CN205889235U - Negative pressure auxiliary rod bunch self -adaptation machine staff device - Google Patents
Negative pressure auxiliary rod bunch self -adaptation machine staff device Download PDFInfo
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- CN205889235U CN205889235U CN201620501220.7U CN201620501220U CN205889235U CN 205889235 U CN205889235 U CN 205889235U CN 201620501220 U CN201620501220 U CN 201620501220U CN 205889235 U CN205889235 U CN 205889235U
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Abstract
Negative pressure auxiliary rod bunch self -adaptation machine staff device belongs to machine staff technical field, includes base, a plurality of sliding push rod, elasticity film, elasticity film pipe, draws membrane element, driver, drive mechanism, fluid drive source, first fluid, second fluid and a plurality of spring spare. The device is used for the robot to snatch the object, has realized that the self -adaptation snatchs the function. When device contact object, the freedom of utilizing a plurality of sliding push rod is slided from top to bottom and is reached the self -adaptation effect of wrapping up not equidimension and shape object, utilizing second fluid to fill into elasticity film pipe locking sliding push rod, recycling first fluid and discharge and bring the shrink of elasticity film, stimulate the terminal centering bending of a plurality of sliding push rod and gather together, the multidirectional power of holding of grabbing of applying of multiple spot is utilized and is drawn membrane element pulling elasticity film to make the elasticity film warp, further relies on the atmospheric pressure to snatch with the help of the local depression region that produces, can realize grabbing the stability of object and hold. The device simple structure, the good reliability, application scope is wide.
Description
Technical field
The utility model belongs to robot technical field, particularly to a kind of negative pressure auxiliary rod cluster adaptive robot hand
The structure design of device.
Background technology
Robot has been widely used in robot field, for by connection interim with object for robot and fixation
Get up, and can be discharged in due course, the former achieves crawl object, the latter achieves relieving object.General
Robot has the part of two relative motions in order to reduces cost is made into, and realizes capturing and releasing in order to simplest
Playing function.Also there are many structures imitating staff, be designed as having, on more fingers and finger, there are some joints, but that
Sample can bring the complexity of mechanical system, sensor-based system, control system and control algolithm and high cost.Partial robotic's hand
There is adaptability, before crawl, do not know that object to be captured is which kind of shape and size, also not to crawl in crawl
Object carry out sensing detection, but but can adaptively capture, this automatic conformability for body form, size
Robot is made not increase sensing and demand for control while realizing and more extensively capture different objects.
Peter b.scott is in document (peter b.scott, " the ' omnigripper ': a form of robot
Universal gripper ", robotica, vol.3:pp 153-158,1985) in describe a kind of machinery passive type adapt to
The universal gripper omnigripper of body form.This clamper has two groups of bar gatherings and closes, and every group of bar gathering is closed multiple phases
Mutually parallel stock, the stock that these are promoted and freely slided up and down by object to be grabbed has reached the purpose adapting to body form,
Draw close in conjunction with two groups of bar clusters of driver drives or leave, realize the grasping to object.For example, when the end of robot is leaned on
During to the object being placed on certain seating surface (as desktop), object extruding stock makes it slide into pedestal, due to stock number
Amount is more, and stock is relatively thin (diameter is less), and different stocks touches different object table millet cake, and each stock is into palm
Sliding distance is different, and this distance is relevant with the local shape of object；Afterwards, two groups of right bar gatherings of a first from left are closed and are closed up folder again
Handle object, clamp object using stock from side, reach crawl purpose.
This device is disadvantageous in that:
(1) multidirectional grasping cannot be accomplished.When this device applies grasp force to target object, this grasp force can only be along two groups
The direction that bar gathering is closed up, is equivalent to two finger clampers, generation is only one-dimensional clamping mode, and clamping effect is poor.
(2) the strip object grasping that specific direction is placed was lost efficacy.When target object is parallel with the direction and target
Object is longer than this device in this direction, then target object will not be subject to grasping force because two groups of expansion links close up, such as crawl one
The object of individual strip.
(3) complex structure, energy consumption are big.This device has 2 groups of bar gatherings to close, and needs 2 movable supporting members mutually moving
(or moving base), a set of line slideway, 2 slide blocks, driver, transmission mechanisms etc., structure is complex, and will allow a tool
Power consumption is compared in the heavy bar gathering resultant motion having many stocks.
