Flexible grabbing manipulator

Abstract

The invention relates to a manipulator, in particular to a flexible grabbing manipulator. The flexible grabbing mechanical arm comprises a flexible strip, a plurality of bending grooves are evenly formed in the front side and the rear side of the flexible strip from left to right, a rotating disc is arranged at the end of the flexible strip, two hinge bases are fixed to the rotating disc, and chucks are hinged to the two hinge bases. A motor frame is fixed to the rotary disc, two first motors are fixed to the motor frame, and the two first motors drive the two chucks to rotate correspondingly. A fixing shaft is fixed to the left end of the flexible strip, the center of the rotating disc is rotationally connected to the fixing shaft, and two limiting rings are fixed to the fixing shaft and located on the two sides of the rotating disc respectively. A gear ring is fixed to the right side of the rotating disc, a second motor is fixed to the left portion of the flexible strip, and a gear is fixed to an output shaft of the second motor and is in meshing transmission with the gear ring. The manipulator is flexible and can be bent to enter a narrow area which is difficult to enter for grabbing.

Description

Technical Field

[0001] The invention relates to a manipulator, more particularly to a flexible grasping manipulator. Background Art

[0002] As an automation device, manipulators are widely used in industrial manufacturing, logistics handling, medical surgery, and service robots. Traditional manipulators are usually made of rigid materials such as metal or hard plastic, and are driven by motors, hydraulics, or pneumatics to achieve gripping and operating functions. This type of manipulator is not easy to enter and has limitations when it comes to grasping in narrow areas that are difficult to enter. It is difficult to meet the requirements of modern industry and service fields for the flexibility, adaptability, and safety of manipulators. Summary of the invention

[0003] In order to overcome the deficiencies of the prior art, the present invention provides a flexible grasping manipulator, which has the beneficial effect that the manipulator is flexible and can be bent into narrow areas that are difficult to enter for grasping.

[0004] A flexible grasping manipulator comprises a flexible strip, wherein a plurality of bending grooves are evenly arranged on both the front and rear sides of the flexible strip from left to right, a turntable is arranged at the end of the flexible strip, two hinged seats are fixed on the turntable, and clamps are hinged on the two hinged seats.

[0005] A motor frame is fixed on the rotating disk, and two motors 1 are fixed on the motor frame. The two motors 1 respectively drive the two clamps to rotate.

[0006] A fixed shaft is fixed to the left end of the flexible strip, the center of the turntable is rotatably connected to the fixed shaft, and two limiting rings are fixed to the fixed shaft, and the two limiting rings are respectively located on both sides of the turntable.

[0007] A gear ring is fixed on the right side of the rotating disk, a second motor is fixed on the left part of the flexible strip, a gear is fixed on the output shaft of the second motor, and the gear is meshed with the gear ring for transmission.

[0008] Round rods are fixed on both sides of the left end of the flexible strip, blocking sheets are fixed on the ends of the two round rods, a hanging ring is sleeved on each round rod, a pull rope is fixed on each hanging ring, and two pull ropes are respectively arranged on both sides of the flexible strip.

[0009] A compression spring is sleeved on each of the round rods, and the compression spring is located between the baffle and the hanging ring. Multiple convex seats are fixed on both sides of the flexible strip, and each convex seat is provided with a strip hole, and the pull rope passes through the multiple strip holes on the same side.

[0010] A rear plate is fixed to the right end of the flexible strip, and two long holes are arranged on the rear plate, and two pull ropes pass through the two long holes respectively.

[0011] The front and rear sides of the rear plate are both fixed with strip rods, the front and rear ends of the strip rods are both slidably connected with wheel frames, the two wheel frames are both rotatably connected with rope drums, and the ends of the two pull ropes are respectively fixed on the two rope drums.

[0012] Telescopic rods are fixed on the two strip rods, and the movable ends of the two telescopic rods are respectively fixed on the two wheel frames. Motors three are fixed on the two wheel frames, and the two motors three respectively drive the two rope winding drums to rotate.

