatic
- manipulator
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Abstract
The utility model discloses a kind of pneumatic software manipulators.The utility model includes more pneumatic software mechanical fingers and device for fixing finger, the pneumatic software mechanical finger side is bellows-like structure, the other side is finishing planar structure, pneumatic software mechanical finger is integrally made of silicone, and more strip rubber magnets are fixed on finishing planar structure side.The sliding groove that relative position is adjusted convenient for more pneumatic software mechanical fingers is provided on device for fixing finger.The utility model integral hardness is higher, can bear higher internal pressure, possesses stronger carrying load ability, while possessing wider crawl size range, alternative that operation is manually carried out in non-rigid working environment.
Description
Technical field
The utility model belongs to robotic technology field, is related to a kind of pneumatic software manipulator.
Background technology
With the development of industrial automation and mechanization, the machinery dress of the aperies hand such as traditional Rigid Manipulators and Dextrous Hand
Among setting the social life and production for being widely used in the mankind, the heavy labor of people has largely been liberated.Tradition
Rigid Manipulators are structural suitable for industry spot, repeat, relatively hazardous work, and towards high position precision, Gao Ling
The directions such as activity and high response speed are developed；Dextrous Hand is mainly reflected in more degree of freedom and accurate dynamics position
It is very to the control with more multivariant rigid Dextrous Hand to ensure to be grabbed the safety of object and complete in control
Complicated.
With social continuous development and progress, people have manipulator new requirement, example in more new fields
Such as to the sorting of food, the crawl to breakables, the lossless capture to ocean software biology and auxiliary patient move
Type medical rehabilitation etc..Since environment rigidity is relatively low in these application scenarios, traditional Rigid Manipulators are difficult and environment rigidity
Match, therefore, it is difficult to realize the job requirement of above-mentioned operative scenario.And Dextrous Hand is wanted to realize that this generic operation needs are higher
Hardware cost and sufficiently complex control system, are unfavorable for promoting and applying.
The research and application for having the software manipulator for being centainly directed to above-mentioned working environment at present, mainly in food etc.
The crawl of breakables.There is a big chunk to use the direct 3D printing of TPU materials in existing software manipulator to be made, table
Surface hardness is higher, is easy to treat crawl article and causes to damage, not proper software manipulator；Another part it is soft
Body manipulator uses all kinds of silica gel injection moldings, inside the limited pressure that can bear and carrying load ability it is relatively low.Therefore, existing
Software manipulator be limited to the structural behaviour of itself, be not widely applied.
Invention content
Problem to be solved in the utility model is to provide a kind of pneumatic software manipulator and production method, produces a kind of base
In the software manipulator of silica gel, it is made to possess good structural behaviour, manipulator integral hardness is higher, can bear higher inside
Pressure possesses stronger carrying load ability, while possessing wider crawl size range, alternative manually in non-rigid building ring
Operation is carried out in border.
In order to solve the above-mentioned technical problem, the technical solution of the utility model is：
A kind of pneumatic software manipulator, including more pneumatic software mechanical fingers and device for fixing finger, described is pneumatic
Software mechanical finger side is bellows-like structure, and the other side is finishing planar structure, and pneumatic software mechanical finger integrally uses
Silica gel makes, and more strip rubber magnets are fixed on finishing planar structure side.
Furtherly, the cunning that relative position is adjusted convenient for more pneumatic software mechanical fingers is provided on device for fixing finger
Dynamic slot.
This software manipulator uses split-type design scheme, is divided into bellows dress part and finishing planar section, makes this
Software manipulator is also made of the technique of split type cast.It is viscous using dedicated silica gel after being processed into two parts respectively
Agent is connect to be bonded together two parts.
The utility model compared with the background art, has the advantages that：
One, it has been evenly arranged strip rubber magnet in the finishing planar side of software manipulator, has increased finger and object to be captured
Frictional force between product, under the magneticaction of rubber magnet, each software manipulator is easier to clamp article to be captured, and is effectively promoted
The Grasping skill of software manipulator.
Two, due to selecting silica gel hardness higher good with structural behaviour, this software manipulator can bear higher inside
Also possess higher carrying load ability while pressure, load capacity is in 500g or more when single finger is bent at 90 °.
Three, constant spacing formula and spacing-changeable two ways are taken for the assembly of entire software manipulator so that this
Software manipulator can be adapted for multiple scenes, captures the article of different shape size, improves the applicability of this manipulator.
Description of the drawings
Specific embodiment of the present utility model is described in further detail below in conjunction with the accompanying drawings.
