CN107972050A - A kind of flexible intelligent manipulator - Google Patents
A kind of flexible intelligent manipulator Download PDFInfo
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- CN107972050A CN107972050A CN201711045792.4A CN201711045792A CN107972050A CN 107972050 A CN107972050 A CN 107972050A CN 201711045792 A CN201711045792 A CN 201711045792A CN 107972050 A CN107972050 A CN 107972050A
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- swingle
- fixed seat
- column
- several
- high resiliency
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of flexible intelligent manipulator, including fixed seat, several adaptive mechanical fingers are installed in the lower part of fixed seat, and adaptive mechanical finger includes the first swingle, and one end and the fixed seat of the first swingle are hinged；First stepper motor is installed in fixed seat, the first stepper motor in fixed seat can drive the first swingle to rotate, one end of first swingle is hinged the second swingle, the end of first swingle is installed by the second stepper motor, the second stepper motor on first swingle can drive the second swingle to rotate, and the end of the second swingle connects adaptive laminating apparatus；The present invention is combined by several adaptive mechanical fingers with several memory foam elastic pushing devices, significantly reduce the probability departed from by gripping object and puma manipulator, the manipulator being combined using adaptive mechanical finger with memory foam elastic pushing device, gripping mortality reduce more than 50%.
Description
Technical field
The present invention relates to a kind of manipulator, belongs to industrial robot field, more particularly to a kind of flexible intelligent manipulator.
Background technology
Manipulator is a kind of some holding functions that can imitate human hand and arm, to be captured by fixed routine, carry object
Or the automatic pilot of operation instrument, feature is that various expected operations can be completed by programming, on construction and performance
The advantages of having people and robotics concurrently each.
Existing manipulator finger is mostly rigid, and intelligence holds held object under the arm using clamping force, but due to quilt
The shape difference of object is clamped, the surface often coordinated with mechanical finger is not plane, causes mechanical finger and held object
Intelligent point contact, or partial line contact, make mechanical finger coordinate with held object not close, in clamping process, are pressed from both sides
Easily drop when holding object.
Such as Chinese patent (application publication number：CN102321853A a kind of " aircraft and its ultra-low temperature systems use) are disclosed
Stainless steel tube and preparation method thereof ", it uses the Stainless pipe billet containing following mass percent component to roll and forms：C：0.04%
Below, Mn：8.00%~10.00%, Si：Less than 1.00%, P：Less than 0.03%, Cr：19.00%~21.00%, Ni：
5.5%~7.5%, Mo：Less than 0.75%, Co：Less than 075%, N：0.15%~0.40%, remainder is iron.Using upper
The tensile strength for stating the stainless steel tube of technical solution preparation is more than 827MPa in 979~1117MPa, yield strength, and elongation percentage is
20%.The austenite of its steel is highly stable, even across 60% cold working, remains to keep the feature without magnetic, it has good
Toughness and corrosion resistance, intensity during room temperature is twice of general austenitic stainless steel 304,321,316, which has
Good craftsmanship, corrosion resistance and oxidation-resistance property, and in the case of -253 DEG C of ultralow temperature, has very high strong
Degree and toughness, while also there is good high-temperature behavior, this steel grade is widely used in the resistance to high temperature oxidation of aviation and cryogenic system
Component and the component without magnetic.Although the invention can improve the tensile strength and yield strength of stainless steel tube, intensity and toughness compared with
Difference, is not suitable for using in manipulator repetitive operation.
Such as Chinese patent (application publication number：CN105479480A) disclose " a kind of manipulator ", including：Connecting rod, Gu
Clamping plate under connecting rod, hollow bulb on clamping plate simultaneously clamp the balloon of device, are fixed on connecting rod both sides and connect
In the charge and discharge pneumatic module of balloon, the gag lever post being connected in connecting rod is connected in gag lever post and drives and moved down on above-mentioned gag lever post
Dynamic gear, is connected to the electric rotating machine of gear.The present invention provides one kind and is avoided that damage device, suitable for the device of various specifications
Part, and the manipulator of the distance between manipulator and device can be adjusted.But the manipulator does not have adaptive performance, thus soft
Property and versatility are poor.
The content of the invention
The object of the present invention is to provide a kind of flexible intelligent manipulator, and for solving, existing manipulator flexibility is poor not to be had
There is the defects of adaptive adjustment..