[0013] An L-shaped frame is fixed on the lower side of the rear plate, a motor seat is fixed on the fixed frame, a motor four is fixed on the motor seat, an output shaft of the motor four is fixed on the right side of the L-shaped frame, and a plurality of circular through holes are evenly distributed on the fixed frame.

[0014] The beneficial effect of the present invention is that the manipulator is flexible and can be bent to enter a narrow area that is difficult to enter for grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0016] Figure 1 A schematic diagram of the structure of a flexible grasping manipulator Figure 1 ;

[0017] Figure 2 A schematic diagram of the structure of a flexible grasping manipulator Figure 2 ;

[0018] Figure 3 A schematic diagram of the structure of a flexible grasping manipulator Figure 3 ;

[0019] Figure 4 is a schematic diagram of the structure of the turntable;

[0020] Figure 5 is a schematic diagram of the structure of the chuck;

[0021] Figure 6 Schematic diagram of the structure of the flexible strip Figure 1 ;

[0022] Figure 7 Schematic diagram of the structure of the flexible strip Figure 2 ;

[0023] Figure 8 is a schematic diagram of the structure of the rear panel;

[0024] Fig. 9 The structure of the fixed frame is shown in Fig. Figure 1 ;

[0025] Fig.10 The structure of the fixed frame is shown in Fig. Figure 2 .

[0026] In the figure: a rotating disk 101; a gear ring 102; an articulated seat 103; a motor 104; a chuck 105; a motor frame 106;

[0027] Flexible strip 201; strip hole 202; convex seat 203; round rod 204; baffle 205; hanging ring 206; limiting ring 207; gear 208; fixed shaft 209; motor 210; bending groove 211; pull rope 212;

[0028] rear plate 301; long hole 302; square column 303; wheel frame 304; telescopic rod 305; strip rod 306; motor three 307; rope drum 308;

[0029] Fixed frame 401; L-shaped frame 402; motor 403; motor seat 404; circular through hole 405. DETAILED DESCRIPTION

[0030] like Figure 4-7 As shown, this example can achieve the effect of facilitating the clamp 105 on the flexible strip 201 to bend into a narrow area that is difficult to enter for grasping.

[0031] Since the flexible grasping robot includes a flexible strip 201, a plurality of bending grooves 211 are evenly arranged on the front and rear sides of the flexible strip 201 from left to right, a turntable 101 is arranged at the end of the flexible strip 201, two hinged seats 103 are welded on the turntable 101, and a clamp 105 is hinged on the two hinged seats 103. The flexible strip 201 can be bent through the plurality of bending grooves 211, so that the flexible strip 201 can be bent as a whole, thereby facilitating the clamp 105 on the flexible strip 201 to bend into a narrow area that is difficult to enter for grasping.

[0032] like Figure 4-5 As shown, this example can achieve the effect of enabling the two clamps 105 to clamp or release an object.

[0033] Since the turntable 101 is welded with a motor frame 106, the motor frame 106 is connected with two motors 104 by screws, and the two motors 104 respectively drive the two chucks 105 to rotate, and the two motors 104 drive the corresponding chucks 105, thereby making the two chucks 105 clamp or release the object.

[0034] like Figure 4-7 As shown, this example can achieve the effect of changing the directions of the two clamps 105 .

[0035] Since the left end of the flexible strip 201 is welded with a fixed shaft 209, the center of the turntable 101 is rotatably connected to the fixed shaft 209, and two limit rings 207 are fixed to the fixed shaft 209. The two limit rings 207 are respectively located on both sides of the turntable 101, and the turntable 101 can rotate on the fixed shaft 209, thereby changing the directions of the two clamps 105. The two limit rings 207 prevent the turntable 101 from being separated from the fixed shaft 209.

[0036] like Figure 4-7 As shown, this example can achieve the effect of driving the turntable 101 to rotate on the fixed shaft 209.

[0037] Since a gear ring 102 is welded on the right side of the turntable 101, the left part of the flexible strip 201 is connected to the motor 210 by screws, and the output shaft of the motor 210 is connected to the gear 208, and the gear 208 is meshed with the gear ring 102 for transmission. The motor 210 can drive the gear 208 to rotate, thereby driving the gear ring 102 to rotate, and then driving the turntable 101 to rotate on the fixed shaft 209.

