Semi-soft robot picking tentacle

Abstract

The utility model discloses a semi-soft robot picking tentacle, which relates to the technical field of robots and comprises a mounting seat, connecting rods are fixedly connected to four corners of the lower surface of the mounting seat, a picking assembly is fixedly connected to the lower surfaces of the four connecting rods, and auxiliary fixing assemblies are fixedly connected to the left side and the right side of the picking assembly. The outer wall of the upper portion of the auxiliary fixing assembly is movably connected with the opposite faces of the four connecting rods in a sleeving mode, the picking assembly comprises an air suction assembly, and the upper surface of the air suction assembly is fixedly connected with the lower surfaces of the four connecting rods. According to the semi-soft robot picking tentacle, when the lower surfaces of the multiple suction cups make contact with the surface of an object, the suction cups can adsorb and fix the object under the action of the air suction assembly, and then the object can be clamped and fixed while being adsorbed under the action of the second hydraulic rod, the suction cup assembly and the fixing frame; therefore, the stability of the object during picking is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and particularly relates to a semi-soft robot picking tentacle. Background Art

[0002] A soft robot is a new type of soft robot that can adapt to various unstructured environments and is safer for human interaction. The robot body is made of soft materials, generally considered to be materials with a Young's modulus lower than that of human muscles; different from the traditional robot motor drive, the drive mode of the soft robot mainly depends on the intelligent materials used; generally, there are dielectric elastomers (DE), ionic polymer metal composites (IPMC), shape memory alloys (SMA), shape memory polymers (SMP), etc., and they are temporarily divided into the following categories according to the physical quantities of response: electric field, pressure, magnetic field, chemical reaction, light, temperature. Scientists have designed various soft robots accordingly, and most of the designs of soft robots imitate various creatures in nature, such as earthworms, octopuses, jellyfish, etc.

[0003] The following problems exist in the prior art:

[0004] When the semi-soft robot picking tentacle is in use, it cannot ensure the stability of picking objects. At the same time, when the semi-soft robot picking tentacle faces different objects, it cannot select different picking methods according to needs, and it cannot play a good protective role during picking. Content of the Utility Model

[0005] The utility model provides a semi-soft robot picking tentacle to solve the problems mentioned in the above background art.

[0006] To solve the above technical problems, the technical solution adopted by the utility model is:

[0007] A semi-soft robot picking tentacle includes a mounting base. Four corners of the lower surface of the mounting base are fixedly connected with connecting rods. The lower surfaces of the four connecting rods are fixedly connected with a picking component. The left and right sides of the picking component are fixedly connected with auxiliary fixing components. The outer wall of the upper part of the auxiliary fixing components is movably sleeved with the opposite surfaces of the four connecting rods.

[0008] Preferably, the picking component includes an air suction component. The upper surface of the air suction component is fixedly connected with the lower surfaces of the four connecting rods. The lower surface of the air suction component is fixedly connected with a fixing block. A plurality of suction cups are distributed in a rectangular array on the lower surface of the fixing block.

[0009] Preferably, the outer wall of the fixing block is fixedly connected with a protective sleeve. The inner wall of the upper part of the protective sleeve is fixedly connected with the outer wall of the air suction component. The front and rear parts of the protective sleeve extend downward to one-third of the suction cups.

[0010] Preferably, the auxiliary fixing component includes a first hydraulic rod, the outer wall of the upper part of the first hydraulic rod is fixedly connected to the inner cavity of the mounting seat, the output end of the first hydraulic rod is fixedly connected to a guide rod, and the outer walls of the left and right parts of the guide rod are both slidably connected with limiting plates. The opposite surfaces of the two limiting plates are respectively fixedly connected to the left and right sides of the fixing block.

[0011] Preferably, fixing frames are fixedly connected to the lower surfaces of the left and right parts of the guide rod. Two second hydraulic rods are fixedly connected to the inner walls of the opposite parts of the two fixing frames. The two suction cup assemblies are fixedly connected to the sides of the four second hydraulic rods close to the fixing block. The outer walls of the two suction cup assemblies are respectively slidably connected to the inner walls of the opposite parts of the two fixing frames.

[0012] Preferably, rubber pads are fixedly connected to the opposite surfaces of the two fixing frames. Adsorption air paths are fixedly connected to the opposite surfaces in the middle of the two suction cup assemblies. The opposite surfaces of the upper parts of the two adsorption air paths are respectively fixedly connected to the left and right sides of the air suction component.

[0013] Due to the adoption of the above technical solutions, the technical progress achieved by the present utility model compared with the prior art is as follows:

[0014] 1. The present utility model provides a semi-soft robot picking tentacle. When the lower surfaces of a plurality of suction cups contact the surface of an object, through the action of the air suction component, the suction cups can be adsorbed to the surface of the object, so as to adsorb and fix the object. Then, under the action of the second hydraulic rod, the suction cup assembly and the fixing frame, the object can be adsorbed and clamped and fixed at the same time, so as to ensure the stability of the object during picking.

