CN204585235U - A kind of pneumatic brake cable drives and has the manipulator of staff feature - Google Patents
A kind of pneumatic brake cable drives and has the manipulator of staff feature Download PDFInfo
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- CN204585235U CN204585235U CN201420541104.9U CN201420541104U CN204585235U CN 204585235 U CN204585235 U CN 204585235U CN 201420541104 U CN201420541104 U CN 201420541104U CN 204585235 U CN204585235 U CN 204585235U
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- manipulator
- brake cable
- dactylus
- hole
- palm
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Abstract
The utility model discloses the manipulator with staff feature that a kind of pneumatic brake cable drives.The upper dactylus (1) of five manipulator fingers there is the fixing hole of brake cable (8); Brake cable (8) is each passed through the brake cable spacing hole of dactylus (3) under manipulator middle finger joint (2) and manipulator, thus carries out the connection of power chain; The brake cable fixing hole of brake cable (8) dactylus (1) is on a robotic arm fixed, then connects cylinder (19) afterwards at mechanical palm (9) and carry out performing motion; At brake cable, bearing is stressed, and with connecting pin (4) for rotating shaft, on manipulator, dactylus (1) and manipulator middle finger joint (2) bend simultaneously, thus reach the object flexed one's fingers.Pneumatic brake cable type of drive of the present utility model and have the manipulator of staff feature high reduce the action that staff captures, can the fields such as bio-robot, healing robot and industrial robot be used.
Description
Technical field
The utility model relates to a kind of pneumatic brake cable and drives and the manipulator with staff feature, has feature when staff captures motion, can be dexterous complete grasping movement.
Background technology
Along with the fast development of modern science and technology and the continuous expansion in robot application field, in various types of robot, anthropomorphic bio-robot project gets more and more, and the activity of original anthropomorphic bio-robot manipulator is too stiff and heavy, cannot meet application demand now.
In order to overcome, standard machinery hand method of clamping is single, activity space is little now, lack flexibility, be difficult to the shortcomings such as accurately control, and dexterity manipulator arises at the historic moment.Dexterous type manipulator has multiple free degree, can carry out precise manipulation to captured object.To replacing clamper, being installed to robot manipulation's end, can effectively expanding machine and manually make scope, improve the operation quality of robot.
Summary of the invention
The purpose of this utility model is to provide one to have multiple degrees of freedom, multi-joint, can capture the manipulator of difformity, unlike material object flexibly.It can replace staff, substitutes staff and operate in the environment of environment very severe.
The technical solution adopted in the utility model is: the fixing hole upper dactylus (1) of five manipulator fingers having brake cable (8); Brake cable (8) is each passed through the brake cable spacing hole of dactylus (3) under manipulator middle finger joint (2) and manipulator, thus carries out the connection of power chain; The brake cable fixing hole of brake cable (8) dactylus (1) is on a robotic arm fixed, then connects cylinder (19) afterwards at mechanical palm (9) and carry out performing motion; At brake cable, bearing is stressed, and with connecting pin (4) for rotating shaft, on manipulator, dactylus (1) and manipulator middle finger joint (2) bend simultaneously, thus reach the object flexed one's fingers.
Whole pneumatic circuit of the present utility model connects cylinder and is fixed on fixed head, fixed head is bored a hole with the brake cable on brake cable locating piece and carries out fixing the heart.To the heart fix can make cylinder moving time effective reduced force loss.Cylinder adopts horizontal proper alignment, saves space, also makes the application point of active force and manipulator stress point in same action plane, the loss of reduced force simultaneously.Pneumatic circuit of the present utility model adopts five cylinders as output actuator, and the elements such as cylinder and two-position five-way solenoid directional control valve, pressure regulator valve, air compressor and tracheae are as pneumatic control part.Five solenoid directional control valves do not interfere with each other, and make the manipulator of gas-powered mode have independently driving force, add the flexibility of mechanical hand while avoiding interfering.The utility model adopts the pneumatic circuit of simple novel safety as driver, simultaneously in conjunction with manipulator as executing agency, form the manipulator that whole gas-powered mode has staff feature, the manipulator that this gas-powered mode has staff feature has novel structure, flexible, mechanism simple, be easy to the advantages such as control, can meet the performance requirement of bionic field to manipulator.
the utility model selects the finger shape of cylinder, and the intensity pointed is increased, and the maximized ratio close to staff, can make manipulator more flexible simultaneously.Each finger-joint, all design with the angle being less than 20 degree in junction, manipulator is made not only to have enough spaces when bending, also there is enough mechanical strengths, each manipulator dactylus has the maximum bend angle of 60 degree with another dactylus, angle of bend during crawl with finger is consistent, can imitate the grasping movement of the mankind accurately.The junction of finger adopts level and smooth edge designs, such that finger segments is spacing when resetting to be pointed on the central axis that stretches.The utility model adopts brake cable as the driving member of power, connect at the upper dactylus place of manipulator, stress point is that axle moves at upper dactylus and with connecting pin, makes manipulator have the staff bone working method the same with muscle, makes manipulator more flexible.The utility model uses connecting pin to be connected with bearing, retrains five frees degree only discharge the free degree rotated around connecting pin at mechanical finger hypozygal, and finger upper joint and middle joint all discharge three degree of freedom, and when making it capture with staff, the free degree is identical.The utility model adopts and pneumaticly carries out driving and can accurately operate, and the motion backhaul of push rod is consistent with the backhaul of brake cable, thus the controllability of manipulator is stable, can accurately operate.
