Flexible Manipulator With Thickness Special-Shaped Plate Spring Framework
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Solution Overview
Problem
Traditional industrial manipulators with rigid structures are unable to adapt to complex objects of varying shapes, sizes, and positions, leading to damage and unreliable grasping of irregularly shaped, fragile, deformable, and special-shaped items, due to fixed finger movement and force direction.
Innovation Solution
An electric-pneumatic hybrid-driving flexible manipulator with a spring framework that includes a screw shaft motor, pneumatic bellows muscles, and adjustable finger structures, allowing for precise control of contact point and force direction to accommodate diverse object shapes and sizes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a rigid structure manipulator is used, then the structure is simple and easy to manufacture, but the adaptability to different object shapes and sizes is poor
Solution Approach 1:
The patent applies dynamics by replacing the rigid fixed structure with a flexible manipulator that can dynamically adjust its shape and configuration. The manipulator uses elastic deformation of its structure to adapt to different object geometries, allowing the same structure to serve multiple grasping functions through dynamic reconfiguration rather than static rigidity
Solution Approach 2:
The patent implements parameter changes by varying the physical state of the manipulator structure from rigid to flexible. The elastic modulus and structural configuration are changed to allow the manipulator to deform and adapt its shape parameters to match different object characteristics, enabling versatile grasping without compromising manufacturability
2Device complexity
If a fixed finger movement track is used, then the structure is simple, but the ability to avoid interfering with support surfaces is poor
Solution Approach 1:
The patent uses dynamics by implementing a movable and adjustable finger movement track rather than a fixed one. The track can dynamically change its path and configuration based on the object's position and the support surface geometry, allowing fingers to navigate around obstacles without requiring complex predetermined mechanisms
3Device complexity
If torsion springs with fixed acting points are used, then the structure is simple, but the ability to adapt to different object shapes is poor
Solution Approach 1:
The patent applies dynamics by making the spring acting points movable rather than fixed. The acting points can dynamically adjust their positions along the manipulator structure to match different object shapes and grasping requirements, enabling the same spring mechanism to provide adaptive force application across various object geometries
4Manufacturing precision
If a rigid constraint structure is used, then the manufacturing precision is high, but the reliability of grasping fragile objects is poor
Solution Approach 1:
The patent implements parameter changes by transitioning from a rigid structural state to a flexible elastic state. This change in physical parameters allows the manipulator to maintain manufacturing precision while introducing compliance that protects fragile objects during grasping, thereby improving reliability without sacrificing precision
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate and reliable grasping of complex objects by adjusting finger angles and forces, minimizing damage and improving adaptability to different shapes and sizes, with quick response and effective buffering.
Implementation Method 1
A screw nut seat driven by the screw shaft motor is fixed on the driving plate
Implementation Method 2
Two linear bearings are installed on the driving plate. The two linear bearings are guided by the corresponding guide coupling rods. The driving plate moves up and down linearly.
Implementation Method 3
An upper end of a finger knuckle of the flexible finger on the left is connected to a lower end of the fixed finger holder through a hinge
Data Source
AI summary
The disclosure discloses an electric-pneumatic hybrid-driving flexible manipulator with spring framework from plates of special-shaped thickness, including a screw shaft motor, an upper seat plate, guide coupling rods, linear bearings, a driving plate, a push plate, short push rods, connecting rods, a bottom seat plate, flexible fingers, a rotating finger holder, a long push rod, a small support, tension springs, single-head bellows muscles and a ridged push plate. The framework of the flexible fingers is a thickness special-shaped plate spring designed according to the principle of equal strength. In the disclosure, through the control of a motor, an angle between a finger knuckle and a grasped object can be adjusted to realize the adjustment of the position of a contact point. To adjust the position of the contact point of the grasped object, the acting point of the contact force and the direction of the acting force can be selected according to situations, so that the grasping is more accurate and reliable. At the same time, the angle between the finger knuckle and the grasped object can be adjusted to adapt to a larger change in size of the grasped object. In the disclosure, a pneumatic system is large in gain and the pneumatic bellows muscles are light, so that the response is quick and the buffering effect is good.