The present invention is achieved by the following technical programs：
A kind of flexible intelligent manipulator, including fixed seat, several adaptive mechanical fingers are installed in the lower part of fixed seat, described
Adaptive mechanical finger includes the first swingle, and one end and the fixed seat of the first swingle are hinged；First is provided with fixed seat
Stepper motor, the first stepper motor in fixed seat can drive the first swingle to rotate, one end hinged second of the first swingle
The second stepper motor is installed in swingle, the end of the first swingle, and the second stepper motor on the first swingle can drive the
Two swingles rotate, and the end of the second swingle connects adaptive laminating apparatus；The adaptive laminating apparatus includes positioning plate,
The side of positioning plate is connected with the second swingle, the opposite side connecting joint bearing of positioning plate and several first springs, Shuo Ge
One spring is located at oscillating bearing side week, and the fixing end of oscillating bearing is connected with swivel plate, the movable end connection rotation of oscillating bearing
Plate, the end of several first springs is with being connected in the side week of swivel plate, and the side week of swivel plate installs several supporting rods, supporting rod
One end connects rubber ring, the side connection rubber elastic membrane of rubber ring, and rubber elastic membrane can cover the hole in the middle part of rubber ring, position
Side week installation at least three sets of memory foam elastic pushing devices of plate；The sponge elastic pushing device includes guide pipe, is oriented to
The side of pipe is connected with positioning plate, installation compression bar inside guide pipe, one end connection memory foam ball of compression bar, the other end of compression bar
Connect several second springs, one end connection guide pipe of second spring.
A kind of flexible intelligent manipulator as described above, first swingle and the second swingle are high-strength composite
Steel pole, the high-strength composite steel pole include outer tube and high resiliency column, and outer tube is sleeved on high resiliency column, and high resiliency is stood
Aluminum-magnesium alloy tube is installed between column and outer tube.
A kind of flexible intelligent manipulator as described above, the high resiliency column use alloy abrasion resistance material with outer tube
It is made, alloy wear-resisting discharging each group in terms of quality hundred is divided into：Carbon：0~0.05%；Nitrogen：0~0.05%；Manganese：7.2~
8%；Silicon：0~1%；Chromium：20%~21%；Nickel：4%~5%；Vanadium：6.2%~8.5%；Yttrium carbide：2.3%~3.5%；
Be carbonized holmium：1.2%~2.4%；Surplus is iron.
A kind of flexible intelligent manipulator as described above, each component of the alloy abrasion resistance material are molten by 1750 DEG C of high temperature
After melting, when constant temperature 15 is small；Then it is poured into the shape for forming high resiliency column and outer tube in mould respectively；Then by high resiliency
Column is cooled to room temperature in constant temperature oven to decline 5 DEG C per hour, will put into temperature after outer tube pouring molding immediately as 0 DEG C
Water in, after the completion of high resiliency column, outer tube and aluminum-magnesium alloy tube grafting with upper flange plate and lower flange welding be made into
Product.
A kind of flexible intelligent manipulator as described above, the sidepiece installation controller of the fixed seat, the bottom of fixed seat
First range sensor, the sidepiece installation second distance sensor of positioning plate are installed, the inductive probe of the first range sensor erects
Directly downward, the inductive probe of second distance sensor is towards horizontal direction.
A kind of flexible intelligent manipulator as described above, the rubber elastic membrane is neoprene film.
A kind of flexible intelligent manipulator as described above, the alloy abrasion resistance material is also containing 0.51% metallic sodium.
A kind of flexible intelligent manipulator as described above, the alloy abrasion resistance material is also containing 0.74% lithium metal.
