Flexible mechanical arm with buffering function

Abstract

The invention discloses a flexible mechanical arm with the buffering function. The flexible mechanical arm comprises a flexible mechanical arm body and a mounting flange. The flexible mechanical arm further comprises an elastic buffering assembly. The elastic buffering assembly is installed between the flexible mechanical arm body and the mounting flange and used for elastically changing the distance between the mounting flange and the flexible mechanical arm body. The flexible mechanical arm body comprises an integrated block, and the integrated block is provided with at least two flexible fingers which are matched with each other to achieve flexible clamping. Each flexible finger comprises a finger base plate and a finger surface. The finger base plates and the finger surfaces define a driving chamber together. The elasticity modulus of the finger base plates is larger than that of the finger surfaces. Each flexible finger is provided with a ventilation opening communicating with the driving chamber, and each ventilation opening communicates with an air course. By the adoption of the flexible mechanical arm, tiny objects can be grabbed on a rugged or tilted working face in a self-adaption mode, the flexible mechanical arm is suitable for various environments and target objects, and the application range is greatly widened.

Description

technical field [0001] The invention relates to a flexible manipulator, in particular to a flexible manipulator with a buffer function. Background technique [0002] In the field of industrial automation, the gripping action at the end of the robotic arm is realized by a pneumatic flexible manipulator with a chamber. However, the current mechanical arm and the flexible manipulator are rigidly connected. During the inward closing and clamping process of the flexible manipulator, if the flexible fingers are too close to the table, the closing of the flexible fingers will be hindered. If the distance between the flexible fingers and the table is too far , will not be able to accurately pinch flake objects. During use, it is necessary to precisely adjust the height of the manipulator to achieve precise grasping of small flake objects. For grabbing items on irregular or inclined surfaces, when the rigidly connected flexible pneumatic fingers are drawn inward, the resistance enc...

AI Technical Summary

Problems solved by technology

[0004] 1. At present, each flexible finger of the flexible manipulator is externally connected to the air pipe and the main air intake pipe. Therefore, the entire pipeline connection is complicated, and installation and maintenance are difficult. In some harsh environments, the above-mentioned flexible manipulator is prone to failure. low reliability

[0005] 2. Since the tail of the current flexible fingers is set as a tapered air inlet, taking the flexible fingers placed vertically as an example, the upper part of each flexible finger is a tapered air inlet, and the tapered air inlet is provided with a mouth The edge of the conical air inlet is clamped by a specific fixed seat. Therefore, the installation of such a flexible manipulator is more complicated, and the arrangement of flexible fingers is limited, and it cannot be tightly arranged to clamp small items.

[0006] 3. Since the flexible fingers of the flexible manipulator rely on the change of internal air pressure to realize its own bending and clamping, and the current flexible fingers are all made of flexible materials, their strength is limited, their service life and compressive strength are limited

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