Accompanying drawing explanation
Fig. 1, manipulator finger structural representation of the present utility model;
Fig. 2, the utility model torsion spring schematic diagram;
Fig. 3, the non-round back-up ring schematic diagram of the utility model;
Fig. 4, mechanical finger sectional view of the present utility model;
Fig. 5 is the structure chart of Fig. 4;
Fig. 6, limit driving device schematic diagram of the present utility model;
Fig. 7, integral installation figure of the present utility model;
Fig. 8, pneumatic circuit schematic diagram of the present utility model;
Reference numeral:
The upper dactylus 1 of manipulator finger
Manipulator middle finger joint 2
Dactylus 3 under manipulator
Connecting pin 4
Rolling bearing 5
Torsion spring 6
Non-round back-up ring 7
Brake cable 8
Palm 9
Palm connector 10
Palm bearing pin 11
Fixed head 12
Floating position-limiting block 13
Fixing limited block 14
Fixing angle bar 15
Air compressor 16
Pressure regulator valve 17
Two-position five-way solenoid directional control valve 18
Cylinder 19
Detailed description of the invention
Consult Fig. 1-8, on manipulator, dactylus (1) step place has hole, be brake cable (8) penetrate hole, and have screwed hole in the vertical direction, fix with screw thread jackscrew; On manipulator, dactylus (1) circumferential side wall has hole, and be dactylus on manipulator (1) and the axis hole of manipulator middle finger joint (2), connecting pin (4), there is non-round step in outside, for installing non-round back-up ring (7) outside step; On bearing pin, cover has torsion spring (6), and gas-powered brake cable (8) works, and can slow down impact; Manipulator middle finger joint (2) annular projection is separately porose, brake cable (8) penetrates hole, manipulator middle finger joint (2) is connected with dactylus on manipulator (1), therefore design manipulator middle finger joint (2) and have connecting key, connecting key has through hole, and side is tack, and opposite side is countersunk head, counter sink portion is for embedding rolling bearing (5), and counter sink portion and datum hole axis are on same straight line; Under manipulator, dactylus (3) circumferential side wall has hole, and be manipulator middle finger joint (2) and the axis hole of the connecting pin (4) of dactylus (3) under manipulator, there is non-round step in outside, for installing non-round back-up ring (7) outside step; On bearing pin, cover has torsion spring (6).
Five fingers are arranged on five arc-shaped slots of mechanical palm (9) just to position respectively with palm connector (10), are fixed on palm by palm bearing pin (11); Palm connector (10) is designed with outstanding key, and key has through hole, and side is tack, and opposite side is countersunk head, and counter sink portion is for embedding rolling bearing (5), and counter sink portion and datum hole axis are on same straight line; Under manipulator, dactylus (3) is connected with palm connector (10) palm bearing pin (11), and on bearing pin, cover has torsion spring (6), and under manipulator, dactylus (3) is connected by gas-powered brake cable (8) with palm (9); Because palm connector (10) one end is arc-shaped, therefore can realize pointing the angle swinging in palm (9) plane; Palm (9) side wa ll circle arc shape groove has aperture, for passing brake cable (8).
Structure with spacing manipulator driving device is: cylinder (19) is connected with brake cable (8) by fixing limited block (14) and carries out transmission, and cylinder (19) is gone up at fixed head (12) and is fixed with fixing angle bar (15); Brake cable (8) floating position-limiting block (13) carries out spacing.
Brake cable (8) one end is steel wire contact, and the other end is limited circle of position post, and steel wire contact one end connects manipulator, and the other end matches with driving cylinder (19); Fixed head (12) one end of design has five grooves, for installing floating position-limiting block (13); Fixed head (12) other end installs fixing angle bar (15), for fixing cylinder (19); Five floating position-limiting blocks (13) of design are matched with five grooves on fixed head (12) respectively, shape is stepped ramp type, its bottom surface has counter sink, for regulating floating position-limiting block (13) in the position of groove, vertical plane has aperture, for through brake cable (8), the position of floating position-limiting block (13) on fixed head (12) groove can be regulated according to the length of different brake cable (8) like this; The fixing limited block (14) of design is arranged between cylinder (19) and floating position-limiting block (13), for inner cambered surface fluted body, by stuck for the spacing cylinder of brake cable (8) one end, one end can be realized and fixes, have hole at outer round surface, compress for screw thread jackscrew; Have screwed hole at fixing limited block (14) end face, directly realize being threaded with the piston rod of cylinder (19).
