Soft manipulator

Abstract

The utility model relates to the technical field of manipulators, and discloses a soft manipulator which comprises a fixed frame, two clamping jaws are fixedly connected to the bottom of the fixed frame, compression plates are fixedly connected to the bottom ends of the faces, close to each other, of the two clamping jaws, and the top ends of the two compression plates are turned outwards. The top ends of the faces, away from each other, of the two compression plates are fixedly connected with elastic steel sheets. According to the soft mechanical arm, when the two clamping claws are close to each other to clamp an external product, the top ends of the two compression plates can be compressed to turn over in the direction away from each other, meanwhile, the elastic steel sheet is extruded, the elastic steel sheet is matched with the arrangement that the elastic steel sheet turns over to extrude a pressure sensor, and the purpose of monitoring pressure can be achieved; and when the pressure reaches a preset threshold value, an external air pump stops air conveying, then the clamping force is controlled, the surface of the product is prevented from being damaged, through the arrangement of an anti-skid pad and a protruding strip, friction with the product can be increased, and then the clamping stability is improved.

Description

Technical Field

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

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms to grab, move objects or operate tools according to a fixed program. It is a type of industrial robot that can complete various expected tasks through programming. Its structure and performance combine the advantages of both humans and mechanical machines. The manipulator can replace the heavy labor of humans, realize the mechanization and automation of production, and operate in harmful environments to protect personal safety.

[0003] The existing patent (publication number: CN219666698U) discloses a soft mechanical arm with metal shell protection, which specifically relates to the field of agricultural production technology. The utility model includes a base, the top of the base is rotatably connected to a first mechanical arm, one end of the first mechanical arm is rotatably connected to a second mechanical arm, one end of the second mechanical arm is rotatably connected to an operating rod, one end of the operating rod is fixedly connected to an auxiliary plate, and a soft gripper is arranged on one side of the auxiliary plate. The utility model arranges a load-bearing plate. Under the action of the auxiliary plate and the electric telescopic rod, when the gripper clamps the crops, the electric telescopic rod is started to drive the auxiliary plate and the load-bearing plate to move downward, and then the motor and the threaded cylinder drive the threaded rod to push the load-bearing plate to move in the direction of the crops, which can support the crops, thereby preventing the crops from falling off the gripper due to loose clamping, thereby ensuring the normal progress of the work.

[0004] However, during the use of the above device, after the gripper clamps the crops, the electric telescopic rod is started to drive the auxiliary plate and the load-bearing plate to move downward, and then the motor and the threaded cylinder drive the threaded rod to push the load-bearing plate to move in the direction of the crops, which can support the crops and prevent the crops from falling from the gripper due to loose clamping. However, it is difficult to control the clamping force during the clamping process. For some fruit crops, when the surface pressure of the crops is relatively high, they are easily clamped, which causes the fruits to decay rapidly during storage and transportation. Utility Model Content

[0005] In view of the shortcomings of the prior art, the present application provides a soft manipulator with advantages such as controlling the clamping force, which solves the problem that it is difficult to control the clamping force during the clamping process. For some fruit crops, when the surface pressure of the crops is high, they are easily clamped, which causes the fruits to spoil quickly during storage and transportation.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical solutions: a soft manipulator, comprising a fixed frame, the bottom of the fixed frame is fixedly connected to two clamping claws, the bottom ends of the two clamping claws on the sides close to each other are fixedly connected to compression plates, and the top ends of the two compression plates are turned outward, and the top ends of the two compression plates on the sides away from each other are fixedly connected to elastic steel sheets;

[0007] The bottom ends of the two elastic steel sheets are fixedly connected to the clamping claws close to them, the sides of the two compression plates close to each other are fixedly connected with anti-skid pads, the sides of the two anti-skid pads close to each other are convex strips arranged at equal distances, and the insides of the sides of the two clamping claws close to each other are fixedly installed with pressure sensors, and the detection ends of the two pressure sensors are in contact with the elastic steel sheets.

