Flexible fitting grabbing manipulator

Abstract

The utility model discloses a flexible fitting grabbing manipulator, which relates to the field of manipulator structures and comprises a connecting seat, two fixing frames are arranged at the bottom of the connecting seat, and grabbing units are arranged on two sides of each fixing frame. The grabbing unit comprises an adjusting device, the adjusting device is arranged on the fixing frame, the top of the adjusting device is connected with an air receiving pipe, the air receiving pipe is connected with the pneumatic device, the bottom of the adjusting device is provided with a connecting pipe, the bottom of the connecting pipe is provided with a flexible attaching unit, the connecting pipe and the flexible attaching unit are provided with vent holes in a penetrating mode, and the vent holes communicate with the air receiving pipe; the flexible fitting unit of the flexible fitting grabbing manipulator can be finely adjusted according to the shape of a glass cover plate, so that the fitting degree between the flexible fitting unit and the surface of the glass cover plate is improved, the adhesive force between the flexible fitting unit and the glass cover plate is improved, the risk that the glass cover plate falls in the moving process is reduced, and the service life of the glass cover plate is prolonged. And the stability and reliability of grabbing operation are improved.

Description

Technical Field

[0001] The utility model relates to the field of manipulator structures, in particular to a flexible fitting grasping manipulator. Background Art

[0002] In the electronics, optics, and other fields, precise gripping and movement of glass cover panels are often required during their processing and assembly. Traditional robotic arms use a fixed connection between the flexible lamination unit and a fixed frame. Rotation of the flexible lamination unit relies on a drive unit connected to the robotic arm, which lacks sufficient flexibility and adaptability to varying working conditions.

[0003] However, since the bonding surface of the flexible bonding unit is a horizontal plane, when facing glass cover plates of various shapes and sizes, a certain angle is formed between the contact surface of the flexible bonding unit and the glass cover plate, thereby hindering the complete bonding between the flexible bonding unit and the glass cover plate, reducing the adhesion between the flexible bonding unit and the glass cover plate, and thereby increasing the risk of the glass cover plate falling during movement, affecting the stability and reliability of the grasping operation. Utility Model Content

[0004] The purpose of the present utility model is to provide a flexible laminating grasping robot, the flexible laminating unit of the flexible laminating grasping robot can be rotated to a certain extent on a fixed frame, so that when grasping different glass cover plates, the flexible laminating unit can be fine-tuned according to the shape of the glass cover plate, thereby improving the fit between the flexible laminating unit and the surface of the glass cover plate, and then improving the adhesion between the flexible laminating unit and the glass cover plate, reducing the risk of the glass cover plate falling during movement, and improving the stability and reliability of the grasping operation.

[0005] The above-mentioned optimized structure of the present invention is achieved through the following technical solutions: a flexible conforming grasping manipulator comprises a connecting seat, two fixing frames are provided at the bottom of the connecting seat, and grasping units are provided on both sides of the fixing frames;

[0006] The grabbing unit includes an adjusting device, which is arranged on the fixed frame. An air connecting pipe is connected to the top of the adjusting device, and the air connecting pipe is connected to the pneumatic device. A connecting pipe is provided at the bottom of the adjusting device, and a flexible fitting unit is provided at the bottom of the connecting pipe. A vent hole is provided through the connecting pipe and the flexible fitting unit, and the vent hole is connected to the air connecting pipe.

[0007] In some embodiments, the adjustment device includes an adjustment column, which is arranged on the fixed frame. A ball socket is provided in the adjustment column, and a rotatable ball is provided in the ball socket. The top of the ball is connected to the air pipe, and the bottom of the ball is connected to the connecting pipe.

[0008] In some embodiments, a fixing hole is provided on the fixing frame, the adjusting column is inserted into the fixing hole, and locking nuts are provided at both ends of the adjusting column. The two locking nuts are symmetrically arranged at both ends of the fixing frame, and the outer diameter of the locking nuts is larger than the aperture of the fixing hole.

[0009] In some embodiments, the fixing hole is a waist-shaped hole.

[0010] In some embodiments, the flexible fitting unit includes a fixed cover, which is fixed to the bottom of the connecting tube. A fitting piece is provided at the bottom of the fixed cover, and the ventilation hole is passed through both the fixed cover and the fitting piece.

[0011] In some embodiments, the fitting is a rubber sheet.

[0012] In some embodiments, the fitting comprises a scissor-shaped connecting ring, the connecting ring is provided at the bottom of the fixed cover, and a fitting sheet is provided at the bottom of the connecting ring.

[0013] In some embodiments, the connecting seat includes a fixing plate, two fixing frames are symmetrically provided at the bottom of the fixing plate, and a connecting column is concentrically provided at the top of the fixing plate.