Compared with prior art, it is an advantage of the invention that：
1st, the present invention is combined by several adaptive mechanical fingers with several memory foam elastic pushing devices, greatly
The probability departed from by gripping object and puma manipulator is reduced, memory foam elastic pushing device individually grips several during object
It is larger with chalaza spacing, it is impossible to less object is effectively gripped, can be due to when adaptive mechanical finger individually grips larger object
Can only be with being coordinated by the local small area of gripping object, and cause to slip.By several adaptive mechanical fingers and several memory seas
Continuous elastic pushing device is combined, and can enable manipulator while well gripping larger object and compared with wisp.Memory sea
When continuous elastic pushing device individually grips object, rotation can be produced since contact area is smaller, and adaptive mechanical finger list
Solely during gripping object, it can depart from since object is produced compared with high acceleration and object, several adaptive mechanical fingers and several memories
After sponge elastic pushing device is combined, adaptive manipulator refers to enable rubber ring adaptive by the compression of the first spring
Answer the direction of binding face, memory foam elastic pushing device can be in rubber ring and when being coordinated by gripping object, and by gripping thing
Body formed it is several match somebody with somebody chalaza, and memory foam ball with coordinated by gripping object after, surface can adapt to contact surface, increase itself
With by the contact area of gripping object, when acceleration occurs in object, memory foam elastic pushing device is dropped by high frictional force
It is low by the sliding distance of gripping object so that adaptive mechanical finger can be with being fitted close, so as to both keep away by gripping object
Object is exempted from and rotation occurs to cause to depart from manipulator, while avoided object and occur taking off with manipulator during higher acceleration
From.The manipulator being combined using adaptive mechanical finger with memory foam elastic pushing device, gripping mortality are reduced
More than 50%.
3rd, the present invention installs adaptive laminating apparatus in the finger tip end of adaptive mechanical finger, and adaptive laminating apparatus exists
When coordinating with held object, swivel plate can utilize joint under the action of mechanical finger and held object fingertip pressure first
The first spring of active compression of bearing movable end rotates automatically, rotates as the relatively parallel angle of held object mating surface,
Make rubber ring towards held object, while rubber ring can be buckled in held object mating surface, when clamping object mating surface
With raised and not usually, rubber elastic membrane can utilize elasticity tightly wrap protrusion, so as to substantially increase mechanical finger
Contact area between held object, and then the frictional force between mechanical finger and held object is improved, prevent from clamping
During held object when drop easily.Meanwhile rubber elastic membrane and rubber ring be with flexible, when manipulator clamping process
In when meeting vibrations, rubber elastic membrane and rubber ring can utilize elasticity be bonded all the time with held object, so as to avoid folder
Object is held to drop easily in vibrations.
4th, the present invention also has the advantages of compact structure, low manufacturing cost and easy to use.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described.
Fig. 1 is the structure diagram of the present invention；
Fig. 2 is I enlarged structure schematic diagram of Fig. 1；
Fig. 3 is the enlarged structure schematic diagram along line A-A of Fig. 1.
Reference numeral：1- fixed seats, the first range sensors of 2-, the first swingles of 3-, the second swingles of 4-, 5- positioning
Plate, 6- second distance sensors, 7- rubber rings, the first springs of 8-, 9- swivel plates, 10- oscillating bearings, 11- supporting rods, 12- bullets
Property rubber membrane, 13- controllers, 14- second springs, 15- guide pipes, 16- compression bars, 17- memory foam balls, 22- outer tubes, 24-
Aluminum-magnesium alloy tube, 25- high resiliency columns.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The all other embodiment obtained without creative efforts, belongs to the scope of protection of the invention.
As shown in Figure 1-Figure 3, a kind of flexible intelligent manipulator of the present embodiment, including fixed seat 1, the lower part peace of fixed seat 1
Several adaptive mechanical fingers are filled, adaptive mechanical finger includes the first swingle 3, one end and the fixed seat 1 of the first swingle 3
It is hinged, the first stepper motor is installed, the first stepper motor can drive the first swingle 3 to rotate, the first swingle in fixed seat 1
3 one end is hinged the second swingle 4, and the second stepper motor is installed in the end of the first swingle 3, and the second stepper motor can drive
Second swingle 4 rotates, and the end of the second swingle 4 connects adaptive laminating apparatus, and it is fixed that the adaptive laminating apparatus includes
Position plate 5, the side of positioning plate 5 are connected with the second swingle 4, the opposite side connecting joint bearing 10 and several first of positioning plate 5
Spring 8, several first springs 8 are located at 10 side of oscillating bearing week, and the fixing end of oscillating bearing 10 is connected with swivel plate 9, joint shaft
10 movable end connection swivel plate 9 is held, the end of several first springs 8 is with being connected in the side week of swivel plate 9, the side of swivel plate 9
Several supporting rods 11, one end connection rubber ring 7 of supporting rod 11, the side connection rubber elastic membrane 12 of rubber ring 7, bullet are installed in week
Property rubber membrane 12 can cover the hole at the middle part of rubber ring 7, the side week installation three of positioning plate 5 or more than three memory foam elasticity push away
Dynamic device, the sponge elastic pushing device include guide pipe 15, and the side of guide pipe 15 is connected with positioning plate 5, guide pipe 15
Inside installation compression bar 16, one end connection memory foam ball 17 of compression bar 16, the other end of compression bar 16 connects several second springs 14,
One end connection guide pipe 15 of second spring 14.
