CN209240068U - Flexible manipulator - Google Patents
Flexible manipulator Download PDFInfo
- Publication number
- CN209240068U CN209240068U CN201821487684.2U CN201821487684U CN209240068U CN 209240068 U CN209240068 U CN 209240068U CN 201821487684 U CN201821487684 U CN 201821487684U CN 209240068 U CN209240068 U CN 209240068U
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- Prior art keywords
- flexible
- driving
- phalanges
- crawl
- clockwork spring
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Abstract
The utility model discloses flexible manipulators, several crawl fingers including external jacket, in external jacket, the clockwork spring component that the belt, the output end that are connected with crawl finger are connected with belt and the driving assembly for driving the rotation of clockwork spring component；Crawl finger includes several phalanges modules, the super-elasticity connection sheet between adjacent phalanges module and set on phalanges module and the pulley that is connected with belt, and external jacket is equipped with pressure sensor, equipped with angular transducer between adjacent phalanges module.Clockwork spring has certain flexible buffer effect, therefore the flexible crawl movement of flexible manipulator is tentatively realized, and the super-elasticity connection sheet made of elastic material being arranged between adjacent phalanges module has preferable flexible buffer effect, the flexible crawl movement of flexible manipulator is further ensured, above-mentioned flexible crawl movement refers to also there is certain buffer function between article and flexible manipulator when grabbing article.
Description
Technical field
The utility model relates to manipulator field more particularly to flexible manipulators.
Background technique
Traditional robot application field, driver is designed to rigid as far as possible, because can obtain so accurate
Position control namely Trajectory Tracking Control are easier.But in certain application fields, such as human-computer interaction, need safety submissive with
Environment interacts, and further, is just able to achieve by flexible crawl；It is rigid in the use process in above-mentioned field
Manipulator is unable to satisfy demand.
Utility model content
The purpose of this utility model is to provide flexible manipulators, it is intended to solve in the prior art, manipulator is unable to satisfy
The problem of use demand flexible.
For this purpose, the utility model uses following technical scheme:
Flexible manipulator, several crawl fingers and the crawl hand including external jacket, in the external jacket
Refer to the clockwork spring component that connected belt, output end are connected with the belt and the drive for driving the clockwork spring component rotation
Dynamic component；The crawl finger include several phalanges modules, the super-elasticity connection sheet between the adjacent phalanges module,
And set on the phalanges module and the pulley that is connected with the belt, the external jacket is equipped with pressure sensor, adjacent
Angular transducer is equipped between the phalanges module.
Further, the quantity of the crawl finger is five, wherein there are two the fingers for a crawl finger tool
Bone module, there are three the phalanges modules for other described crawl finger tools.
Further, the clockwork spring component has clockwork spring；The belt is set around on the clockwork spring.
Further, the driving component includes that the turbine disk for being equipped with the clockwork spring and the turbine disk match
The worm screw of conjunction and first motor for driving worm screw rotation.
Further, the driving component includes the driven gear being connected with the clockwork spring and the driven gear
The driving gear being meshed and the second motor for driving the driving gear rotation.
Further, the driving component includes the transmission gear being connected with the clockwork spring and the transmission gear
The rack gear being meshed and the driving cylinder for driving the rack gear mobile.
Further, the crawl finger offers relief hole, the belt through the relief hole and with the pulley
It is connected.
The utility model has the beneficial effects that clockwork spring has certain flexible buffer effect, therefore tentatively realize flexible machine
The flexible crawl of tool hand acts, and the super-elasticity connection sheet made of elastic material being arranged between adjacent phalanges module has
Preferable flexible buffer effect, further ensures the flexible crawl movement of flexible manipulator, and above-mentioned flexible crawl movement refers to
Also there is between article and flexible manipulator certain buffer function when grabbing article.Angular transducer is for detecting crawl
The angle of finger rotation, flexible control when convenient for flexible manipulator work.
