CN102092046B - Pneumatic single tow rope multi-joint flexible manipulator with damping - Google Patents
Pneumatic single tow rope multi-joint flexible manipulator with damping Download PDFInfo
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- CN102092046B CN102092046B CN 201010579894 CN201010579894A CN102092046B CN 102092046 B CN102092046 B CN 102092046B CN 201010579894 CN201010579894 CN 201010579894 CN 201010579894 A CN201010579894 A CN 201010579894A CN 102092046 B CN102092046 B CN 102092046B
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Abstract
The invention relates to a pneumatic single tow rope multi-joint flexible manipulator with damping. The manipulator comprises two or more flexible fingers and has a simple structure, convenience for maintenance and low requirement on operating environments. Each flexible finger is provided with a cylinder, a single tow rope and a triple cascade hinge with two rotational freedoms. The manipulator can generate and retain force to grab objects only depending on twisted springs on two hinge spindles of the triple cascade hinge, and enable triple cascade hinge to stretch to an initial position by the driving force of the cylinder and the effect of the tow rope for loosening the objects. The manipulator is actively driven to loosen the objects, passively grabs the objects under the action of the twisted springs, and has the characteristics of flexible freedom and acting force buffer, can realize flexible self-adaption to shapes and sizes of objects and grab force, can be applied to grabbing fragile objects and objects deforming in shape and size, and belongs to the application technology field of robots and mechatronics.
Description
Technical field:
The present invention relates to the multiarticulate flexible manipulator of the single rope traction of the pneumatic type of damping, manipulator is made of two or more flexible fingers.Form by a cylinder, single pull rope and the three loose-leaves series connection hinge with two rotational freedoms on each flexible finger.Only depend on torsion spring effect on two hinge core shafts that are enclosed within three loose-leaves series connection hinge, produce and the maintenance grasp force, with grabbing object; By cylinder power, rope draw, three loose-leaves series connection hinge stretches initial position, unclamps by grabbing object.This flexible manipulator is that active drive is unclamped, torsion spring effect and the manipulator that grasps passively, can be applicable to the grasping of special-shaped object of frangible brittle body and shape, size variation, belongs to the applied technical field of robot, electromechanical integration.
Background technology:
When catching robot is applied to the special-shaped object (as melon and fruit, cosmetics bottle etc.) of frangible brittle body (as birds, beasts and eggs, porcelain) and shape, size variation, need accurately control articulations digitorum manus displacement and grasp force, otherwise can damage these class article, but because the restriction of cost and environment for use is accurately controlled manipulator and is difficult in industry extensive uses such as agricultural, light industry.For overcoming the contradiction between accurate control requirement and the manufacturing cost etc., the existing mechanical hand also has the structural member of the flexibility of adopting, and relies on the strain of structural member to realize the flexibility of the free degree and the resiliency of grasp force; But the strain of structural member is non-linear Large Deflection Deformation, also is difficult in real time, accurately calculating and control.
The present invention has overcome the high contradiction of the real-time accurate control of existing machinery hand and manufacturing cost, be subjected to the defective of the restriction of environment for use, according to the structure of being grabbed object and size, and situation of change, after the structure and parameter of flexible manipulator is optimized, determine physical dimension, the rigidity of torsion spring and pretension angle, utilize the flexibility effect of the three loose-leaves series connection hinge that is with torsion spring on two hinge core shafts, rather than the strain of dependence structural member, realization is to body form, the flexible self adaptation of size and grasp force, can adopt simple time control or pressure control, to simplify robot manipulator structure and to reduce the cost of control section, be applied to the harvesting of melon and fruit etc. better, extracting and the letter sorting of abnormity object.
