CN202097733U - Dangerous article collecting manipulator device driven by pneumatic muscle - Google Patents
Dangerous article collecting manipulator device driven by pneumatic muscle Download PDFInfo
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- CN202097733U CN202097733U CN2011200518262U CN201120051826U CN202097733U CN 202097733 U CN202097733 U CN 202097733U CN 2011200518262 U CN2011200518262 U CN 2011200518262U CN 201120051826 U CN201120051826 U CN 201120051826U CN 202097733 U CN202097733 U CN 202097733U
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- pneumatic muscles
- palm
- manipulator device
- pneumatic muscle
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Abstract
The utility model discloses a dangerous article collecting manipulator device driven by a pneumatic muscle. The dangerous article collecting manipulator device mainly comprises a pneumatic muscle, a steel wire, a spring, a fixing screw, gears, an angular displacement sensor, a connecting screw, a movable hand plate, a force sensor and a fixed hand plate; and the pneumatic muscle is connected with a screw installed on the movable hand plate through the steel wire, and the opening or the closing of the movable hand plate is controlled through the contraction and relaxation of the pneumatic muscle. The dangerous article collecting manipulator device driven by the pneumatic muscle has the advantages of simple structure, high power-weight ratio and convenience in use, has elasticity (The phenomenon of excessive instantaneous force is avoided), and also has intrinsic flexibility. Both of the force sensor and the angular displacement sensor are installed, and the manipulator device also can conveniently realize the accurate closed-loop control of force and small displacement, so that the manipulator device is suitable for collecting dangerous articles.
Description
Affiliated technical field
That the utility model relates to is that a kind of pneumatic muscles drives, it is flexible to have, robot device is used in the dangerous material collection.This device has comprised mechanical collecting mechanism, sensor and driving mechanism etc.Through the active contraction of pneumatic muscles and the stretching of spring, can realize the extracting and the loosening up of manipulator, action has elasticity and compliance, can be used for special applications such as danger collection.
Background technology
The system that present most of robot holds in hand adopts electric machine control system, still, adopts that electric machine control system exists that complex structure, weight are big, higher or the like some drawbacks of cost; At this moment just produced the pneumatic muscles system, the principle of this pneumatic muscles work principle and human muscular movement is similar, comes power output against the contraction and the diastole of pneumatic muscles; Because pneumatic muscles is simple in structure; Mainly be to constitute by the powerful plastic wire of rubber tube outsourcing, in light weight, minimum even have only 10g; Be fit to some to the very sensitive application of weight; And cost is low, move smoothly, response is quick, combination is flexible, and these advantages also are widely used in the kinetic control system, in the system that particularly under the certain dangerous environment, uses.
Summary of the invention
The utility model proposes a kind of device of dangerous material collection manipulator of pneumatic muscles driving, and it is characterized in that: use single pneumatic muscles and drive, pneumatic muscles can initiatively shrink, and diastole can be by springs.
The dangerous material that a kind of pneumatic muscles drives are gathered robot device; It is characterized in that it is by pneumatic muscles (1), steel wire (2), spring (3), hold-down screw (4), angular displacement sensor (5), first gear (6), second gear (7), attachment screw (8), concentric shafts (9), sliding sleeve (10), movable palm (11), power sensor (12), fixedly palm (13) is formed; Sensor has adopted angular displacement sensor (5) and power sensor (12); Two palms (11,13) connect with concentric shafts (9); Middle palm with two sliding sleeves (10) activity of clamping; Second gear (7) is installed in movable palm (11) and upward and with first gear (6) that is installed on the angular displacement sensor is meshing with each other; Pneumatic muscles (1) links to each other with attachment screw (8) on being installed in movable palm (11) through a steel wire (2), and movable palm (11) is connected with fixing palm through spring (3), and contraction through pneumatic muscles and diastole are controlled and started the folding of plate.Utilize pneumatic muscles to drive, it is simple in structure, in light weight, volume is little.Adopt the pneumatic muscles driven mechanical hand to have certain elasticity and can not produce the excessive situation of force of the breath, have higher dynamic characteristic, and do not have creeping phenomenon; Can easily realize interfix through the pressure of regulating pneumatic muscles, and in operating process, can not produce heat, noise and harmful substance; The power of its output is also enough big, and a general pneumatic muscles is with regard to the power of exportable about 30Kg, can be used for drives mechanical hand completely.