[0038] like Figure 6-7 As shown, this example can achieve the effect of controlling the bending of the flexible strip 201 .

[0039] Since round rods 204 are welded on both sides of the left end of the flexible strip 201, baffles 205 are welded on the ends of the two round rods 204, each round rod 204 is covered with a hanging ring 206, and each hanging ring 206 is connected with a pull rope 212. The two pull ropes 212 are respectively arranged on both sides of the flexible strip 201. When the pull rope 212 on one side is pulled and the pull rope 212 on the other side is released, the flexible strip 201 will bend toward the side where the pull rope 212 is pulled through multiple bending grooves 211. At this time, the hanging ring 206 on the pull rope 212 on this side will slide outward on the round rod 204, thereby achieving the effect of controlling the bending of the flexible strip 201.

[0040] like Figure 6-7 As shown, this example can achieve the effect of returning the hanging ring 206 to its original position.

[0041] Since each of the round rods 204 is sleeved with a compression spring, the compression spring is located between the blocking piece 205 and the hanging ring 206, multiple protrusions 203 are fixed on both sides of the flexible strip 201, and each protrusion 203 is provided with a bar hole 202, and the pull rope 212 passes through the multiple bar holes 202 on the same side. When the hanging ring 206 on the pull rope 212 slides outward on the round rod 204, if the flexible strip 201 returns to its original state, the compression spring can return the hanging ring 206 to its original position. The bar holes 202 on the multiple protrusions 203 can limit the pull rope 212 to one side of the flexible strip 201, preventing the pull rope 212 from escaping from the range of the flexible strip 201.

[0042] like Figure 6-8 As shown, this example can achieve the effect of limiting the end of the pull rope 212 within the range of the two long holes 302.

[0043] Since the right end of the flexible strip 201 is welded with a rear plate 301 , two long holes 302 are provided on the rear plate 301 , and the two pull ropes 212 pass through the two long holes 302 respectively. The two long holes 302 restrict the ends of the pull ropes 212 and restrict the ends of the pull ropes 212 within the range of the two long holes 302 .

[0044] like Figure 6-8 As shown, this example can achieve the effect of controlling the bending of the flexible strip 201 .

[0045] Since the strip rods 306 are welded on both the front and rear sides of the rear plate 301, the front and rear ends of the strip rods 306 are slidably connected to the wheel frames 304, the two wheel frames 304 are rotatably connected to the rope drums 308, and the ends of the two pull ropes 212 are respectively connected to the two rope drums 308. The retraction and pulling of the pull rope 212 can be controlled by rotating the rope drums 308, thereby controlling the bending of the flexible strip 201.

[0046] like Figure 8 As shown, this example can achieve the effect of increasing the distance between the pull rope 212 and the flexible strip 201, so that the pull rope 212 can more easily pull the flexible strip 201 to bend.

[0047] Since the two strip rods 306 are both connected with telescopic rods 305 by screws, the movable ends of the two telescopic rods 305 are respectively connected to the two wheel frames 304, and the two wheel frames 304 are both connected with motors 307 by screws, and the two motors 307 respectively drive the two rope drums 308 to rotate, and the two motors 307 can respectively drive the two rope drums 308 to rotate. When the pull rope 212 needs to be pulled, the wheel frame 304 on this side is driven to slide outward on the square column 303, thereby expanding the distance between the pull rope 212 and the flexible strip 201, so that the pull rope 212 can more easily pull the flexible strip 201 to bend, and the wheel frame 304 on the other side slides inward on the square column 303, so that the pull rope 212 on the other side is close to the flexible strip 201 and the pull rope 212 on this side is released. When the telescopic rod 305 is extended and retracted, the wheel frame 304 is driven to move.

[0048] like Figure 8-10 As shown, this example can achieve the effect of fixing the entire robot arm at the required position by screws.

