Flexible clamping and carrying manipulator adaptive to material shapes

Abstract

The utility model discloses a flexible clamping handling manipulator adapting to the shape of a material, which belongs to the technical field of industrial automation equipment, and adopts the technical scheme that the flexible clamping handling manipulator comprises a support frame, a clamping mechanism is arranged at the bottom of the support frame, and the clamping mechanism comprises an upper concave frame fixedly connected to the bottom of the support frame. The shape can be flexibly adjusted according to the shape of materials, when the servo motor is not started, the downward concave suspension and the upward concave suspension are in an unfolded state, the whole clamping mechanism is in a cross shape and can meet the clamping requirements of square, round and irregular-shaped materials, and after the servo motor is started to enable the downward concave suspension to rotate and be folded, the clamping mechanism is in a linear shape, so that the clamping mechanism is convenient to use. And meanwhile, the electric push rod drives the arm rod to rotate, the position and the angle of the clamping plate can be flexibly changed in cooperation with rotating connection between the arm rod and the clamping plate as well as between the arm rod and the connecting frame, and powerful clamping of the materials is achieved.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation equipment technology, and in particular to a flexible clamping and handling robot that adapts to the shape of materials. Background Technology

[0002] A robotic arm is a device that mimics human finger movements and uses mechanical drives to grasp, move, and perform other actions on target objects. It can complete various expected tasks through programming. In industrial production processes, robotic arms are often used to grip various materials to achieve automated handling operations.

[0003] Because the base of a soft robot is made of flexible materials, it has shortcomings in grasping function. The friction between the robot and the object is small, especially for round or cylindrical objects. During the grasping process, the object often falls off.

[0004] An existing patent (publication number: CN211709335U) discloses a flexible robotic gripping device. This utility model can increase the friction between the gripper and the object to be gripped, preventing the gripped object from falling off, and can adapt to cylindrical objects of different shapes and sizes.

[0005] To address the aforementioned issues, existing patents have provided solutions. However, conventional robotic arms typically employ rigid grippers. These grippers have fixed structures and can only hold materials of specific shapes and sizes. When faced with irregularly shaped or geometrically unique materials, rigid grippers struggle to achieve effective gripping, easily leading to material slippage or damage. While some flexible grippers offer a degree of adaptability, their overall structure is relatively rigid, preventing deformation and adjustment of the gripping angle and method, thus presenting certain limitations.

[0006] To address this, a flexible gripping and handling robot that adapts to the shape of materials is proposed. Utility Model Content

[0007] The purpose of this invention is to provide a flexible gripping and handling robot that adapts to the shape of materials. This addresses the problem that existing traditional robots typically use rigid grippers. These grippers have a fixed structure and can only grip materials of specific shapes and sizes. When faced with materials that are irregular in shape or have special geometric shapes, rigid grippers are difficult to grip effectively, and problems such as material slippage and damage are likely to occur. While some flexible grippers have a certain degree of adaptability, their overall structure is relatively tall and cannot be deformed to adjust the gripping angle and method, thus having certain limitations.

[0008] To achieve the above objectives, this utility model provides the following technical solution: a flexible clamping and handling robot that adapts to the shape of materials, including a support frame, wherein a clamping mechanism is provided at the bottom of the support frame;

[0009] The clamping mechanism includes an upper recessed frame fixedly connected to the bottom of the support frame. A servo motor is installed on the top side inside the support frame. A lower recessed frame is rotatably connected to the top of the upper recessed frame. The top of the lower recessed frame is fixedly connected to the output end of the servo motor. An extension structure is provided inside the outer sides of the upper and lower recessed frames. A connecting frame is fixedly connected to the outer side of the extension structure. The connecting frame is slidably connected to the inner side of the outer sides of the upper and lower recessed frames. An arm is rotatably connected to the outer side of the inner side of the connecting frame. An electric push rod is rotatably connected to the inner side of the top of the electric push rod. A clamping plate is rotatably connected to the bottom of the arm. A soft steel strip is rotatably connected to the top of the clamping plate. The top of the soft steel strip is rotatably connected to the inner side of the connecting frame.

