CN107398916B - Hydraulic pressure driven flexible mechanical gripper - Google Patents
Hydraulic pressure driven flexible mechanical gripper Download PDFInfo
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- CN107398916B CN107398916B CN201710808580.0A CN201710808580A CN107398916B CN 107398916 B CN107398916 B CN 107398916B CN 201710808580 A CN201710808580 A CN 201710808580A CN 107398916 B CN107398916 B CN 107398916B
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- soft
- hydraulic
- pressure
- shaped inner
- inner framework
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
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Abstract
The invention discloses a water pressure driven flexible mechanical paw, which belongs to key parts of an underwater mechanical arm. Wherein, the soft driver consists of a silicon-fluorine rubber outer skin and a V-shaped inner framework. The section of the V-shaped inner framework is elliptical, and a plurality of grooves are arranged between the tail end of the driver and the connector of the driver at intervals. The flexible mechanical gripper system is simple in structure, pure water is used as a working medium, when high-pressure water flows into the V-shaped inner framework with one end closed, the metal pipe can be gradually straightened by bending due to the fact that the section of the flexible mechanical gripper system is oval, stress on all positions of the inner wall of the metal pipe is different, and meanwhile the outer surface skin of the external silicon-fluorine rubber can be changed into an inward bending shape from straight at the same time, so that grabbing action of the gripper is achieved. The invention can be expanded according to different working environments to obtain two-finger, three-finger, four-finger, six-finger and multi-finger flexible mechanical grippers.
Description
Technical Field
The invention belongs to the field of fluid transmission and control, relates to a mechanical gripper taking pure water as a working medium, and particularly relates to a three-finger flexible mechanical gripper driven by water pressure, which can be expanded into two-finger, three-finger, four-finger and multi-finger mechanical grippers according to working environments.
Background
The traditional mechanical paw is mainly researched by a rigid structure, and has been widely accumulated and applied in various fields such as industry, medical treatment, special type and the like. But the structure is complex, the flexibility is limited, the safety and the adaptability are poor, and the special application such as the grasping of complex and fragile objects, the man-machine interaction, the operation in narrow space and the like has great challenges. Recently, with the development of 3D printing technology and new intelligent materials, there has been a breakthrough progress in the research on gripper systems and a new discipline, flexible gripper, has been developed. The flexible mechanical gripper body is made of soft materials or flexible materials, can deform continuously, has infinite freedom degree in principle, and overcomes the defects of a rigid mechanical arm due to good safety and flexibility.
The research of flexible mechanical gripper at present stage mainly is mainly with traditional pneumatic drive, regards superelasticity silica gel material as the body material, combines the research of latest 3D printing technique, and this type of robot is many things pneumatic drive, and the pressure-bearing is little, and the deformation is big. However, the development of the flexible mechanical gripper also faces a lot of difficulties, because the flexible mechanical gripper is driven by gas, the system must be designed into a closed circulation structure and is provided with a pressure compensator, along with the increase of water depth, the higher the back pressure which the compensator needs to bear is, the heavier and more complicated the system is, and because the pressure bearing of the flexible mechanical gripper driven by gas is small, the flexible mechanical gripper cannot work in deep sea, so that the flexible mechanical gripper using water as a working medium is urgently needed in the present stage. The water hydraulic driven flexible mechanical paw takes pure water as a working medium, water is directly sucked from a peripheral water area by using a hydraulic pump, the system directly discharges the water to the peripheral environment after doing work without considering the problems of packaging, pressure compensation and the like, the system configuration is simple, and the environment is not polluted, so the water hydraulic driven flexible mechanical paw is suitable for being applied to underwater environments, particularly large-depth marine environments.
Disclosure of Invention
The invention provides a hydraulic-driven flexible mechanical gripper, which avoids the need of a pressure compensation device for a pneumatic-driven flexible mechanical gripper.
In order to achieve the purpose, the invention adopts the technical scheme that:
a hydraulic-driven flexible mechanical gripper is composed of a gripper mechanical component and a hydraulic drive system. The paw mechanical component comprises a pressure plate (1), a pressure seat (2), a soft driver (3,4,5) and an inner hexagonal cylindrical screw (6,7, 8); the hydraulic driving system comprises a hydraulic plunger pump (10), a submersible motor (11), a filter (12), a hydraulic overflow valve (13), a pressure gauge (14), hydraulic high-frequency electromagnetic switch valves (15,16), a pressure sensor (18), a program controller (19) and an industrial personal computer (20).