(4) long term reliability is poor.All stocks and chute all expose in the work environment, full of dust, fly
In the factory floor environment of wadding, between stock, easily sandwich little foreign matter, cannot be able to slide because of long-pending full dirt wadding fiber in chute,
Various impacts and reduce service life factor a lot, in the factory floors such as the food of many dust, weaving, mining activities, dirt
Soil absorption is collected in stock and chute, largely effects on stock sliding effect in pedestal, or even produces fault.
(5) grasping stability has much room for improvement.This device the grasping force of target object is only closed up by two groups of bar gatherings and
Produce, be only capable of the force-closure grasp object using grasping force, and lack preferable envelop-type Shape closed crawl effect, because, power
Closing crawl object not necessarily can produce Shape closed crawl, but Shape closed crawl necessarily includes force-closure grasp, therefore
It is best that grasp stability has reached Shape closed.
Eric brown et al. is in document (eric brown, nicholas rodenberga, john amendb, annan
mozeikac,erik steltzc,mitchell r.zakind,hod lipsonb,heinrich
m.jaegera.universal robotic gripper based on the jamming of granular
material.proceedings of the national academy of sciences of the united states
of america(pnas),vol.107,no.44:18809–18814,doi:10.1073/pnas.1003250107,
Sept.17,2010 describe a kind of general-purpose machinery staff blocking the principle of solidification based on particle in).This robot includes can
The elastic film of deformation, a port, filter screen, it is placed on fluid in hymeniderm (as gas) and a large amount of granular materials (as coffee
Grain) and fluid source (such as pump or can emptying receptacles).
The operation principle of this device is: the particle in hymeniderm can be freely-movable in hymeniderm, when the end of robot is close to
Be placed on certain seating surface object when, object can extrude hymeniderm, so that the particle in hymeniderm is squeezed and move, different
Movement degree in hymeniderm for the grain is different, and this movement degree is relevant with the shape of object, reaches the effect of self adaptation body form
Really.Afterwards, the fluid in hymeniderm is sucked away, and particle is stayed in hymeniderm due to the presence of filter screen, and particle is due to mutual extrusion friction
Produce and block solidification effect, the particles populations using solidification produce contact point across hymeniderm to object, cause to refer to Multi-contact more
The effect of crawl, the possible area of low pressure producing sealing in local is to obtain atmospheric pressure auxiliary grip effect in addition.
This device is disadvantageous in that:
(1) this device adopts substantial amounts of granular materials, and the abrasion of granular materials can significantly weaken the use longevity of this device
Life；
(2) this device needs adjusting means endocorpuscular how much different preferably to capture when capturing different objects
Object, greatly reduces its versatility；
(3) this device needs to walk the fluid almost all suction in hymeniderm, and energy consumption is big, fluid source (as pump) high cost,
Can emptying receptacles volume big or can emptying receptacles pressure big.
Utility model content
The purpose of this utility model is the weak point in order to overcome prior art, provides a kind of negative pressure auxiliary rod cluster adaptive
Answer robot hand device.This device is used for capturing object, has adaptivity to article size and shape；Reach many to object
To grasping effect: grasping force can be provided in multiple directions to object, the variously-shaped object that different directions are placed all can have
Effect grasping；It is suitable for using in the harsh environments such as more dust and willow catkins flying in the air, long term reliability is good；Structure is simple,
Grasping stability is high.