With connecting pin 4, rolling bearing 5 nested arrangements between each mechanical finger of the present utility model, torsion spring 6 realizes the reset after bending.The upper dactylus 1 of five manipulators has the fixing hole of brake cable 8, brake cable 8 is each passed through the spacing hole of the brake cable 8 of dactylus 3 under manipulator middle finger joint 2 and manipulator, thus carries out dynamofluidal connection.The fixing hole of brake cable 8 brake cable 8 of dactylus 1 is on a robotic arm fixed, then after mechanical palm 9, connects cylinder 19 drive; Brake cable 8 bearing stressed with connecting pin 4 for rotating shaft, on manipulator, dactylus 1 and manipulator middle finger joint 2 bend simultaneously, reach the object flexed one's fingers.Cylinder 19 is connected with brake cable 8 by fixing limited block 14, and carry out transmission, cylinder 19 is fixed with fixing angle bar 15 on fixed head 12; Brake cable 8 floating position-limiting block 13 carries out spacing.
Five cylinders of the present utility model adopt with brake cable fixture respectively and are threaded, and fixed head use screw-nut connect, fixing when moving with locating part, adopt screw thread fixedly to have good stability, without motion play, easy to loading and unloading.
Brake cable 8 one end is steel wire contact, and the other end is limited circle of position post, and steel wire contact one end connects manipulator, and the other end matches with driving cylinder 19.Fixed head 12 one end of design has five grooves, for installing floating position-limiting block 13.Fixed head 12 other end installs fixing angle bar 15, for fixing cylinder 19.Five floating position-limiting blocks 13 of design match with the groove of five on fixed head 12 respectively, shape is stepped ramp type, its bottom surface has counter sink, for regulating floating position-limiting block 13 in the position of groove, vertical plane has aperture, for through brake cable 8, the position of floating position-limiting block 13 on fixed head 12 groove can be regulated according to the length of different brake cable 8 like this.The fixing limited block 14 of design is arranged between cylinder 19 and floating position-limiting block 13, is inner cambered surface fluted body, by stuck for the spacing cylinder of brake cable 8 one end, can realize one end and fix, have hole at outer round surface, compress for screw thread jackscrew.Have screwed hole at fixing limited block 14 end face, directly realize being threaded with the piston rod of cylinder 19.
By air compressor 16 outwards output high-pressure gas, carry out adjustments of gas pressure by pressure regulator valve 17.The pressed gas exported gives double-acting cylinder 19 by five two-position five-way solenoid directional control valves 18.Two-position five-way solenoid directional control valve 18 is when initial position, and one end air inlet, one end is vented, and can realize stretching out of cylinder 19 piston rod, and now, freely, manipulator is in extended state to brake cable 8 state.When two-position five-way solenoid directional control valve 18 commutates, one end of air inlet before becomes exhaust, one end of front exhaust become air inlet, can realize the contraction of cylinder 19 piston rod, now, brake cable 8 state is tightened, and pull manipulator dactylus, mechanical finger is in case of bending.Five two-position five-way solenoid directional control valves 18 can work alone, and drive five cylinders 19 to work alone respectively, thus five fingers can be made to work alone, be independent of each other.So just can realize the function such as crawl, crawl of manipulator.
The above is detailed description of the invention of the present utility model; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the utility model principle; can also make some improvements and modifications, these improvements and modifications are also considered as in protection domain of the present utility model.
Claims (5)
1. pneumatic brake cable drives and has a manipulator for staff feature, it is characterized in that: the fixing hole upper dactylus (1) of five manipulator fingers having brake cable (8); Brake cable (8) is each passed through the brake cable spacing hole of dactylus (3) under manipulator middle finger joint (2) and manipulator, thus carries out the connection of power chain; The brake cable fixing hole of brake cable (8) dactylus (1) is on a robotic arm fixed, then connects cylinder (19) afterwards at mechanical palm (9) and carry out performing motion; At brake cable, bearing is stressed, and with connecting pin (4) for rotating shaft, on manipulator, dactylus (1) and manipulator middle finger joint (2) bend simultaneously.