Summary of the invention:
The present invention relates to the multiarticulate flexible manipulator of the single rope traction of the pneumatic type of damping, manipulator is made of two or more flexible fingers, and flexible finger is installed in the left and right sides of the interchangeable manipulator base 18 of thickness.The structure of flexible finger is identical, mainly is made up of with two different torsion springs 9 of rigidity a cylinder 16, single pull rope 10, the three loose-leaves series connection hinge 7 with two rotational freedoms.By torsion spring effect on two hinge core shafts that are enclosed within three loose-leaves series connection hinge, produce and keep grasp force, with grabbing object; By cylinder power, rope draw, unclamp crawled object.The damping that the present invention mentions is mounted in the damping spring on the cylinder piston rod, and effect is the digit speed of slowing down when grasping motion, to reduce being grabbed the impact of object.
For satisfying the requirement of wide adaptability, according to being grabbed object, flexible manipulator can be adjusted on physical dimension: the gauge m between left and right of the interchangeable manipulator base 18 of (1) thickness; (2) the moment size n after small hinge bearing 2 is adjusted in the guide groove of guide groove seat 1; The loose-leaf board of (3) three loose-leaves series connection hinge 7 foots and the adjustment angle of adjustable hinge bearing 14 and the fixed angle θ that is kept by adjustable hinge locking nut 13 locking backs.
Main solution of the present invention is achieved in that
Shown in accompanying drawing 1,2,3,4,5, three loose-leaves series connection hinge 7 is skeleton and the joint of flexible finger, and it is made up of three loose-leaf boards, two three loose-leaves series connection hinge core shafts 8, and yielding rubber 6 sticks on three loose-leaf boards of three loose-leaves series connection hinge 7; On the three loose-leaves series connection hinge core shaft 8 the different torsion spring of rigidity 9 is housed, the moment of torsion of torsion spring 9 all act on grasp object space to, produce grasping force, pull rope 10 tractions overcome torsion spring 9 moments of torsion, make three loose-leaves series connection hinge, 7 backward rotation, unclamp the extracting thing; The end of three loose-leaves series connection hinge, 7 foot loose-leaf boards is rolled into circular hole, constitute adjustable hinge with adjustable hinge mandrel 12, adjustable hinge bearing 14, lock with the adjustable hinge locking nut 13 on the adjustable hinge mandrel 12 after adjusting angle, adjustable hinge bearing 14 is fixed on the base plate 17; Guide groove seat 1, wheel bracket 4, wheel stand 11 are installed on the loose-leaf of three loose-leaves series connection hinge 7, one end of pull rope 10 is fixed on the small hinge 3, the targeting part of the small hinge bearing 2 of small hinge 3 is directed in the T of guide groove seat 1 shape guide groove, and small hinge bearing 2 positions are adjusted the back and are fixed on the guide groove seat 1 with soket head cap screw; Through being installed in two guide wheels 5 on the wheel bracket 4 and being installed in wheel stand 11 upper blocks 5 guiding, the other end of pull rope 10 is fixed on the pull rope hold-down nut 15; Pull rope hold-down nut 15 is installed on the screw thread of piston rod of cylinder 16, and cylinder 16 is fixed on the base plate 17; Flexible finger parts have been constituted by above-mentioned part.
Show as accompanying drawing 1, about each flexible finger be installed in the left and right sides of the interchangeable manipulator base 18 of thickness symmetrically, second kind of mounting means: about each two flexible finger be installed in the left and right sides of the interchangeable manipulator base 18 of thickness, second kind of mounting means side by side, symmetrically: two flexible fingers in the left side, the flexible finger in the right and be installed in the middle part on the corresponding right side of two flexible fingers, the left side.
As shown in Figure 6, the flexible finger of the single rope traction of the present invention articulated flexible manipulator can be furnished with separately, also can share one in twos, also can all share a pneumatic part, and this pneumatic part is made up of two-position four-way valve 19, cylinder 20, damping spring 21, adjustable throttling 22, silencer 23, two on-off valves 24 of being installed on the piston rod of cylinder 20.Compressed air enters flatly from two-position four-way valve 19 tops, another mouthful on two-position four-way valve 19 tops links to each other with the entrance of adjustable throttling 22, the outlet of adjustable throttling 22 links to each other with silencer 23, two on-off valves 24 are connected in parallel with adjustable throttling 22, two mouthfuls of two ends that connect cylinder 20 respectively, two-position four-way valve 19 bottoms, damping spring 21 is installed on the piston rod of cylinder 20.