[0010] Preferably, the extension structure includes an electrically operated telescopic rod fixedly connected to the inner side of the upper and lower recessed frames, the electrically operated telescopic rod being located inside the connecting frame.

[0011] Preferably, the telescopic end of the electric telescopic rod is fixedly connected to a connecting rod, and a connecting plate is fixedly connected to the outer side of the connecting rod.

[0012] Preferably, a fixing plate is fixedly connected to the inner side of the connecting frame, and the inner side of the fixing plate is bolted to the outer side of the connecting plate.

[0013] Preferably, connecting blocks are fixedly connected to both sides of the top of the support frame, the connecting blocks are located on the outer side of the top of the servo motor, and a mounting plate is fixedly connected to the top of the connecting blocks.

[0014] Preferably, the top of the mounting plate has a mounting hole, which is a circular groove shape.

[0015] Preferably, a protective net is fixedly connected to both the front and rear sides of the connecting block, and the protective net is located on the outer side of the top of the servo motor.

[0016] Preferably, a flexible anti-slip strip is fixedly connected to the inner side of the clamp, and the flexible anti-slip strip is made of rubber material.

[0017] Compared with the prior art, the beneficial effects of this utility model are:

[0018] 1. This application, by setting up a clamping mechanism, can flexibly adjust its shape according to the material shape. When the servo motor is not started, the lower concave suspension and the upper concave suspension are in an unfolded state, and the entire clamping mechanism is cross-shaped, which can adapt to the clamping needs of square, round and irregular shaped materials. When the servo motor is started, the lower concave suspension is rotated and folded, and the clamping mechanism is in a straight line, which is suitable for clamping rectangular and long cylindrical materials. At the same time, the electric push rod drives the arm to rotate, and with the rotational connection between the arm and the clamping plate and the connecting frame, the position and angle of the clamping plate can be flexibly changed to achieve powerful clamping of materials. In addition, the top of the clamping plate is rotatably connected to the connecting frame through a soft steel strip. The flexibility of the soft steel strip allows the clamping plate to better fit irregular or special geometric shapes of materials, effectively preventing materials from slipping and being damaged, improving production efficiency and reducing production costs.

[0019] 2. By setting an extension structure, this application allows the connecting frame to slide inside the outer side of the upper and lower concave suspensions, thereby indirectly changing the length and clamping range of the clamping plate. This enables the robot to clamp materials of different widths or lengths, further enhancing its adaptability to materials of different shapes and sizes and greatly expanding its application scenarios. Attached Figure Description

[0020] Figure 1 This is an overall structural diagram of the flexible clamping and handling robot that adapts to the shape of materials according to this utility model.

[0021] Figure 2 This is a structural diagram of the clamping mechanism of this utility model;

[0022] Figure 3 This is a structural diagram of the extended structure of this utility model;

[0023] Figure 4 This is a structural diagram of the recessed frame of this utility model;

[0024] Figure 5 This is a structural diagram of the upper concave frame of this utility model.

[0025] In the diagram, 1. Support frame; 2. Clamping mechanism; 21. Upper recessed frame; 22. Servo motor; 23. Lower recessed frame; 24. Extension structure; 241. Electric telescopic rod; 242. Connecting rod; 243. Connecting plate; 244. Fixing plate; 25. Connecting frame; 26. Arm; 27. Electric push rod; 28. Clamping plate; 29. ​​Soft steel strip; 3. Connecting block; 4. Mounting plate; 5. Mounting hole; 6. Protective net; 7. Flexible anti-slip strip. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] Please see Figure 1-5 The present invention provides the following technical solution:

[0028] A flexible gripping and handling robot that adapts to the shape of materials includes a support frame 1, and a gripping mechanism 2 is provided at the bottom of the support frame 1.

