CN213999515U

CN213999515U - Dual-drive pneumatic multidirectional bending flexible actuator

Info

Publication number: CN213999515U
Application number: CN202022245485.4U
Authority: CN
Inventors: 田德宝; 耿德旭; 刘晓敏; 赵云伟
Original assignee: Beihua University
Current assignee: Beihua University
Priority date: 2020-10-10
Filing date: 2020-10-10
Publication date: 2021-08-20
Anticipated expiration: 2030-10-10

Abstract

The utility model relates to a dual-drive pneumatic multidirectional bending flexible actuator, which consists of a spring framework fixing bolt, an upper sealing element fixing bolt, an end cover, a spring framework fixing part, an upper sealing element, a radial limiting piece, a spring framework, a capsule, a lower sealing element, a base, a limiting bolt, a gas pipe quick connection and a gas inlet, wherein 43 coaxial series close-packed radial limiting pieces are arranged between the end cover and the base, and 4 columnar cavities are arranged in the radial limiting pieces and used for installing the spring framework and the capsule; the method is characterized in that: the spring framework is divided into a left framework and a right framework, the left framework is a left-handed spring, and the right framework is a right-handed spring; the double-sealing capsule is adopted for driving; the utility model has the advantages that the executor is small and exquisite nimble, lets in the atmospheric pressure that seals in the capsule through the control respectively and realizes multi-direction initiative bending deformation, has 3 direction degrees of freedom.

Description

Dual-drive pneumatic multidirectional bending flexible actuator

Technical Field

The utility model relates to a manipulator end effector of fruit vegetables harvesting and service type robot is a two multidirectional crooked flexible executor that drive of gas accuse.

Background

Along with the rapid development of economy, fruit vegetables picking robot and service type robot demand increase rapidly, and the manipulator that fruit vegetables picking class and service type robot adopted in the existing market is mostly rigid motor drive, for the flexibility that increases the manipulator, adds flexible material or increase pressure sensor at the interior terminal surface of execution joint, because self rigidity characteristic, still can cause some damage to being snatched the object in the course of the work. At present, some flexible end effectors have the characteristics of unidirectional bending deformation, high flexibility and compliance and a certain buffering effect, and cannot realize multidirectional bending.

Disclosure of Invention

The utility model relates to a manipulator end effector of fruit vegetables harvesting and service type robot is the flexible executor of gas accuse double-drive multidirectional bending, can adjust its bending angle, crooked direction and drive power to the operating condition of difference.

The double-drive pneumatic multidirectional bending flexible actuator is characterized by comprising a spring framework fixing bolt, an upper sealing element fixing bolt, an end cover, a spring framework fixing piece, an upper sealing element, radial limiting pieces, a spring framework, a capsule, a lower sealing element, a base, a limiting bolt, a quick connector and an air inlet, wherein 43 radial limiting pieces are arranged between the end cover and the base, the 43 radial limiting pieces are coaxially connected in series and densely arranged, 4 cylindrical cavities are formed in the radial limiting pieces and used for installing the spring framework and the capsule, the spring framework is divided into a left framework and a right framework, the left framework is a left-handed spring, the right framework is a right-handed spring, two ends of the spring framework are connected with the spring framework fixing piece in a threaded mode, the spring framework fixing piece at one end is fixedly connected with the end cover through the spring framework fixing bolt, and the other end of the spring framework is fixedly connected with the base in the same connecting mode; the upper end and the lower end of the capsule are respectively connected with an upper sealing part and a lower sealing part to form a sealed capsule, the upper sealing part is fixedly connected with the end cover through an upper sealing fixing bolt, the lower sealing part is fixedly connected with the base through a limiting bolt, and meanwhile, the lower sealing part is provided with an air inlet which is in sealing connection with the quick connector through threads.

The actuator adopts a dual-drive sealing capsule and has multidirectional active bending.