Specifically, the flexible manipulator of the present embodiment passes through several adaptive mechanical fingers and several memory foams elasticity
Pushing meanss are combined, and significantly reduce the probability departed from by gripping object and puma manipulator, memory foam resiliency urged
Device individually grips several larger with chalaza spacing during object, it is impossible to effectively grips less object, adaptive mechanical finger list
, can be due to can only be with by the local small area cooperation of gripping object, and causing to slip solely during gripping larger object.It is several adaptive
Mechanical finger is combined with several memory foam elastic pushing devices, can be enable manipulator while be gripped larger thing well
Body and compared with wisp.
When memory foam elastic pushing device individually grips object, rotation can be produced since contact area is smaller, and
When adaptive mechanical finger individually grips object, it can depart from since object is produced compared with high acceleration and object, several adaptive machines
For tool finger after several memory foam elastic pushing devices are combined, adaptive manipulator refers to the pressure by the first spring 8
Contracting enables the direction of the adaptive binding face of rubber ring 7, and memory foam elastic pushing device can be in rubber ring 7 and by gripping thing
When body coordinates, with by gripping object formed it is several match somebody with somebody chalaza, and memory foam ball 17 with by the cooperation of gripping object after, surface
Contact surface can be adapted to, increases itself and by the contact area of gripping object, when acceleration occurs in object, memory foam elasticity pushes away
Dynamic device is reduced by the sliding distance of gripping object by high frictional force so that adaptive mechanical finger can with by gripping thing
Body is fitted close, and causes to depart from manipulator so as to both avoid object and rotation occurred, while it is higher to avoid object appearance
Depart from during acceleration with manipulator.The manipulator being combined using adaptive mechanical finger with memory foam elastic pushing device,
Gripping mortality reduces more than 50%.
Adaptive laminating apparatus is installed in the finger tip end of adaptive mechanical finger, adaptive laminating apparatus is with being clamped
When object coordinates, swivel plate 9 can utilize oscillating bearing 10 under the action of mechanical finger and held object fingertip pressure first
The first spring of active compression 8 of movable end rotates automatically, rotates as the relatively parallel angle of held object mating surface, makes rubber
Rubber ring 7 is towards held object, while rubber ring 7 can be buckled in held object mating surface, when clamping object coordinates mask
There is protrusion and usually, rubber elastic membrane 12 can not utilize elasticity tightly wrap protrusion, so as to substantially increase mechanical finger
Contact area between held object, and then the frictional force between mechanical finger and held object is improved, prevent from clamping
During held object when drop easily.Meanwhile rubber elastic membrane 12 and rubber ring 7 with it is flexible, work as manipulator clamping
During when meeting vibrations, rubber elastic membrane 12 and rubber ring 7 can utilize elasticity be bonded all the time with held object, so as to keep away
Exempt from clamping object to drop easily in vibrations.
As shown in figure 3, first swingle 3 and the second swingle 4 of the present embodiment are high-strength composite steel pole, the height
The compound steel pole of intensity includes outer tube 22 and high resiliency column 25, and outer tube 22 is sleeved on high resiliency column 25, high resiliency column
Aluminum-magnesium alloy tube 24 is installed, high resiliency column 25 is used by following mass percent with outer tube 22 between 25 and outer tube 22
Alloy abrasion resistance material is made, and the mass percent that alloy abrasion resistance material contains each component is respectively：Carbon：0~0.05%；Nitrogen：0~
0.05%；Manganese：7.2~8%；Silicon：0~1%；Chromium：20%~21%；Nickel：4%~5%；Vanadium：6.2%~8.5%；Carbonization
Yttrium：2.3%~3.5%；Be carbonized holmium：1.2%~2.4%；Surplus is iron.