[0029] The clamping mechanism 2 includes an upper recessed frame 21 fixedly connected to the bottom of the support frame 1. A servo motor 22 is provided on the top side inside the support frame 1. A lower recessed frame 23 is rotatably connected to the top of the upper recessed frame 21. The top of the lower recessed frame 23 is fixedly connected to the output end of the servo motor 22. An extension structure 24 is provided inside the outer side of the upper recessed frame 21 and the lower recessed frame 23. A connecting frame 25 is fixedly connected to the outer side of the extension structure 24. The connecting frame 25 is slidably connected to the inner side of the outer side of the upper recessed frame 21 and the lower recessed frame 23 respectively. An arm 26 is rotatably connected to the outer side inside the connecting frame 25. An electric push rod 27 is rotatably connected to the inner side of the top of the electric push rod 27. A clamping plate 28 is rotatably connected to the bottom of the arm 26. A soft steel strip 29 is rotatably connected to the top of the clamping plate 28. The top of the soft steel strip 29 is rotatably connected to the inner side of the connecting frame 25.

[0030] In this embodiment: By setting up the clamping mechanism 2, when it is necessary to clamp materials, the servo motor 22 is first activated based on the shape and size of the materials. If the materials are square, round, or irregular in shape, the servo motor 22 is not activated. At this time, the lower recessed frame 23 and the upper recessed frame 21 are in an unfolded state, and the entire clamping mechanism 2 is in a cross shape, preparing the shape for clamping such materials. If the materials are rectangular or long cylinders, the servo motor 22 is activated. The servo motor 22 drives the lower recessed frame 23 to rotate and fold at the top of the upper recessed frame 21, so that the clamping mechanism 2 is in a straight line shape to adapt to the clamping requirements of such materials. Then, the electric push rod 27 is activated, and the electric push rod 27 performs a telescopic action, driving the arm 26 to rotate. Since the arm 26 is rotatably connected to the clamping plate 28 and the connecting frame 25, the rotation of the arm 26 can flexibly change the clamping plate. The position and angle of clamp 28 allow it to approach and gradually conform to the material. During the contact between clamp 28 and material, the flexible steel strip 29 rotatably connected to the top of clamp 28 plays a crucial role. The flexible steel strip 29 is flexible and deforms accordingly when encountering irregular or specially shaped materials, thereby causing clamp 28 to better conform to the material surface, ensuring a strong and stable clamping of the material and effectively preventing material slippage and damage. At the same time, the connecting frame 25 slides inside the outer side of the upper concave frame 21 and lower concave frame 23 through the extension structure 24, thereby indirectly changing the length clamping range of clamp 28. In this way, the position of clamp 28 can be flexibly adjusted according to the width or length of the material, further enhancing the adaptability to materials of different shapes and sizes, and ultimately achieving precise and efficient clamping and handling of materials.

[0031] Specifically, such as Figure 3 As shown, the extension structure 24 includes an electric telescopic rod 241 fixedly connected to the inner side of the upper recess 21 and the lower recess 23. The electric telescopic rod 241 is located inside the connecting frame 25.

[0032] Specifically, such as Figure 3 As shown, a connecting rod 242 is fixedly connected to the telescopic end of the electric telescopic rod 241, and a connecting plate 243 is fixedly connected to the outer side of the connecting rod 242.

[0033] Specifically, such as Figure 3 As shown, a fixing plate 244 is fixedly connected to the inner side of the connecting frame 25, and the inner side of the fixing plate 244 is bolted to the outer side of the connecting plate 243.

[0034] In this embodiment: By setting the extension structure 24, when the clamping range needs to be adjusted, the electric telescopic rod 241 is activated, and its telescopic end performs a telescopic action. The movement of the telescopic end drives the connecting rod 242, which is fixedly connected to it, to move. The connecting rod 242 then drives the outer connecting plate 243 to move. Since the connecting plate 243 is bolted to the fixing plate 244 on the inner side of the connecting frame 25, the movement of the connecting plate 243 will cause the connecting frame 25 to slide inside the outer side of the upper concave frame 21 and the lower concave frame 23. In this way, the position of the connecting frame 25 changes, which indirectly adjusts the position of the clamping plate 28, thereby changing the length clamping range of the clamping plate 28, so that the robot can adapt to the clamping requirements of materials of different widths or lengths.

