Manipulator stable in clamping

Abstract

The utility model provides a stable clamping manipulator which comprises a mechanical arm and a clamping jaw, the clamping jaw comprises a rotating shaft, the mechanical arm drives a mounting frame to rotate through the rotating shaft, a plurality of clamping plates are arranged in the mounting frame, and a driving assembly for driving the clamping plates to move in opposite directions is further inserted in the mounting frame in a penetrating mode. Flexible pads are mounted on the opposite sides of the multiple clamping plates, through holes are formed in the flexible pads, an air pump is further mounted in the mounting frame, air in the clamping plates is pumped out by the air pump through multiple guide pipes, so that the air pressures of the inner sides and the outer sides of the clamping plates are different, and a to-be-clamped object is adsorbed between the flexible pads; at the moment, the friction force generated by the gravity of the to-be-clamped object and the adsorption force and the friction force generated by the pressure of the flexible pad on the to-be-clamped object are interaction force, so that the pressure of the flexible pad on the to-be-clamped object is reduced, and the to-be-clamped object is prevented from being damaged.

Description

Technical Field

[0001] The utility model relates to the field of manipulators, in particular to a manipulator with stable clamping. Background Art

[0002] A robot arm is an automatic operating device that can imitate certain movements and functions of human hands and arms, and is used to grasp, move objects or operate tools according to a fixed procedure. Its characteristic is that it can be programmed to complete various expected tasks, and its structure and performance combine the advantages of both human and robotic machines.

[0003] The patent with authorization announcement number CN219563086U discloses a flexible manipulator with stable clamping, including a fixed bracket, a driving motor and a driving rod, wherein the first surface of the fixed bracket is slidably connected with a first flexible claw finger and a second flexible claw finger; the driving motor is placed on the second surface of the fixed bracket, and the output shaft of the driving motor protrudes from the side of the fixed bracket; the middle part of the driving rod is connected to the output shaft of the driving motor, and the two ends of the driving rod are respectively connected to rotating rods, and the two groups of rotating rods are movably connected to the first flexible claw finger and the second flexible claw finger respectively; the driving motor drives the driving rod to rotate, and under the pull of the two groups of rotating rods, the first flexible claw finger and the second flexible claw finger are moved on the first surface of the fixed bracket The two flexible claws can slide upward and move closer and open and close to clamp or open and close objects. During the clamping process, the first flexible claw finger and the second flexible claw finger can fit tightly together. Although the clamping ability of the first flexible claw finger and the second flexible claw finger can be enhanced, the force provided to prevent the object from falling during the clamping process is only provided by the friction generated by the first flexible claw finger and the second flexible claw finger. When clamping heavier objects, the required friction force is greater, and the friction force is determined by the pressure generated by the first flexible claw finger and the second flexible claw finger on the object. Therefore, the first flexible claw finger and the second flexible claw finger are required to provide greater pressure on the object, and the greater pressure may cause damage to the object.

[0004] Therefore, it is necessary to provide a new stable clamping manipulator to solve the above technical problems. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides a manipulator with stable clamping.

[0006] The stable clamping manipulator provided by the utility model includes: a manipulator arm, and also includes a clamping claw, the clamping claw includes a rotating shaft, one end of the rotating shaft is movably connected to one end of the manipulator arm, and the other end of the rotating shaft is fixedly installed with a lifting component, the bottom end of the lifting component is fixedly installed with a mounting frame, a driving component is inserted in the mounting frame, and a plurality of relatively arranged splints are nested outside the driving component, and the opposite sides of the plurality of splints are fixedly connected with flexible pads, and the plurality of flexible pads are provided with a plurality of through holes, and an air pump is also fixedly installed in the mounting frame, and a plurality of conduits are inserted in the air pump, and the plurality of conduits are respectively inserted into the plurality of splints.

[0007] Preferably, the lifting assembly includes a receiving plate, the receiving plate is fixedly mounted on one end of the rotating shaft, and the lower end of the receiving plate is fixedly connected to a mounting frame via a plurality of cylinders.

[0008] Preferably, the driving assembly includes a driving motor, which is fixedly mounted on one side of the mounting frame. The output end of the driving motor is fixedly connected to a double-threaded rod, and a plurality of relatively arranged clamping plates are nested outside the double-threaded rod.

[0009] Preferably, sleeves are inserted into both sides of the air pump, one end of the sleeve is inserted into the air pump, and multiple catheters are evenly inserted into the multiple sleeves respectively.

[0010] Preferably, a cavity is opened in the plurality of splints, and the plurality of catheters are respectively inserted into the plurality of splints.

[0011] Preferably, the flexible pad comprises a silicone pad, the side wall of the silicone pad is fixedly connected to the side wall of the splint, and a plurality of through holes are opened in the silicone pad, and the plurality of through holes are all inserted into the cavity.