The utility model adopts the following technical scheme that
A kind of negative pressure auxiliary rod cluster adaptive robot arm device of the utility model design, including pedestal and k slip
Push rod；One end slip of each described pusher is embedded in pedestal and glide direction is flat with the center line of this pusher
OK, the center line of all described pusher is parallel to each other；The fluid flexible link cluster adaptive robot that the utility model provides
Arm device it is characterised in that: this negative pressure auxiliary rod cluster adaptive robot arm device also include elastic film, Thin Elastic membrane tube,
Membrane part, driver, transmission mechanism, first fluid, second fluid, first fluid driving source, second fluid driving source and k spring
Part；Described pedestal includes k through hole, at least one first port and at least one second port；Described first fluid driving source
It is connected with first port, described second fluid driving source is connected with second port；Partly or entirely described pusher is using having
The flexible link of the elasticity of flexure, described flexible link stress is flexible and resilient when not stressing；Described Thin Elastic membrane tube is arranged on base
In seat；Described Thin Elastic membrane tube pass through each described pusher around, described Thin Elastic membrane tube respectively with cunning each described
Dynamic push rod contacts；Described driver is affixed with pedestal, and the described output shaft of driver is connected with the input of transmission mechanism, institute
The output end stating transmission mechanism is connected with membrane part one end, and the other end of described membrane part is affixed with elastic film；Described second
Fluid Sealing is in described Thin Elastic membrane tube；Described Thin Elastic membrane tube is deformable；Described Thin Elastic membrane tube is provided with least one and opens
Mouthful, the opening of described Thin Elastic membrane tube is connected with described second port；The two ends of i-th spring part connect pedestal and i-th respectively
Individual pusher；One end of all described pusher is all stretched out from the same side of pedestal；Described elastic film is deformable, described
Elastic film has an opening, and described elastic film wraps up the part that all pusher stretch out pedestal, the opening of described elastic film
Mouth sealing is fixed on pedestal；Described elastic film and pedestal constitute a chamber to first fluid sealing, and first fluid is close
Envelope is in the cavity；Described first port enters the entrance of chamber or the outlet leaving chamber for first fluid；Wherein, k is
Natural number more than 3；I=1,2 ..., k；I is natural number.
Negative pressure auxiliary rod cluster adaptive robot arm device described in the utility model it is characterised in that: described first-class
Body driving source adopts pump.
Negative pressure auxiliary rod cluster adaptive robot arm device described in the utility model it is characterised in that: described second
Body driving source adopts pump.
Negative pressure auxiliary rod cluster adaptive robot arm device described in the utility model it is characterised in that: described membrane part
It is connected with the central area of the lower end of elastic film.
Negative pressure auxiliary rod cluster adaptive robot arm device described in the utility model it is characterised in that: described Thin Elastic
Film is made up of the material that flexibility can empty, and described Thin Elastic membrane tube is made up of the material that flexibility can empty.
Negative pressure auxiliary rod cluster adaptive robot arm device described in the utility model it is characterised in that: described first-class
Body driving source adopts fluid container.
Negative pressure auxiliary rod cluster adaptive robot arm device described in the utility model it is characterised in that: described second
Body driving source adopts fluid container.
Negative pressure auxiliary rod cluster adaptive robot arm device described in the utility model it is characterised in that: described slip pushes away
Bar includes at least one rod member and at least one flexible elastic component；Described rod member is together with springs in series.
Negative pressure auxiliary rod cluster adaptive robot arm device described in the utility model it is characterised in that: described membrane part
Using tendon rope.
Negative pressure auxiliary rod cluster adaptive robot arm device described in the utility model it is characterised in that: described driver
Using motor, cylinder or hydraulic cylinder.
The utility model compared with prior art, has a feature following outstanding:
The utility model device adopt multiple pusher, elastic film, Thin Elastic membrane tube, fluid, fluidic drive source and
Spring part etc. comprehensively realizes discrete space self-adapting grasping function, using multiple pusher realize to article size and shape from
Adaptive functions, it is not necessary to adjust this device according to the shape of object, size, are filled with the locking of Thin Elastic membrane tube using second fluid and slide
Dynamic push rod, using first fluid discharge elastic film when atmospheric pressure help so that elastic film shrink, multiple pusher to
The center curvature deformation of device, reaches the multidirectional stable grasp effect of the multiple spot to object；It is each that this device is placed to different directions
Plant shaped objects (as strip object) all can effectively grasp；In this device, all of pusher and through hole etc. preferably seal
Close inside device, therefore this device is suitable for making in relatively more severe (such as there are more dust, willow catkins flying in the air) working environment
With；Due to achieving multidirectional crawl, grasping force can be provided in multiple directions to target object；Pull Thin Elastic using membrane part
Film, makes area of low pressure between elastic film and object to be grabbed, further relies on atmospheric pressure auxiliary grip, therefore grasps stability
High.This apparatus structure is simple, and good reliability is applied widely.