Compared with the prior art the present invention has the following advantages:
(1) structure of band three loose-leaves series connection torsion spring, two rotational freedoms hinge can realize the flexibility of the free degree and the resiliency of grasp force, therefore, the characteristics that flexible finger has free degree flexibility and active force resiliency realize the flexible self adaptation to body form, size and grasp force;
(2) each flexible finger is formed by a cylinder, single pull rope and the three loose-leaves series connection hinge with two rotational freedoms, and simple in structure, installation, maintenance is convenient, and environment for use requires low;
(3) according to by being grabbed object, can adjust gauge m, moment size n and fixed angle θ on the physical dimension, adapting to the object of different size, shape, wide adaptability, versatility are good;
(4) control of employing time or pressure are controlled, and greatly reduce the cost of control section;
(5) pneumatic system makes motion rapidly, thereby agile, the production efficiency height.
Description of drawings:
Fig. 1 is the front view of the multiarticulate flexible manipulator of the single rope traction of the pneumatic type of band damping
Fig. 2 cuts open partial enlarged drawing for the A-A of the multiarticulate flexible manipulator front view of the single rope traction of the pneumatic type of band damping
Fig. 3 cuts open partial enlarged drawing for the B-B of the multiarticulate flexible manipulator front view of the single rope traction of the pneumatic type of band damping
Fig. 4 draws the C of multiarticulate flexible manipulator front view to partial enlarged drawing for the single rope of the pneumatic type of band damping
Fig. 5 is the D place partial enlarged drawing of the multiarticulate flexible manipulator front view of the single rope traction of the pneumatic type of band damping
Fig. 6 is the pneumatic schematic diagram of the multiarticulate flexible manipulator of the single rope traction of the pneumatic type of band damping
The specific embodiment:
The multiarticulate flexible manipulator of the single rope traction of the pneumatic type of band damping of the present invention is made of guide groove seat 1, small hinge bearing 2, small hinge 3, wheel bracket 4, guide wheel 5, yielding rubber 6, three loose-leaves series connection hinge 7, three loose-leaves series connection hinge core shaft 8, torsion spring 9, pull rope 10, wheel stand 11, adjustable hinge mandrel 12, adjustable hinge locking nut 13, adjustable hinge bearing 14, pull rope hold-down nut 15, cylinder 16, base plate 17, the interchangeable manipulator base 18 of thickness.
The pneumatic part of the multiarticulate flexible manipulator of the single rope traction of the pneumatic type of band damping of the present invention is made up of two-position four-way valve 19, cylinder 20, damping spring 21, adjustable throttling 22, silencer 23, two on-off valves 24.
Be operation principle of the present invention and the course of work below:
For satisfying the requirement of wide adaptability, according to being grabbed object, flexible manipulator can be adjusted on physical dimension: the gauge m between left and right of the interchangeable manipulator base 18 of (1) thickness; (2) the moment size n after small hinge bearing 2 is adjusted in the guide groove of guide groove seat 1; The loose-leaf board of (3) three loose-leaves series connection hinge 7 foots and the adjustment angle of adjustable hinge bearing 14 and the fixed angle θ that is kept by adjustable hinge locking nut 13 locking backs.
When grasping object, electromagnet 1DT dead electricity, electromagnet 2DT dead electricity, compressed air enters cylinder 20 lower part of piston by the right position of two-position four-way valve 19, overcome the effect of damping spring 21, piston rod is moved on fast, and cylinder 20 piston upper gas are by right position and the position, two on-off valve 24 left sides of two-position four-way valve 19, through the directly discharge of silencer 23 backs; After moving a segment distance on the piston, electromagnet 2DT delays time electricly (on move distance and delay time need be tested definite), to right position, discharge behind silencer 23 again by also (openings of sizes need be tested definite) behind the damping hole by adjustable throttling 22 by two on-off valves 24 for upper gas; Because the acting in conjunction of damping spring 21 and adjustable throttling 22, finger approaches when being grabbed object, and the speed of moving on the piston rod slows down greatly, and is less to the impact of grasping thing.