Detailed description of the invention
It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this is practical new
Some embodiments of type for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the cross-sectional view of flexible manipulator in the embodiments of the present invention；
Fig. 2 is the structural schematic diagram at the first visual angle of driving assembly in the embodiments of the present invention；
Fig. 3 is the structural schematic diagram at the second visual angle of driving assembly in the embodiments of the present invention；
Fig. 4 is the structural schematic diagram of flexible manipulator in the embodiments of the present invention；
In figure:
1, external jacket；2, finger is grabbed；21, phalanges module；22, super-elasticity connection sheet；23, pulley；3, belt；4, it sends out
Bar assembly；5, pressure sensor；6, angular transducer；7, the turbine disk；8, worm screw；9, first motor.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on the figure or position are closed
System, is merely for convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.The meaning of " plurality " is two or two in the description of the present invention,
More than, unless otherwise specifically defined.
The realization of the utility model is described in detail below in conjunction with specific embodiment.
As Figure 1-Figure 4, the utility model embodiment proposes a kind of flexible manipulator, including external jacket 1, is set to
The clockwork spring component that several crawl fingers 2 in external jacket 1, belt 3, the output end being connected with crawl finger 2 are connected with belt 3
4 and for drive clockwork spring component 4 rotate driving assembly；Grabbing finger 2 includes several phalanges modules 21, set on adjacent
Super-elasticity connection sheet 22 between phalanges module 21 and set on phalanges module 21 and the pulley 23 that is connected with belt 3, outer protective
Set 1 is equipped with pressure sensor 5, is equipped with angular transducer 6 between adjacent phalanges module 21.
In the embodiments of the present invention, the pressure sensor 5 on external jacket 1 is used to detect the matter of the article of crawl
Amount with the power according to the quality adjustment belt 3 to the pulling of the pulley 23 on finger, and then adjusts belt 3 to phalanges module 21
The power of application, will not also damage product while to guarantee to grab article；Driving assembly drives belt 3 by clockwork spring component 4
It realizes and pulls phalanges module 21, since clockwork spring has certain flexible buffer effect, tentatively realize flexible manipulator
Flexible crawl movement, and what is be arranged between adjacent phalanges module 21 surpasses made of elastic material (rubber, sponge, foam etc.)
Flexible connection piece 22 has preferable flexible buffer effect, further ensures the flexible crawl movement of flexible manipulator, above-mentioned
Flexible crawl movement refers to also there is certain buffer function between article and flexible manipulator when grabbing article.Angle passes
Sensor 6 is used to detect the angle that crawl finger 2 rotates, flexible control when convenient for flexible manipulator work.
In the embodiments of the present invention, the phalanges module 21 of crawl finger 2 can also be made of elastic material；Such as
Every finger is cut by a piece of elastic material or roller-compaction, passes through super-elasticity connection sheet 22 between phalanges module 21
Flexible deformation transmission force and torque.Adjacent phalanges module 21 is equipped with mutually chimeric frame close to the position in palm of the hand face, to prevent
Detent is obstructed during crawl finger 2 grabs.It can be a driving group that above-mentioned driving assembly, which drives the grasping movement of crawl finger 2,
Part drives more crawl finger 2 work, can also be driven for every crawl finger 2 by an individual driving assembly.When each driving
, it can be achieved that multivariant flexible flexibly crawl when component drives single crawl finger 2 to complete grasping movement.
Further, referring to Fig. 1, a kind of specific embodiment as flexible manipulator provided by the utility model,
The quantity for grabbing finger 2 is five, wherein crawl finger 2 tool, there are two phalanges module 21, other crawl fingers 2 have three
A phalanges module 21.Namely the structure of simulation manpower completely, realize flexible flexible grasping movement.
Further, Fig. 1-Fig. 3 is please referred to, a kind of specific embodiment party as flexible manipulator provided by the utility model
Formula, clockwork spring component 4 have clockwork spring；Belt 3 is set around on clockwork spring.The radical elasticity of clockwork spring passes to traction rope
Suo Shixian flexible crawl.
Further, Fig. 1-Fig. 3 is please referred to, a kind of specific embodiment party as flexible manipulator provided by the utility model
Formula, driving assembly include the turbine disk 7 for being equipped with clockwork spring, the worm screw 8 matched with the turbine disk 7 and for driving snail
The first motor 9 that bar 8 rotates.Worm screw 8 drives the turbine disk 7 to pass to drag rope by the radical elasticity of clockwork spring when rotating
Realize flexible crawl.
