Elastic corrugated pipe single-acting cylinder-driven serial hinge framework manipulator

Abstract

The invention relates to an elastic corrugated pipe single-acting cylinder-driven serial hinge framework manipulator. The manipulator consists of a palm and two flexible fingers, or consists of a palm and three flexible fingers, wherein each flexible finger is same in structure, and mainly comprises an elastic corrugated pipe single-acting cylinder and a serial hinge; a torsional spring is arranged on a hinge spindle of each serial hinge; the characteristic parameters and pre-tightening angles of the torsional springs are optimally designed according to the characteristics of a grabbed object; the manipulator generates grabbing force under the driving action of the elastic corrugated pipe single-acting cylinders. The manipulator is used for grabbing fragile crispy objects or special-shaped objects of variable shapes and sizes, and belongs to the application technical field of robots and mechanical and electronic integration; the manipulator is connected with a robot body, and is particularly suitable for grabbing, sorting, packaging and the like of foods, agricultural products and light industrial products in the production and physical distribution fields.

Description

Technical field: [0001] The invention relates to an elastic bellows single-acting cylinder-driven series loose-leaf hinge skeleton manipulator. The manipulator is composed of a palm and two flexible fingers, or a palm and three flexible fingers; each flexible finger has the same structure and mainly consists of an elastic bellows Composed of a single-acting cylinder and a series loose-leaf hinge; a torsion spring is installed on each of the hinge mandrels of the series loose-leaf hinge. Single-acting cylinder drive generates gripping force. This manipulator is used for grasping fragile and brittle objects, or special-shaped objects with changing shapes and sizes, and belongs to the application technology field of robotics and mechatronics; it is connected with the robot body, and is especially suitable for grasping food, agricultural products, and light industrial products. Production and logistics areas such as picking, sorting and packaging. Background technique: [0002...

AI Technical Summary

Problems solved by technology

Before the present invention, the patent (a multi-joint flexible manipulator, 200810023616.5) proposed a flexible bending joint driven by a rubber bellows expansion-loaded pneumatic artificial muscle driver and a loose-leaf hinge skeleton. The disadvantages are: ①There is no radial direction in structure Force amplification, the greater the angular displacement of the hinge under the drive of the artificial muscle, the greater the pressure increase in the inner cavity of the artificial muscle required for the unit increment of the angular displacement, the harder the hinge is to bend, that is, the flexible fingers are connected in series The slopes of the two angular displacement-air pressure curves of the loose-leaf hinge are getting smaller and smaller; ②The position where the driving force acts on the hinge skeleton cannot be adjusted, and the versatility of grabbing objects is not good enough

The patent application (Pneumatic booster series loose-leaf hinge flexible multi-finger gripper, 201310123157.9) is a manipulator driven by a cylinder. Its disadvantages are: ① Due to the two sliding friction forces of the cylinder piston and the rubber seal on the piston rod, The difference between the dynamic and static friction coefficients is large, and the sliding friction force is also related to the force of the piston rod, and the friction force changes greatly. Therefore, the synchronization control of the piston movement of the three-finger cylinder is more complicated, and the position servo control is difficult;② The flexible fingers of the manipulator are installed vertically, which is only suitable for the pinching and grabbing method of "fingertip contact", and the envelope grabbing method of "multiple contacts between fingers and palms" cannot be used, and the application range is small

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