[0035] Specifically, such as Figure 5 As shown, connecting blocks 3 are fixedly connected to both sides of the top of the support frame 1. The connecting blocks 3 are located on the outer side of the top of the servo motor 22, and the top of the connecting blocks 3 is fixedly connected to the mounting plate 4.

[0036] Specifically, such as Figure 5 As shown, the top of the mounting plate 4 has a mounting hole 5, which is a circular groove shape.

[0037] In this embodiment: By setting up connecting block 3, mounting plate 4 and mounting hole 5, connecting block 3 is fixed on both sides of the top of support frame 1, which serves to connect support frame 1 and mounting plate 4. The circular mounting hole 5 opened on the top of mounting plate 4 can be used to securely install the entire robot on the required work equipment or platform by passing bolts or other connecting parts through the mounting hole 5. This design makes the installation process of the robot simpler and more efficient, and can be put into use quickly.

[0038] Specifically, such as Figure 5 As shown, protective nets 6 are fixedly connected to both the front and rear sides of the connecting block 3. The protective nets 6 are located on the outer side of the top of the servo motor 22.

[0039] Specifically, such as Figure 2 As shown, a flexible anti-slip strip 7 is fixedly connected to the inner side of the clamp 28. The flexible anti-slip strip 7 is made of rubber material.

[0040] In this embodiment: by setting a protective net 6 and a flexible anti-slip strip 7, the protective net 6 is installed on the front and rear sides of the connecting block 3 and is located on the outer side of the top of the servo motor 22. It can block external debris, dust and other objects from entering the area where the servo motor 22 is located, avoiding these foreign objects from interfering with or damaging the normal operation of the servo motor 22, and extending the service life of the servo motor 22. The flexible anti-slip strip 7 on the inner side of the clamping plate 28 is made of rubber material. When the clamping plate 28 clamps the material, the flexible anti-slip strip 7 can increase the friction between the clamping plate 28 and the material, so that the material is more firmly clamped between the clamping plates 28, effectively preventing the material from slipping during the clamping process, and improving the stability and reliability of the robot's operation.

[0041] Working Principle: In the use of the flexible clamping and handling robot that adapts to the shape of materials, the support frame 1 is first securely installed on the working equipment or platform using bolts and other connecting parts through the circular mounting holes 5 on the mounting plates 4 on the connecting blocks 3 on both sides of the top of the support frame 1. This completes the quick and easy installation. When it is necessary to clamp materials, the operator first observes the shape and size of the materials. If the materials are square, round, or irregular in shape, there is no need to start the servo motor 22. At this time, the lower concave frame 23 and the upper concave frame 21 are in an unfolded state, forming a cross shape. Prepare for clamping this type of material. If the material is rectangular or a long cylinder, start the servo motor 22 to drive the lower recessed frame 23 to rotate and fold at the top of the upper recessed frame 21 into a straight shape to fit the material. Then, start the electric push rod 27, whose extension and retraction drive the arm 26 to rotate. Since the arm 26 is rotatably connected to the clamping plate 28 and the connecting frame 25, the rotation of the arm 26 can flexibly adjust the position and angle of the clamping plate 28, so that the clamping plate 28 approaches and fits the material. During this process, the top of the clamping plate 28 rotates... The flexible steel strip 29 of the moving connection plays a crucial role. Due to its flexibility, it deforms when encountering irregular or special geometrically shaped materials, causing the clamping plate 28 to better conform to the material surface, achieving powerful and stable clamping and preventing the material from slipping and being damaged. Furthermore, if the width or length of the material is different and the clamping range needs to be adjusted, the electric telescopic rod 241 is activated. Its telescopic end drives the connecting rod 242 and the connecting plate 243 to move. Since the connecting plate 243 is bolted to the fixing plate 244 on the inner side of the connecting frame 25, the connecting frame 25 will slide inside the outer side of the upper concave frame 21 and the lower concave frame 23, indirectly changing the position and length of the clamping plate 28 and the clamping range, enhancing the adaptability to materials of different shapes and sizes. In addition, the protective net 6 fixed on the front and rear sides of the connecting block 3 can block debris and dust from entering the servo motor 22 area, extending its service life. The flexible anti-slip strip 7 on the inner side of the clamping plate 28 is made of rubber material, which increases the friction between the clamping plate 28 and the material, further improving the stability and reliability when clamping the material, ultimately achieving precise and efficient clamping and handling of the material.