Brief description
Fig. 1 is a kind of section view of embodiment of negative pressure auxiliary rod cluster adaptive robot arm device that the utility model provides
Figure.
Fig. 2 is the axle sectional view of embodiment illustrated in fig. 1.
Fig. 3 is a kind of three-dimensional appearance figure of embodiment illustrated in fig. 1.
Fig. 4 is another kind of three-dimensional appearance figure of embodiment illustrated in fig. 1.
Fig. 5 is the top view of the bottom base of embodiment illustrated in fig. 1.
Fig. 6 is the schematic three dimensional views of the bottom base of embodiment illustrated in fig. 1.
Fig. 7, Fig. 8 and Fig. 9 are the process schematic that embodiment illustrated in fig. 1 captures sphere-like object object.
Figure 10 and Figure 11 is the principle schematic that embodiment illustrated in fig. 1 captures sphere-like object object.
Figure 12 is the enlarged schematic partial view of Figure 10.
Figure 13 is the enlarged schematic partial view of Figure 11.
Figure 14 is the part-structure front view when this embodiment captures sphere-like object object for the embodiment illustrated in fig. 1.
Figure 15 is the schematic three dimensional views of embodiment illustrated in fig. 1 part-structure when this embodiment captures sphere-like object object.
Figure 16 is this embodiment and sphere-like object object before embodiment illustrated in fig. 1 applies chucking power to sphere-like object object
Three-dimensional appearance figure.
Figure 17 is this embodiment and sphere-like object object after embodiment illustrated in fig. 1 applies chucking power to sphere-like object object
Three-dimensional appearance figure.
Figure 18,19 and Figure 20 are the process schematic that embodiment illustrated in fig. 1 captures strip target object.
Figure 21 is that embodiment illustrated in fig. 1 captures the part-structure front view of strip target object in this embodiment.
Figure 22 is that embodiment illustrated in fig. 1 captures the part-structure schematic three dimensional views of strip target object in this embodiment.
Figure 23 is this embodiment and strip target before embodiment illustrated in fig. 1 applies chucking power to strip target object
The three-dimensional appearance figure of object.
Figure 24 is this embodiment and strip target after embodiment illustrated in fig. 1 applies chucking power to strip target object
The three-dimensional appearance figure of object.
Figure 25 is the schematic diagram of the pusher of another embodiment of the present utility model.
In Fig. 1 to Figure 25:
1- pedestal, 11- through hole, 12- top base, 13- intermediate base, 14- bottom base,
15- first port, 16- second port, 17- the 3rd port, 18- base seat groove, 2- pusher,
21- rod member, 22- elastic component, 3- spring part, 4- elastic film, 5- Thin Elastic membrane tube,
6- clamping ring, 71- first fluid, 72- second fluid, 8- conduit, 9- membrane part,
101- driver (motor), 102- shaft coupling, 103- reel, 11- area of low pressure,
121- sphere-like object object, 122- strip target object, 13- bearing-surface.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment further describes concrete structure of the present utility model, operation principle and work
Process.
A kind of negative pressure auxiliary rod cluster adaptive robot arm device of the utility model design, including pedestal and k slip
Push rod；One end slip of each described pusher is embedded in pedestal and glide direction is flat with the center line of this pusher
OK, the center line of all described pusher is parallel to each other；The fluid flexible link cluster adaptive robot that the utility model provides
Arm device it is characterised in that: this negative pressure auxiliary rod cluster adaptive robot arm device also include elastic film, Thin Elastic membrane tube,
Membrane part, driver, transmission mechanism, first fluid, second fluid, first fluid driving source, second fluid driving source and k spring
Part；Described pedestal includes k through hole, at least one first port and at least one second port；Described first fluid driving source
It is connected with first port, described second fluid driving source is connected with second port；Partly or entirely described pusher is using having
The flexible link of the elasticity of flexure, described flexible link stress is flexible and resilient when not stressing；Described Thin Elastic membrane tube is arranged on base
In seat；Described Thin Elastic membrane tube pass through each described pusher around, described Thin Elastic membrane tube respectively with cunning each described
Dynamic push rod contacts；Described driver is affixed with pedestal, and the described output shaft of driver is connected with the input of transmission mechanism, institute
The output end stating transmission mechanism is connected with membrane part one end, and the other end of described membrane part is affixed with elastic film；Described second
Fluid Sealing is in described Thin Elastic membrane tube；Described Thin Elastic membrane tube is deformable；Described Thin Elastic membrane tube is provided with least one and opens
Mouthful, the opening of described Thin Elastic membrane tube is connected with described second port；The two ends of i-th spring part connect pedestal and i-th respectively
Individual pusher；One end of all described pusher is all stretched out from the same side of pedestal；Described elastic film is deformable, described
Elastic film has an opening, and described elastic film wraps up the part that all pusher stretch out pedestal, the opening of described elastic film
Mouth sealing is fixed on pedestal；Described elastic film and pedestal constitute a chamber to first fluid sealing, and first fluid is close
Envelope is in the cavity；Described first port enters the entrance of chamber or the outlet leaving chamber for first fluid；Wherein, k is
Natural number more than 3；I=1,2 ..., k；I is natural number.
