Pneumatic single tow rope multi-joint flexible manipulator with damping

A pneumatic and manipulator technology, applied in the field of flexible manipulators, can solve the problems of difficult manipulators, difficult calculation and control, damage, etc., and achieve the effect of rapid movement, low use environment requirements, and agile movements

Inactive Publication Date: 2011-06-15
JIANGNAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] When the grasping manipulator is applied to fragile and brittle objects (such as poultry eggs, porcelain) and irregular objects with varying shapes and sizes (such as melons and fruits, cosmetic bottles, etc.), it is necessary to precisely control the displacement and grasping force of the knuckle joints, otherwise it will be damaged. These types of items, but because of the limitations of cost and use environment, precise control of manipulators is difficult to be widely used in agricultur

Method used

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  • Pneumatic single tow rope multi-joint flexible manipulator with damping
  • Pneumatic single tow rope multi-joint flexible manipulator with damping
  • Pneumatic single tow rope multi-joint flexible manipulator with damping

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Embodiment Construction

[0022] The damped pneumatic single-rope traction multi-joint flexible manipulator of the present invention consists of a guide groove seat 1, a small hinge support 2, a small hinge 3, a guide wheel bracket 4, a guide wheel 5, a buffer rubber 6, and a three-leaf series hinge 7, Three loose-leaf series hinge mandrel 8, torsion spring 9, traction rope 10, guide wheel seat 11, adjustable hinge mandrel 12, adjustable hinge lock nut 13, adjustable hinge support 14, traction rope fixing nut 15, cylinder 16, base plate 17, thickness changeable manipulator base 18 constitute.

[0023] The pneumatic part of the pneumatic single-rope traction multi-joint flexible manipulator with damping of the present invention is composed of a two-position four-way valve 19, a cylinder 20, a damping spring 21, an adjustable flow valve 22, a muffler 23, and a two-position on-off valve 24.

[0024] Be the working principle and working process of the present invention below:

[0025] In order to meet the...

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Abstract

The invention relates to a pneumatic single tow rope multi-joint flexible manipulator with damping. The manipulator comprises two or more flexible fingers and has a simple structure, convenience for maintenance and low requirement on operating environments. Each flexible finger is provided with a cylinder, a single tow rope and a triple cascade hinge with two rotational freedoms. The manipulator can generate and retain force to grab objects only depending on twisted springs on two hinge spindles of the triple cascade hinge, and enable triple cascade hinge to stretch to an initial position by the driving force of the cylinder and the effect of the tow rope for loosening the objects. The manipulator is actively driven to loosen the objects, passively grabs the objects under the action of the twisted springs, and has the characteristics of flexible freedom and acting force buffer, can realize flexible self-adaption to shapes and sizes of objects and grab force, can be applied to grabbingfragile objects and objects deforming in shape and size, and belongs to the application technology field of robots and mechatronics.

Description

Technical field: [0001] The invention relates to a pneumatic single-rope traction multi-joint flexible manipulator with damping. The manipulator is composed of two or more flexible fingers. Each flexible finger is composed of an air cylinder, a single traction rope and a three-leaf series hinge with two rotational degrees of freedom. Only rely on the action of the torsion spring on the two hinge mandrels of the three-leaf series hinge to generate and maintain the grasping force to grasp the object; rely on the cylinder power and rope traction, the three-leaf series hinge stretches to the initial position, loosen Open the grasped object. This flexible manipulator is a manipulator that is actively driven to release and passively grasped by the action of a torsion spring. It can be applied to the grasping of fragile and brittle objects, and special-shaped objects with changing shapes and sizes. It belongs to the application technology of robotics and mechatronics. field. Back...

Claims

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Application Information

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IPC IPC(8): B25J9/14B25J15/12
Inventor 章军吕兵
Owner JIANGNAN UNIV
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