[0012] Compared with related technologies, the stable clamping manipulator provided by the present invention has the following beneficial effects:

[0013] The utility model provides a stable clamping manipulator. During its specific implementation, the clamping plates are first clamped to both sides of the object to be clamped, and then the air pump is started. The air pump draws out the air in the clamping plates through a duct. At this time, due to the difference in air pressure between the inside and outside of the clamping plates, the object to be clamped is adsorbed between the flexible pads. After the object to be clamped is lifted, the friction force generated by the gravity of the object to be clamped and the adsorption force and the friction force generated by the pressure of the flexible pad on the object to be clamped act as an interaction force, thereby reducing the pressure of the flexible pad on the object to be clamped and avoiding damage to the object to be clamped. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the overall structure of the stable clamping manipulator provided by the utility model;

[0015] Figure 2A schematic diagram of the overall structure of the clamping claw of the stable clamping manipulator provided by the utility model;

[0016] Figure 3 A bottom view of the clamping claw of the stable clamping manipulator provided by the utility model;

[0017] Figure 4 This is a longitudinal sectional view of the clamping claw of the stable clamping manipulator provided by the utility model.

[0018] Numbers in the figure: 1. Robotic arm; 2. Rotating shaft; 3. Adapter plate; 4. Cylinder; 5. Mounting frame; 6. Air pump; 7. Conduit; 8. Clamp; 9. Silicone pad; 10. Double-ended threaded rod; 11. Driving motor; 12. Through hole; 13. Sleeve; 14. Cavity. DETAILED DESCRIPTION

[0019] The present invention will be further described below with reference to the accompanying drawings and implementation examples.

[0020] Please refer to Figure 1 — Figure 4 ,in, Figure 1 This is a schematic diagram of the overall structure of the stable clamping manipulator provided by the utility model; Figure 2 A schematic diagram of the overall structure of the clamping claw of the stable clamping manipulator provided by the utility model; Figure 3 A bottom view of the clamping claw of the stable clamping manipulator provided by the utility model; Figure 4 This is a longitudinal sectional view of the clamping claw of the stable clamping manipulator provided by the utility model.

[0021] In the specific implementation process, a stable clamping manipulator with a structure such as Figure 1 — Figure 4 As shown, it includes: a robotic arm 1, and also includes a clamping claw, the clamping claw includes a rotating shaft 2, one end of the rotating shaft 2 is rotatably connected to one end of the robotic arm 1, and the other end of the rotating shaft 2 is welded and installed with a lifting component, the bottom end of the lifting component is threadedly connected to a mounting frame 5, a driving component is inserted into the mounting frame 5, and a plurality of relatively arranged splints 8 are nested outside the driving component, and the opposite sides of the plurality of splints 8 are fixedly connected to flexible pads, and the plurality of flexible pads are provided with a plurality of through holes 12, an air pump 6 is installed on the upper end surface of the bottom plate of the mounting frame 5, and a plurality of conduits 7 are inserted into the air pump 6, and the plurality of conduits 7 are respectively inserted into the plurality of splints 8;

[0022] It should be noted that when the manipulator clamps an item, it first extends the clamping claw to the vicinity of the item to be clamped through the manipulator arm 1, and then adjusts the gripping angle of the clamping claw through the rotating shaft 2. At this time, the mounting frame 5 is brought close to the item to be clamped through the lifting component, so that the item to be clamped is between the two clamping plates 8, and then the two clamping plates 8 are driven by the driving component to move relative to each other to clamp the item to be clamped. At this time, the air pump 6 is started again, and the air pump 6 extracts the air in the clamping plate 8, so that the air pressure inside and outside the clamping plate 8 is different. A flexible pad with multiple through holes 12 is installed on the opposite side of the two clamping plates 8. At this time, the item to be clamped is adsorbed on the flexible pad through the flexible pad, and then the item to be clamped is lifted. At this time, the friction force generated by the pressure generated by the clamping plate 8 and the flexible pad on the item to be clamped and the friction force generated by the adsorption force are balanced with the gravity of the item to be clamped, thereby preventing the item from falling. Moreover, since the friction force is provided by the pressure and adsorption force generated by the flexible pad on the item to be clamped, damage to the item to be clamped caused by excessive pressure can be avoided.

[0023] like Figure 2 As shown, the lifting assembly includes a receiving plate 3, which is welded and installed on one end of the rotating shaft 2, and the lower end surface of the receiving plate 3 is threadedly connected to two cylinders 4, and the other ends of the two cylinders 4 are threadedly connected to the upper end surface of the mounting frame 5.

[0024] like Figure 3 As shown, the driving assembly includes a driving motor 11, which is fixedly mounted on one side of the mounting frame 5. A double-headed threaded rod 10 is welded to the output end of the driving motor 11, and a plurality of oppositely arranged splints 8 are nested outside the double-headed threaded rod 10. When the two splints 8 are respectively located on both sides of the object to be clamped, the driving motor 11 is started at this time, and the output end of the driving motor 11 drives the double-headed threaded rod 10 to rotate. Since the two ends of the double-headed threaded rod 10 are threadedly connected with the splints 8, the two splints 8 move toward each other, thereby generating pressure on the object to be clamped.