Further, as a kind of specific embodiment of flexible manipulator provided by the utility model, driving assembly packet
Include the driven gear being connected with clockwork spring, the driving gear being meshed with driven gear and for driving driving tooth to rotate
The second dynamic motor (not shown).Second motor drives driving gear to rotate and driven gear is driven to rotate, driven gear
Radical elasticity when rotation by clockwork spring passes to drag rope and realizes flexible crawl.
Further, as a kind of specific embodiment of flexible manipulator provided by the utility model, driving assembly packet
Include the transmission gear being connected with clockwork spring, the rack gear being meshed with transmission gear and the driving mobile for drive rack
Cylinder (not shown).Driving cylinder is mobile with carry-over bar and passes through the diameter of clockwork spring when realizing driving transmission gear rotation
Drag rope, which is passed to, to elastic force realizes flexible crawl.
Further, referring to Fig. 1, a kind of specific embodiment as flexible manipulator provided by the utility model,
Crawl finger 2 offers relief hole, and belt 3 is connected through relief hole and with pulley 23.The belt 3 of rigidity is through crawl finger 2
On relief hole, belt 3 do not deviate by crawl finger 2, make grasping movement more stable.
Obviously, the above embodiments of the present invention is used for the purpose of clearly illustrating examples for clearly illustrating the present invention, and
It is not limitations of the embodiments of the present invention.For those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
Exhaustion.Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc., should be included in
Within the protection scope of the utility model claims.
Claims (7)
1. flexible manipulator, which is characterized in that several crawl fingers including external jacket, in the external jacket, with
It is described to grab the connected belt of finger, the clockwork spring component that output end is connected with the belt and for driving the clockwork group
The driving assembly of part rotation；The crawl finger includes several phalanges modules, surpassing between the adjacent phalanges module
Flexible connection piece and set on the phalanges module and the pulley that is connected with the belt, the external jacket is equipped with pressure
Sensor is equipped with angular transducer between the adjacent phalanges module.
2. flexible manipulator according to claim 1, which is characterized in that the quantity of the crawl finger is five, wherein
There are two the phalanges modules for a piece crawl finger tool, and there are three the phalanges modules for other described crawl finger tools.
3. flexible manipulator according to claim 1 or 2, which is characterized in that the clockwork spring component has clockwork spring；Institute
Belt is stated to be set around on the clockwork spring.
4. flexible manipulator according to claim 3, which is characterized in that the driving component includes being equipped with the clockwork spring
The turbine disk of spring, the worm screw matched with the turbine disk and the first motor for driving the worm screw rotation.
5. flexible manipulator according to claim 3, which is characterized in that the driving component includes and the clockwork spring
Connected driven gear, the driving gear being meshed with the driven gear and for driving the driving gear rotation
Second motor.
6. flexible manipulator according to claim 3, which is characterized in that the driving component includes and the clockwork spring
Connected transmission gear, the rack gear being meshed with the transmission gear and the driving cylinder for driving the rack gear mobile.
7. flexible manipulator according to claim 1 or 2, which is characterized in that the crawl finger offers relief hole, institute
Belt is stated through the relief hole and is connected with the pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821487684.2U CN209240068U (en) | 2018-09-12 | 2018-09-12 | Flexible manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821487684.2U CN209240068U (en) | 2018-09-12 | 2018-09-12 | Flexible manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209240068U true CN209240068U (en) | 2019-08-13 |
Family
ID=67517832
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821487684.2U Active CN209240068U (en) | 2018-09-12 | 2018-09-12 | Flexible manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209240068U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112617377A (en) * | 2021-01-04 | 2021-04-09 | 哈工大机器人(中山)无人装备与人工智能研究院 | Mechanical arm and hair washing machine |
| CN113109706A (en) * | 2021-03-24 | 2021-07-13 | 北京航空航天大学 | Force calibrator |
-
2018
- 2018-09-12 CN CN201821487684.2U patent/CN209240068U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112617377A (en) * | 2021-01-04 | 2021-04-09 | 哈工大机器人(中山)无人装备与人工智能研究院 | Mechanical arm and hair washing machine |
| CN113109706A (en) * | 2021-03-24 | 2021-07-13 | 北京航空航天大学 | Force calibrator |
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