The beneficial effect that the utlity model has is:
The pneumatic muscles driven mechanical hand is simple in structure, and power-weight ratio is big, and is easy to use, and has elasticity and can not produce the excessive situation of force of the breath, has essential compliance.Because strong sensor and angular displacement sensor are installed, thus manipulator easily the closed loop of realizable force and micro-displacement accurately control, so be suitable for very much the collection of dangerous material.The danger of having avoided the dangerous material of Rigid Manipulators collection in the past to set off an explosion easily.
Description of drawings
Fig. 1 is the robot manipulator structure figure that the dangerous material of the said a kind of pneumatic muscles driving of the utility model are gathered the device of manipulator.
(1): pneumatic muscles; (2): steel wire; (3): spring; (4): hold-down screw; (5): angular displacement sensor; (6): first gear; (7): second gear; (8): attachment screw; (9): concentric shafts; (10): sliding sleeve; (11): movable palm; (12): the power sensor; (13): fixing palm.
The specific embodiment
Adopt the lightweight aluminium material to process palm, palm thickness can be 4mm; Steel wire diameter can adopt 1.5mm; Pneumatic muscles adopts the pneumatic muscles of German FESTO manufactured; Spring adopts diameter 6mm, the high resiliency spring of silk footpath 1.6mm; Concentric shafts is stressed key component, adopts the steel axle of diameter 10mm; Sliding sleeve internal diameter 12mm, external diameter 13mm, material is a copper, and smears suitable lubricating oil, can reduce and palm between friction, have good lubrication; Gear adopts the high-strength plastic steel, but weight reduction; Attachment screw quantity is 1, can adopt the M3 specification; Hold-down screw quantity is 5, and 3 are adopted the M6 specification, are used for fixing two palms, and 2 are adopted the M4 specification, are used to connect spring and fixed gear; What the power sensor used is the FS1500 type, and the dynamometry scope is 0～1500g, and what angular displacement sensor used is the WDX35D-4 type.
Two fixedly palm be assembled together up and down through concentric shafts, attachment screw; Movable palm is installed in two fixedly centres of palm through sliding sleeve and concentric shafts; First gear (6) and angular displacement sensor are installed together, and the rotating shaft of following angular displacement sensor is rotated together; Second gear (7) is installed on the concentric shafts, and hold-down screw and movable palm through the M4 specification link together, thereby rotates together; Guarantee during installation that first gear (6) and second gear (7) mesh together; One on spring is connected on the hold-down screw of M4 specification, and the end through aperture and movable palm is connected; Attachment screw is fixed together with movable palm through boring on movable palm, and the other end links to each other with steel wire; The other end of steel wire links to each other with pneumatic muscles; Pneumatic muscles is connected with fixed pedestal.
The operation process of present embodiment is: manipulator is driven by a pneumatic muscles, and when pneumatic muscles (1) diastole, steel wire (2) upper pulling force is less, because the tension of spring (3) is opened manipulator.When bomb was positioned in the middle of the movable palm (11) of manipulator and the fixing palm (13), pneumatic muscles (1) shrank and drives steel wire (2) and makes the manipulator closure then.When manipulator is clamped bomb; Power power sensor (12) on the manipulator and angular displacement sensor (5) will be experienced the variation of power and angle and pass to controller; The contraction and the diastole of controller control pneumatic muscles (1); Come the clamping bomb thereby reach a suitable power, bomb can be out of shape can landing yet.
The performance parameter analysis of robot device: in the present embodiment; Pneumatic muscles can provide the power above 15kg, is calculated and can be got by equalising torque, and movable palm maximum can provide the power above 5.5kg; It is thus clear that the pulling force of pneumatic muscles can slow down in mechanism, thereby guarantee the security that dangerous material are gathered.The precision of micro-displacement depends on the precision of angular displacement sensor, angular displacement sensor resolution ratio≤0.022 of being adopted °.Angular displacement sensor and gear (6) are assembled together, and first gear (6) and second gear (7) are meshing with each other gearratio n=1.5: 1.If do not consider between the gear and the gap that exists between movable palm and the rotating shaft, the least displacement that can measure in theory is 0.02mm.
