CN203380899U - Self-locking reinforcement supple tail end gripper with hinges connected in series - Google Patents

Abstract

The utility model relates to a self-locking power-increasing type compliant end gripper of loose-leaf hinges in series. The end gripper is composed of a palm and three flexible fingers. The palm has two structures: rectangle and hexagon; each flexible finger has the same structure. , mainly composed of an inner guide cylinder, a linear guide rail (or linear bearing) and a series loose-leaf hinge; a torsion spring is installed on each hinge mandrel of the series loose-leaf hinge, and the characteristic parameters and pre-tightening angle of the torsion spring are determined according to the Based on the characteristics of the object, it is optimized and designed; it is driven by the cylinder to generate the gripping force. This end gripper is used for the gripping of fragile and brittle objects, or special-shaped objects with changing shapes and sizes. It belongs to the application of robotics and mechatronics. Technical field; connected with the robot body, especially suitable for production and logistics fields such as grabbing, sorting and packaging of food, agricultural products and light industrial products.

Description

The submissive end grasping device of self-locking force booster type of series connection leaf hinge

Technical field:

The utility model relates to the submissive end grasping device of self-locking force booster type of the leaf hinge of connecting, and the end grasping device is comprised of a palm and three flexible fingers, and palm has rectangle and two kinds of structures of hexagon; Each flexible finger structure is identical, mainly contains an interior guide cylinder, line slideway (but also linear bearing) and a series connection leaf hinge and forms; On the hinge axle of series connection leaf hinge, a torsion spring respectively is installed, the characterisitic parameter of torsion spring and pretension angle are according to the characteristics of crawled object and optimal design goes out; Produce grasping force by air cylinder driven, this end grasping device is applied to frangible brittle body, or the grasping of the Special-shaped object of shape, size variation, and belongs to the applied technical field of robot, electromechanical integration; Connect with robot body, be particularly useful for production and the logistics fields such as crawl, sorting and packing of food, agricultural product, light industrial goods.

Background technology:

Large-scale production situation for light industry and food service industry, the logistics of the raw material complex-shaped for meeting, that physical property is various, semi-finished product, finished product and the needs of packing, for problems such as the recruitment cost that solves simple work are high, working condition is poor, need logistics to capture the end grasping device.The kind of the complex object just captured: 1. yielding soft object (bread, soft package article); 2. frangible brittle body (birds, beasts and eggs, glass and ceramic product); 3. the object that in irregular shape, size differences is large (melon and fruit, vegetables); 4. abnormity, location status is chaotic and the difficult object (bottle, bottle for cosmetics) of making in order; From, the difference of the material character of complex object, geomery and location status is larger.Traditional industry end grasping device is clamp-type or parallel movable structure, can only capture that shape size is identical, location status unanimously, rigidity workpiece that can not be damaged.Humanoid dextrous hand needs locus and the shape of perception complex object, need accurate controlled motion and grasp force, otherwise can damage complex object or can not reliably capture, but humanoid dextrous hand still is in the laboratory research stage at present.

The characteristics of the flexible finger of the utility model end grasping device are: external applied load is had to the good flexible free degree and shock-absorbing capacity, and while therefore capturing complex object, flexible adaptivity is good.

The critical component of the utility model end grasping device is flexible finger, also is called flexible joint.Before the utility model, patent application (a kind of articulated flexible manipulator, 200810023616.5) proposed that a kind of rubber corrugated tube swelling loaded type Pneumatic artificial muscle is driver drives, the flexible bending joint leaf hinge skeleton, its shortcoming is: 1. the inner chamber pressure of rubber bellows Pneumatic artificial muscle driver is large not, and driving force is large not; 2. by the torsion spring effect, be returned to initial straight configuration; 3. the direction that driving force acts on the leaf hinge skeleton can not be regulated, and the versatility that captures object is good not; 4. the stress of leaf hinge is bad, and artificial-muscle power output considerable part acts on torsion spring, makes it distortion, thereby has reduced the grasp force of flexible joint output, and along with the angular displacement of leaf hinge is larger, the power accounting that spends in the torsion spring distortion is larger; 5. under especially artificial-muscle drives, along with the angular displacement of leaf hinge is larger, the pressure increment of the artificial-muscle inner chamber that the unit increment of angular displacement is required is larger, the more difficult bending of leaf hinge, that is the slope of curve of the angular displacement-air pressure of flexible finger leaf hinge is more and more less.

Summary of the invention:

The utility model has overcome above-mentioned deficiency, the utility model end grasping device has three flexible fingers, each flexible finger structure is identical, flexible finger adopts six-bar mechanism, six bars are respectively: drive rod (piston rod of interior guide cylinder 1a and piston rod hinge seat 14a form), three loose-leaf bars that form with the series connection leaf hinge 5a of large torsion spring 4a and little torsion spring 6a (upper loose-leaf bar, middle loose-leaf bar, the slip loose-leaf bar that lower loose-leaf and line slideway chute 7a form), length-adjustable two power bars (left-hand thread hinge-rod 11a, thread bush 12a, right-hand thread hinge-rod 13a forms) and seat bar (the straight-line guide rail slide block 8a adjustable with the initial position of two power bars coordinations, rocker bar bearing 9a forms).