Yttrium carbide and carbonization holmium are added in alloy abrasion resistance material, it is resistance to that yttrium carbide and carbonization holmium are added to alloy at the same time
When grinding in material, the intensity and wearability of alloy abrasion resistance material finished product can be increased considerably.Found by many experiments, at it
In the case that his component is identical, when being individually added into yttrium carbide, the strength enhancing amplitude of steel only fluctuates near 2~2.2%, i.e.,
Can not have the intensity of steel to be obviously improved very much；In the case where other components are identical, steel when being individually added into carbonization holmium
Strength enhancing amplitude only fluctuates near 1.3~1.5%, i.e., equally can not have the intensity of steel and be obviously improved very much.And work as
Yttrium carbide and carbonization holmium, and yttrium carbide are added at the same time：2.3%~3.5%；Be carbonized holmium：1.2%~2.4%；When made conjunction
The intensity of golden wear-resistant material improves 15%~19.8%, and strength enhancing amplitude is obvious, can effectively improve the synthesis of mechanical finger
Intensity.
High resiliency column 25 and outer tube 22 is made as a result of the material for adding yttrium carbide and the holmium that is carbonized, the present invention exists
Aluminum-magnesium alloy tube 24 is installed between high resiliency column 25 and outer tube 22；Aluminum-magnesium alloy tube 24 is compared to high resiliency column 25 and outside
22 yield strength of casing is relatively low, when being subject to ambient pressure after high resiliency column 25 and outer tube 22 coordinate, aluminum-magnesium alloy tube 24
The face of faying face by the tighter filling high resiliency column 25 of deformation and the faying face after 22 stress of outer tube, can be increased
Product, reduces the local pressure of high resiliency column 25 and the faying face after 22 stress of outer tube so that high resiliency column 25 with it is outer
Casing 22 has the ability better against foreign impacts, while added between resilient stud 25 and outer tube 22 can be outside
The aluminum-magnesium alloy tube 24 of deformation is easily produced under power, can make have certain interval between resilient stud 25 and outer tube 22, keep away
Exempt from resilient stud 25 to be rigidly connected with outer tube 22, so as to so that resilient stud 25 can receive impact with outer tube 22
When, itself small deformation is produced to alleviate impact, so as to substantially increase the comprehensive strength of mechanical finger.
The each component of alloy abrasion resistance material is after 1750 degree of meltings of high temperature in the present embodiment, when constant temperature 15 is small；Then pour
Build the shape for forming high resiliency column 25 and outer tube 22 in mould respectively, then by high resiliency column 25 in constant temperature oven with
Decline 5 degree per hour and be cooled to room temperature, will be put into immediately after 22 pouring molding of outer tube in the water that temperature is zero degree, high resiliency
Finished product is made with upper flange plate 21 and the welding of lower flange 23 after the completion of 24 grafting of column 25, outer tube 22 and aluminum-magnesium alloy tube.
The each component of the alloy abrasion resistance material of the present invention, can be so that alloy when constant temperature 15 is small after 1750 degree of meltings of high temperature
Wear-resistant material obtains each component and fully merges, and enables the components such as yttrium carbide, ytterbium carbide, chromium, nickel, vanadium using the steel liquid of flowing
It is enough more uniformly to enter in the lattice of steel, so as to effectively increase the intensity of alloy abrasion resistance material.The high resiliency of the present invention
Column 25 is cooled down with outer tube 22 using two ways, and high resiliency column 25 can be made to have different characteristics from outer tube 22,
And after the material socket with two kinds of characteristics, the comprehensive strength of mechanical finger can be improved.The high resiliency column 25 of the present invention exists
The toughness of high resiliency column 25 can be increased by being cooled to room temperature in constant temperature oven to decline 25 degree per hour, make high resiliency column 25 can
With by spring back to foreign impacts into row buffering, and put into immediately after 22 pouring molding of outer tube temperature be zero degree water in can
To improve the rigidity of outer tube 22, outer tube 22 is set to resist the collision in the external world, outer tube 22 and high resiliency column 25 combine
Afterwards, the external world can either be collided into row buffering, while column body bend resistance can be improved using the toughness of high resiliency column 25
Ability.
As shown in Figure 1, the present embodiment fixed seat 1 sidepiece install controller 13, fixed seat 1 bottom installation first away from
From sensor 2, the sidepiece installation second distance sensor 6 of positioning plate 5, the inductive probe of the first range sensor 2 downwards,
The inductive probe of second distance sensor 6 is horizontally arranged.