Take k=40, then a kind of embodiment of negative pressure auxiliary rod cluster adaptive robot arm device described in the utility model,
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5 and Fig. 6.This embodiment includes pedestal 1, elastic film 4, Thin Elastic membrane tube 5, membrane part
9th, driver 101, transmission mechanism, first fluid 71, second fluid 72, first fluid driving source, second fluid driving source, 40
Pusher 2 and 40 spring parts 3；Slide and be embedded in pedestal 1 and glide direction and this cunning in one end of each described pusher 2
The centerline parallel of dynamic push rod, the center line of all described pusher 2 is parallel to each other；Described pedestal 1 include 40 through holes 11,
First port 15 and second port 16；Described first fluid driving source is connected with first port 15, described second fluid driving source
It is connected with second port 16；Partly or entirely described pusher 2 is using the flexible link having the elasticity of flexure, described flexible link stress
Flexible and resilient when not stressing；Described Thin Elastic membrane tube 5 is arranged on the relation that can be contacted with through hole each described 11
In pedestal 1；Described driver 101 is affixed with pedestal 1, and the described output shaft of driver 101 is connected with the input of transmission mechanism,
The output end of described transmission mechanism is connected with membrane part 9 one end, and the other end of described membrane part 9 is affixed with elastic film；Described
Second fluid 72 is sealed in described Thin Elastic membrane tube 5；The inflatable deformation of described Thin Elastic membrane tube 5 stress, does not stress and can recover；
Described Thin Elastic membrane tube 5 is provided with an opening, and described opening is connected with described second port 16；The two of described i-th spring part 3
End connects pedestal 1 and i-th pusher 2 respectively；One end of all described pusher 2 is all stretched out from the same side of pedestal 1；
Described elastic film 4 is deformable, and described elastic film 4 has opening, and described elastic film 4 wraps up all pusher 2 and stretches out
The part of pedestal 1, the opening sealing of described elastic film 4 is fixed on pedestal 1；Described elastic film 4 and pedestal 1 constitute one
Chamber to first fluid 7 sealing, first fluid 7 seals in the cavity；Described first port 15 is entered for first fluid 7
The entrance entering chamber or the outlet leaving chamber；Wherein, i=1,2 ..., 40；I is natural number.
In the present embodiment, all using pump, described pump is reversible work for described first fluid driving source and second fluid driving source
Use pump.
In the present embodiment, described membrane part 9 adopts tendon rope, the central area of the lower end of described membrane part 9 and elastic film 4
It is connected.
In another kind of embodiment, described first fluid driving source adopts fluid container, and described second fluid driving source adopts
Fluid container.
In the present embodiment, described elastic film 4 is made up of the material that flexibility can empty.In the present embodiment, described Thin Elastic
Membrane tube 5 is made up of the material that flexibility can empty.
Fluid in the utility model can be gas can also be liquid.In the present embodiment, described first fluid 71 is
Gas, described second fluid 72 is gas.Described first fluid 71 is air.Described second fluid 72 is air.
Negative pressure auxiliary rod cluster adaptive robot arm device described in the utility model it is characterised in that: described slip pushes away
Bar includes at least one rod member and at least one flexible elastic component；Described rod member is together with springs in series.Another
Plant in embodiment, described pusher 23, as shown in figure 25, including at least one inflexibility, incompressible rod member 21 and
At least one flexible, compressible elastic component 22；Described rigid rod 21 and elastic component 22 are cascaded.