During grabbing object, arrived terminal point on the piston rod, pull rope 10 no active forces only depend on torsion spring 9 effects on two hinge core shafts that are enclosed within three loose-leaves series connection hinge 7, produce and the maintenance grasp force, with grabbing object.
When unclamping object, electromagnet 1DT gets, electromagnet 2DT dead electricity, compressed air directly enters the top of cylinder 20 pistons by the position, a left side of two-position four-way valve 19, piston rod is moved down fast, cylinder 20 piston lower gas are directly discharged behind silencer 23 by position, a left side and the position, two on-off valve 24 left sides of two-position four-way valve 19.
By cylinder power, pull rope 10 active forces, the loose-leaf board counter motion of three loose-leaves series connection hinge is unclamped crawled object, and is got back to initial position.The initial position of three loose-leaves series connection hinge is not the straight configuration of three loose-leaves series connection hinge, grasps the position that requires the space but satisfy, and can reduce the extracting run duration like this.
From last finding, this flexible manipulator is that a kind of active drive is unclamped, torsion spring effect and the passive manipulator that grasps.
Claims (1)
1. the single rope of the pneumatic type of band damping draws multiarticulate flexible manipulator, it is characterized in that: about each flexible finger be installed in the left and right sides of the interchangeable manipulator base of thickness (18) symmetrically, with about each two flexible finger be installed in the left and right sides of the interchangeable manipulator base of thickness (18) side by side, symmetrically, also have two flexible fingers in the left side, flexible finger in the right of the interchangeable manipulator base of thickness (18) and be installed in the middle part on the corresponding right side of two flexible fingers, the left side, totally three kinds of mounting means;
The structure of flexible finger is identical, three loose-leaves series connection hinges (7) are skeleton and the joint of flexible finger, it is made up of three loose-leaf boards, two three loose-leaves series connection hinge core shafts (8), and yielding rubber (6) sticks on three loose-leaf boards of three loose-leaves series connection hinges (7); On the three loose-leaves series connection hinge core shafts (8) the different torsion spring of rigidity (9) is housed, the moment of torsion of torsion spring (9) all act on grasp object space to, produce grasping force, pull rope (10) traction overcomes torsion spring (9) moment of torsion, makes three loose-leaves series connection hinge (7) backward rotation, unclamps the extracting thing; The end of three loose-leaves series connection hinge (7) foot loose-leaf board is rolled into circular hole, constitute adjustable hinge with adjustable hinge mandrel (12), adjustable hinge bearing (14), lock with the adjustable hinge locking nut (13) on the adjustable hinge mandrel (12) after adjusting angle, adjustable hinge bearing (14) is fixed on the base plate (17); Guide groove seat (1), wheel bracket (4), wheel stand (11) are installed on the loose-leaf of three loose-leaves series connection hinges (7), one end of pull rope (10) is fixed on the small hinge (3), the targeting part of the small hinge bearing (2) of small hinge (3) is directed in the T shape guide groove of guide groove seat (1), and small hinge bearing (2) position is adjusted the back and is fixed on the guide groove seat (1) with soket head cap screw; Through being installed in the guide wheel (5) on two wheel brackets (4) and being installed in wheel stand (11) upper block (5) guiding, the other end of pull rope (10) is fixed on the pull rope hold-down nut (15); Pull rope hold-down nut (15) is installed on the screw thread of piston rod of cylinder (16), and cylinder (16) is fixed on the base plate (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010579894 CN102092046B (en) | 2010-12-09 | 2010-12-09 | Pneumatic single tow rope multi-joint flexible manipulator with damping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010579894 CN102092046B (en) | 2010-12-09 | 2010-12-09 | Pneumatic single tow rope multi-joint flexible manipulator with damping |
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| Publication Number | Publication Date |
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| CN102092046A CN102092046A (en) | 2011-06-15 |
| CN102092046B true CN102092046B (en) | 2013-08-28 |
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- 2010-12-09 CN CN 201010579894 patent/CN102092046B/en not_active Expired - Fee Related
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