[0042] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A flexible gripping and handling robot that adapts to the shape of materials, comprising a support frame (1), characterized in that: The bottom of the support frame (1) is provided with a clamping mechanism (2); The clamping mechanism (2) includes an upper recessed frame (21) fixedly connected to the bottom of the support frame (1). A servo motor (22) is provided on the top side inside the support frame (1). A lower recessed frame (23) is rotatably connected to the top of the upper recessed frame (21). The top of the lower recessed frame (23) is fixedly connected to the output end of the servo motor (22). An extension structure (24) is provided inside the outer side of the upper recessed frame (21) and the lower recessed frame (23). A connecting frame (25) is fixedly connected to the outer side of the extension structure (24). The connecting frame (25) slides on the outer side of the extension structure (24). The connecting frame (25) is rotatably connected to the outside of the upper recessed frame (21) and the lower recessed frame (23). The arm (26) is rotatably connected to the outside of the inside of the connecting frame (25). An electric push rod (27) is rotatably connected to the inside of the connecting frame (25). The telescopic end of the electric push rod (27) is rotatably connected to the inside of the top of the arm (26). A clamping plate (28) is rotatably connected to the bottom of the arm (26). A soft steel strip (29) is rotatably connected to the top of the clamping plate (28). The top of the soft steel strip (29) is rotatably connected to the inside of the connecting frame (25).

2. The flexible gripping and handling robot that adapts to the shape of materials according to claim 1, characterized in that: The extension structure (24) includes an electric telescopic rod (241) fixedly connected to the inside of the outer side of the upper recess (21) and the lower recess (23), the electric telescopic rod (241) being located inside the connecting frame (25).

3. The flexible gripping and handling robot that adapts to the shape of materials according to claim 2, characterized in that: The telescopic end of the electric telescopic rod (241) is fixedly connected to a connecting rod (242), and a connecting disc (243) is fixedly connected to the outside of the connecting rod (242).

4. The flexible gripping and handling robot that adapts to the shape of materials according to claim 3, characterized in that: A fixing plate (244) is fixedly connected to the inner side of the connecting frame (25), and the inner side of the fixing plate (244) is bolted to the outer side of the connecting plate (243).

5. A flexible gripping and handling robot that adapts to the shape of materials according to claim 1, characterized in that: Connecting blocks (3) are fixedly connected to both sides of the top of the support frame (1). The connecting blocks (3) are located on the outer side of the top of the servo motor (22). A mounting plate (4) is fixedly connected to the top of the connecting blocks (3).

6. A flexible gripping and handling robot adapting to the shape of materials according to claim 5, characterized in that: The mounting plate (4) has a mounting hole (5) on its top, and the mounting hole (5) is a circular groove.

7. A flexible gripping and handling robot adapting to the shape of materials according to claim 5, characterized in that: The front and rear sides of the connecting block (3) are fixedly connected with protective nets (6), which are located on the outer side of the top of the servo motor (22).

8. A flexible gripping and handling robot that adapts to the shape of materials according to claim 1, characterized in that: A flexible anti-slip strip (7) is fixedly connected to the inner side of the clamp (28), and the flexible anti-slip strip (7) is made of rubber material.

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