First range sensor 2 can sense the distance of mechanical finger linear vertical direction object, second distance sensor 6
Can the distance between sense object and mechanical finger, the two combination can facilitate manipulator more accurately to take object.This
13 input terminal of controller of invention is connected with the first range sensor 2 and second distance sensor 6, and the output terminal of controller 13 connects
The stepper motor of the first swingle 3 of control and the second swingle 4 is connect, controller 13 is PLC module or microcontroller.
Further, the rubber elastic membrane 12 in the present embodiment is neoprene film.It can be improved using neoprene film
The flexibility and service life of adaptive laminating apparatus.
Further, the alloy abrasion resistance material also metallic sodium containing 0.51wt% in the present embodiment.Show through overtesting
Adding the metallic sodium of 0.51wt% can make the intensity peak of alloy abrasion resistance material improve 0.5%.Alloy abrasion resistance material also contains
The lithium metal of 0.74wt%.Show that the lithium metal for adding 0.74wt% being capable of filler alloys wear-resistant material metallic atom through overtesting
Gap, further improves the intensity of alloy abrasion resistance material.
The technology contents of the not detailed description of the present invention are known technology.
Claims (8)
1. a kind of flexible intelligent manipulator, it is characterised in that including fixed seat (1), the lower part installation of fixed seat (1) is several adaptive
Mechanical finger is answered, the adaptive mechanical finger includes the first swingle (3), one end and the fixed seat (1) of the first swingle (3)
It is hinged；First stepper motor is installed, the first stepper motor in fixed seat (1) can drive the first swingle in fixed seat (1)
(3) rotate, one end of the first swingle (3) is hinged the second swingle (4), and the second stepping is installed in the end of the first swingle (3)
Motor, the second stepper motor on the first swingle (3) can drive the second swingle (4) to rotate, the end of the second swingle (4)
Portion connects adaptive laminating apparatus；The adaptive laminating apparatus includes positioning plate (5), the side of positioning plate (5) and the second rotation
Bull stick (4) connects, the opposite side connecting joint bearing (10) and several first springs (8) of positioning plate (5), several first springs
(8) it is connected positioned at oscillating bearing (10) side week, the fixing end of oscillating bearing (10) with swivel plate (9), the work of oscillating bearing (10)
Moved end connection swivel plate (9), the end of several first springs (8) is with being connected in the side week of swivel plate (9), the side of swivel plate (9)
Several supporting rods (11), one end connection rubber ring (7) of supporting rod (11), the side connection elastic rubber of rubber ring (7) are installed in week
Glued membrane (12), rubber elastic membrane (12) can cover the hole in the middle part of rubber ring (7), at least three sets notes of side week installation of positioning plate (5)
Recall sponge elastic pushing device；The sponge elastic pushing device includes guide pipe (15), the side of guide pipe (15) and positioning
Plate (5) connects, installation compression bar (16) inside guide pipe (15), one end connection memory foam ball (17) of compression bar (16), compression bar
(16) the other end connects several second springs (14), one end connection guide pipe (15) of second spring (14).
2. a kind of flexible intelligent manipulator according to claim 1, it is characterised in that first swingle (3) and
Two swingles (4) are high-strength composite steel pole, and the high-strength composite steel pole includes outer tube (22) and high resiliency column
(25), outer tube (22) is sleeved on high resiliency column (25), and magnalium is installed between high resiliency column (25) and outer tube (22) and is closed
Gold pipe (24).
A kind of 3. flexible intelligent manipulator according to claim 2, it is characterised in that the high resiliency column (25) with it is outer
Casing (22) is made of alloy abrasion resistance material, and alloy wear-resisting discharging each group in terms of quality hundred is divided into：Carbon：0~
0.05%；Nitrogen：0~0.05%；Manganese：7.2~8%；Silicon：0~1%；Chromium：20%~21%；Nickel：4%~5%；Vanadium：6.2%
~8.5%；Yttrium carbide：2.3%~3.5%；Be carbonized holmium：1.2%~2.4%；Surplus is iron.