[0015] 2. The present utility model provides a semi-soft robot picking tentacle. Through the action of the first hydraulic rod, the guide rod can simultaneously push the two fixing frames downward to the lower part of a plurality of suction cups, so as to facilitate adjustment according to the volume of the object, and facilitate picking in different ways according to needs. Among them, through the action of the protective sleeve and the rubber pad, the device can have a certain protective effect during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of the present utility model;

[0017] Figure 2 is a schematic structural diagram of the picking component of the present utility model;

[0018] Figure 3 is a schematic bottom structural diagram of the picking component of the present utility model;

[0019] Figure 4 is a schematic structural diagram of the auxiliary fixing component of the present utility model;

[0020] Figure 5 This is a schematic structural diagram of the sucker assembly of the present utility model.

[0021] In the figure: 1, mounting seat; 2, connecting rod; 3, picking component; 4, auxiliary fixing component; 31, air suction component; 32, fixing block; 33, sucker; 34, protective sleeve; 41, limiting plate; 42, guide rod; 43, first hydraulic rod; 44, fixing frame; 45, sucker assembly; 46, second hydraulic rod; 47, adsorption air path. Specific embodiments

[0022] In order to make the technical means, creative features, achieved purposes and functions of the present utility model easy to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0023] As Figure 1 shown, a semi-soft robotic picking tentacle includes a mounting seat 1. Four corners of the lower surface of the mounting seat 1 are fixedly connected with connecting rods 2. The lower surfaces of the four connecting rods 2 are fixedly connected with a picking component 3. The left and right sides of the picking component 3 are fixedly connected with auxiliary fixing components 4. The outer wall of the upper part of the auxiliary fixing component 4 is movably sleeved with the opposite surfaces of the four connecting rods 2;

[0024] Through the action of the mounting seat 1, the device is fixed. Then, through the action of the picking component 3, the object is adsorbed and fixed. At this time, under the action of the auxiliary fixing component 4, the object can be further restricted and fixed, so as to facilitate picking and moving.

[0025] As Figure 2 shown, the picking component 3 includes an air suction component 31. The upper surface of the air suction component 31 is fixedly connected with the lower surfaces of the four connecting rods 2. The lower surface of the air suction component 31 is fixedly connected with a fixing block 32. A plurality of suckers 33 are distributed in a rectangular array on the lower surface of the fixing block 32;

[0026] When the lower surfaces of the plurality of suckers 33 contact the surface of the object, through the action of the air suction component 31, the suckers 33 can be adsorbed to the surface of the object, so as to adsorb and fix the object.

[0027] As Figure 3 shown, the outer wall of the fixing block 32 is fixedly connected with a protective sleeve 34. The inner wall of the upper part of the protective sleeve 34 is fixedly connected with the outer wall of the air suction component 31. The front and rear parts of the protective sleeve 34 extend downward to one-third of the suckers 33;

[0028] Through the action of the protective sleeve 34, there is a certain protection on the outside of the fixing block 32. At the same time, since the front and rear parts of the protective sleeve 34 extend downward to one-third of the suckers 33, when picking the object, there will be no bumping, thus playing a protective role.

[0029] As Figure 4 shown, the auxiliary fixing component 4 includes a first hydraulic rod 43. The outer wall of the upper part of the first hydraulic rod 43 is fixedly connected to the inner cavity of the mounting seat 1. The output end of the first hydraulic rod 43 is fixedly connected to a guide rod 42. The outer walls of the left and right parts of the guide rod 42 are both slidably connected to a limiting plate 41. The opposite surfaces of the two limiting plates 41 are respectively fixedly connected to the left and right sides of the fixed block 32;

[0030] Through the action of the first hydraulic rod 43, the guide rod 42 can simultaneously push the two fixing frames 44 downward to the lower part of a plurality of suction cups 33, so as to facilitate adjustment according to the volume of the object.

[0031] As Figure 5 shown, the lower surfaces of the left and right parts of the guide rod 42 are both fixedly connected to a fixing frame 44. The inner walls of the opposite parts of the two fixing frames 44 are both fixedly connected to two second hydraulic rods 46. The two second hydraulic rods 46 are fixedly connected to two suction cup assemblies 45 on the side close to the fixed block 32. The outer walls of the two suction cup assemblies 45 are respectively slidably connected to the inner walls of the opposite parts of the two fixing frames 44;

[0032] Through the action of the second hydraulic rods 46, the suction cup assemblies 45 are moved closer to the surface of the object. Then, under the action of the upper suction component 31, the air inside the adsorption air path 47 is adsorbed, so that a vacuum is formed between the suction cup assemblies 45 and the object, so that the suction cup assemblies 45 can adsorb on the object. At the same time, under the action of the fixing frames 44 and the rubber pads, the object can be adsorbed and clamped and fixed at the same time, so as to ensure the stability of the object during picking.