2. pneumatic brake cable according to claim 1 drives and has the manipulator of staff feature, it is characterized in that: on manipulator, dactylus (1) step place has hole, be brake cable (8) penetrate hole, and have screwed hole in the vertical direction, fix with screw thread jackscrew; On manipulator, dactylus (1) circumferential side wall has hole, and be dactylus on manipulator (1) and the axis hole of manipulator middle finger joint (2), connecting pin (4), there is non-round step in outside, for installing non-round back-up ring (7) outside step; On bearing pin, cover has torsion spring (6), and gas-powered brake cable (8) works, and can slow down impact; Manipulator middle finger joint (2) annular projection is separately porose, brake cable (8) penetrates hole, manipulator middle finger joint (2) is connected with dactylus on manipulator (1), therefore design manipulator middle finger joint (2) and have connecting key, connecting key has through hole, and side is tack, and opposite side is countersunk head, counter sink portion is for embedding rolling bearing (5), and counter sink portion and datum hole axis are on same straight line; Under manipulator, dactylus (3) circumferential side wall has hole, and be manipulator middle finger joint (2) and the axis hole of the connecting pin (4) of dactylus (3) under manipulator, there is non-round step in outside, for installing non-round back-up ring (7) outside step; On bearing pin, cover has torsion spring (6).
3. pneumatic brake cable according to claim 1 and 2 drives and has the manipulator of staff feature, it is characterized in that: five fingers are arranged on five arc-shaped slots of mechanical palm (9) just to position respectively with palm connector (10), are fixed on palm by palm bearing pin (11); Palm connector (10) is designed with outstanding key, and key has through hole, and side is tack, and opposite side is countersunk head, and counter sink portion is for embedding rolling bearing (5), and counter sink portion and datum hole axis are on same straight line; Under manipulator, dactylus (3) is connected with palm connector (10) palm bearing pin (11), and on bearing pin, cover has torsion spring (6), and under manipulator, dactylus (3) is connected by gas-powered brake cable (8) with palm (9); Because palm connector (10) one end is arc-shaped, therefore can realize pointing the angle swinging in palm (9) plane; Palm (9) side wa ll circle arc shape groove has aperture, for passing brake cable (8).
4. pneumatic brake cable according to claim 1 drives and has the manipulator of staff feature, it is characterized in that, structure with spacing manipulator driving device is: cylinder (19) is connected with brake cable (8) by fixing limited block (14) and carries out transmission, and cylinder (19) is gone up at fixed head (12) and is fixed with fixing angle bar (15); Brake cable (8) floating position-limiting block (13) carries out spacing.
5. pneumatic brake cable according to claim 1 drives and has the manipulator of staff feature, it is characterized in that brake cable (8) one end is steel wire contact, the other end is limited circle of position post, and steel wire contact one end connects manipulator, and the other end matches with driving cylinder (19); Fixed head (12) one end of design has five grooves, for installing floating position-limiting block (13); Fixed head (12) other end installs fixing angle bar (15), for fixing cylinder (19); Five floating position-limiting blocks (13) of design are matched with five grooves on fixed head (12) respectively, shape is stepped ramp type, its bottom surface has counter sink, for regulating floating position-limiting block (13) in the position of groove, vertical plane has aperture, for through brake cable (8), the position of floating position-limiting block (13) on fixed head (12) groove can be regulated according to the length of different brake cable (8) like this; The fixing limited block (14) of design is arranged between cylinder (19) and floating position-limiting block (13), for inner cambered surface fluted body, by stuck for the spacing cylinder of brake cable (8) one end, one end can be realized and fixes, have hole at outer round surface, compress for screw thread jackscrew; Have screwed hole at fixing limited block (14) end face, directly realize being threaded with the piston rod of cylinder (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420541104.9U CN204585235U (en) | 2014-09-22 | 2014-09-22 | A kind of pneumatic brake cable drives and has the manipulator of staff feature |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420541104.9U CN204585235U (en) | 2014-09-22 | 2014-09-22 | A kind of pneumatic brake cable drives and has the manipulator of staff feature |
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| Publication Number | Publication Date |
|---|---|
| CN204585235U true CN204585235U (en) | 2015-08-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420541104.9U Expired - Fee Related CN204585235U (en) | 2014-09-22 | 2014-09-22 | A kind of pneumatic brake cable drives and has the manipulator of staff feature |
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| Country | Link |
|---|---|
| CN (1) | CN204585235U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106863333A (en) * | 2016-11-30 | 2017-06-20 | 合肥瑞硕科技有限公司 | A kind of flexible pneumatic mechanical gripper |
| CN106926266A (en) * | 2017-02-27 | 2017-07-07 | 哈尔滨工业大学深圳研究生院 | A kind of rope drives the mechanical clamping device of linkage |
-
2014
- 2014-09-22 CN CN201420541104.9U patent/CN204585235U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106863333A (en) * | 2016-11-30 | 2017-06-20 | 合肥瑞硕科技有限公司 | A kind of flexible pneumatic mechanical gripper |
| CN106926266A (en) * | 2017-02-27 | 2017-07-07 | 哈尔滨工业大学深圳研究生院 | A kind of rope drives the mechanical clamping device of linkage |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150826 Termination date: 20160922 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |