CN2696783Y - Pneumatic flexible freedom restricted mechanical finger - Google Patents
Pneumatic flexible freedom restricted mechanical finger Download PDFInfo
- Publication number
- CN2696783Y CN2696783Y CN 200420024474 CN200420024474U CN2696783Y CN 2696783 Y CN2696783 Y CN 2696783Y CN 200420024474 CN200420024474 CN 200420024474 CN 200420024474 U CN200420024474 U CN 200420024474U CN 2696783 Y CN2696783 Y CN 2696783Y
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- Prior art keywords
- joint
- cylindrical
- spring
- finger
- mechanical finger
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000005452 bending Methods 0.000 claims abstract description 9
- 229920001971 elastomer Polymers 0.000 claims description 24
- 239000000806 elastomer Substances 0.000 claims description 24
- 241000905957 Channa melasoma Species 0.000 claims description 17
- 210000003734 kidney Anatomy 0.000 claims description 4
- 210000000988 bone and bone Anatomy 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims description 3
- 230000003387 muscular Effects 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 210000003205 muscle Anatomy 0.000 abstract 1
- 238000007789 sealing Methods 0.000 description 16
- 208000008037 Arthrogryposis Diseases 0.000 description 6
- 230000009471 action Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 244000060701 Kaempferia pandurata Species 0.000 description 1
- 235000016390 Uvaria chamae Nutrition 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005755 formation reaction Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Abstract
本实用新型涉及一种气动式柔性限自由度机械手指，多个手指可组合成操作机械手，属于自动化机器人、机械手应用技术领域。机械手指的各关节采用圆柱或圆锥弹簧为柔性骨架，圆柱或圆锥弹性体受气压后膨胀作为肌肉动力。弹簧限制弹性体的径向膨胀，其一侧捆绑而不伸长，另一侧随弹性体轴向伸长，则产生关节弯曲。关节弯曲角度与关节内的气体压强有关；抓紧力随关节内的气体压强增加而增加；受冲击时，关节有一定的柔性。限制了关节的自由度，手指受侧外力时，关节不会侧弯。各关节的气路有各自的一套进、出气阀，节流阀和气压传感器等，控制系统根据传感器信号，比较根据实验预先设定的值，关闭进气阀，保证关节弯曲角度和手指抓紧力。
The utility model relates to a pneumatic flexible limited-degree-of-freedom mechanical finger, a plurality of fingers can be combined into an operating manipulator, and belongs to the technical field of automatic robot and manipulator application. Each joint of the mechanical finger adopts a cylindrical or conical spring as a flexible skeleton, and the cylindrical or conical elastic body expands after being subjected to air pressure as a muscle power. The spring restricts the radial expansion of the elastic body, one side of which is bound without elongation, and the other side elongates axially with the elastic body, resulting in joint bending. The bending angle of the joint is related to the gas pressure in the joint; the grasping force increases with the gas pressure in the joint; when impacted, the joint has a certain degree of flexibility. The degree of freedom of the joint is limited, and when the finger is subjected to lateral force, the joint will not bend sideways. The air path of each joint has its own set of air inlet and outlet valves, throttle valves and air pressure sensors. The control system closes the air inlet valve according to the sensor signal and compares the preset value according to the experiment, so as to ensure the bending angle of the joint and the grip of the fingers. force.
Description
Technical field:
The utility model relates to the flexible limit of a kind of pneumatic type free degree mechanical finger, and a plurality of mechanical fingers one-tenth capable of being combined manipulator as the executing agency of automation equipment, belongs to robot, manipulator applied technical field.
Background technology:
Before the utility model is made, in prior art, for manipulator: (1) adopts the design of the various mechanisms of combination, is the mode of drive power source with various motors; (2) with the liquid gas pressure be power, liquid gas pressure cylinder and motor are executive component, the mode of the various mechanisms of recombinant.Above-mentioned dual mode is a rigid structure, and initial, the end of a period state of operating position can only be arranged, and is difficult to be operated in arbitrary centre position state; The while complex structure, electrical servo control requires high, and volume is bigger, the manufacturing cost height.
Technology contents:
The purpose of this utility model is to overcome above-mentioned weak point, and each joint of the finger of this manipulator can be crooked as finger.When finger was not subjected to external force, each arthrogryposis angle was relevant with its IA gas pressure intensity; When being subjected to external force, grasp increases with IA gas pressure intensity.Joint component is an elastic construction, so certain flexibility is arranged.The free degree in restriction joint, when finger was subjected to side external force, the joint can lateral bending yet.Finger root is subjected to moment of flexure bigger, so root adopts conical finger seat joint to increase rigidity.