Negative pressure auxiliary rod cluster adaptive robot arm device described in the utility model it is characterised in that: described driver
Using motor, cylinder or hydraulic cylinder.In the present embodiment, described driver adopts motor 101.
Although softer elastic film 4 serves the effect of soft finger face grasping, but, in another kind of embodiment, described cunning
The end of dynamic push rod 23 can adopt elastomeric material, and the preferably soft finger face that is so advantageously implemented captures effect, push rod end with
The localized contact point of elastic film 4 expands to contact area, and contact range is bigger, and crawl effect is more preferable.
In the present embodiment, described pedestal 1 includes top base 12, intermediate base 13 and bottom base 14；Described bottom base 14 is tied
As shown in Figure 5 and Figure 6, described intermediate base 13 is equipped with base seat groove 16 with bottom base 14 to structure；During described Thin Elastic membrane tube 5 is placed in
Between pedestal 13 the base seat groove composition of base seat groove and bottom base 14 within the chamber.
In the present embodiment, described transmission mechanism includes shaft coupling 102 and reel 103；Described shaft coupling connects reel
103 are located on pedestal 1 with driver 103, described coiling jacket casing 103, and described membrane part 9 one end is affixed on a bobbin, another
End is fixed on elastic film 4.
In the present embodiment, described pedestal 1 is additionally provided with the 3rd port 17.
The present embodiment also includes clamping ring 6, and elastic film 4 is fixed on pedestal 1 described clamping ring 6.
The present embodiment also includes conduit 8, and described conduit 8 connects first port 15, the 3rd port 17 and bottom base 14 and bullet
Property film 4 constitute chamber.
Introduce the operation principle of embodiment illustrated in fig. 1 below in conjunction with the accompanying drawings.
The original state of the present embodiment as shown in Figure 1, Figure 2, Figure 3 and Figure 4, now first port 15, second port 16 and
3rd port 17 is turned off, and i-th pusher 2 in the presence of i-th spring part 3, stretch by the major part of i-th pusher 2
Go out bottom base 14 and be in the within the chamber that bottom base 14 is constituted with elastic film 4；Now driver 101 is not actuated, at membrane part 9
In relaxed state；Wherein, i=1,2 ..., 40；I is natural number.
When this embodiment implements crawl to target object, the 3rd port 17 is opened, and keeps being connected with the 3rd port 17
The pressure of fluid source be atmospheric pressure, or by second port 17 and atmosphere (in the present embodiment, fluid is gas).Due to
The pressure of the first fluid 71 in elastic film 4 is identical with atmospheric pressure, and elastic film 4 is in poised state, now due to
Second port 16 is closed, and second fluid driving source does not act on, and Thin Elastic membrane tube 5 is unexpanded, therefore pusher 2 can be slidably
In through hole 11.This embodiment produces extruding near the object put on the bearing surface and to object under the drive of mechanical arm.If
The region of the corresponding elastic film 4 in pusher 2 lower section in device has touched object, then this pusher 2 can be in target
With respect to gripping device upward sliding under the reaction force of object；And if the region of the corresponding elastic film 4 in pusher 2 lower section
Do not touch target object, this pusher 2 will not be moved with respect to gripping device；Because different pusher 2 is in target
Create different sliding distances under the extruding reaction force of object, therefore elastic film 4 adaptively wraps target object, such as
Shown in Figure 10.
Afterwards, second port 16 is opened, and second fluid driving source is filled with second by second port 16 to Thin Elastic membrane tube 5
Fluid 72 (being air in the present embodiment), second fluid 72 pressure in Thin Elastic membrane tube 5 increases to outside more than Thin Elastic membrane tube 5
The pressure of first fluid 71, Thin Elastic membrane tube 5 starts to expand j-th cunning being embedded in j-th through hole 11 until extruding is slided
Dynamic push rod 2, j-th pusher 2 is squeezed and can not slide；This process is as shown in Figure 12 and Figure 13；Wherein, j=1,2 ...,
40；J is natural number.
