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
- Authority
- CN
- China
- Prior art keywords
- joint
- spring
- finger
- cylindrical
- mechanical finger
- Prior art date
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a pneumatic type flexible freedom restricted mechanical finger which belongs to the technical field of the automation application of the robot and the mechanical hand. A plurality of fingers can be assembled into operating mechanical hands. Every joint of the mechanical finger adopts a circular column or a cone spring as a flexible backbone. After the circular column or the cone elastic body is subject to the air pressure, the circular column or the cone elastic body is expanded as the dynamic force of the muscle. The spring limits the radial expansion of the elastic body, one side of the elastic body is bound without stretching, the other side is extended along with the axial direction of the elastic body, and then the joint is bent. The bending angle of the joint is relative to the gas pressure intensity in the joint, and the grasping force is increased along with the gas pressure intensity in the joint. When the joint is impacted, the joint has definite flexibility, and the freedom degree of the joint is limited. When the finger is subject to the lateral outer force, the joint can not be bent sideways. The gas path of every joint respectively has an air inlet valve, an air outlet valve, a flow regulating valve, an air pressure sensor, etc. According to the signal of the sensor, a control system compares with the preset value according to the experiment, the air inlet valve is closed, and the bending angle of the joint and the grasping force of the finger are ensured.
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 | Combination drive gesture representation robot with multiple kinds of joints |
| 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 joint |
| 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 joint |
| CN101439513B (en) * | 2007-11-19 | 2010-09-29 | 江南大学 | Combination drive gesture representation robot with multiple kinds of joints |
| 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 provided 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 |
| 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN2696783Y (en) | Pneumatic flexible freedom restricted mechanical finger | |
| CN100368161C (en) | Combined muscular multi-directional bending flexible joint | |
| CN107081744B (en) | Flexible hose fluid underactuated multi-joint robot finger device | |
| CN101439513B (en) | Combination drive gesture representation robot with multiple kinds of joints | |
| CN201283575Y (en) | Multi-finger dexterous hand of robot based on pneumatic flexible driver | |
| CN108121450B (en) | Magneto-rheological force feedback data glove based on transmission of wire tube and steel wire rope | |
| CN101474795B (en) | Pre-bend coupling under-actuated three-joint robot finger device | |
| CN201295928Y (en) | Side-sway joint based on flexible pneumatic actuator | |
| CN101543997B (en) | Joint driving device of flexible manipulator and flexible manipulator thereof | |
| CN1693036A (en) | Fluid driven, single-freedom and flexible bending joint | |
| CN101722514B (en) | Coupling under-actuated integrated three-joint robot finger device | |
| CN101402200A (en) | Multi-finger dexterous hand of robot based on pneumatic flexible driver | |
| CN102294698A (en) | Tractive simulation robot hand | |
| CN207710784U (en) | The bionic arm of Pneumatic artificial muscle driving | |
| CN1618580A (en) | Plate spring skeleton hydrulic pneumatic flexible bending joint | |
| CN110497395B (en) | Bidirectional movement pneumatic flexible driver and working method thereof | |
| CN101422906A (en) | Displacement under-actuated two-articulated robot finger device based on flexible piece | |
| CN2767081Y (en) | Flexible joint capable of multidirectional bending | |
| CN101402201B (en) | Side-sway joint based on pneumatic flexible driver | |
| CN202097733U (en) | Dangerous article collecting manipulator device driven by pneumatic muscle | |
| Chen et al. | Utilizing anisotropic fabrics composites for high-strength soft manipulator integrating soft gripper | |
| Zhang et al. | Passive adaptive grasp multi-fingered humanoid robot hand with high under-actuated function | |
| CN101214650A (en) | Gear belt wheel multi-joint high under-driven robot finger device | |
| CN101214658A (en) | Chiasma tendon rope three-joint under-driven robot finger device | |
| CN101444917A (en) | Mechanical finger device with functions of bionic displacement and self-adapting grasping |
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 |