Drive rod does not rotatablely move, but the rectilinear motion of interior guide cylinder 1a piston rod.By regulating two power pole lengths, can set the initial angle of two power bars and the leaf hinge 5a that connects, shorter, the initial angle of two power bars is larger, and longer, the initial angle of two power bars is less; This initial angle directly affects the stressing conditions of series connection leaf hinge 5a, then determines its bending effect; When interior guide cylinder 1a starts, along with the elongation of its piston rod, straight-line guide rail slide block 8a slides along line slideway chute 7a on the one hand, promotes on the other hand series connection leaf hinge 5a bending; The existence of line slideway makes not tension stress of series connection leaf hinge 5a, more easily crooked; After a crawl section 10a touches and grabbed object, straight-line guide rail slide block 8a is substantially motionless, and the final angle of two power bars and line slideway chute 7a becomes large gradually.

Two power bars are larger with the angle of the leaf hinge 5a that connects, and it is larger that the leaf hinge 5a that makes to connect produces crooked component, and reinforcement effect is better.

According to crawled object, optimal design physical dimension, two torsion spring elastic parameters and pretension angle, meet the requirements of while grasping contact force, interior guide cylinder 1a internal gas pressure reaches system pressure, the angle of two power bars and line slideway chute 7a constantly increases, and final angle surpasses angle of friction, produces self-locking, interior guide cylinder 1a, without the accumulation of energy pressurizer, also can keep the safe grasp state.

Main solution of the present utility model is achieved in that

A kind of structure of the utility model end grasping device is as shown in accompanying drawing 1,2, by three flexible fingers 1 and a rectangle palm 2, formed, a flexible finger 1 is installed in the symmetrical centre place, left side of rectangle palm 2, and other two flexible fingers 1 are installed in respectively the both sides of rectangle palm 2 right side symmetrical centre.

The another kind of structure of the utility model end grasping device, as shown in accompanying drawing 3,4, is comprised of three flexible fingers 1 and a hexagon palm 3, and three flexible fingers 1 are installed in respectively three corresponding sides places of hexagon palm 3.The inscribed circle radius of three corresponding sides is larger, is applicable to the major diameter grasping body; The inscribed circle radius of three corresponding sides is less, is applicable to small diameter objects and captures.

As shown in Figure 5, aforesaid flexible finger 1 is parts, its structure is: it is upper that the front end flange of interior guide cylinder 1a is fixed on bevel board 3a with hexagon socket head cap screw, and piston rod hinge seat 14a screw thread is arranged on the piston rod end of interior guide cylinder 1a and screws locking with nut; Refer to that root plate 2a is fixed on rectangle palm 2 or hexagon palm 3 by screw, the upper loose-leaf of series connection leaf hinge 5a is fixed on and refers between root plate 2a and bevel board 3a by bolt and nut, the lower loose-leaf of series connection leaf hinge 5a connects line slideway chute 7a with bolt and nut, the other end bolt of line slideway chute 7a has been fixed and has been captured section 10a, the front end that captures section 10a is curved surface, be convenient to contact crawled object, on two axles of series connection leaf hinge 5a, large torsion spring 4a and little torsion spring 6a be housed respectively; Between piston rod hinge seat 14a and right-hand thread hinge-rod 13a, be hinge-coupled, hinge-coupled between rocker bar bearing 9a and left-hand thread hinge-rod 11a, left-hand thread hinge-rod 11a and right-hand thread hinge-rod 13a all are spun in thread bush 12a and screw locking with nut; Suitable, be rotated counterclockwise thread bush 12a, can make the distance between left-hand thread hinge-rod 11a and right-hand thread hinge-rod 13a increase or shorten; Rocker bar bearing 9a is screwed on straight-line guide rail slide block 8a.

Compared with the prior art the utility model has the following advantages:

(1) flexible finger adopts interior guide cylinder 1a to replace rubber bellows Pneumatic artificial muscle driver, and the gas pressure intensity born is large, and driving force grasp force large, that produce is large; Inner guide cylinder 1a piston rod acting in opposition, and, not by the torsion spring effect, be returned to initial straight configuration.

(2) the larger complex object to the difference of material character, geomery and location status, by crawl, test and analytical calculation, regulate again two power bars and leaf hinge 5a above initial angle and the initial position of straight-line guide rail slide block 8a on line slideway chute 7a of loose-leaf of connecting, so not only guaranteed that flexibility reliably captured adaptively, but also can not damage and be grabbed object, so the versatility of end grasping device is good.