Claims (2)
1. the dangerous material of a pneumatic muscles driving are gathered robot device; It is characterized in that it is by pneumatic muscles (1), steel wire (2), spring (3), hold-down screw (4), angular displacement sensor (5), first gear (6), second gear (7), attachment screw (8), concentric shafts (9), sliding sleeve (10), movable palm (11), power sensor (12), fixedly palm (13) is formed; Sensor has adopted angular displacement sensor (5) and power sensor (12); Two palms (11,13) connect with concentric shafts (9); Middle palm with two sliding sleeves (10) activity of clamping; Second gear (7) is installed in movable palm (11) and upward and with first gear (6) that is installed on the angular displacement sensor is meshing with each other; Pneumatic muscles (1) links to each other with attachment screw (8) on being installed in movable palm (11) through a steel wire (2), and movable palm (11) is connected with fixing palm through spring (3), and contraction through pneumatic muscles and diastole are controlled and started the folding of plate.
2. the dangerous material that a kind of pneumatic muscles according to claim 1 drives are gathered robot device, it is characterized in that: use single pneumatic muscles and drive, pneumatic muscles can initiatively shrink, and diastole can be by springs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200518262U CN202097733U (en) | 2011-02-28 | 2011-02-28 | Dangerous article collecting manipulator device driven by pneumatic muscle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200518262U CN202097733U (en) | 2011-02-28 | 2011-02-28 | Dangerous article collecting manipulator device driven by pneumatic muscle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202097733U true CN202097733U (en) | 2012-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011200518262U Expired - Fee Related CN202097733U (en) | 2011-02-28 | 2011-02-28 | Dangerous article collecting manipulator device driven by pneumatic muscle |
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| CN (1) | CN202097733U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102615651A (en) * | 2012-04-19 | 2012-08-01 | 德清明裕照明电器有限公司 | Gripping jaw mechanism of feeding manipulator |
| CN103083118A (en) * | 2013-01-18 | 2013-05-08 | 李光旭 | Drive-by-cable type mechanical arm |
| CN103507066A (en) * | 2013-09-27 | 2014-01-15 | 镇江市丹徒区富达灯泡厂 | Bulb installing transition mechanical arm of drawing-in machine |
| CN104029210A (en) * | 2014-06-05 | 2014-09-10 | 上海应用技术学院 | Two-finger mechanical claw and control method |
| CN104215472A (en) * | 2014-09-17 | 2014-12-17 | 上海普朔自动化有限公司 | Batch sampling device and application thereof |
| CN105538339A (en) * | 2016-02-23 | 2016-05-04 | 中国计量学院 | Antagonism type pneumatic muscle driven variable-speed spindle large-turning-angle bionic knee joint |
| CN108858258A (en) * | 2018-07-17 | 2018-11-23 | 东北大学 | A kind of pneumatic muscles driving primate bio-robot gripper |
-
2011
- 2011-02-28 CN CN2011200518262U patent/CN202097733U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102615651A (en) * | 2012-04-19 | 2012-08-01 | 德清明裕照明电器有限公司 | Gripping jaw mechanism of feeding manipulator |
| CN102615651B (en) * | 2012-04-19 | 2014-08-20 | 德清明裕照明电器有限公司 | Gripping jaw mechanism of feeding manipulator |
| CN103083118A (en) * | 2013-01-18 | 2013-05-08 | 李光旭 | Drive-by-cable type mechanical arm |
| CN103083118B (en) * | 2013-01-18 | 2015-05-20 | 李光旭 | Drive-by-cable type mechanical arm |
| CN103507066A (en) * | 2013-09-27 | 2014-01-15 | 镇江市丹徒区富达灯泡厂 | Bulb installing transition mechanical arm of drawing-in machine |
| CN104029210A (en) * | 2014-06-05 | 2014-09-10 | 上海应用技术学院 | Two-finger mechanical claw and control method |
| CN104215472A (en) * | 2014-09-17 | 2014-12-17 | 上海普朔自动化有限公司 | Batch sampling device and application thereof |
| CN105538339A (en) * | 2016-02-23 | 2016-05-04 | 中国计量学院 | Antagonism type pneumatic muscle driven variable-speed spindle large-turning-angle bionic knee joint |
| CN108858258A (en) * | 2018-07-17 | 2018-11-23 | 东北大学 | A kind of pneumatic muscles driving primate bio-robot gripper |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120104 Termination date: 20130228 |