Fig. 1 is the flow diagram of pneumatic software manipulator production method in the utility model；
Fig. 2, Fig. 3 are the structural schematic diagrams of pneumatic software manipulator in the utility model；
Fig. 4 is the end interval adjustable assembling scheme schematic diagram of pneumatic software manipulator in the utility model；
In figure：1, finger bellow shaped part, 2, finger finishing planar section, 3, strip rubber magnet, 4, software manipulator
Refer to, 5, buck plate, 6, air inlet.
Specific implementation mode
The utility model is described further below in conjunction with attached drawing.
Fig. 2 and Fig. 3, which is combined, gives a kind of pneumatic software manipulator, including finger bellow shaped part 1, finger finishing are put down
Finger bellow shaped part 1 and finger finishing planar section 2 are done leakproofness and glued by face part 2 using dedicated silica gel bonding agent
It connects, and strip rubber magnet 3 is uniformly bonded on the outer surface of finger finishing planar section 2 using bonding agent.
Fig. 4 gives a kind of end interval adjustable assembling scheme of pneumatic software manipulator, including software mechanical finger
4, buck plate 5, air inlet 6.During practical set, air inlet 6 is first mounted on to the end of software mechanical finger 4, is used in combination
Screw is attached two parts up and down of air inlet 6, to ensure the air-tightness of air inlet 6；It then will be equipped with the soft of air inlet 6
The screw of body mechanical finger 4, nut are fixed on buck plate 5, and software machinery can be quickly adjusted along the guide groove on buck plate 5
The installation site of hand 4 realizes the quick adjusting of distance between software mechanical finger 4.
The software manipulator production method in the utility model is described further referring to Fig.1.
A kind of pneumatic software mechanical finger production method, specifically includes following steps：
Step 1：Mold prepares：
A. photosensitive resin material 3D printing is utilized to generate mold：Mold is modeled and generated using 3 dimension modeling softwares
Stl file will carry out slicing treatment in stl file import slices software, and mold is carried out using SLA Stereolithography 3D printings
Printing.
B. releasing agent is sprayed in mould inner surface：By releasing agent even application in the inner surface of Split type die, and stand
15 minutes.
Step 2：Silica gel is mixed：
A. the silica gel of two kinds of components of A, B is pressed 1:1 ratio mixes that (silica gel is SMOOTH-ON companies
Dragon Skin 30)：By 1:1 ratio respectively takes the silica gel 40g of two kinds of components of A, B, is added in plastic test tube and carries out hand
Dynamic stirring.
B. mixed silica gel is fitted into progress high speed centrifugation stirring in centrifuge, it is made to be uniformly mixed.
Step 3：Silica gel casting：
It a. will be in uniformly mixed silica gel injection mold.
B. mold is put into vacuum tank and carries out vacuumizing bubble removing：It is vacuumized using air compressor machine and keeps vacuum degree-
0.09MPa 15 minutes makes the bubble in silica gel all escape.
C. the mold after bubble removing is stood, waits for silica gel curing molding therein：It is quiet in the environment of 20 degrees Celsius of room temperature
It sets 20 hours, silica gel can curing molding.
D. dedicated silica gel bonding agent is utilized（Bonding agent is the Sil-Poxy silica gel bonding agents of SMOOTH-ON companies）It will
Two parts of split type finger bond together：Silica gel special bonding agent is applied to finger bellow shaped part 1 and hand respectively
Refer to the bonding junction of finishing planar section 2, and finger two parts are pressed together, bonding can be completed in standing half an hour.
E. strip rubber magnet 3 is uniformly bonded on the outer surface of finger finishing planar section 2 with bonding agent
The operation principle of the pneumatic software manipulator of the utility model is as follows：
This software manipulator design is unilateral bellows-like structure, and the other side is designed as finishing plane, designs inside it
There is the cavity of respective shapes.When being passed through pressure-air into this software manipulator, due to manipulator both sides internal surface area not
Together, possess bellows-like structure to be easier to extend on one side, therefore manipulator completes simulation human body hand to finishing plane lateral bend
The flexure operation of finger.
The above is only the preferred embodiment of the utility model, and the scope of protection of the utility model is not limited merely to
Above-described embodiment, technical solution belonging to the idea of the present invention belong to the scope of protection of the utility model.It should refer to
Go out, for those skilled in the art, it is without departing from the principle of the utility model it is several improvement and
Retouching, these improvements and modifications also should be regarded as the scope of protection of the utility model.