(3) along with interior guide cylinder 1a piston rod constantly extends, two power bars are larger with the angle of the leaf hinge 5a that connects, the leaf hinge 5a that makes to connect overcomes the torsion spring active force and to produce crooked component larger, and the power accounting that spends in the torsion spring distortion is less, and reinforcement effect is better; The stress of series connection leaf hinge 5a is good, the less partial action of interior guide cylinder 1a power output in torsion spring, make it distortion, thereby increased the grasp force of flexible joint output.

(4) according to crawled object, optimal design physical dimension, two flat spring characterisitic parameters and pretension angle, meet the requirements of while grasping contact force, interior guide cylinder 1a internal gas pressure reaches system pressure, the angle of two power bars and line slideway chute 5a constantly increases, and final angle surpasses the angle of friction of straight-line guide rail slide block 8a on line slideway chute 7a, produces self-locking, interior guide cylinder 1a, without the accumulation of energy pressurizer, also can keep the safe grasp state.

The accompanying drawing explanation:

The A-A cutaway view of the submissive end grasping device of self-locking force booster type of the series connection leaf hinge that Fig. 1 is the rectangle palm

The top view of the submissive end grasping device of self-locking force booster type of the series connection leaf hinge that Fig. 2 is the rectangle palm

The B-B cutaway view of the submissive end grasping device of self-locking force booster type of the series connection leaf hinge that Fig. 3 is the hexagon palm

The top view of the submissive end grasping device of self-locking force booster type of the series connection leaf hinge that Fig. 4 is the hexagon palm

Fig. 5 is the front view of the flexible finger of the submissive end grasping device of self-locking force booster type of series connection leaf hinge

The specific embodiment:

Be below operation principle of the present utility model and the course of work:

As shown in Figure 1, 2, research and analysis process: to complex object microscler, rectangle, after theoretical and experimental study, excursion and material situation according to crawled body form, size, determine the safe range that captures contact force, optimal design physical dimension, two flat spring characterisitic parameters and pretension angle, determine hand sizes, regulates the two power bars length of (left-hand thread hinge-rod 11a, thread bush 12a, right-hand thread hinge-rod 13a form).

Optimization aim is: meet the requirements of while grasping contact force, interior guide cylinder 1a internal gas pressure reaches system pressure, and final angle surpasses the angle of friction of straight-line guide rail slide block 8a on line slideway chute 7a, produces self-locking, interior guide cylinder 1a, without the accumulation of energy pressurizer, also can keep the safe grasp state.

Course of action of the present utility model: interior guide cylinder piston movement makes two power bars promote rocker bar bearing 9a, and with driving straight-line guide rail slide block 8a traveling priority on line slideway chute 7a; When a crawl section 10a contacts crawled object, straight-line guide rail slide block 8a substantially no longer moves, and the angle of two power bars and line slideway chute 7a constantly increases, and final angle surpasses angle of friction, produces self-locking, maintenance safe grasp state; Now grasp the size of contact force, both guaranteed safe crawl, do not damage again crawled object.

As shown in Figure 3,4, the complex object of circle, short cylindrical shape, equally according to above-mentioned steps, regulated after experimental study and theory analysis.

Claims (1)

1. The self-locking power-increasing compliant end gripper of the loose-leaf hinge in series is characterized in that: the front flange of the inner guide cylinder (1a) is fixed on the angled plate (3a) with an inner hexagonal bolt, and the piston rod hinge seat ( 14a) Install the thread on the end of the piston rod of the inner guide cylinder (1a), and tighten it with a nut to prevent loosening; the root plate (2a) is screwed on the rectangular palm (2) or hexagonal palm (3), and the loose-leaf The upper hinge of the hinge (5a) is fixed between the finger base plate (2a) and the angled plate (3a) by bolts and nuts, and the lower hinge of the series hinge (5a) is connected with the linear guide rail chute (7a) by bolts and nuts, and the straight line The other end bolt of the guide rail chute (7a) fixes the grasping section (10a), and the front end of the grasping section (10a) is a curved surface, which is convenient to contact the grasped object. A large torsion spring (4a) and a small torsion spring (6a) are installed; the hinge connection between the piston rod hinge seat (14a) and the right threaded hinge rod (13a), the hinge support (9a) and the left threaded hinge rod (11a) ), the left threaded hinge rod (11a) and the right threaded hinge rod (13a) are both screwed in the threaded sleeve (12a), and tightened with nuts to prevent loosening; clockwise and counterclockwise rotation of the threaded sleeve (12a), you can Increase or shorten the distance between the left threaded hinge rod (11a) and the right threaded hinge rod (13a); the hinge support (9a) is fixed on the linear guide rail slider (8a) with screws; a flexible finger (1) is Installed at the left symmetrical center of the rectangular palm (2), the other two flexible fingers (1) are installed on both sides of the right symmetrical center of the rectangular palm (2), which is a structural form; three flexible fingers (1) are respectively mounted on three corresponding sides of the hexagonal palm (3), which is another structural form. the

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