[0025] like Figure 4 As shown, sleeves 13 are inserted into both sides of the air pump 6 , one end of the sleeve 13 is inserted into the air pump 6 , and multiple conduits 7 are evenly inserted into the multiple sleeves 13 respectively.

[0026] like Figure 4 As shown, cavities 14 are defined in the plurality of splints 8 , and the plurality of catheters 7 are respectively inserted into the plurality of splints 8 .

[0027] like Figure 4 As shown, the flexible pad includes a silicone pad 9, the side wall of the silicone pad 9 is fixedly connected to the side wall of the clamping plate 8, and a plurality of through holes 12 are opened in the silicone pad 9, and the plurality of through holes 12 are all inserted into the cavity 14;

[0028] It should be noted that the multiple through holes 12 opened in the silicone pad 9 are arranged in a matrix, which increases the adsorption area of the object to be clamped, makes the adsorption more firm, and can also avoid the adsorption force generated when the object to be clamped is adsorbed. The area of action is small and causes damage to the object to be clamped.

[0029] The working principle of the present invention is as follows: when the manipulator is needed to grasp an object, the manipulator arm 1 is first adjusted to bring the gripping claws close to the object, and then the manipulator arm 1 drives the rotating shaft 2 to rotate to adjust the gripping angle of the gripping claws, and then the plurality of cylinders 4 are used to move the clamping plates 8 close to the object to be grasped. When the clamping plates 8 are located on both sides of the object, the driving motor 11 is started, and the driving motor 11 drives the double-headed threaded rod 10 to rotate, and the double-headed threaded rod 10 drives the two clamping plates 8 to move toward each other, so that the clamping plates 8 clamp the object to be grasped. At this time, the air cylinder 4 is started. Pump 6, the air pump 6 extracts the gas in the cavity 14 in the splint 8 through the conduit 7, and because the silicone pad 9 is clamped with the object to be clamped at this time, air is prevented from entering the cavity 14 from the through hole 12. At this time, since the air pressure in the cavity 14 is lower than the external air pressure, the silicone pad 9 will generate an adsorption force on the object. When the object is clamped and lifted, the object is subjected to the pressure and adsorption force of the splint 8. At this time, the gravity of the object will be offset by the friction force generated by the pressure and adsorption force of the splint 8, thereby preventing damage to the object caused by excessive pressure.

[0030] The circuits and controls involved in the present invention are all prior art and will not be described in detail here.

[0031] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A stable gripping manipulator, comprising a manipulator arm (1), characterized in that: The invention also includes a clamping claw, wherein the clamping claw includes a rotating shaft (2), one end of the rotating shaft (2) is movably connected to one end of the mechanical arm (1), and a lifting component is fixedly installed on the other end of the rotating shaft (2), and a mounting frame (5) is fixedly installed on the bottom end of the lifting component, a driving component is inserted into the mounting frame (5), and a plurality of relatively arranged clamping plates (8) are nested outside the driving component, and the opposite sides of the plurality of clamping plates (8) are fixedly connected to flexible pads, and the plurality of flexible pads are provided with a plurality of through holes (12), and an air pump (6) is also fixedly installed in the mounting frame (5), and a plurality of conduits (7) are inserted into the air pump (6), and the plurality of conduits (7) are respectively inserted into the plurality of clamping plates (8).

2. The stable clamping manipulator according to claim 1, characterized in that: The lifting assembly comprises a receiving plate (3), the receiving plate (3) is fixedly mounted on one end of the rotating shaft (2), and the lower end of the receiving plate (3) is fixedly connected to a mounting frame (5) via a plurality of cylinders (4).

3. The stable clamping manipulator according to claim 2, characterized in that: The drive assembly comprises a drive motor (11), the drive motor (11) being fixedly mounted on one side of the mounting frame (5), the output end of the drive motor (11) being fixedly connected to a double-threaded rod (10), and a plurality of oppositely arranged clamping plates (8) being nested outside the double-threaded rod (10).

4. The stable clamping manipulator according to claim 3, characterized in that: Sleeves (13) are inserted into both sides of the air pump (6), one end of the sleeve (13) is inserted into the air pump (6), and multiple catheters (7) are evenly inserted into the multiple sleeves (13).

5. The stable clamping manipulator according to claim 4, characterized in that: A cavity (14) is provided in the plurality of splints (8), and the plurality of catheters (7) are respectively inserted into the plurality of splints (8).

6. The stable clamping manipulator according to claim 5, characterized in that: The flexible pad comprises a silicone pad (9), the side wall of the silicone pad (9) is fixedly connected to the side wall of the splint (8), and a plurality of through holes (12) are provided in the silicone pad (9), and the plurality of through holes (12) are all inserted into the cavity (14).

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