Claims (2)
1. a kind of pneumatic software manipulator, including more pneumatic software mechanical fingers and device for fixing finger, it is characterised in that：Institute
The pneumatic software mechanical finger side stated is bellows-like structure, and the other side is finishing planar structure, pneumatic software mechanical finger
Entirety is made of silicone, and more strip rubber magnets are fixed on finishing planar structure side.
2. a kind of pneumatic software manipulator according to claim 1, it is characterised in that：It is provided with just on device for fixing finger
The pneumatic software mechanical fingers of Yu Duogen adjust the sliding groove of relative position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721756689.6U CN207630057U (en) | 2017-12-15 | 2017-12-15 | A kind of pneumatic software manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721756689.6U CN207630057U (en) | 2017-12-15 | 2017-12-15 | A kind of pneumatic software manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207630057U true CN207630057U (en) | 2018-07-20 |
Family
ID=62863804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721756689.6U Withdrawn - After Issue CN207630057U (en) | 2017-12-15 | 2017-12-15 | A kind of pneumatic software manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207630057U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107856044A (en) * | 2017-12-15 | 2018-03-30 | 浙江大学 | A kind of pneumatic software manipulator and preparation method |
| CN109108956A (en) * | 2018-08-02 | 2019-01-01 | 浙江大学 | A kind of rotatable Grazing condition mechanical arm |
| CN109249420A (en) * | 2018-09-26 | 2019-01-22 | 大连美德乐工业组装技术有限公司 | A kind of electric flexible clamping jaw |
| CN109363883A (en) * | 2018-10-30 | 2019-02-22 | 王翰飞 | A kind of software rehabilitation hand of imitative fish bone structure |
| CN109500835A (en) * | 2018-11-15 | 2019-03-22 | 黑龙江磐桓科技有限公司 | A kind of pneumatic 3D printing manipulator of TPU |
| CN110142904A (en) * | 2019-06-18 | 2019-08-20 | 浙江理工大学 | A kind of manipulator mold and application method |
| CN111015701A (en) * | 2019-12-13 | 2020-04-17 | 无锡先导智能装备股份有限公司 | Mechanical arm |
| CN113696221A (en) * | 2021-08-30 | 2021-11-26 | 杭州电子科技大学 | Software machinery indicates and gripper device based on 3D prints |
| CN114193486A (en) * | 2021-11-18 | 2022-03-18 | 上海大学 | Pneumatic perception end effector of fruit and vegetable picking robot |
| CN115847472A (en) * | 2022-12-31 | 2023-03-28 | 东北农业大学 | Pneumatic soft manipulator with pressure sensing function |
-
2017
- 2017-12-15 CN CN201721756689.6U patent/CN207630057U/en not_active Withdrawn - After Issue
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107856044B (en) * | 2017-12-15 | 2019-09-24 | 浙江大学 | A kind of pneumatic software manipulator and production method |
| CN107856044A (en) * | 2017-12-15 | 2018-03-30 | 浙江大学 | A kind of pneumatic software manipulator and preparation method |
| CN109108956A (en) * | 2018-08-02 | 2019-01-01 | 浙江大学 | A kind of rotatable Grazing condition mechanical arm |
| CN109249420A (en) * | 2018-09-26 | 2019-01-22 | 大连美德乐工业组装技术有限公司 | A kind of electric flexible clamping jaw |
| CN109363883A (en) * | 2018-10-30 | 2019-02-22 | 王翰飞 | A kind of software rehabilitation hand of imitative fish bone structure |
| CN109500835A (en) * | 2018-11-15 | 2019-03-22 | 黑龙江磐桓科技有限公司 | A kind of pneumatic 3D printing manipulator of TPU |
| CN110142904A (en) * | 2019-06-18 | 2019-08-20 | 浙江理工大学 | A kind of manipulator mold and application method |
| CN110142904B (en) * | 2019-06-18 | 2021-07-23 | 浙江理工大学 | Manipulator mold and using method |
| CN111015701A (en) * | 2019-12-13 | 2020-04-17 | 无锡先导智能装备股份有限公司 | Mechanical arm |
| CN111015701B (en) * | 2019-12-13 | 2024-02-23 | 无锡先导智能装备股份有限公司 | Mechanical arm |
| CN113696221A (en) * | 2021-08-30 | 2021-11-26 | 杭州电子科技大学 | Software machinery indicates and gripper device based on 3D prints |
| CN114193486A (en) * | 2021-11-18 | 2022-03-18 | 上海大学 | Pneumatic perception end effector of fruit and vegetable picking robot |
| CN115847472A (en) * | 2022-12-31 | 2023-03-28 | 东北农业大学 | Pneumatic soft manipulator with pressure sensing function |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180720 Effective date of abandoning: 20190924 |