After all pusher are extruded locking by Thin Elastic membrane tube 5, second port 16 is kept to open；Then first port
15 open, and the 3rd port 17 is closed, in the presence of first fluid driving source, the within the chamber that pedestal 1 and elastic film 4 are constituted
Part or all of air discharge, lead to the pressure of this within the chamber to be less than ambient atmosphere pressure, elastic film 4 is subject to external atmosphere pressure
Strong extruding and shrink；Because pusher 2 is locked, therefore in elastic film 4 contraction process, pusher 2 will not be upwards
Slide；And because pusher 2 has flexible elasticity, therefore pusher 2 can be subject to the extruding of elastic film 4 to fill to this
Put middle part have a certain degree of gather flexural deformation, and then in the side of target object, extruding force is created to target object
I.e. grasping force；After this device wraps up and produces grasping force to object, driver 101 starts, and drives membrane part 9 to pull Thin Elastic
Film, makes elastic film be deformed, and then makes to produce localized low-pressure zone 11 between elastic film and object, relies on atmospheric pressure to carry
For aid grip power；Crawl during schematic diagram as shown in Figure 10 and Figure 11；The bending situation of pusher 2 such as Figure 14, figure
15th, shown in Figure 21 and Figure 22, when applying before grasp force, this device and the three-dimensional appearance of object are as shown in Figure 16 and Figure 23；Applying
Plus when after grasp force this device and object three-dimensional appearance as shown in Figure 17 and Figure 24；Whole crawl process such as Fig. 7 to Fig. 9 and Tu
Shown in 18 to Figure 20.
Produce localized low-pressure zone between this embodiment and target object and this embodiment creates side to target object
After extruding force, this gripping device achieves the crawl to target object under the motion of mechanical arm.
When discharging object, driver 101 reverse drive, make membrane part 9 close driver after relaxing；Then first port
15 closings, the 3rd port 17 opens, and pedestal 1 refills gas with the within the chamber of elastic film 4 composition, this within the chamber pressure with
Outside pressure is identical, thus elastic film 4 has been returned to original state；Now second fluid driving source is right by second port 16
Thin Elastic membrane tube 5 acts on, and siphons away second fluid 72, so that Thin Elastic membrane tube 5 is shunk, and Thin Elastic membrane tube 5 no longer extrudes pusher
2, pusher 2 is freely slidable, then closes second port 16；Now remove robot hand device, i-th pusher 2
Also return in the presence of i-th spring part 3 and stretch out pedestal 1 original state the longest, and because pusher 2 is no longer influenced by
Elastic film 4 extrudes, pusher 2 original state stretched of recovery, and then the grasp force of target object is disappeared it is achieved that right
The release of target object.Wherein, i=1,2 ..., 36；I is natural number.
The utility model device adopts multiple pusher, elastic film, Thin Elastic membrane tube, fluid, membrane part, fluid to drive
Discrete space self-adapting grasping function is comprehensively realized in dynamic source and spring part etc., is realized to article size and shape using multiple pusher
The adaptation function of shape, it is not necessary to adjust this device according to the shape of object, size, is filled with Thin Elastic membrane tube using second fluid
Locking pusher, using first fluid discharge elastic film when atmospheric pressure help so that elastic film shrink, multiple slips
Push rod, to the center curvature deformation of device, reaches the multidirectional stable grasp effect of the multiple spot to object, pulls elasticity using membrane part
Film makes to produce localized low-pressure zone between elastic film and target object, increases the reliability of grasping；This device is to not Tongfang
All can effectively grasp to the variously-shaped object (as strip object) placed；In this device, all of pusher and through hole
It has been enclosed in inside device Deng preferably, therefore this device is suitable in relatively more severe (such as there are more dust, willow catkins flying in the air) work
Use in environment；Due to achieving multidirectional crawl, grasping force can be provided in multiple directions to target object, but also can be according to
Further rely on atmospheric pressure auxiliary grip by producing area of low pressure, therefore grasping stability is high.This apparatus structure is simple, reliability
Good, applied widely.
