Elastic corrugated pipe single-acting cylinder-driven serial plate spring framework manipulator

Abstract

The invention relates to an elastic corrugated pipe single-acting cylinder-driven serial plate spring 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 plate spring; the size of each serial plate spring is 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 a manipulator with a single-action cylinder driven by an elastic bellows, which is composed of a palm and two flexible fingers, or a palm and three flexible fingers. Each flexible finger has the same structure, mainly composed of an elastic bellows single-acting cylinder and a series leaf spring; the size of each series leaf spring is optimized according to the characteristics of the grasped object; the manipulator relies on the elastic bellows single-acting cylinder The drive generates the 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 techn...

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Problems solved by technology

Before the present invention, the patent application (a dual-flexible multi-finger gripper with adjustable pneumatic rigidity, 201310123160.0) was a manipulator driven by a cylinder. There is a sliding friction force, 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 The control is difficult; ②The comprehensive optimization design of the stiffness and stress of the leaf spring is not considered, and only a single plate spring with equal cross-section is used, and the flexibility of the equal-section leaf spring is poor; ③The flexible fingers of the manipulator are installed vertically, which is only suitable for "fingertip contact" The pinch grabbing method cannot adopt the envelope grabbing method of "multiple contacts between fingers and palms", and the application range is small

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