[0014] In summary, the present invention has the following beneficial effects:

[0015] This flexible bonding grasping robot uses an adjustment device on a fixed frame to enable the flexible bonding unit to rotate a certain distance on the fixed frame. Therefore, when grasping different glass cover plates, the flexible bonding unit can be fine-tuned according to the shape of the glass cover plate, thereby improving the fit between the flexible bonding unit and the surface of the glass cover plate, and then improving the adhesion between the flexible bonding unit and the glass cover plate, reducing the risk of the glass cover plate falling during movement, and improving the stability and reliability of the grasping operation. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0017] Figure 2 This is a bottom view schematic diagram of the present utility model;

[0018] Figure 3 It is a cross-sectional view taken along the AA line of the present invention;

[0019] Figure 4 For this utility model Figure 3 Enlarged view of point B in the middle.

[0020] In the figure: 1. Connecting seat; 11. Fixing plate; 12. Connecting column; 2. Fixing frame; 21. Fixing hole; 3. Adjusting device; 31. Adjusting column; 32. Ball socket; 33. Ball; 4. Air pipe; 5. Connecting pipe; 6. Flexible fitting unit; 61. Fixing cover; 62. Fitting part; 7. Locking nut. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0022] refer to Figure 1-4 A flexible, conformable grasping manipulator comprises a connecting base 1. The connecting base 1 may comprise a fixing plate 11. A connecting column 12 is concentrically provided on the top of the fixing plate 11 and can be fixed by welding. The manipulator can be installed on other driving devices through the connecting column 12 to realize the movement of the manipulator. This is a prior art and will not be described in detail here. Two fixing frames 2 are symmetrically provided at the bottom of the fixing plate 11, and a grasping unit is provided on both sides of the fixing frame 2. The grasping unit comprises an adjusting device 3, which is provided on the fixing frame 2 to realize the connection between the grasping unit and the fixing frame 2.

[0023] An air connecting pipe 4 is connected to the top of the adjusting device 3, and the air connecting pipe 4 is connected to the pneumatic device. A connecting pipe 5 is provided at the bottom of the adjusting device 3, and a flexible fitting unit 6 is provided at the bottom of the connecting pipe 5. Vents are provided through the connecting pipe 5 and the flexible fitting unit 6. The vents are connected to the air connecting pipe 4. The pneumatic device can supply and exhaust air into the vents, thereby cooperating with the flexible fitting unit 6 to realize the grabbing and releasing of the material.

[0024] In some embodiments, the adjusting device 3 includes an adjusting column 31, which is arranged on the fixing frame 2. A ball socket 32 ​​is provided in the adjusting column 31, and a rotatable ball 33 is provided in the ball socket 32. The surface of the ball 33 can be polished to reduce friction during rotation. The top of the ball 33 is connected to the air receiving pipe 4, and the bottom of the ball 33 is connected to the connecting pipe 5. The ball 33 and the air receiving pipe 4 and the connecting pipe 5 can be welded and fixed, and can be connected by threads. By rotating the ball 33, fine-tuning of the grabbing angle and position can be achieved.

[0025] Specifically, when the surface of the glass cover plate to be grasped has a certain curvature, the flexible bonding unit 6 contacts the surface of the glass cover plate, and the glass cover plate applies a force to the flexible bonding unit 6, which is transmitted to the ball 33 through the connecting tube 5, causing the ball 33 to rotate in the ball socket 32, thereby driving the flexible bonding unit 6 to rotate, and then making the flexible bonding unit 6 completely fit with the surface of the glass cover plate, thereby realizing stable grasping of the glass cover plate.

[0026] In some embodiments, a fixing hole 21 is provided on the fixing frame 2, and the adjusting column 31 is inserted into the fixing hole 21. Locking nuts 7 are provided at both ends of the adjusting column 31. The two locking nuts 7 are symmetrically arranged at both ends of the fixing frame 2. The locking effect of the two locking nuts 7 is used to fix the adjusting column 31 on the fixing frame 2 to prevent it from moving during the grasping process; the outer diameter of the locking nut 7 can be larger than the aperture of the fixing hole 21 to ensure the locking effect.

[0027] In some embodiments, the fixing hole 21 can be a waist-shaped hole to facilitate the adjustment of the position of the adjustment column 31 on the fixing frame 2. The position of the adjustment column 31 on the fixing frame 2 can be adjusted according to the different glass cover plates to be grasped, thereby realizing the setting of the connection points between the four flexible fitting units 6 and the glass cover plates to achieve stable grasping of the glass cover plates.