[0008] Through the above scheme, when the two clamping claws are close to each other to clamp the external product, they can compress the top ends of the two compression plates to flip in the direction away from each other, and at the same time squeeze the elastic steel sheet. Combined with the setting of the elastic steel sheet flipping and squeezing pressure sensor, the purpose of pressure monitoring can be achieved. When the pressure reaches the preset threshold, the external air pump stops supplying air, thereby controlling the clamping force to avoid damaging the product surface. The anti-slip pad and convex strip settings can increase the friction coefficient with the product, thereby improving the clamping stability.

[0009] Furthermore, a lifting plate is provided inside the fixed frame, and the left and right ends of the lifting plate are hinged with a first connecting rod, the bottom ends of the two first connecting rods are hinged with a second connecting rod, the ends of the two second connecting rods that are away from each other are fixedly connected with a rotating shaft, the front and rear ends of the two rotating shafts are rotatably connected to the fixed frame, the middle ends of the two rotating shafts are fixedly connected with a third connecting rod, the bottom ends of the two third connecting rods are hinged to the top ends of the clamping claws close to them, and auxiliary connecting rods are provided above the two clamping claws, and the two ends of the two auxiliary connecting rods are respectively hinged to the clamping claws close to them and the fixed frame.

[0010] Through the above solution, the lifting plate is moved upwards to bring the two clamping claws closer to each other, and the lifting plate is moved downwards to move the two clamping claws away from each other.

[0011] Furthermore, a movable rod is fixedly connected to the upper surface of the lifting plate, and the movable rod is slidably plugged into the top of the fixed frame.

[0012] Through the above solution, by setting the movable rod, the up and down movement of the lifting plate can be limited.

[0013] Furthermore, a piston disc is fixedly connected to the top of the movable rod, a pressure cylinder is sleeved on the outer surface of the piston disc, a bottom end of the pressure cylinder is fixedly connected to a fixed frame, and an air inlet pipe is provided above the pressure cylinder.

[0014] Through the above solution and the provision of the air intake pipe, the purpose of using air pressure to push the piston disc to move can be achieved.

[0015] Furthermore, a spring is fixedly connected to the bottom of the piston disc, a bottom end of the spring is fixedly connected to a fixed frame, and the spring is located inside the pressure cylinder.

[0016] Through the above solution, by setting the spring, it is possible to provide assistance for the resetting of the piston disc.

[0017] Furthermore, a connecting frame is fixedly connected to the top of the fixed frame, and the pressure cylinder is fixedly connected to the connecting frame.

[0018] Through the above scheme and the setting of the connecting frame, the purpose of fixing the pressure cylinder can be achieved.

[0019] Furthermore, two connection holes are provided at the top of the connection frame.

[0020] Through the above scheme, the setting of the connecting hole facilitates the user's communication with the outside world.

[0021] Furthermore, the top end of the air inlet pipe is fixedly connected to an output end of an external air pump, and the top end of the connecting frame is fixedly installed to an external mechanical arm.

[0022] Through the above scheme, by setting up an external air pump, gas can be transported into the pressure cylinder, thereby pushing the piston disk to move.

[0023] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0024] This kind of soft manipulator can compress the top ends of the two compression plates to flip in the direction away from each other when the two clamping claws are close to each other to clamp the external product, and at the same time squeeze the elastic steel sheet. With the setting of the elastic steel sheet flipping and squeezing pressure sensor, the purpose of pressure monitoring can be achieved. When the pressure reaches the preset threshold, the external air pump stops supplying air, thereby controlling the clamping force to avoid damaging the product surface. The anti-slip pad and convex strip settings can increase the friction coefficient with the product, thereby improving the clamping stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a cross-sectional view of the front view of the overall structure of this application;

[0026] Figure 2 This is the front view of the overall structure of this application;

[0027] Figure 3 For this application Figure 2 A schematic diagram of the structure enlargement in the middle;

[0028] Figure 4 It is a three-dimensional schematic diagram of the overall structure of this application.