[0049] Since an L-shaped frame 402 is welded to the lower side of the rear plate 301, a motor base 404 is welded to the fixed frame 401, a motor four 403 is connected to the motor base 404 by screws, and the output shaft of the motor four 403 is connected to the right side of the L-shaped frame 402 by screws, and a plurality of circular through holes 405 are evenly distributed on the fixed frame 401, the motor four 403 drives the L-shaped frame 402 to rotate, and then drives the rear plate 301 and the flexible strip 201 to rotate, thereby changing the direction of the flexible strip 201 when bending, and screws can be inserted into the plurality of circular through holes 405, and then the entire robot arm can be fixed to the required position by the screws.

Claims

1. A flexible grasping manipulator, comprising a flexible strip (201), characterized in that: A plurality of bending grooves (211) are evenly arranged from left to right on both the front and rear sides of the flexible strip (201), a turntable (101) is arranged at the end of the flexible strip (201), two hinged seats (103) are fixed on the turntable (101), and clamps (105) are hinged on the two hinged seats (103).

2. A flexible grasping manipulator according to claim 1, characterized in that: A motor frame (106) is fixed on the rotating disk (101), and two motors (104) are fixed on the motor frame (106). The two motors (104) respectively drive the two clamps (105) to rotate.

3. A flexible grasping manipulator according to claim 2, characterized in that: A fixed shaft (209) is fixed to the left end of the flexible strip (201), the center of the rotating disk (101) is rotatably connected to the fixed shaft (209), and two limiting rings (207) are fixed to the fixed shaft (209), and the two limiting rings (207) are respectively located on both sides of the rotating disk (101).

4. A flexible grasping manipulator according to claim 3, characterized in that: A gear ring (102) is fixed on the right side of the rotating disk (101), a second motor (210) is fixed on the left side of the flexible strip (201), a gear (208) is fixed on the output shaft of the second motor (210), and the gear (208) is meshed with the gear ring (102) for transmission.

5. A flexible grasping manipulator according to claim 4, characterized in that: Round rods (204) are fixed on both sides of the left end of the flexible strip (201), blocking sheets (205) are fixed at the ends of the two round rods (204), a hanging ring (206) is sleeved on each round rod (204), a pull rope (212) is fixed on each hanging ring (206), and the two pull ropes (212) are respectively arranged on both sides of the flexible strip (201).

6. A flexible grasping manipulator according to claim 5, characterized in that: A compression spring is sleeved on each of the round rods (204), and the compression spring is located between the blocking plate (205) and the hanging ring (206). Multiple protrusions (203) are fixed on both sides of the flexible strip (201), and each protrusion (203) is provided with a strip hole (202), and the pull rope (212) passes through the multiple strip holes (202) on the same side.

7. A flexible grasping manipulator according to claim 6, characterized in that: A rear plate (301) is fixed to the right end of the flexible strip (201), and two long holes (302) are arranged on the rear plate (301), and two pull ropes (212) pass through the two long holes (302) respectively.

8. A flexible grasping manipulator according to claim 7, characterized in that: The rear plate (301) is fixed with a strip rod (306) on both the front and rear sides, the front and rear ends of the strip rod (306) are slidably connected to wheel frames (304), the two wheel frames (304) are rotatably connected to rope drums (308), and the ends of the two pull ropes (212) are respectively fixed to the two rope drums (308).

9. A flexible grasping manipulator according to claim 8, characterized in that: A telescopic rod (305) is fixed on each of the two strip rods (306), and the movable ends of the two telescopic rods (305) are respectively fixed on two wheel frames (304). Motor three (307) is fixed on each of the two wheel frames (304), and the two motor threes (307) respectively drive the two rope winding drums (308) to rotate.

10. A flexible grasping manipulator according to claim 9, characterized in that: An L-shaped frame (402) is fixed on the lower side of the rear plate (301), a motor seat (404) is fixed on the fixed frame (401), a motor four (403) is fixed on the motor seat (404), an output shaft of the motor four (403) is fixed on the right side of the L-shaped frame (402), and a plurality of circular through holes (405) are evenly distributed on the fixed frame (401).

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