[0033] The opposite surfaces of the two fixing frames 44 are both fixedly connected to rubber pads. The opposite surfaces in the middle of the two suction cup assemblies 45 are both fixedly connected to adsorption air paths 47. The opposite surfaces of the upper parts of the two adsorption air paths 47 are respectively fixedly connected to the left and right sides of the suction component 31;

[0034] Through the action of the rubber pads, the fixing frames 44 will not damage the object to be picked during movement, so as to play a protective role.

[0035] Working principle of the present utility model: Through the function of the mounting base 1, the device is fixed. When the lower surfaces of several suction cups 33 contact the surface of an object, through the function of the air suction assembly 31, the suction cups 33 can be adsorbed to the surface of the object, thereby adsorbing and fixing the object. At this time, the hydraulic rod 43 can continue to be used to enable the guide rod 42 to simultaneously push two fixing frames 44 downward to the lower part of several suction cups 33. Then, through the function of the hydraulic rod 46, the suction cup assembly 45 is moved closer to the object surface. Next, under the action of the upper air suction assembly 31, the air inside the adsorption air path 47 is adsorbed, so that a vacuum is formed between the suction cup assembly 45 and the object, thereby enabling the suction cup assembly 45 to adsorb on the object. At the same time, under the action of the fixing frame 44 and the rubber pad, the object can be adsorbed and clamped and fixed at the same time, thereby ensuring the stability of the object during picking.

[0036] The above shows and describes the basic principle, main features and advantages of the present utility model. Those skilled in the art should understand that the present utility model is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principle of the present utility model. Without departing from the spirit and scope of the present utility model, the present utility model will have various changes and improvements, and these changes and improvements all fall within the scope of the present utility model claimed. The scope of protection claimed by the present utility model is defined by the appended claims and their equivalents.

Claims

1. A semi-soft robotic picking tentacle, comprising a mounting base (1), characterized in that: Four corners of the lower surface of the mounting base (1) are fixedly connected with connecting rods (2), the lower surfaces of the four connecting rods (2) are fixedly connected with a picking component (3), the left and right sides of the picking component (3) are fixedly connected with auxiliary fixing components (4), and the outer wall of the upper part of the auxiliary fixing component (4) is movably sleeved with the opposite surfaces of the four connecting rods (2).

2. The semi-soft robotic grasping tentacle according to claim 1, wherein: The picking component (3) includes a suction component (31), the upper surface of the suction component (31) is fixedly connected with the lower surfaces of the four connecting rods (2), the lower surface of the suction component (31) is fixedly connected with a fixing block (32), and a plurality of suction cups (33) are distributed in a rectangular array on the lower surface of the fixing block (32).

3. The semi-soft robotic picking tentacle according to claim 2, characterized in that: The outer wall of the fixing block (32) is fixedly connected with a protective sleeve (34), the inner wall of the upper part of the protective sleeve (34) is fixedly connected with the outer wall of the suction component (31), and the front and rear parts of the protective sleeve (34) extend downward to one-third of the suction cups (33).

4. The semi-soft robotic grasping tentacle according to claim 2, characterized in that: The auxiliary fixing component (4) includes a first hydraulic rod (43), the outer wall of the upper part of the first hydraulic rod (43) is fixedly connected with the inner cavity of the mounting base (1), the output end of the first hydraulic rod (43) is fixedly connected with a guide rod (42), the outer walls of the left and right parts of the guide rod (42) are both slidably connected with limit plates (41), and the opposite surfaces of the two limit plates (41) are respectively fixedly connected with the left and right sides of the fixing block (32).

5. The semi-soft robotic grasping tentacle according to claim 4, characterized in that: The lower surfaces of the left and right parts of the guide rod (42) are both fixedly connected with fixing frames (44), the inner walls of the opposite parts of the two fixing frames (44) are both fixedly connected with two second hydraulic rods (46), and the sides of the four second hydraulic rods (46) close to the fixing block (32) are fixedly connected with two suction cup components (45), and the outer walls of the two suction cup components (45) are respectively slidably connected with the inner walls of the opposite parts of the two fixing frames (44).

6. The semi-soft robotic picking tentacle according to claim 5, characterized in that: The opposite surfaces of the two fixing frames (44) are both fixedly connected with rubber pads, the opposite surfaces in the middle of the two suction cup components (45) are both fixedly connected with adsorption air paths (47), and the opposite surfaces of the upper parts of the two adsorption air paths (47) are respectively fixedly connected with the left and right sides of the suction component (31).

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