The tail ends of the soft drivers (3,4 and 5) are provided with a plurality of tail end grooves (34) of the soft drivers, and the middle parts of the soft drivers are provided with a plurality of middle grooves (32) of the soft drivers; the soft drivers (3,4,5) are provided with soft driver top bosses (35). The soft drivers (3,4 and 5) are composed of a V-shaped inner framework (9) and an outer skin, and the V-shaped inner framework (9) is wrapped by the outer skin; the top of the V-shaped inner framework (9) is provided with a V-shaped inner framework top lug boss (36). The middle groove (32) and the end groove (34) of the soft driver are used for increasing the friction force for grabbing the object, and simultaneously, the bending degree of the soft driver (3,4,5) can be increased.
High-pressure water enters the internal channel from the inlet of the pressure plate (1), the internal channel is of a three-way structure, and the three-way structure is respectively communicated with the three soft drivers, so that the high-pressure water can simultaneously flow into the three soft drivers (3,4 and 5) to drive the paw mechanical component to work. Three grooves are arranged on the pressing seat (2), and a boss (35) at the top of the soft driver is matched with the grooves on the pressing seat (2) and connects the pressing disc (1) and the pressing seat (2) through inner hexagonal cylindrical screws (6,7, 8); the V-shaped inner framework top boss (36) is matched with a groove on the soft driver top boss (35), and the matched part is sealed by an O-shaped ring (31). After high-pressure water flows into the V-shaped inner framework (9) in the soft driver (3,4,5) from the internal channel of the pressure plate (1), the V-shaped inner framework (9) is straightened by bending, and the soft driver (3,4,5) is bent and deformed under the action of water pressure, so that the grabbing action of the paw is realized.
A filter (12) is arranged at the inlet of a hydraulic plunger pump (10) in the hydraulic driving system and is driven by a submersible motor (11), a hydraulic high-frequency electromagnetic switch valve (15) and a hydraulic overflow valve (13) are arranged at the outlet of the hydraulic plunger pump (10), a pressure gauge (14) is arranged at the inlet of the hydraulic overflow valve (13), the outlets of a hydraulic high-frequency electromagnetic switch valve a (15) and a hydraulic high-frequency electromagnetic switch valve b (16) are divided into three paths, the three paths are respectively connected with three soft drivers (3,4,5) on a flexible mechanical claw (17) to drive the flexible mechanical claw (17) to carry out grabbing action, a pressure sensor (18) is arranged in the flexible mechanical claw (17), the outside of the pressure sensor (18) is connected with a program controller (19), and transmits the data to an industrial personal computer (20) through a process controller (19).
The pressure plate (1) and the pressure seat (2) are made of corrosion-resistant alloy to adapt to the deep sea environment.
The V-shaped inner framework (9) is of a V-shaped structure with one closed end, the longitudinal section (33) of the V-shaped inner framework is oval, and the V-shaped inner framework is made of high-elasticity alloy materials such as 3J1, 3J21, beryllium bronze and the like.
The outer skin is made of materials such as silicon-fluorine rubber and the like and is molded in an injection molding or 3D printing mode.
The number of the mechanical paw is expanded into two-finger, three-finger, four-finger or even multi-finger mechanical paw according to the requirement.
Compared with the prior art, the invention has the beneficial effects that:
(1) the flexible manipulator system driven by the water pressure has a simple structure, pure water is used as a working medium, the whole system is an open loop, water is directly absorbed and drained from the working environment of the system, the working medium can be directly drained, and the problems of environmental pollution and the like are avoided;
(2) the water pressure driven flexible manipulator system solves the problem that the traditional air pressure driven manipulator cannot be applied to underwater, can be applied to the deep sea of thousands of meters, avoids the need of a pressure compensation device for the air pressure driven flexible manipulator claw, and has larger driving force and grabbing force.
Drawings
FIG. 1a is an external structural view of a water hydraulic driven flexible manipulator claw designed by the invention;
FIG. 1b is a schematic diagram of an axial cross-section of a water-hydraulically driven flexible manipulator arm according to the present invention;
FIG. 2 is a schematic diagram of a hydraulic drive system designed according to this invention;
FIG. 3a is the external structure view of the soft finger designed by the present invention;
FIG. 3b is an external structural view of another perspective of the soft finger designed according to the present invention;
FIG. 3c is a schematic view of the axial cross-section of a soft finger according to the present invention;
FIG. 3d is a longitudinal sectional structural view of the high elasticity alloy tube in the soft finger according to the present invention;
in the figure: 1-a pressure plate, 2-a pressure seat, 3-a soft driver a, 4-a soft driver b, 5-a soft driver c, 6-M5 socket head cap screw a, 7-M5 socket head cap screw b, 8-M5 socket head cap screw c, 9-a high elastic alloy tube, 10-a hydraulic plunger pump, 11-a submersible motor, 12-a filter, 13-a hydraulic pressure overflow valve, 14-a pressure gauge, 15-a hydraulic pressure high-frequency electromagnetic switch valve, 16-a hydraulic pressure high-frequency electromagnetic switch valve, 17-a flexible mechanical claw, 18-a pressure sensor, 19-a program controller, 20-an industrial personal computer, 31-an O-shaped ring, 32-a soft driver middle groove, a 33-V type inner framework longitudinal section, 34-a soft driver end groove, 35-a soft driver top groove, and a boss at the top of the 36-V-shaped inner framework.
