High-slow flexible grabbing manipulator

Abstract

The utility model discloses a high and slow flexible grabbing manipulator, which belongs to the technical field of grabbing and comprises a fixed table, a plurality of flexible grabbing components are mounted on the edge of the fixed table, each flexible grabbing component comprises a mounting seat arranged on the side wall of the fixed table and a supporting seat arranged on the edge of the bottom of the fixed table, and a driving part is hinged to the mounting seat. A clamping part is hinged to the supporting seat, the output end of the driving part is connected with the clamping part, the driving part comprises an operation cylinder, a motor is arranged at one end of the operation cylinder, an end cover is arranged at the other end of the operation cylinder, the input end of the motor extends into the hollow part and is connected with a lead screw through a positioning block, the end of the lead screw is connected with a sleeve, and the sleeve penetrates through and extends out of the end cover to be connected with the clamping part; the clamping part comprises a connecting piece, a through groove is formed in the middle of the connecting piece, a mounting groove is formed in the top of the connecting piece, the interior of one end of the mounting groove is hinged to the sleeve, a mechanical claw is arranged in the other end of the mounting groove, the exterior of the mounting groove and the mechanical claw are hinged to the supporting base, and an elastic part is arranged on one side of the through groove and connected with the side wall of the mechanical claw.

Description

Technical Field

[0001] The utility model belongs to the field of grasping technology, and in particular relates to a high-slow and flexible grasping manipulator. Background Art

[0002] A flexible gripping manipulator is a mechanical device designed for flexible and adaptable automated gripping tasks, while existing gripping manipulators with grippers are generally driven by an external motor and then an elastic buffer pad is installed at the contact point between the gripper and the material to achieve a flexible gripping effect. However, the buffering force provided by the elastic buffer pad is limited, and the degree of buffering depends on the type of material of the buffer pad. The gripping force is inconsistent when different types of materials are picked up and placed. For fragile or easily damaged items, if the gripping force is too large, even with an elastic buffer pad, it may cause damage to the items, such as squeezing, deformation, breakage or leaving marks. Moreover, long-term use of fixed buffer pad material and hardness to cope with the gripping of a variety of materials will accelerate the wear of the buffer pad, shorten its service life and increase maintenance costs. Utility Model Content

[0003] In order to solve the problems raised in the above background technology, the utility model provides a high-softness grabbing manipulator, which has the characteristics of being able to control the size of the elastic force of the clamping claws through the action of the spring to achieve the required buffering force, and the size of the buffering force is controllable and fixed.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a high-speed flexible grasping manipulator, comprising a fixed platform, a plurality of flexible grasping components are installed on the edge of the fixed platform, and the flexible grasping components include a mounting seat arranged on the side wall of the fixed platform and a supporting seat arranged on the bottom edge of the fixed platform, the mounting seat is hinged with a driving part, the supporting seat is hinged with a clamping part, and the output end of the driving part is connected to the clamping part;

[0005] The driving part includes a running cylinder hinged to the mounting seat, the running cylinder is hollow inside, and both ends are connected. A motor is provided at one end, and an end cover is provided at the other end. The input end of the motor extends into the hollow part and is connected to a screw rod through a positioning block. The end of the screw rod is connected to a sleeve, which passes through and extends out of the end cover to be connected to the clamping part.

[0006] The clamping part includes a connecting piece, a through groove is provided in the middle, a mounting groove is provided at the top, one end of the mounting groove is hinged to the sleeve, a mechanical claw is provided in the other end of the mounting groove, the outside of the mounting groove and the mechanical claw are hinged to the support seat, and an elastic part is provided on one side of the through groove, which is connected to the side wall of the mechanical claw.

[0007] Preferably, the fixing platform is triangular, and each of the three side walls is provided with a flexible grabbing component, and the three are symmetrically arranged.

[0008] Preferably, the motor is fixed to the end of the running cylinder by a set of screws.

[0009] Preferably, the screw rod is composed of a threaded rod, a transition column, and a connecting column. The connecting column is provided with a mounting groove 1, a shaft sleeve is provided on the input end of the motor, and a mounting groove 2 matching the mounting groove 1 is provided inside the shaft sleeve. The mounting groove 2 and the mounting groove 1 are assembled by a key, and the transition column is provided with a bearing 1, a bearing 2 and a nut. The outer rings of the bearing 1 and the bearing 2 are connected to the inner wall of the running cylinder, and the threaded rod is threadedly connected to the sleeve.