[0028] In some embodiments, the flexible bonding unit 6 includes a fixed cover 61, which is fixed to the bottom of the connecting tube 5. A bonding part 62 is provided at the bottom of the fixed cover 61. Both the fixed cover 61 and the bonding part 62 are penetrated by air holes so that the pneumatic device can provide air pressure to the bonding part through the air pipe 4, the adjusting device 3 and the connecting tube 5 to achieve the grabbing of the glass cover.

[0029] In some embodiments, the fitting member 62 may be a rubber sheet, and the fitting member 62 may include a scissor-shaped connecting ring, which is provided at the bottom of the fixing cover 61 , and a fitting sheet is provided at the bottom of the connecting ring.

[0030] The specific working principle is as follows:

[0031] During operation, the grabbing manipulator of the present invention is first connected to an external device via the connecting base 1. Then, the position of the adjusting column 31 on the fixing frame 2 is adjusted according to the shape and size of the glass cover to be grabbed, and is locked by the locking nut 7.

[0032] Next, the driving device is started, and the manipulator moves to the top of the glass cover plate and descends to make the flexible bonding unit fit with the glass cover plate. During the bonding process between the flexible bonding unit and the glass cover plate, the flexible bonding unit 6 is subjected to the force of the glass cover plate, and the ball 33 is rotated to make the bonding piece 62 completely fit with the surface of the glass cover plate. Since the bonding piece 62 is made of flexible material, it can adapt well to the shape of the glass cover plate. The pneumatic device is started, and the pneumatic device extracts the air between the bonding piece 62 and the surface of the glass cover plate through the air pipe 4, the ball 33 and the connecting pipe 5, forming a negative pressure between the bonding piece 62 and the glass cover plate, so that the glass cover plate can be stably and firmly grasped, effectively avoiding the risk of falling off during movement. When the glass cover needs to be released, air is simply supplied between the fitting 62 and the glass cover through the pneumatic device to eliminate the negative pressure between the fitting 62 and the glass cover. Under the action of the gas push and the gravity of the glass cover, the glass cover automatically separates from the fitting 62, thus completing the entire cycle of grabbing and releasing.

[0033] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A flexible, conformable gripping manipulator, comprising a connecting seat (1), characterized in that: Two fixing frames (2) are provided at the bottom of the connecting seat (1), and grabbing units are provided on both sides of the fixing frames (2); The grabbing unit comprises an adjusting device (3), the adjusting device (3) is arranged on the fixing frame (2), the top of the adjusting device (3) is connected to an air connection pipe (4), the air connection pipe (4) is connected to the pneumatic device, the bottom of the adjusting device (3) is provided with a connecting pipe (5), the bottom of the connecting pipe (5) is provided with a flexible fitting unit (6), the connecting pipe (5) and the flexible fitting unit (6) are penetrated by a vent hole, and the vent hole is communicated with the air connection pipe (4).

2. A flexible conformable gripping manipulator according to claim 1, characterized in that: The regulating device (3) comprises an regulating column (31), the regulating column (31) being arranged on the fixing frame (2), a ball socket (32) being provided in the regulating column (31), a rotatable ball (33) being provided in the ball socket (32), the top of the ball (33) being connected to the air receiving pipe (4), and the bottom of the ball (33) being connected to the connecting pipe (5).

3. A flexible conformable gripping manipulator according to claim 2, characterized in that: The fixing frame (2) is provided with a fixing hole (21), the adjusting column (31) is inserted into the fixing hole (21), and locking nuts (7) are provided at both ends of the adjusting column (31). The two locking nuts (7) are symmetrically arranged at both ends of the fixing frame (2), and the outer diameter of the locking nuts (7) is larger than the aperture of the fixing hole (21).

4. The flexible conformable gripping manipulator according to claim 3, characterized in that: The fixing hole (21) is a waist-shaped hole.

5. The flexible conformable gripping manipulator according to claim 1, characterized in that: The flexible fitting unit (6) comprises a fixed cover (61), the fixed cover (61) is fixed to the bottom of the connecting pipe (5), a fitting piece (62) is provided at the bottom of the fixed cover (61), and the vent holes are penetrated by both the fixed cover (61) and the fitting piece (62).

6. The flexible conformable gripping manipulator according to claim 5, characterized in that: The fitting part (62) is a rubber sheet.

7. The flexible conformable gripping manipulator according to claim 5, characterized in that: The fitting member (62) comprises a scissor-shaped connecting ring, the connecting ring is arranged at the bottom of the fixed cover (61), and a fitting sheet is provided at the bottom of the connecting ring.

8. The flexible conformable gripping manipulator according to claim 1, characterized in that: The connecting seat (1) comprises a fixing plate (11), two fixing frames (2) are symmetrically provided at the bottom of the fixing plate (11), and a connecting column (12) is concentrically provided at the top of the fixing plate (11).

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