The quick connection-peg is connected with an external gas source, when a certain amount of compressed gas is introduced, the sealing capsule is pressed to expand and deform, the radial deformation of the sealing capsule is limited by the radial limiting sheet, the sealing capsule axially extends and deforms to push the radial limiting sheet to axially move, the actuator bends and deforms due to the fact that the spring framework limits axial deformation of one side of the radial limiting sheet, and the actuator returns to an initial state after gas supply is stopped, and the bending deformation of the actuator and the magnitude of driving force are related to the pressure of the introduced compressed gas; sealed capsule accessible supplies air respectively and realizes multi-direction bending, can bend to the right side when closing the capsule air feed to the left side alone, can realize bending to the left side when closing the capsule air feed to the right side alone, and forward bending during the air feed simultaneously also can let in different atmospheric pressure through both sides and realize the bending of different angles and different directions.

The utility model has the biggest advantage that the executor is small and exquisite nimble, can let in the initiative bending that realizes a plurality of directions through the atmospheric pressure that controls respectively in the closed capsule, has 3 orientation degrees of freedom, the executor has multi-direction crooked large deformation, and the atmospheric pressure that lets in through control can carry out motion control, and it is simple to control the mode, and the control of being convenient for relies on self better compliance, when contact shape and hardness each different object, provides better cushioning effect.

Drawings

FIG. 1 is an explosion diagram of a dual-drive pneumatic multi-directional bending flexible actuator of the present invention;

FIG. 2 is a schematic axial view of a dual-drive pneumatic multi-directional bending flexible actuator of the present invention;

FIG. 3 is a schematic view of a spring skeleton of the dual-drive pneumatic multi-directional bending flexible actuator of the present invention;

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific examples.

The utility model consists of a spring framework fixing bolt 1, an upper sealing element fixing bolt 2, an end cover 3, a spring framework fixing part 4, an upper sealing element 5, a radial spacing piece 6, a spring framework 7, a capsule 8, a lower sealing element 9, a base 10, a spacing bolt 11, a quick-connection plug 12 and an air inlet 13, wherein 43 radial spacing pieces 6 are arranged between the end cover 3 and the base 10, the 43 radial spacing pieces 6 are coaxially and linearly and closely arranged, 4 columnar cavities are arranged inside the radial spacing pieces 6 and used for installing the spring framework 7 (the spring framework schematic diagram in figure 3) and the capsule 8, the spring framework 7 is divided into a left framework and a right framework, the left framework is a left-handed spring, the right framework is a right-handed spring, two ends of the spring framework 7 are connected with the spring framework fixing part 4 in a thread way, the spring framework fixing part 4 at one end is tightly connected with the end cover 2 through the spring framework fixing bolt 1, the other end is fixedly connected with the base 10 in the same connection mode; both ends are connected with upper seal spare 5, lower sealing member 9 respectively about capsule 8, make up into sealed capsule, and upper seal spare 5 is through last sealed fixing bolt 2 and end cover 3 fastening connection, and lower sealing member 9 is through spacing bolt 11 and base 10 fastening connection, and sealing member 9 is equipped with air inlet 13 under simultaneously, and air inlet 13 adopts screw thread and quick-witted 12 sealing connections of pegging graft, and base 10 accessible bolt is connected with the manipulator.

Claims

1. A dual-drive pneumatic multidirectional bending flexible actuator comprises a spring framework fixing bolt, an upper sealing element fixing bolt, an end cover, a spring framework fixing element, an upper sealing element, a radial limiting piece, a spring framework, a capsule, a lower sealing element, a base, a limiting bolt, an air pipe quick connection part and an air inlet; 43 coaxial serially-connected densely-arranged radial limiting sheets are arranged between the end cover and the base, and 4 columnar cavities are formed in the radial limiting sheets and used for mounting the spring framework and the capsule; the method is characterized in that: the spring framework is divided into a left framework and a right framework, the left framework is a left-handed spring, and the right framework is a right-handed spring; adopts double-sealing capsule drive.