[0010] Preferably, the sleeve is composed of a flat head with a hole and a trimmed cylinder, the end of the trimmed cylinder is provided with a running cavity adapted to the threaded rod, and the flat head with a hole is hinged to the inside of the installation groove through a pin shaft.

[0011] Preferably, a through groove matching the outer shape of the trimmed cylindrical body is provided in the middle of the end cover, and a convex edge is provided on the side wall, which is hinged to the mounting seat through a pin shaft.

[0012] Preferably, a track groove is provided on one side of the through groove in the connecting piece, and the track groove is provided with an elastic part, which includes a stud, and a positioning hole is provided on one side of the mechanical claw. The stud passes through the track groove and extends into the positioning hole. A spring is sleeved on the stud, one end of which is connected to the mechanical claw, and the other end is connected to the inner wall of the through groove. The mechanical claw and the connecting piece are hinged to the support seat through a pin shaft.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] 1. The high-cushion flexible grasping manipulator described in the utility model has a buffering force by adjusting the elastic part, and the magnitude of the buffering force can be adjusted. The magnitude of the buffering force is stable and controllable, and can cope with fragile or easily damaged objects of different shapes and sizes.

[0015] 2. The high-speed flexible grasping manipulator described in the utility model has a good centering effect by symmetrically arranging the flexible grasping components and symmetrically arranging them in a circular manner, and can grasp materials in multiple directions, thereby ensuring a better grasping success rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0017] Figure 2 It is a schematic diagram of the three-dimensional structure of the flexible gripping component parts;

[0018] Figure 3 for Figure 2 A schematic diagram of a partial cross-section of a three-dimensional structure;

[0019] Figure 4 for Figure 2 Schematic diagram of the structural section;

[0020] Figure 5It is a three-dimensional structural diagram of the running cylinder parts;

[0021] Figure 6 It is a three-dimensional structural schematic diagram of the screw rod part;

[0022] Figure 7 It is a three-dimensional structural schematic diagram of the sleeve part;

[0023] Figure 8 It is a three-dimensional structural schematic diagram of the end cover part;

[0024] Fig. 9 It is a three-dimensional structural schematic diagram of the sleeve part;

[0025] Fig.10 It is a schematic diagram of the three-dimensional structure of the mechanical claw parts;

[0026] In the figure: 1, fixed table; 111, track groove; 2, motor; 21, screw; 3, running cylinder; 31, bushing; 311, mounting groove 2; 32, positioning block; 33, key; 34, nut; 35, bearing 1; 36, bearing 2; 4, end cover; 40, screw rod; 41, pin 1; 42, pin 2; 43, pin 3; 44, bolt 1; 45, bolt 2; 402, mounting groove 1; 5, mounting seat; 6, retaining spring 1; 7, sleeve; 71, running chamber; 8, support seat; 9, retaining spring 2; 10, retaining spring 3; 11, connecting piece; 12, stud; 13, spring; 14, mechanical claw; 141, positioning hole. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] See also Figure 1-10 The utility model provides the following technical solutions: a high-speed flexible grasping manipulator, comprising a fixed platform 1, a plurality of flexible grasping components are installed on the edge of the fixed platform 1, and the plurality of flexible grasping components include a mounting seat 5 arranged on the side wall of the fixed platform 1 and a supporting seat 8 arranged on the bottom edge of the fixed platform 1, the mounting seat 5 is hinged with a driving part, the supporting seat 8 is hinged with a clamping part, and the output end of the driving part is connected to the clamping part;

[0029] The driving part includes a running cylinder 3 hinged to a mounting seat 5. The running cylinder 3 is hollow inside and has two ends connected. A motor 2 is provided at one end and an end cover 4 is provided at the other end. The input end of the motor 2 extends into the hollow part and is connected to a screw rod 40 through a positioning block 32. A sleeve 7 is connected to the end of the screw rod 40. The sleeve 7 passes through and extends out of the end cover 4 to be connected to the clamping part.