Detailed Description
The invention provides a water hydraulic driven flexible mechanical gripper, and the specific implementation mode is further described with reference to the attached drawings. As shown in figure 1a, the deep sea environment-friendly pressure plate mainly comprises a pressure plate (1), a pressure seat (2), soft drivers (3,4,5), hexagon socket head cap screws (6,7,8) and the like, wherein the pressure plate (1) and the pressure seat (2) are made of corrosion-resistant alloy and can adapt to the deep sea environment. The inlet of the pressure plate (1) is designed into a flange type or a pipe joint type and can be adjusted according to different working environments, high-pressure water flows into an internal channel from the water pressure high-frequency electromagnetic switch valve (15) through the inlet of the pressure plate (1) and flows into the three soft drivers (3,4 and 5) respectively, the pressure applied to the inside of the three soft drivers and the inflow flow are the same, and synchronous action of three fingers can be realized. The soft driver (3,4,5) is composed of a V-shaped inner framework (9) and a silicon-fluorine rubber outer skin, a soft driver top boss (35) is arranged on the soft driver (3,4,5) and is respectively matched with three grooves on the pressing seat (2), and meanwhile, a V-shaped inner framework top boss (36) is matched with the grooves on the soft driver top boss (35) and is sealed by an O-shaped ring (31). After high-pressure water flows into a V-shaped inner framework (9) in the soft driver (3,4,5) from an internal channel of the pressure plate (1), the V-shaped inner framework is bent and straightened, and the soft driver is bent and deformed under the action of water pressure, so that the grabbing action of the paw is realized.
As shown in fig. 2, a filter (12) is installed at the inlet of a hydraulic plunger pump (10) in the hydraulic drive system and is driven by a submersible motor (11), the outlet of the hydraulic plunger pump (10) is connected with a hydraulic high-frequency electromagnetic switch valve (15) and a hydraulic overflow valve (13), wherein the inlet of the hydraulic overflow valve is provided with a pressure gauge (14), and the outlets of the hydraulic high-frequency electromagnetic switch valve (15) and the hydraulic high-frequency electromagnetic switch valve (16) are divided into three paths: the flexible mechanical gripper is connected with three soft drivers (3,4 and 5) of the flexible mechanical gripper to drive the gripper to perform gripping action, a pressure sensor (18) is arranged inside the flexible mechanical gripper (17), the outside of the pressure sensor (18) is connected with a program controller (19), and data is transmitted to an industrial personal computer (20) through the program controller (19).
All the elements in the invention can be used underwater, and have corrosion resistance and good sealing property. And the robot can also be applied to other robots with different types and different types, such as water or underwater and the like.
Claims (5)
1. The utility model provides a water pressure driven flexible mechanical gripper which characterized in that: the mechanical paw consists of a paw mechanical component and a hydraulic driving system; the paw mechanical component comprises a pressure plate (1), a pressure seat (2), a soft driver (3,4,5) and an inner hexagonal cylindrical screw (6,7, 8); the hydraulic driving system comprises a hydraulic plunger pump (10), a submersible motor (11), a filter (12), a hydraulic overflow valve (13), a pressure gauge (14), hydraulic high-frequency electromagnetic switch valves (15,16), a pressure sensor (18), a program controller (19) and an industrial personal computer (20);
the tail ends of the soft drivers (3,4 and 5) are provided with a plurality of tail end grooves (34) of the soft drivers, and the middle parts of the soft drivers are provided with a plurality of middle grooves (32) of the soft drivers; a soft driver top boss (35) is arranged on the soft drivers (3,4, 5); the soft drivers (3,4 and 5) are composed of a V-shaped inner framework (9) and an outer skin, and the V-shaped inner framework (9) is wrapped by the outer skin; a V-shaped inner framework top boss (36) is arranged at the top of the V-shaped inner framework (9); the middle groove (32) and the tail end groove (34) of the soft driver are used for increasing the friction force for grabbing the object, and simultaneously, the bending degree of the soft driver (3,4,5) can be increased;
