Soft manipulator

Abstract

The utility model relates to the technical field of soft mechanical arms, and discloses a soft mechanical arm which comprises a shell, a top plate is fixedly connected to the inner wall of the shell, a motor is fixedly connected to the upper surface of the top plate, a rotating plate is rotatably connected to the bottom surface of the motor through an output shaft, and four inclined grooves arranged at equal intervals are formed in the rotating plate. According to the soft manipulator, a sliding rod is driven to move in the rotating process of a rotating plate, a sliding block is made to be retracted and released with a sliding groove as a track under the action of the sliding rod, an inclined groove and the sliding groove, then a grabbing part is driven to be retracted and released, objects of different sizes can be grabbed, the structure is simple, operation is convenient, and the input cost is low; the soft manipulator has the effects of being simple in structure, convenient to assemble and produce and capable of solving the problems that although an existing soft manipulator can grab objects of different sizes, the structure is complex, the input cost is high, and assembly and production are not convenient.

Description

Technical Field

[0001] The present application relates to the technical field of soft manipulators, and specifically to a soft manipulator. Background Art

[0002] A soft manipulator is a manipulator made of soft materials. Compared with traditional manipulators or grippers, it has a stronger ability to manipulate small or fragile objects.

[0003] The existing patent (publication number: CN 208037528 U) discloses a pneumatic soft manipulator, including a chassis, a plurality of screw rods arranged on the chassis, a slider assembly corresponding to the screw rods, a pneumatic finger assembly driven by the slider assembly, and a driving motor for driving the plurality of screw rods to rotate synchronously; the slider assembly includes a slider body slidingly matched with the chassis and a flange fixed to the slider body; the flange is provided with a threaded hole threadedly matched with the screw rod; the manipulator of the utility model can realize the synchronous movement of a plurality of pneumatic soft fingers away from or close to the center of the base to expand the grasping range of the manipulator and can grasp objects of different sizes; at the same time, the pneumatic fingers can be rotated around their central axis to a four-fingered concentric or four-fingered parallel state, which is convenient for grasping objects of different shapes.

[0004] Although the above-mentioned soft manipulator can grasp objects of different sizes, its structure is relatively complex, resulting in high investment costs and inconvenience in assembly and production. Utility Model Content

[0005] In response to the shortcomings of the prior art, the present application provides a soft robot arm with the advantages of simple structure, easy use, less labor-intensive production and assembly, and low investment cost. It solves the problem that although the existing soft robot arm can grasp objects of different sizes, it has a relatively complex structure, resulting in high investment cost and inconvenient assembly and production.

[0006] To achieve the above-mentioned objectives, the present application provides the following technical solutions: a soft manipulator comprises a shell, the inner wall of the shell is fixedly connected to a top plate, the upper surface of the top plate is fixedly connected to a motor, the bottom surface of the motor is rotatably connected to a rotating plate via an output shaft, the interior of the rotating plate is provided with four equidistantly arranged inclined grooves, the rotating plate is slidably connected to four sliding rods via the inclined grooves, the inner wall of the shell is fixedly connected to a bottom plate, the interior of the bottom plate is provided with equidistantly arranged sliding grooves, the bottom plate is slidably connected to four sliding blocks via the sliding grooves, the bottom surface of the sliding rod is fixedly connected to the upper surface of the sliding block, and the bottom surface of the sliding block is fixedly connected to a gripping portion.

[0007] Through the above scheme, although the existing soft manipulator can grasp objects of different sizes, its structure is relatively complicated, resulting in high investment cost and inconvenience in assembly and production. The rotating plate drives the slide bar to move during the rotation process, and the slider is prompted to retract and extend with the slide groove as a track under the action of the slide bar, inclined groove and slide groove, thereby driving the grasping part to retract and extend, and grasp objects of different sizes. It has a simple structure, is easy to operate, has a low investment cost, and is easy to assemble and produce.

[0008] Furthermore, a limiting ring is fixedly sleeved on the outer circumferential surface of the rotating plate, and the outer circumferential surface of the limiting ring is rotatably connected to the interior of the outer shell.

[0009] Through the above scheme, the rotating plate is restricted to prevent the rotating plate from rising and falling longitudinally, thereby increasing the stability of the rotating plate movement.

[0010] Furthermore, a gas passage is provided inside the gripping portion, and equidistantly arranged air chambers are provided inside the gripping portion, and each of the air chambers is connected to the gas passage.

[0011] Through the above solution, the grasping portion can inflate each air chamber simultaneously through the air channel, thereby expanding the air chamber, causing the grasping portion to bend, and completing the grasping of the object.

[0012] Furthermore, a vent pipe is fixedly inserted inside the gripping portion, the outer circumferential surface of the vent pipe is fixedly inserted inside the slider, the outer circumferential surface of the vent pipe is fixedly inserted inside the slide bar, and the outer circumferential surface of the vent pipe is fixedly inserted inside the top plate.

[0013] Through the above scheme, the ventilation pipe is connected to the gas channel, and the gas channel is connected to the external device under the action of the ventilation pipe.

[0014] Furthermore, a collar is fixedly sleeved on the outer circumferential surface of the slide rod, four limiting grooves are provided inside the rotating plate, and the outer circumferential surface of the collar is slidably connected to the rotating plate via the limiting grooves.

[0015] Through the above solution, the sliding rod is restricted to prevent the sliding rod from sliding off, thereby increasing the stability of the movement of the sliding rod and the slider.

[0016] Furthermore, a protective cover is fixedly connected to the upper surface of the top plate, and the protective cover is located directly above the motor.

[0017] Through the above solution, the motor is protected to prevent the motor from being easily damaged.

[0018] Furthermore, a mounting ring is fixedly connected to the upper surface of the protective cover, and mounting holes arranged at equal distances are provided inside the mounting ring.

[0019] Through the above scheme, the soft manipulator is connected to the external device through the installation ring, which facilitates the connection and installation of the soft manipulator.

[0020] Furthermore, the inner side of the gripping portion is provided with equidistantly arranged anti-skid grooves, and the outer surface of the gripping portion is provided with an anti-skid coating.

[0021] According to the above scheme, the grasped object is anti-slip through the anti-slip groove and the anti-slip coating, thereby increasing the stability during the object grasping operation.

[0022] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0023] The soft manipulator drives the slide bar to move during the rotation of the rotating plate, so that the slider is retracted and extended with the slide bar, the inclined groove and the slide groove as a track under the action of the slide bar, the inclined groove and the slide groove, and then drives the grasping part to be retracted and extended, so that objects of different sizes can be grasped, the structure is simple, the operation is convenient, the investment cost is low, and the assembly and production are convenient. This solves the problem that the existing soft manipulator can grasp objects of different sizes, but the structure is relatively complex, resulting in high investment cost and inconvenience in assembly and production. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is the overall three-dimensional structure diagram of this application;

[0025] Figure 2 This is the overall upward structural diagram of this application;

[0026] Figure 3 Rotate the plate structure diagram for this application;

[0027] Figure 4 This is the base plate structure diagram for this application;

[0028] Figure 5 This is the structural diagram of the crawling part of this application.

[0029] In the figure:

[0030] 1. Shell; 2. Top plate; 3. Motor; 4. Rotating plate; 5. Limiting ring; 6. Inclined groove; 7. Slide bar; 8. Bottom plate; 9. Slide groove; 10. Sliding block; 11. Grabbing part; 12. Gas channel; 13. Air chamber; 14. Ventilation pipe; 15. Ring; 16. Limiting groove; 17. Protective cover; 18. Mounting ring. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0032] See also Figure 3 , Figure 4 and Figure 5 A soft manipulator in this embodiment includes a shell 1, a top plate 2 is fixedly connected to the inner wall of the shell 1, a motor 3 is fixedly connected to the upper surface of the top plate 2, the bottom surface of the motor 3 is rotatably connected to a rotating plate 4 through an output shaft, four equidistantly arranged inclined grooves 6 are opened inside the rotating plate 4, the rotating plate 4 is slidably connected to four sliding rods 7 through the inclined grooves 6, a bottom plate 8 is fixedly connected to the inner wall of the shell 1, equidistantly arranged sliding grooves 9 are opened inside the bottom plate 8, four sliding blocks 10 are slidably connected to the bottom plate 8 through the sliding grooves 9, the bottom surface of the sliding rod 7 is fixedly connected to the upper surface of the sliding block 10, and the bottom surface of the sliding block 10 is fixedly connected to a grasping portion 11.

[0033] See also Figure 3 and Figure 4 The outer circumference of the rotating plate 4 is fixedly sleeved with a limiting ring 5, and the outer circumference of the limiting ring 5 is rotatably connected to the inside of the shell 1 to limit the rotating plate 4, prevent the rotating plate 4 from longitudinally rising and falling, and increase the stability of the movement of the rotating plate 4.

[0034] See also Figure 5 A gas channel 12 is provided inside the grasping portion 11, and equidistantly arranged air chambers 13 are provided inside the grasping portion 11. Each air chamber 13 is connected to the gas channel 12, so that the grasping portion 11 can inflate each air chamber 13 at the same time through the gas channel 12, thereby expanding the air chamber 13, causing the grasping portion 11 to bend and complete the grasping of the object.

[0035] See also Figure 3 , Figure 4 and Figure 5 A vent pipe 14 is fixedly inserted inside the grabbing portion 11, the outer circumferential surface of the vent pipe 14 is fixedly inserted inside the slider 10, the outer circumferential surface of the vent pipe 14 is fixedly inserted inside the slide bar 7, the outer circumferential surface of the vent pipe 14 is fixedly inserted inside the top plate 2, and is connected to the gas channel 12 through the vent pipe 14, so that the gas channel 12 is connected to the external device under the action of the vent pipe 14.

[0036] See also Figure 4The outer circumferential surface of the slide rod 7 is fixedly sleeved with a ring 15, and four limiting grooves 16 are opened inside the rotating plate 4. The outer circumferential surface of the ring 15 is slidably connected with the rotating plate 4 through the limiting grooves 16, which restricts the slide rod 7 to prevent the slide rod 7 from sliding off and increase the stability of the movement of the slide rod 7 and the slider 10.

[0037] See also Figure 1 and Figure 3 A protective cover 17 is fixedly connected to the upper surface of the top plate 2. The protective cover 17 is located directly above the motor 3 to protect the motor 3 and prevent the motor 3 from being easily damaged.

[0038] See also Figure 1 and Figure 3 The upper surface of the protective cover 17 is fixedly connected with a mounting ring 18, and the interior of the mounting ring 18 is provided with mounting holes arranged at equal distances. The mounting ring 18 is used to connect the soft manipulator to external equipment, so as to facilitate the connection and installation of the soft manipulator.

[0039] See also Figure 1 , Figure 2 and Figure 5 The inner side of the grasping portion 11 is provided with equidistantly arranged anti-skid grooves, and the outer surface of the grasping portion 11 is provided with an anti-skid coating. The anti-skid grooves and the anti-skid coating are used to prevent the grasped object from slipping, thereby increasing the stability during the object grasping operation.

[0040] A soft manipulator in the present embodiment drives the slide bar 7 to move during the rotation of the rotating plate 4, so that the slider 10 is retracted and extended with the slide groove 9 as a track under the action of the slide bar 7, the inclined groove 6 and the slide groove 9, and then drives the grasping part 11 to be retracted and extended, so as to achieve the effect of being able to grasp objects of different sizes, with a simple structure, convenient operation, low investment cost, and easy assembly and production. It solves the problem that although the existing soft manipulator can grasp objects of different sizes, it has a relatively complex structure, resulting in high investment cost and is not easy to assemble and produce.

[0041] It should be noted that the gripping parts 11 are made of soft material, and the angles between the four gripping parts 11 are equal, all of which are 90 degrees, so that the gripped object is subjected to uniform force, making it easier to grip the object.

[0042] The working principle of the above embodiment is:

[0043] It can be connected to external equipment through the ventilation pipe 14. When it is necessary to grab an object, gas is injected into the grasping part 11 through the ventilation pipe 14, and the gas is injected into each air chamber 13 through the gas channel 12. Then the air chamber 13 expands, causing the grasping part 11 to bend inward to grab the object. The motor 3 can be started as a power to drive the rotating plate 4 to rotate through the output shaft. The rotating plate 4 drives the slide bar 7 to move during the rotation, causing the slider 10 to move with the slide groove 9 as a track under the action of the slide bar 7, the inclined groove 6 and the slide groove 9, thereby driving the grasping part 11 to move. The grasping part 11 can be adjusted to an appropriate position according to the size of the object to be grasped. The structure is simple, the operation is convenient, the investment cost is low, and it is convenient for assembly and production.

[0044] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0045] Although the embodiments of the present application have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A soft robot, comprising a housing (1), characterized in that: The inner wall of the housing (1) is fixedly connected to a top plate (2), the upper surface of the top plate (2) is fixedly connected to a motor (3), the bottom surface of the motor (3) is rotatably connected to a rotating plate (4) via an output shaft, the interior of the rotating plate (4) is provided with four equidistantly arranged inclined grooves (6), the rotating plate (4) is slidably connected to four sliding rods (7) via the inclined grooves (6), the inner wall of the housing (1) is fixedly connected to a bottom plate (8), the interior of the bottom plate (8) is provided with equidistantly arranged sliding grooves (9), the bottom plate (8) is slidably connected to four sliding blocks (10) via the sliding grooves (9), the bottom surface of the sliding rod (7) is fixedly connected to the upper surface of the sliding block (10), and the bottom surface of the sliding block (10) is fixedly connected to a gripping portion (11).

2. A soft robot according to claim 1, characterized in that: A limiting ring (5) is fixedly sleeved on the outer circumferential surface of the rotating plate (4), and the outer circumferential surface of the limiting ring (5) is rotatably connected to the interior of the outer shell (1).

3. A soft robot according to claim 1, characterized in that: A gas passage (12) is provided inside the gripping portion (11), and equidistantly arranged gas chambers (13) are provided inside the gripping portion (11), and each of the gas chambers (13) is connected to the gas passage (12).

4. A soft robot according to claim 1, characterized in that: A vent pipe (14) is fixedly inserted into the interior of the gripping portion (11); the outer circumferential surface of the vent pipe (14) is fixedly inserted into the interior of the slider (10); the outer circumferential surface of the vent pipe (14) is fixedly inserted into the interior of the slide bar (7); and the outer circumferential surface of the vent pipe (14) is fixedly inserted into the interior of the top plate (2).

5. The soft robot according to claim 1, characterized in that: A collar (15) is fixedly sleeved on the outer circumferential surface of the slide rod (7), four limiting grooves (16) are provided inside the rotating plate (4), and the outer circumferential surface of the collar (15) is slidably connected to the rotating plate (4) via the limiting grooves (16).

6. A soft robot according to claim 1, characterized in that: A protective cover (17) is fixedly connected to the upper surface of the top plate (2), and the protective cover (17) is located directly above the motor (3).

7. A soft robot according to claim 6, characterized in that: The upper surface of the protective cover (17) is fixedly connected to a mounting ring (18), and the interior of the mounting ring (18) is provided with mounting holes arranged at equal distances.

8. The soft robot according to claim 1, characterized in that: The inner side of the gripping portion (11) is provided with anti-skid grooves arranged at equal distances, and the outer surface of the gripping portion (11) is provided with an anti-skid coating.

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