[0030] The clamping part includes a connecting piece 11, a through groove is provided in the middle, a mounting groove is provided on the top, one end of the mounting groove is hinged to the sleeve 7, a mechanical claw 14 is provided in the other end of the mounting groove, the outside of the mounting groove and the mechanical claw 14 are hinged to the support seat 8, and an elastic part is provided on one side of the through groove, which is connected to the side wall of the mechanical claw 14.

[0031] Specifically, the fixed platform 1 is triangular, and a flexible grabbing component is provided on each of the three side walls, and the three are symmetrically arranged to ensure uniform distribution of the grabbing force. They are also circularly symmetrical and have a good centering effect, allowing materials to be grabbed in multiple directions, ensuring a better grabbing success rate.

[0032] Specifically, the motor 2 is fixed to the end of the running cylinder 3 by a set of screws 21 to ensure that the motor 2 works stably, and the power output is achieved by driving the motor 2.

[0033] Specifically, the screw rod 40 is composed of a threaded rod, a transition column, and a connecting column. A mounting groove 1 402 is provided on the connecting column. A shaft sleeve 31 is provided on the input end of the motor 2. A mounting groove 2 311 matched with the mounting groove 1 402 is provided inside the shaft sleeve 31. The mounting groove 2 311 and the mounting groove 1 402 are assembled by a key 33. A bearing 1 35, a bearing 2 36 and a nut 34 are provided on the transition column. The outer rings of the bearing 1 35 and the bearing 2 36 are connected to the inner wall of the running cylinder 3. The threaded rod is threadedly connected to the sleeve 7. The nut 34 on the transition column fixes the position of the screw rod 40 in the running cylinder 3 to ensure that the relative position of the screw rod 40 remains unchanged during rotation. At the same time, the bearing 1 35 and the bearing 2 36 reduce the friction coefficient of the screw rod 40 during rotation to ensure the rotation accuracy. The screw rod 40 is driven to rotate by the rotation of the motor 2, driving the sleeve 7 to move linearly on the end cover 4.

[0034] Specifically, the sleeve 7 is composed of a flat head with a hole and a trimmed cylinder. The end of the trimmed cylinder is provided with a running cavity 71 adapted to the threaded rod, so that the sleeve 7 can move linearly along the threaded rod of the screw rod 40. The flat head with a hole is hinged to the inside of the mounting groove through a pin shaft 3 43. The pin shaft 3 43 is also provided with a retaining spring 3 10 to ensure the stable connection and flexible movement of the sleeve 7.

[0035] Specifically, a through groove matched with the trimmed cylindrical shape is provided in the middle of the end cover 4, ensuring that the trimmed cylindrical part of the sleeve 7 can move therein, and a convex edge is provided on the side wall, which is hinged with the mounting seat 5 through a pin shaft 41, so that the end cover 4 can flexibly rotate within a certain range, and a retaining spring 6 is provided on the pin shaft 41 for fixing the relative position between the end cover 4 and the mounting seat 5 to ensure that the end cover 4 can fit tightly against the mounting seat 5. At the same time, the end cover 4 is fixedly mounted on the end of the running cylinder 3 by bolts 1 44 and bolts 2 45.

[0036] Specifically, a track groove 111 is provided on one side of the through groove in the connecting piece 11, and the track groove 111 is provided with an elastic part, which includes a stud 12. A positioning hole 141 is provided on one side of the mechanical claw 14. The stud 12 penetrates the track groove 111 and extends into the positioning hole 141. A spring 13 is sleeved on the stud 12, one end of which is connected to the mechanical claw 14, and the other end is connected to the inner wall of the through groove. The mechanical claw 14 and the connecting piece 11 are hinged to the support seat 8 through a pin shaft 42, and a retaining spring 9 is provided on the pin shaft 42. The elastic part is adjusted so that the mechanical claw has a buffering force, and the magnitude of the buffering force can be adjusted.

[0037] Working principle and use process of the utility model: The high-speed flexible grasping manipulator described in the utility model installs the fixed platform 1 at the designated position to grasp rigid and fragile materials, and then energizes the motor 2. When grasping is required, the output end of the motor 2 rotates, driving the screw 40 to rotate. The sleeve 7 is provided with a running chamber 71. The rotation of the screw 40 drives the sleeve 7 to make a linear motion. The mounting seat 5 is fixed to the side end of the fixed platform 1. By setting the clamping spring 16 and the pin 141, the end cover 4 can be flexibly rotated within a certain range to avoid motion interference when the sleeve 7 moves linearly. The movement of the sleeve 7 is transmitted to the mechanical claw 14 through the connecting piece 11, so that the mechanical claw can realize the opening and closing action. In the process of closing the mechanical claw, the spring 13 provides buffering to avoid damage to the grasped object. Thereby realizing the grasping movement of the mechanical claw in space. When grasping rigid and fragile materials, the limit pressure that the material can bear is controlled by the spring 13 to ensure that the size of the buffering force is stable and controllable, and the flexible grasping function is realized.