Main solution of the present utility model is achieved in that
The similar human finger of mechanical finger of the present utility model by finger tip, articulations digitorum manus, dactylus, refers to formations such as a joint and base.The annexation of finger tip, articulations digitorum manus and dactylus is: the two ends of cylindrical elastomer body 14 are connected on joint tailstock 1 and joint headstock 11 hose couplings by clamping ring 5; The union elbow 3 that is connected with pneumatic hose 2 is screwed on joint tailstock 1 tapped through hole through little sealing gasket 4 sealings; Rocker bar bearing 6 is housed in the joint tailstock 1, slides in the kidney slot of guide plate 8 on joint headstock 11 that is connected with hinge 7, restriction joint lateral bending; The cylindrical elastomer body 14 outer cylindrical springs 9 that are with, compacted 10 in the same side of the spring wire that stretches out at its two ends is pressed on the clamping ring 5, the tied silk 15 of the opposite side of cylindrical spring 9 is after the spring free state is intersected binding, binding silk 15 passes silk guide frame 17, is fixed in the silk hole on the tensioning screw 16 by holding screw 18; Finger tip joint 13 is threaded with joint headstock 11 through big sealing gasket 12 sealings; Dactylus 19 and finger tip save 13 overcoat skins 20, and dactylus 19 1 ends are threaded with joint tailstock 1 mutually through big sealing gasket sealing.The difference that refers to seat joint and articulations digitorum manus is to change cylindrical elastomer body 14, cylindrical spring 9 and clamping ring 5 into circular cone elastomer 21, taper spring 22 and base clamping ring 23, but their the same articulations digitorum manus of upper and lower end connected mode; The base clamping ring 23 that diameter is bigger is connected with base 24, and base 24 is connected with the palm of manipulator.
Compared with the prior art the utility model has the following advantages:
It is flexible back bone that cylinder, taper spring are adopted in each joint of the utility model mechanical finger, and cylinder, circular cone elastomer are subjected to expand as muscular motivation behind the air pressure.Finger is not when being subjected to external force, and each arthrogryposis angle is relevant with IA gas pressure intensity; When being subjected to external force, grasp increases with IA gas pressure intensity; When being hit, there is certain flexibility in the joint.The free degree in restriction joint, when finger was subjected to side external force, the joint can be in other direction bending yet.Control system is simple, adopts baroceptor to transmit air pressure signal, relatively according to the predefined value of experiment, closes intake valve, guarantees each arthrogryposis angle of finger and finger grips power, and the fast jogging speed that finger is crooked also can be by the gas circuit throttle valve control.
Description of drawings:
Fig. 1 is the work sheet of the utility model mechanical finger
Fig. 2 is the articulations digitorum manus work sheet of the utility model mechanical finger
Fig. 3 is the joint headstock part drawing of the utility model mechanical finger
Fig. 4 is the joint tailstock part drawing of the utility model mechanical finger
Fig. 5 is the clamping ring part drawing of the utility model mechanical finger
Fig. 6 is the cylindrical spring part drawing of the utility model mechanical finger
Fig. 7 is the circular cone elastomer part drawing of the utility model mechanical finger
Fig. 8 is the taper spring part drawing of the utility model mechanical finger
The specific embodiment:
Embodiment during following the utility model is incited somebody to action in conjunction with the accompanying drawings is further described:
The utility model mechanical finger mainly is made of joint tailstock 1, pneumatic hose 2, union elbow 3, little sealing gasket 4, clamping ring 5, rocker bar bearing 6, hinge 7, guide plate 8, cylindrical spring 9, clamping piece 10, joint headstock 11, big sealing gasket 12, finger tip joint 13, cylindrical elastomer body 14, binding silk 15, tensioning screw 16, silk guide frame 17, holding screw 18, dactylus 19, skin 20, circular cone elastomer 21, taper spring 22, base clamping ring 23, base 24 etc.