high-pressure water enters an internal channel from an inlet of the pressure plate (1), the internal channel is of a three-way structure, and the three-way structure is respectively communicated with the three soft drivers, so that the high-pressure water can simultaneously flow into the three soft drivers (3,4 and 5) to drive a paw mechanical component to work; three grooves are arranged on the pressing seat (2), and a boss (35) at the top of the soft driver is matched with the grooves on the pressing seat (2) and connects the pressing disc (1) and the pressing seat (2) through inner hexagonal cylindrical screws (6,7, 8); a V-shaped inner framework top boss (36) is matched with a groove on a soft driver top boss (35), and the matched part is sealed by an O-shaped ring (31); after high-pressure water flows into a V-shaped inner framework (9) in the soft driver (3,4,5) from an internal channel of the pressure plate (1), the V-shaped inner framework (9) is bent and straightened, and the soft driver (3,4,5) is bent and deformed under the action of water pressure, so that the grabbing action of the paw is realized;
a filter (12) is arranged at the inlet of a hydraulic plunger pump (10) in the hydraulic driving system and is driven by a submersible motor (11), a hydraulic high-frequency electromagnetic switch valve (15) and a hydraulic overflow valve (13) are arranged at the outlet of the hydraulic plunger pump (10), a pressure gauge (14) is arranged at the inlet of the hydraulic overflow valve (13), the outlets of a hydraulic high-frequency electromagnetic switch valve a (15) and a hydraulic high-frequency electromagnetic switch valve b (16) are divided into three paths, the three paths are respectively connected with three soft drivers (3,4,5) on a flexible mechanical claw (17) to drive the flexible mechanical claw (17) to carry out grabbing action, a pressure sensor (18) is arranged in the flexible mechanical claw (17), the outside of the pressure sensor (18) is connected with a program controller (19), and transmits the data to an industrial personal computer (20) through a process controller (19); the V-shaped inner framework (9) is of a V-shaped structure with one closed end, and the longitudinal section (33) of the V-shaped inner framework is oval.
2. A hydraulically driven flexible manipulator according to claim 1, wherein: the pressure plate (1) and the pressure seat (2) are made of corrosion-resistant alloy to adapt to the deep sea environment.
3. A hydraulically driven flexible manipulator according to claim 1, wherein: the V-shaped inner framework (9) is made of 3J1, 3J21 and beryllium bronze high-elasticity alloy materials.
4. A hydraulically driven flexible manipulator according to claim 1, wherein: the outer skin is made of a silicon-fluorine rubber material and is formed in an injection molding or 3D printing mode.
5. A hydraulically driven flexible manipulator according to claim 1, wherein: the number of the mechanical paw is expanded into two-finger, three-finger, four-finger or even multi-finger mechanical paw according to the requirement.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710808580.0A CN107398916B (en) | 2017-09-09 | 2017-09-09 | Hydraulic pressure driven flexible mechanical gripper |
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| CN201710808580.0A CN107398916B (en) | 2017-09-09 | 2017-09-09 | Hydraulic pressure driven flexible mechanical gripper |
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| CN107398916B true CN107398916B (en) | 2020-07-03 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108274485A (en) * | 2018-02-28 | 2018-07-13 | 深圳臻迪信息技术有限公司 | A kind of software finger, grabbing device and crawl control system |
| CN108925225B (en) * | 2018-08-28 | 2023-08-18 | 浙江理工大学 | Rigid and flexible combined driven agricultural product picking manipulator |
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| CN109648595B (en) * | 2019-01-14 | 2021-11-05 | 南京航空航天大学 | A terminal flexible mechanical grabbing device for industrial robot |
| CN110202728A (en) * | 2019-04-12 | 2019-09-06 | 浙江大学 | Software mechanical arm and preparation method thereof is strengthened in one kind three cavity outer wall fibers winding |
| CN110131228A (en) * | 2019-05-14 | 2019-08-16 | 北京工业大学 | A kind of Speed On-off Valve flexible machinery gripping tool system and device and control method |
| CN115836003A (en) * | 2020-04-30 | 2023-03-21 | 港大科桥有限公司 | Compact, lightweight hydraulic steering system for subsea applications |
| CN113370242B (en) * | 2021-06-28 | 2022-08-30 | 燕山大学 | Horizontal-longitudinal coupling pneumatic type multi-finger soft manipulator |
| CN114161470A (en) * | 2021-12-28 | 2022-03-11 | 上海大学 | Underwater flexible manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| AU2016275158A1 (en) * | 2015-06-11 | 2017-12-14 | Soft Robotics, Inc. | Modular robotic systems |
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| DE19617852A1 (en) * | 1996-04-23 | 1997-10-30 | Karlsruhe Forschzent | Process for the planar production of pneumatic and fluidic miniature manipulators |
| CN105479442A (en) * | 2016-01-19 | 2016-04-13 | 北京工业大学 | Pure water hydraulic system for driving of mechanical arm joint and control method of pure water hydraulic system |
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