[0038] Although embodiments of the present invention 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 invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A highly flexible gripping manipulator, comprising a fixed platform (1), characterized in that: A plurality of flexible gripping components are installed on the edge of the fixed platform (1), comprising a mounting seat (5) arranged on the side wall of the fixed platform (1) and a supporting seat (8) arranged on the bottom edge of the fixed platform (1), the mounting seat (5) being hinged with a driving portion, the supporting seat (8) being hinged with a clamping portion, and the output end of the driving portion being connected to the clamping portion; The driving part comprises a running cylinder (3) hingedly connected to a mounting seat (5); the running cylinder (3) is hollow inside and has two through-connected ends; one end is provided with a motor (2) and the other end is provided with an end cover (4); the input end of the motor (2) extends into the hollow part and is connected to a threaded rod (40) through a positioning block (32); the end of the threaded rod (40) is connected to a sleeve (7); the sleeve (7) passes through and extends out of the end cover (4) to be connected to the clamping part; The clamping portion comprises a connecting piece (11), wherein a through groove is provided in the middle thereof and a mounting groove is provided at the top thereof; the interior of one end of the mounting groove is hingedly connected to the sleeve (7); a mechanical claw (14) is provided in the interior of the other end of the mounting groove; the exterior of the mounting groove and the mechanical claw (14) are hingedly connected to the support seat (8); an elastic portion is provided on one side of the through groove and is connected to a side wall of the mechanical claw (14).

2. A high-slow and flexible grasping manipulator according to claim 1, characterized in that: The fixing platform (1) is triangular in shape, and each of the three side walls is provided with a flexible grabbing component, and the three are symmetrically arranged.

3. The high-slow and flexible grasping manipulator according to claim 1 is characterized in that: The motor (2) is fixed to the end of the running cylinder (3) via a set of screws (21).

4. The high-slow and flexible grasping manipulator according to claim 1 is characterized in that: The screw rod (40) is composed of a threaded rod, a transition column, and a connecting column. The connecting column is provided with a mounting groove 1 (402). The input end of the motor (2) is provided with a shaft sleeve (31). The shaft sleeve (31) is provided with a mounting groove 2 (311) matched with the mounting groove 1 (402). The mounting groove 2 (311) and the mounting groove 1 (402) are assembled by a key (33). The transition column is provided with a bearing 1 (35), a bearing 2 (36) and a nut (34). The outer rings of the bearing 1 (35) and the bearing 2 (36) are connected to the inner wall of the running cylinder (3). The threaded rod is threadedly connected to the sleeve (7).

5. A high-slow and flexible grasping manipulator according to claim 4, characterized in that: The sleeve (7) is composed of a flat head with a hole and a trimmed cylinder. The end of the trimmed cylinder is provided with a running cavity (71) adapted to the threaded rod. The flat head with a hole is hinged to the inside of the installation groove via a pin shaft (43).

6. A high-slow and flexible grasping manipulator according to claim 5, characterized in that: The end cover (4) is provided with a through groove in the middle thereof which matches the outer shape of the trimmed cylindrical portion, and a convex edge is provided on the side wall thereof, which is hingedly connected to the mounting seat (5) via a pin shaft (41).

7. The high-slow and flexible grasping manipulator according to claim 1 is characterized in that: A track groove (111) is provided on one side of the through groove in the connecting member (11), and the track groove (111) is provided with an elastic part, which includes a stud (12). A positioning hole (141) is provided on one side of the mechanical claw (14), and the stud (12) penetrates the track groove (111) and extends into the positioning hole (141). A spring (13) is sleeved on the stud (12), one end of which is connected to the mechanical claw (14) and the other end is connected to the inner wall of the through groove. The mechanical claw (14) and the connecting member (11) are hinged to the support seat (8) through a second pin shaft (42).

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