A kind of 4. flexible intelligent manipulator according to claim 3, it is characterised in that each group of the alloy abrasion resistance material
After lease making crosses 1750 DEG C of meltings of high temperature, when constant temperature 15 is small；Then be poured into mould formed respectively high resiliency column (25) with it is outer
The shape of casing (22)；Then high resiliency column (25) is cooled to room temperature in constant temperature oven to decline 5 DEG C per hour, by overcoat
Put into immediately after pipe (22) pouring molding in the water that temperature is 0 DEG C, high resiliency column (25), outer tube (22) and almag
Finished product is made with upper flange plate and lower flange welding after the completion of pipe (24) grafting.
A kind of 5. flexible intelligent manipulator according to claim 1, it is characterised in that the sidepiece peace of the fixed seat (1)
The first range sensor (2), the sidepiece installation second distance of positioning plate (5) are installed in cartridge controller (13), the bottom of fixed seat (1)
Sensor (6), the inductive probe of the first range sensor (2) downwards, the inductive probe direction of second distance sensor (6)
Horizontal direction.
6. a kind of flexible intelligent manipulator according to claim 1, it is characterised in that the rubber elastic membrane (12) is chlorine
Buna film.
7. a kind of flexible intelligent manipulator according to claim 3, it is characterised in that the alloy abrasion resistance material also contains
0.51% metallic sodium.
8. a kind of flexible intelligent manipulator according to claim 3, it is characterised in that the alloy abrasion resistance material also contains
0.74% lithium metal.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711045792.4A CN107972050B (en) | 2017-10-31 | 2017-10-31 | Flexible intelligent mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711045792.4A CN107972050B (en) | 2017-10-31 | 2017-10-31 | Flexible intelligent mechanical arm |
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| CN107972050A true CN107972050A (en) | 2018-05-01 |
| CN107972050B CN107972050B (en) | 2020-02-11 |
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| CN201711045792.4A Expired - Fee Related CN107972050B (en) | 2017-10-31 | 2017-10-31 | Flexible intelligent mechanical arm |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048971A (en) * | 2018-11-01 | 2018-12-21 | 郭玉华 | A kind of manipulator clamping device |
| CN109277318A (en) * | 2018-06-29 | 2019-01-29 | 烟台大学 | A kind of fruit quality vision detection and classification device and detection stage division |
| CN110002220A (en) * | 2019-04-28 | 2019-07-12 | 河南省新斗彩印刷有限公司 | Offset printing corrugation facing machine intelligence collection robot |
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| CN109277318A (en) * | 2018-06-29 | 2019-01-29 | 烟台大学 | A kind of fruit quality vision detection and classification device and detection stage division |
| CN109048971A (en) * | 2018-11-01 | 2018-12-21 | 郭玉华 | A kind of manipulator clamping device |
| CN110002220A (en) * | 2019-04-28 | 2019-07-12 | 河南省新斗彩印刷有限公司 | Offset printing corrugation facing machine intelligence collection robot |
| CN110497039B (en) * | 2019-08-29 | 2024-03-26 | 西安煤矿机械有限公司 | Alignment device and method for gear involute internal spline of gear shaping processing gear |
| CN110497039A (en) * | 2019-08-29 | 2019-11-26 | 西安煤矿机械有限公司 | A kind of alignment device and method of Gear Shaping Involute gear internal spline |
| CN110524571A (en) * | 2019-08-30 | 2019-12-03 | 南京斯杩克机器人技术有限公司 | A kind of transfer robot arm of force |
| CN112223339A (en) * | 2020-10-16 | 2021-01-15 | 国网江苏省电力有限公司盐城供电分公司 | Automatic clamping manipulator and control method thereof |
| CN112659188A (en) * | 2021-01-14 | 2021-04-16 | 成都昌碧宣亚商贸有限公司 | Fixed program manipulator capable of testing autonomously |
| CN112978360A (en) * | 2021-02-27 | 2021-06-18 | 深圳市博洋精密科技有限公司 | Six transfer robot with clamping force adjusting function |
| CN113376171A (en) * | 2021-06-25 | 2021-09-10 | 政禾科技(杭州)有限公司 | Intelligent electric control experimental device |
| CN114310857A (en) * | 2021-12-21 | 2022-04-12 | 李天彪 | Based on industrial robot of intelligent manufacturing |
| CN117428550A (en) * | 2023-12-12 | 2024-01-23 | 广州市锐美汽车零部件有限公司 | Feeding manipulator for processing shell |
| CN117428550B (en) * | 2023-12-12 | 2024-03-19 | 广州市锐美汽车零部件有限公司 | Feeding manipulator for processing shell |
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