[0029] In the figure:

[0030] 1. Fixed frame; 2. Clamping claw; 3. Compression plate; 4. Elastic steel sheet; 5. Anti-skid pad; 6. Raised strip; 7. Pressure sensor; 8. Lifting plate; 9. First connecting rod; 10. Second connecting rod; 11. Rotating shaft; 12. Third connecting rod; 13. Auxiliary connecting rod; 14. Movable rod; 15. Piston disc; 16. Pressure cylinder; 17. Spring; 18. Connecting frame; 19. Connecting hole; 20. Intake pipe. 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 1 , Figure 2 and Figure 4 A soft manipulator in this embodiment includes a fixed frame 1, two clamping claws 2 are fixedly connected to the bottom of the fixed frame 1, a lifting plate 8 is arranged inside the fixed frame 1, the left and right ends of the lifting plate 8 are hinged with a first connecting rod 9, the bottom ends of the two first connecting rods 9 are hinged with a second connecting rod 10, the ends of the two second connecting rods 10 that are away from each other are fixedly connected with a rotating shaft 11, the front and rear ends of the two rotating shafts 11 are rotatably connected to the fixed frame 1, the middle ends of the two rotating shafts 11 are fixedly connected with a third connecting rod 12, the bottom ends of the two third connecting rods 12 are hinged to the top end of the clamping claws 2 close to them, an auxiliary connecting rod 13 is arranged above the two clamping claws 2, the two ends of the two auxiliary connecting rods 13 are respectively hinged to the clamping claws 2 close to them and the fixed frame 1, by moving the lifting plate 8 upward, the purpose of bringing the two clamping claws 2 closer to each other can be achieved, and by moving the lifting plate 8 downward, the purpose of moving the two clamping claws 2 away from each other can be achieved.

[0033] See also Figure 1 , Figure 2 and Figure 4The upper surface of the lifting plate 8 is fixedly connected with a movable rod 14, and the movable rod 14 is slidably plugged with the top of the fixed frame 1. Through the setting of the movable rod 14, the up and down movement of the lifting plate 8 can be limited. The top of the movable rod 14 is fixedly connected with a piston disk 15, and the outer surface of the piston disk 15 is sleeved with a pressure cylinder 16. The bottom end of the pressure cylinder 16 is fixedly connected to the fixed frame 1, and an air intake pipe 20 is provided above the pressure cylinder 16. Through the setting of the air intake pipe 20, the purpose of air pressure pushing the piston disk 15 to move can be achieved. The bottom of the piston disk 15 is fixedly connected with a spring 17, and the bottom end of the spring 17 is fixedly connected to the fixed frame 1. The spring 17 is located inside the pressure cylinder 16. Through the setting of the spring 17, it is possible to provide assistance for the reset of the piston disk 15. The top of the fixed frame 1 is fixedly connected with a connecting frame 18, and the pressure cylinder 16 is fixedly connected to the connecting frame 18. Through the setting of the connecting frame 18, the purpose of fixing the pressure cylinder 16 can be achieved.

[0034] See also Figure 1 , Figure 2 and Figure 3 The bottom ends of the two clamping claws 2 that are close to each other are fixedly connected with a compression plate 3, and the top ends of the two compression plates 3 are turned outward, and the top ends of the two compression plates 3 that are away from each other are fixedly connected with an elastic steel sheet 4.

[0035] See also Figure 1 , Figure 2 and Figure 3 The bottom ends of the two elastic steel sheets 4 are fixedly connected to the clamping claws 2 close to them, the two compression plates 3 are fixedly connected to the anti-skid pads 5 on the sides close to each other, and the two anti-skid pads 5 have convex strips 6 arranged at equal distances on the sides close to each other. Pressure sensors 7 are fixedly installed inside the sides close to each other of the two clamping claws 2, and the detection ends of the two pressure sensors 7 are in contact with the elastic steel sheet 4.

[0036] See also Figure 1 , Figure 2 and Figure 4 Two connecting holes 19 are provided at the top of the connecting frame 18. The setting of the connecting holes 19 facilitates the user to connect with the outside world. The top of the air inlet pipe 20 is fixedly connected to the output end of the external air pump. The top of the connecting frame 18 is fixedly installed with the external mechanical arm. Through the setting of the external air pump, gas can be transported to the inside of the pressure cylinder 16, thereby pushing the piston disk 15 to move.

