Manipulator with elastic bellows single-acting cylinder driving serial flexible hinge framework

Abstract

The invention relates to a manipulator with an elastic bellows single-acting cylinder driving serial flexible hinge framework. The manipulator is formed one palm and two flexible fingers or one pal and three flexible fingers. The flexible fingers are identical in structure, and each flexible finger comprises an elastic bellows single-acting cylinder and a serial flexible hinge. The configurations of the serial flexible hinges are designed according to characteristics of objects to be grabbed, and the manipulator depends on the elastic bellows single-acting cylinder to drive to generate grabbing force. The manipulator is applied to grab fragile brittle objects or shape and size changing irregular-shaped objects and is particularly applicable to the production and logistics fields of grabbing, sorting, packaging and the like of food, agricultural products and light industrial products when being connected with a robot.

Description

Technical field: [0001] The invention relates to an elastic bellows single-acting cylinder-driven series flexible 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 flexible hinge; the configuration of the series flexible hinge is designed according to the characteristics of the object to be grasped; the manipulator is driven by a single-acting cylinder of an elastic bellows to generate 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...

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 of a flexible hinge skeleton driven by a rubber bellows expansion-loaded pneumatic artificial muscle driver. The disadvantages are: ①There is no radial direction in structure Force amplification, driven by the artificial muscle, with the greater the angular displacement of the flexible hinge, the greater the pressure increment of the artificial muscle cavity required for the unit increment of the angular displacement, the more difficult it is for the flexible hinge to bend, that is, the flexible fingers are connected in series The slopes of the two angular displacement-air pressure curves of the flexible hinge are getting smaller and smaller; ②The position where the driving force acts on the flexible hinge skeleton cannot be adjusted, and the versatility of grabbing objects is not good enough

The patent application (Pneumatic series flexible hinge multi-finger gripper with compliant mechanism, 201310123063.1) 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, its The difference between dynamic and static friction coefficients is large, and the magnitude of sliding friction is also related to the force of the piston rod, and the friction 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 Manipulator The flexible fingers are installed vertically, and are only suitable for the pinching and grasping method of "fingertip contact", and the envelope grasping method of "multiple contacts between fingers and palms" cannot be used, and the application range is small

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