Claims (10)
1. a kind of negative pressure auxiliary rod cluster adaptive robot arm device, including pedestal (1) and k pusher (2)；Described in each
One end of pusher (2) slide be embedded in pedestal (1) and glide direction and this pusher (2) centerline parallel, institute
The center line having described pusher (2) is parallel to each other；It is characterized in that: this negative pressure auxiliary rod cluster adaptive robot arm device
Also include elastic film (4), Thin Elastic membrane tube (5), membrane part (9), driver (101), transmission mechanism, first fluid (71),
Second fluid (72), first fluid driving source, second fluid driving source and k spring part (3)；Described pedestal (1) includes k through hole
(11), at least one first port (15) and at least one second port (16)；Described first fluid driving source and first port
(15) it is connected, described second fluid driving source is connected with second port (16)；Partly or entirely described pusher (2) is using having
The flexible link of the elasticity of flexure, described flexible link stress is flexible and resilient when not stressing；Described Thin Elastic membrane tube (5) is arranged on
In pedestal (1)；Described Thin Elastic membrane tube (5) pass through each described pusher around, described Thin Elastic membrane tube respectively with often
Individual described pusher contacts；Described driver (101) is affixed with pedestal (1), the output shaft of described driver (101) and biography
The input of motivation structure is connected, and the output end of described transmission mechanism is connected with membrane part (9) one end, described membrane part (9) another
One end is affixed with elastic film；Described second fluid (72) is sealed in described Thin Elastic membrane tube (5)；Described Thin Elastic membrane tube
(5) deformable；Described Thin Elastic membrane tube (5) is provided with least one opening, the opening and described second of described Thin Elastic membrane tube (5)
Port (16) is connected；The two ends of i-th spring part (3) connect pedestal (1) and i-th pusher (2) respectively；All described cunnings
One end of dynamic push rod (2) is all stretched out from the same side of pedestal (1)；Described elastic film (4) is deformable, described elastic film (4)
There is opening, described elastic film (4) wraps up the part that all pusher (2) stretch out pedestal (1), described elastic film (4)
Opening sealing be fixed on pedestal (1)；Described elastic film (4) and pedestal (1) constitute one and first fluid (71) are sealed
Chamber, first fluid (71) seal in the cavity；Described first port (15) is that first fluid (71) enters chamber
Entrance or the outlet leaving chamber；Wherein, k is the natural number more than 3；I=1,2 ..., k；I is natural number.
2. negative pressure auxiliary rod cluster adaptive robot arm device as claimed in claim 1 it is characterised in that: described first fluid
Driving source adopts pump.
3. negative pressure auxiliary rod cluster adaptive robot arm device as claimed in claim 1 it is characterised in that: described second fluid
Driving source adopts pump.
4. negative pressure auxiliary rod cluster adaptive robot arm device as claimed in claim 1 it is characterised in that: described membrane part
(9) it is connected with the central area of the lower end of elastic film (4).
5. negative pressure auxiliary rod cluster adaptive robot arm device as claimed in claim 1 it is characterised in that: described elastic film
(4) it is made up of the material that flexibility can empty, described Thin Elastic membrane tube (5) is made up of the material that flexibility can empty.
6. negative pressure auxiliary rod cluster adaptive robot arm device as claimed in claim 1 it is characterised in that: described first fluid
Driving source adopts fluid container.
7. negative pressure auxiliary rod cluster adaptive robot arm device as claimed in claim 1 it is characterised in that: described second fluid
Driving source adopts fluid container.
8. negative pressure auxiliary rod cluster adaptive robot arm device as claimed in claim 1 it is characterised in that: described pusher
Including at least one rod member (21) and at least one flexible elastic component (22)；Described rod member (21) and elastic component (22) series connection
Together.
9. negative pressure auxiliary rod cluster adaptive robot arm device as claimed in claim 1 it is characterised in that: described membrane part
(9) adopt tendon rope.
10. negative pressure auxiliary rod cluster adaptive robot arm device as claimed in claim 1 it is characterised in that: described driver
Using motor, cylinder or hydraulic cylinder.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620501220.7U CN205889235U (en) | 2016-05-27 | 2016-05-27 | Negative pressure auxiliary rod bunch self -adaptation machine staff device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105856269A (en) * | 2016-05-27 | 2016-08-17 | 清华大学 | Negative-pressure auxiliary rod cluster-provided self-adaptive robot hand device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105856269A (en) * | 2016-05-27 | 2016-08-17 | 清华大学 | Negative-pressure auxiliary rod cluster-provided self-adaptive robot hand device |
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