[0037] A soft manipulator in the present embodiment can compress the top ends of the two compression plates 3 to flip in the direction away from each other when the two clamping claws 2 are close to each other to clamp the external product, and at the same time squeeze the elastic steel sheet 4. The setting of the elastic steel sheet 4 flipping and squeezing pressure sensor 7 can achieve the purpose of pressure monitoring. When the pressure reaches the preset threshold, the external air pump stops supplying air, thereby controlling the clamping force to avoid damaging the product surface. The anti-slip pad 5 and the convex strip 6 can increase the friction coefficient with the product, thereby improving the clamping stability.

[0038] The working principle of the above embodiment is: the overall movement is controlled by an external mechanical arm. When clamping is required, the external air pump delivers gas to control the internal air pressure of the pressure cylinder 16, and cooperates with the spring 17 to achieve the up and down movement of the lifting plate 8. When the pressure plate moves upward, the two clamping claws 2 approach each other to clamp the product. The product compresses the top ends of the two compression plates 3 to flip away from each other, and at the same time squeezes the elastic steel sheet 4. After the elastic steel sheet 4 is squeezed, the pressure sensor 7 can monitor the pressure data. When the pressure reaches the preset threshold, the external air pump stops supplying gas, thereby controlling the clamping force.

[0039] 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.

[0040] 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 fixed frame (1), characterized in that: The bottom of the fixed frame (1) is fixedly connected to two clamping claws (2), the bottom ends of the two clamping claws (2) on the sides close to each other are fixedly connected to compression plates (3), the top ends of the two compression plates (3) are turned outward, and the top ends of the two compression plates (3) on the sides away from each other are fixedly connected to elastic steel sheets (4); The bottom ends of the two elastic steel sheets (4) are fixedly connected to the clamping claws (2) close to them, the two compression plates (3) are fixedly connected to the sides close to each other with anti-skid pads (5), the sides close to each other of the two anti-skid pads (5) are provided with convex strips (6) arranged at equal distances, and the insides of the sides close to each other of the two clamping claws (2) are fixedly installed with pressure sensors (7), and the detection ends of the two pressure sensors (7) are in contact with the elastic steel sheets (4).

2. A soft robot according to claim 1, characterized in that: A lifting plate (8) is provided inside the fixed frame (1), and the left and right ends of the lifting plate (8) are hinged with first connecting rods (9), and the bottom ends of the two first connecting rods (9) are hinged with second connecting rods (10), and the ends of the two second connecting rods (10) that are away from each other are fixedly connected to rotating shafts (11), and the front and rear ends of the two rotating shafts (11) are rotatably connected to the fixed frame (1), and the middle ends of the two rotating shafts (11) are fixedly connected to third connecting rods (12), and the bottom ends of the two third connecting rods (12) are hinged to the top ends of the clamping claws (2) adjacent to them, and auxiliary connecting rods (13) are provided above the two clamping claws (2), and the two ends of the two auxiliary connecting rods (13) are respectively hinged to the clamping claws (2) adjacent to them and the fixed frame (1).

3. A soft robot according to claim 2, characterized in that: A movable rod (14) is fixedly connected to the upper surface of the lifting plate (8), and the movable rod (14) is slidably plugged into the top end of the fixed frame (1).

4. A soft robot according to claim 3, characterized in that: The top end of the movable rod (14) is fixedly connected to a piston disc (15), the outer surface of the piston disc (15) is sleeved with a pressure cylinder (16), the bottom end of the pressure cylinder (16) is fixedly connected to a fixed frame (1), and an air intake pipe (20) is provided above the pressure cylinder (16).

5. A soft robot according to claim 4, characterized in that: A spring (17) is fixedly connected to the bottom of the piston disc (15); the bottom end of the spring (17) is fixedly connected to the fixed frame (1); and the spring (17) is located inside the pressure cylinder (16).

6. A soft robot according to claim 4, characterized in that: The top end of the fixed frame (1) is fixedly connected to a connecting frame (18), and the pressure cylinder (16) is fixedly connected to the connecting frame (18).

7. A soft robot according to claim 6, characterized in that: Two connection holes (19) are formed at the top of the connection frame (18).

8. A soft robot according to claim 6, characterized in that: The top end of the air inlet pipe (20) is fixedly connected to the output end of an external air pump, and the top end of the connecting frame (18) is fixedly mounted to an external mechanical arm.

Images