Be the operation principle of the present utility model and the course of work below:
It is flexible back bone that cylinder or taper spring are adopted in each joint of the utility model mechanical finger, and cylinder or circular cone elastomer are subjected to expand as muscular motivation behind the air pressure.Elastomer is subjected to expand behind the air pressure, and elastomeric being radially expanded of skeleton spring restriction allows the axial expansion elongation; Though both ends of the spring links to each other with ball and socket joint, tailstock, a side is tied up with the binding tow, remains on the drift of spring, does not allow its elongation, and opposite side extends with elastomer, thereby produces arthrogryposis.Finger is not when being subjected to external force, and each arthrogryposis angle is relevant with IA gas pressure intensity; When being subjected to external force, grasp increases with IA gas pressure intensity; When being hit, there is certain flexibility in the joint.According to the operation requirement, control system receives the air pressure signal that baroceptor transmits joint cavity, relatively according to the predefined value of experiment, closes intake valve, guarantees each arthrogryposis angle of finger and finger grips power; Connect air outlet valve, by spring action, the gas that closes economize on electricity is discharged, and discharges and grasps thing, and finger stretches.Crooked, as to stretch speed speed by gas circuit into and out of throttle valve adjustment.
Claims (4)
1. a pneumatic type flexibility is limit free degree mechanical finger, it is characterized in that: articulations digitorum manus adopts the two ends of cylindrical elastomer body (14) to be connected on joint tailstock (1) and joint headstock (11) hose coupling by clamping ring (5); The union elbow (3) that is connected with pneumatic hose (2) is connected with the screwed hole of joint tailstock (1); Outer cylindrical spring (9) skeleton that is with of cylindrical elastomer body (14), it expands to cylindrical elastomer body (14) and limits and the flexure operation in formation joint; Finger tip joint (13) is threaded with joint headstock (11), and dactylus (19) one ends also are threaded with joint tailstock (1); Rocker bar bearing (6) is housed in the joint tailstock (1), slides in the kidney slot of guide plate (8) on joint headstock (11) that is connected with hinge (7), restriction joint lateral bending; The difference that refers to seat joint and articulations digitorum manus is meant that a joint is conical, and articulations digitorum manus is cylindrical, be about to cylindrical elastomer body (14), cylindrical spring (9) and one of them clamping ring (5) and change circular cone elastomer (21), taper spring (22) and base clamping ring (23) into, but the complete same articulations digitorum manus of their upper and lower end connected mode; The base clamping ring (23) that diameter is bigger is connected with base (24), and base (24) is connected with the palm of manipulator.
2. the flexible limit of pneumatic type according to claim 1 free degree mechanical finger, it is characterized in that adopting cylindrical spring (9) or taper spring (22) is flexible back bone, cylindrical elastomer (14) body or circular cone elastomer (21) are subjected to expand as muscular motivation behind the air pressure.
3. the flexible limit of pneumatic type according to claim 1 free degree mechanical finger, compacted (10) are pressed on the clamping ring (5) in the same side to it is characterized in that the spring wire that stretches out at described cylindrical spring (9) two ends, after the tied silk of the opposite side of cylindrical spring (9) (15) binding, binding silk (15) passes silk guide frame (17), is fixed in the wire hole on the tensioning screw (16) by holding screw (18); The installation form of taper spring (22) is identical therewith.
4. the flexible limit of pneumatic type according to claim 1 free degree mechanical finger, it is characterized in that being equipped with in the described joint tailstock (1) rocker bar bearing (6), slide in the kidney slot of guide plate (8) on joint headstock (11) that is connected with hinge (7), with restriction joint lateral bending.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420024474 CN2696783Y (en) | 2004-01-30 | 2004-01-30 | Pneumatic flexible freedom restricted mechanical finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420024474 CN2696783Y (en) | 2004-01-30 | 2004-01-30 | Pneumatic flexible freedom restricted mechanical finger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2696783Y true CN2696783Y (en) | 2005-05-04 |
Family
ID=34770811
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200420024474 Expired - Fee Related CN2696783Y (en) | 2004-01-30 | 2004-01-30 | Pneumatic flexible freedom restricted mechanical finger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2696783Y (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101439513B (en) * | 2007-11-19 | 2010-09-29 | 江南大学 | Composite drive multi-type joint pose performance robot |
| CN101870111A (en) * | 2010-04-28 | 2010-10-27 | 青岛恩威机器人科技有限公司 | Joint driving device of robot |
| CN102198663A (en) * | 2011-06-10 | 2011-09-28 | 浙江工业大学 | Incompletely symmetrical section pneumatic flexible bending joint |
| CN101239468B (en) * | 2007-02-07 | 2012-05-30 | 浙江工业大学 | Pneumatic Rigid-Flexible Bending Joints |
| CN102756376A (en) * | 2012-07-20 | 2012-10-31 | 清华大学 | Finger device for underactuated robot adapting along with shapes automatically |
| CN103372865A (en) * | 2012-04-18 | 2013-10-30 | 马来西亚敦胡先翁大学 | Manipulator |
| CN103659825A (en) * | 2013-11-25 | 2014-03-26 | 清华大学 | Bending self-locking pneumatic under-actuated robot finger device |
| CN103786168A (en) * | 2014-01-22 | 2014-05-14 | 北华大学 | Pneumatic rotation stretching type three-spiral flexible joint |
| CN103786163A (en) * | 2014-01-22 | 2014-05-14 | 北华大学 | Pneumatic two-way active rotation stretching flexible joint |
| CN104626198A (en) * | 2014-12-24 | 2015-05-20 | 重庆花金王科技开发有限公司璧山分公司 | Transmission assembly and humanoid hand with same |
| CN105108767A (en) * | 2015-09-30 | 2015-12-02 | 杭州南江机器人股份有限公司 | Bionic finger of flexible robot |
| CN107627324A (en) * | 2017-11-08 | 2018-01-26 | 江门市众能电控科技有限公司 | A kind of flexible mechanical arm based on universal joint |
| CN108466276A (en) * | 2018-01-22 | 2018-08-31 | 江苏大学 | A kind of multifreedom motion finger and preparation method thereof based on elastomer soft material |
| CN111390746A (en) * | 2020-04-26 | 2020-07-10 | 陕西晟思智能测控有限公司 | Gripping device and gripping method thereof |
-
2004
- 2004-01-30 CN CN 200420024474 patent/CN2696783Y/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101239468B (en) * | 2007-02-07 | 2012-05-30 | 浙江工业大学 | Pneumatic Rigid-Flexible Bending Joints |
| CN101439513B (en) * | 2007-11-19 | 2010-09-29 | 江南大学 | Composite drive multi-type joint pose performance robot |
| CN101870111A (en) * | 2010-04-28 | 2010-10-27 | 青岛恩威机器人科技有限公司 | Joint driving device of robot |
| CN102198663A (en) * | 2011-06-10 | 2011-09-28 | 浙江工业大学 | Incompletely symmetrical section pneumatic flexible bending joint |
| CN103372865A (en) * | 2012-04-18 | 2013-10-30 | 马来西亚敦胡先翁大学 | Manipulator |
| CN102756376A (en) * | 2012-07-20 | 2012-10-31 | 清华大学 | Finger device for underactuated robot adapting along with shapes automatically |
| CN103659825A (en) * | 2013-11-25 | 2014-03-26 | 清华大学 | Bending self-locking pneumatic under-actuated robot finger device |
| CN103786163A (en) * | 2014-01-22 | 2014-05-14 | 北华大学 | Pneumatic two-way active rotation stretching flexible joint |
| CN103786168A (en) * | 2014-01-22 | 2014-05-14 | 北华大学 | Pneumatic rotation stretching type three-spiral flexible joint |
| CN103786168B (en) * | 2014-01-22 | 2016-12-07 | 北华大学 | Type three helical flexible joint is stretched in pneumatic rotation |
| CN103786163B (en) * | 2014-01-22 | 2017-01-04 | 北华大学 | Flexible joint is stretched in pneumatic two-way active rotation |
| CN104626198A (en) * | 2014-12-24 | 2015-05-20 | 重庆花金王科技开发有限公司璧山分公司 | Transmission assembly and humanoid hand with same |
| CN104626198B (en) * | 2014-12-24 | 2020-01-24 | 重庆花金王科技开发有限公司 | Transmission assembly and humanoid manipulator equipped with the transmission assembly |
| CN105108767A (en) * | 2015-09-30 | 2015-12-02 | 杭州南江机器人股份有限公司 | Bionic finger of flexible robot |
| CN107627324A (en) * | 2017-11-08 | 2018-01-26 | 江门市众能电控科技有限公司 | A kind of flexible mechanical arm based on universal joint |
| CN107627324B (en) * | 2017-11-08 | 2024-06-07 | 江门市众能电控科技有限公司 | Flexible mechanical arm based on universal joint |
| CN108466276A (en) * | 2018-01-22 | 2018-08-31 | 江苏大学 | A kind of multifreedom motion finger and preparation method thereof based on elastomer soft material |
| CN111390746A (en) * | 2020-04-26 | 2020-07-10 | 陕西晟思智能测控有限公司 | Gripping device and gripping method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |