CN111606046B

CN111606046B - Flexible holding electromagnetic manipulator

Info

Publication number: CN111606046B
Application number: CN202010480280.6A
Authority: CN
Inventors: 刘子涵
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-05-30
Filing date: 2020-05-30
Publication date: 2021-03-12
Anticipated expiration: 2040-05-30
Also published as: CN111606046A

Abstract

The invention provides a flexible holding electromagnetic manipulator which comprises a mechanical palm assembled on a mechanical arm, wherein more than two mechanical fingers are assembled on the mechanical palm, and the mechanical fingers are provided with inward bending structures; the mechanical finger comprises more than two knuckle walls, each knuckle wall is internally provided with a phalanx made of a rigid material, the phalanx is connected through an elastic joint part, the inner sides of the adjacent knuckle walls are connected through the hinge part, the outer sides of the knuckle walls are connected through an elastic deformable skin, the phalanx extends into the hinge part and is connected with the elastic joint part, a finger cavity is opposite to the outer side of the phalanx, one end of the finger is connected with the phalanx through a connecting column, and the other end of the finger extends into the mechanical palm and is connected with a tightening module. The flexible holding electromagnetic manipulator is simple in structure and convenient to use, and can flexibly hold production parts.

Description

Flexible holding electromagnetic manipulator

Technical Field

The invention belongs to the technical field of manipulators, and particularly relates to a flexible holding electromagnetic manipulator.

Background

In the process of mechanical production processing and assembly, mechanical parts are required to be held frequently, the holding operation is often completed by a manipulator, but when the traditional manipulator is used for holding, particularly an industrial manipulator, in order to ensure the structural simplification and the working stability of the manipulator, the manipulator does not generally refer to knot type operation, the whole package of a held object is difficult to complete, the action is toughened and rigid, once the holding force is not normal, the held object of the manipulator is easy to damage, and the high-activity humanoid manipulator is too complex in structure, too expensive in price and high in error rate, and is not suitable for being used in large-scale mass production of machinery.

In the process of using the traditional manipulator, the clamping action usually needs a special action structure for control, thus increasing the complexity of the structure, and other manipulators are often used in a cold and hot alternating environment, for example, some elements which are fired or need to be cooked often need to be taken out from a heating environment to a cooling environment, thus needing to be used in two cold and hot alternating environments.

In industrial production, workpieces to be grabbed by the manipulator are often made of iron materials, so that the traditional manipulator needs to hold to grab the workpieces or parts. And traditional manipulator can not carry out accurate differentiation to the iron part, and it is comparatively inconvenient to use, and uses the electromagnetism adsorption structure, though can accomplish the accurate of iron part and snatch, nevertheless need open electromagnetic element always in the snatching in-process of part, very consume energy.

Disclosure of Invention

Aiming at the problems, the invention provides the flexible holding electromagnetic manipulator which is simple in structure and convenient to use and can flexibly hold production parts.

The technical scheme adopted by the invention for solving the technical problems is as follows: the flexible holding electromagnetic manipulator comprises a mechanical palm assembled on a mechanical arm, wherein more than two mechanical fingers are assembled on the mechanical palm, each mechanical finger is provided with an inward bending structure, the bending surfaces of at least one pair of mechanical fingers are opposite, and a deformation laminating layer made of elastic materials is attached to the bending surface of each mechanical finger; the mechanical finger comprises more than two knuckle walls, finger cavities are designed in the knuckle walls, each finger cavity in the knuckle walls is internally provided with a finger bone made of rigid materials, the inner sides of the finger cavities close to the bending direction are provided with the finger bones made of rigid materials, the adjacent finger bones are connected through elastic joint parts, the mechanical finger corresponds to the knuckle walls outside the finger bones and is made of rigid materials, the inner sides of the adjacent finger walls are connected through hinged parts, the outer sides of the finger walls are connected through elastically deformable skins, the elastic joint parts are assembled inside the hinged parts, the finger bones penetrate into the hinged parts and are connected with the elastic joint parts, the finger bones form a framework structure through the hinged parts and the joint parts, the outer ends of the finger bones at the ends of the mechanical finger are fixedly provided with connecting columns, and the outer sides of the finger cavities opposite to the finger bones are provided with finger ribs made of elastic linear materials, one end of the finger tendon is connected with a finger bone through a connecting column, the other end of the finger tendon extends into the mechanical palm and is connected with a tightening module, and the tightening module controls the finger tendon to be tightened and loosened; the mechanical finger is designed with two states of extension and bending, under the condition of loosening of the finger tendon, the joint piece is in a natural bending state, at the moment, adjacent phalanges and adjacent knuckle walls are in a bending state, the whole mechanical arm is in a bending and gripping state, when the finger tendon is tensioned, the joint piece is unfolded through the connecting column and the phalanges and the joint piece, so that the adjacent phalanges and the adjacent knuckle walls are in a linear state, and at the moment, the mechanical arm is in an extension state.

Preferably, the finger ribs are made of elastic rubber materials, the tightening module is of a winding structure, and the finger ribs are tensioned and loosened according to the winding amount of the finger ribs.

Preferably, the finger rib adopts a metal spring structure, a loop is formed by the tightening module and the circuit structure, and the tightening module can control the magnitude of current in the finger rib spring structure.

Preferably, the articulation piece is in a cylindrical shape, the phalanx and the two mutually rotating pieces of the articulation piece are respectively and fixedly connected, and the articulation piece is assembled in the articulation piece in a pluggable mode.

Preferably, the mechanical palm is provided with four mechanical fingers which are divided into two groups and can be respectively designed to bend inwards.

Preferably, three phalanges and the knuckle walls are designed on each mechanical finger, and a compensation groove is designed in the position, corresponding to the middle phalange, of the deformation laminating layer.

Preferably, the joint member is made of memory metal.

Preferably, the knuckle wall is designed to be cylindrical, an arc-shaped rib is designed at the part, close to the outer skin, of the inner part of the mechanical finger, and the finger rib passes through the space between the rib and the outer skin; the conveying spring is characterized in that a conveying spring of a spring structure is designed in a cavity between the finger tendon and the phalanx, one end of the conveying spring extends into the front end of the inner finger cavity of the mechanical finger, the other end of the conveying spring extends into the mechanical palm, elastic limiting sleeves are fixedly assembled in two ends of the conveying spring respectively, a columnar magnetic block is assembled in the conveying spring, the outer wall of the magnetic block is matched with the inner wall of the limiting sleeve in size, the magnetic block can be elastically embedded into the limiting sleeve, two ends of the conveying spring are connected into a control circuit, the control circuit can supply forward and reverse currents into the conveying spring respectively, magnetic fields in different directions are generated on the inner side of the conveying spring, and the magnetic block is conveyed in the conveying spring in a magnetic force mode.

Preferably, the outer side surface of the limiting sleeve is designed to be closed by an elastic surface, and the mechanical finger is designed to be closed.

The invention has the beneficial effects that: the flexible holding electromagnetic manipulator is mainly used on a production line in cooperation with a mechanical arm due to the holding operation in industrial production, when the manipulator is used, the manipulator is moved to the position of a material workpiece on a conveying line through the mechanical arm, and meanwhile, the front finger bones of the mechanical finger are pulled and tightened by the finger muscle operated by the tightening module, so that all the finger bones are linked to realize the opening of the mechanical finger, the manipulator can be just placed at the holding position of the material workpiece, then the finger muscle operated by the tightening module is pulled to release the finger bones at the end part of the mechanical finger, and each finger bone and the finger knuckle wall of the mechanical finger return to the holding state under the elastic action of the joint connecting piece, so that the elastic holding of the material workpiece is realized. When the manipulator needs different holding forces, the manipulator can realize different pulling forces to the finger tendon through the tightening module, and when the maximum holding force of the manipulator is in a pulling state of loosening the finger tendon to the finger bone, the manipulator can prevent the gripping object from being grabbed by the overlarge damage of the holding force. This manipulator simple structure has a plurality of knuckles, can realize holding the operation through the elasticity pulling to indicating the muscle, and the state of holding is changeable more, and the suitability is wider.

Drawings

Fig. 1 is a schematic structural diagram of a flexible holding electromagnetic manipulator in the forward direction.

Fig. 2 is a schematic structural view of a cross section of the flexibly held electromagnetic robot in a state of being extended in a plan view direction.

Fig. 3 is a schematic structural view of a cross section of the flexible-holding electromagnetic robot in a gripping state in a top view direction.

Detailed Description

The invention is further illustrated by the following examples:

as shown in fig. 1, fig. 2 and fig. 3, in the present embodiment, the external structure of the flexibly-held electromagnetic manipulator can be specifically designed according to specific workpieces to be held, and its general appearance is similar to that of a conventional manipulator, and it includes a mechanical palm 2 mounted on a mechanical arm 1, two or more mechanical fingers 3 are mounted on the mechanical palm 2, the mechanical fingers 3 are designed with inward bending structures, the bending surfaces of at least one pair of mechanical fingers 3 are opposite, and a deformable adhesive layer 31 made of elastic material is attached to the bending surface of the mechanical fingers 3; the deformation laminating layer is made of silica gel or sponge materials. The mechanical finger 3 comprises more than two knuckle walls 32, finger cavities are designed in the knuckle walls 32, each finger cavity in the knuckle wall 32 is provided with a phalanx 33 made of rigid materials close to the inner side of the bending direction, and the knuckle walls 32 are fixedly connected with the phalanx 33. The adjacent phalanges 33 are connected through an elastic joint part 34, the knuckle walls 32 of the mechanical finger 3 corresponding to the outer sides of the phalanges 33 are made of rigid materials, the inner sides of the adjacent knuckle walls 32 are connected through a hinge part 35, the joint part 34 is used for adjacently keeping the connection state between the phalanges 33, and the hinge part 35 is used for limiting the bending state of the phalanges 33. The outer side of the knuckle wall 32 is connected by an elastic deformable outer skin 36, the elastic joint part 34 is assembled inside the hinge part 35, the phalange 33 extends into the hinge part 35 and is connected with the elastic joint part 34, the phalange 33 forms a skeleton structure through the hinge part 35 and the joint part 34, the outer end of the phalange 33 at the finger end of the mechanical finger 3 is fixedly assembled with a connecting column, the finger cavity is opposite to the outer side of the phalange 33, a finger muscle 4 made of elastic linear materials is arranged, one end of the finger muscle 4 is connected with the phalange 33 through the connecting column, the other end of the finger muscle 4 extends into the mechanical palm 2 and is connected with a tightening module 41, and the tightening module 41 controls the finger muscle 4 to be tightened and loosened. The mechanical finger 3 is designed to be in two states of extension and bending, under the condition that the finger tendon 4 is loosened, as shown in fig. 3, the joint piece 34 is in a natural bending state at the moment, the adjacent phalanges 33 and the adjacent knuckle walls 32 are in a bending state at the moment, the whole mechanical arm is in a bending and gripping state, when the finger tendon 4 is tensioned, the joint piece 34 is unfolded through the action of the connecting column and each knuckle phalange 33 with the joint piece 34, so that the adjacent phalanges 33 and the adjacent knuckle walls 32 are in a linear state, and the mechanical arm is in an extension state at the moment.

The flexible holding electromagnetic manipulator is mainly used on a production line in cooperation with the mechanical arm 1 due to holding operation in industrial production, when the manipulator is used, the manipulator is moved to the position of a material workpiece 6 on a conveying line through the mechanical arm 1, meanwhile, the finger ribs 4 are operated by the tightening module 41 to tighten and pull the front finger bones 33 of the mechanical finger 3, all the finger bones 33 are linked, the mechanical finger 3 is opened, the manipulator can be placed at the holding position of the material workpiece 6, then the finger ribs 4 are operated by the tightening module 41 to loosen and pull the finger bones 33 at the end part of the mechanical finger 3, each finger bone 33 and the knuckle wall 32 of the mechanical finger 3 return to the holding state under the elastic action of the joint connecting piece 34, and elastic holding of the material workpiece 6 is realized. When the manipulator needs different holding forces, the manipulator can realize different pulling forces on the finger tendon by the tightening module, and the maximum holding force of the manipulator is the pulling state of the finger tendon 4 loosened to the finger bone 33, so that the manipulator can prevent the object from being grabbed by the overlarge holding force. This manipulator simple structure has a plurality of knuckles, presss from both sides the structure with traditional firmly and compares, and is more flexible, can effectively fall and prevent to press from both sides bad product, can realize holding the operation through the elasticity pulling to indicate muscle 4 in addition, and the state of holding is changeable more, can carry out the flexibility to the object of more shapes and snatch, and the suitability is wider.

In specific design, the finger rib 4 is made of elastic rubber materials, the tightening module 41 adopts a winding structure, and the finger rib 4 is tightened and loosened according to the winding amount of the finger rib 4. Therefore, the length of the finger ribs 4 coiled by the tightening module 41 can be effectively controlled for grabbing by the manipulator. Simple structure and easy implementation.

Or, the finger rib adopts a metal spring structure, and at this time, the finger rib forms a loop with the circuit structure through the tightening module, and the tightening module can control the magnitude of current in the finger rib spring structure. When current is applied to the spring structure, the spiral structure forms a magnetic field, so that the adjacent metal rings in the spring attract each other, and the spring structure contracts, thereby elastically tensioning the front phalanx 33 of the mechanical finger 3. The structure can directly realize the control of the shrinkage force through the current, is convenient for the automatic modular design of equipment, and has more accurate control of the shrinkage force and more convenient control process.

As shown in fig. 2 and 3, the hinge member 35 is cylindrical, the phalanges 33 and the two mutually rotating members of the hinge member 35 are fixedly connected to each other, and the joint member 34 is assembled in the hinge member 35 in a pluggable manner. Therefore, people can adjust different maximum holding force by replacing different joint parts 34 and adjust the maximum bending angle between the adjacent phalanges 33, and the joint parts 34 shown by the people belong to vulnerable elements.

In the present embodiment, as shown in fig. 1 and fig. 2, four fingers 3 are mounted on the palm 2, and are divided into two groups, which are respectively designed to be bent inward. This makes it easier to handle the cylindrical material element 6. Three phalanges 33 and knuckle walls 32 are designed on each mechanical finger 3, the number of the phalanges is the same as that of finger knuckles of a human body, and the structure is simple as a whole and wide in adaptability. And a compensation groove is designed at the position of the deformation fit layer 31 corresponding to the middle phalanx 33. Since the deformable fit layer 31 at the middle phalange 33 is extruded and protruded when the mechanical finger 3 is bent, the compensation groove can counteract the protrusion, so that the thickness of the deformable fit layer 31 at the middle phalange 33 is the same as the thickness of the front phalange 33 and the rear phalange 33 when the mechanical finger is bent, and the holding effect of the whole manipulator is better.

In a particular design, the articular component 34 may be formed of a memory metal. This allows the joint 34 to automatically assume different positions at different temperatures, which allows the robot to achieve different extension and gripping positions at different temperatures. For example, the temperature on the production line is high, the material workpiece is taken out and placed at a low position, at this time, if the phase transition temperature of the memory metal used by the joint part 34 is just between the two high and low temperatures, when the manipulator is at the material workpiece placement position, the temperature is low, the manipulator is in an extension state, and when the manipulator is at the material workpiece on the high-temperature production line, the temperature is high, the manipulator is in a gripping state, so that when the manipulator moves at the two positions, the manipulator naturally achieves a gripping and releasing state, the mechanical step operation is automatically completed, the pulling of the finger bar structure is completely not needed, and the whole body is more stable through automatic judgment and control of the temperature.

In the present embodiment, as shown in fig. 1, fig. 2 and fig. 3, the knuckle wall 32 is designed to be cylindrical, the inner part of the mechanical finger 3 near the outer skin 36 is partially designed to be an arc-shaped rib 42, and the finger 4 passes between the rib 42 and the outer skin 36; the rib 42 can be fixed with the knuckle wall 32 close to the mechanical palm 2, and the rib 42 can limit the finger 4 when the finger 4 pulls the phalange 33 to bend the mechanical finger 2, so that the inside of the mechanical finger 3 keeps a cavity state. Thus, a conveying spring 5 with a spring structure is designed in a cavity between the finger 4 and the phalanx 33, one end of the conveying spring 5 extends into the front end of the inner finger cavity of the mechanical finger 3, the other end of the conveying spring 5 extends into the mechanical palm 2, elastic limiting sleeves 51 are fixedly arranged at two ends of the conveying spring 5 respectively, a columnar magnetic block 52 is arranged in the conveying spring 5, the outer wall of the magnetic block 52 is matched with the inner wall of the limiting sleeve 51 in size, the magnetic block 52 can be elastically embedded in the limiting sleeve 51, two ends of the conveying spring 5 are connected into a control circuit, the control circuit can respectively supply forward and reverse currents into the conveying spring 5, magnetic fields in different directions are generated at the inner side of the conveying spring 5, and magnetic force conveying is generated by the magnetic block 52 in the conveying spring 5. In this embodiment, the knuckle wall 32 and the phalanx 33 are made of non-magnetic material, when power is applied to the conveying spring 5, a continuous magnetic field is generated inside the conveying spring 5, so that the magnetic block 52 inside the conveying spring can move along the direction of the magnetic field, thereby magnetic conveying of the magnetic block 52 is achieved, meanwhile, two ends of the conveying spring 5 are respectively connected with the front end and the rear end of the mechanical finger, so that the conveying spring naturally has the same function as the finger tendon 4, so that the magnetic block can be directly used for replacing the finger tendon, or simultaneously used for providing a larger tension with the finger tendon 4, and meanwhile, the structure can enable the magnetic block 52 to conveniently move between the mechanical palm 2 and the end of the mechanical finger 3, and when the magnetic block 52 does not need to move, the magnetic block 52 can be fixed by the limiting sleeve 51, when the magnetic block 52 is located at the finger end of the mechanical finger 3, as shown in fig. 3, the manipulator can directly absorb iron objects by the front end of, the use is more convenient. When the magnetic block 52 is not needed, the magnetic block 52 can be retracted into the limiting sleeve 51 in the machine palm 2 through the conveying spring 5.

In specific design, as shown in fig. 2 and 3, the outer side surface of the position limiting sleeve 51 is designed to be closed by an elastic surface, so that when the magnetic block 52 rapidly enters the position limiting sleeve 51 in the conveying spring 5, the closed surface of the position limiting sleeve 51 can buffer the magnetic block 52 and prevent the magnetic block 52 from being damaged by collision. In addition, the mechanical finger 3 is of a closed design. Therefore, the mechanical structure in the mechanical finger can isolate water vapor and dust, and the mechanical finger can keep dry and clean, so that the service life and the accuracy of the mechanical finger are greatly improved.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. The flexible holding electromagnetic manipulator comprises a mechanical palm (2) assembled on a mechanical arm (1), wherein more than two mechanical fingers (3) are assembled on the mechanical palm (2), the mechanical fingers (3) are designed with inward bending structures, the bending surfaces of at least one pair of the mechanical fingers (3) are opposite, and a deformation attaching layer (31) made of elastic materials is attached to the bending surface of each mechanical finger (3); the mechanical finger (3) comprises more than two knuckle walls (32), finger cavities are designed in the knuckle walls (32), each finger cavity in the knuckle walls (32) is internally provided with a phalanx (33) made of rigid materials close to the inner side of the bending direction, the phalanges (33) are adjacent to each other and connected through an elastic joint part (34), the mechanical finger (3) corresponds to the knuckle walls (32) on the outer sides of the phalanxes (33) and are made of rigid materials, the inner sides of the adjacent knuckle walls (32) are connected through a hinge part (35), the outer sides of the knuckle walls (32) are connected through an elastic deformable outer skin (36), the elastic joint part (34) is assembled in the hinge part (35), the phalanx (33) extends into the hinge part (35) and is connected with the elastic joint part (34), and the phalanx (33) forms a skeleton structure through the hinge part (35) and the joint part (34), the fixed spliced pole that is equipped with of phalanx (33) outer end that machinery indicates (3) finger end, its characterized in that: the outer side of the finger cavity, relative to the finger bones (33), is provided with a finger tendon (4) made of elastic linear materials, one end of the finger tendon (4) is connected with the finger bones (33) through a connecting column, the other end of the finger tendon (4) extends into the mechanical palm (2) and is connected with a tightening module (41), and the tightening module (41) controls the finger tendon (4) to be tightened and loosened; the mechanical finger (3) is designed to be in an extending state and a bending state, under the condition that the finger tendon (4) is loosened, the joint piece (34) is in a natural bending state, at the moment, the adjacent phalanges (33) and the adjacent knuckle walls (32) are in a bending state, the whole mechanical hand is in a bending and gripping state, when the finger tendon (4) is tensioned, the joint piece (34) is unfolded through the action of the connecting column and each knuckle phalange (33) and the joint piece (34), so that the adjacent phalanges (33) and the adjacent knuckle walls (32) are in a linear state, and at the moment, the mechanical hand is in an extending state; the knuckle wall (32) is designed to be cylindrical, an arc-shaped rib (42) is designed at the part, close to the outer skin (36), of the inner part of the mechanical finger (3), and the finger rib (4) passes through between the rib (42) and the outer skin (36); a conveying spring (5) with a spring structure is designed in a cavity between the finger tendon (4) and the phalanx (33), one end of the conveying spring (5) is inserted into the front end of the inner finger cavity of the mechanical finger (3), the other end of the conveying spring (5) extends into the mechanical palm (2), elastic limiting sleeves (51) are fixedly arranged in the two ends of the conveying spring (5) respectively, a columnar magnetic block (52) is assembled in the conveying spring (5), the outer wall of the magnetic block (52) is matched with the inner wall of the limiting sleeve (51) in size, the magnetic block (52) can be elastically embedded into the limiting sleeve (51), two ends of the conveying spring (5) are connected with a control circuit, the control circuit can respectively supply forward and reverse currents into the conveying spring (5) to generate magnetic fields in different directions on the inner side of the conveying spring (5), and magnetic force is generated inside the conveying spring (5) for conveying the magnetic blocks (52).

2. The flexibly-held electromagnetic manipulator according to claim 1, wherein: the finger rib (4) is made of elastic rubber materials, the tightening module (41) is of a winding structure, and the finger rib (4) is tensioned and loosened according to the winding amount of the finger rib (4).

3. The flexibly-held electromagnetic manipulator according to claim 1, wherein: the finger muscle adopts metal spring structure, through tighten up the module and constitute the return circuit with circuit structure, it can control to tighten up the module the size of the inside electric current of finger muscle spring structure.

4. The flexibly-held electromagnetic manipulator according to claim 1, wherein: the hinge piece (35) is in a cylindrical shape, the phalanx (33) and the two mutually rotating pieces of the hinge piece (35) are fixedly connected with each other respectively, and the joint piece (34) is assembled inside the hinge piece (35) in a pluggable mode.

5. The flexibly-held electromagnetic manipulator according to claim 1, wherein: the mechanical palm (2) is provided with four mechanical fingers (3) which are divided into two groups and can be bent towards the inner side respectively.

6. The flexibly-held electromagnetic manipulator according to claim 1, wherein: each mechanical finger (3) is provided with three phalanges (33) and knuckle walls (32), and a compensation groove is designed in the position, corresponding to the middle phalange (33), of the deformation laminating layer (31).

7. The flexibly-held electromagnetic manipulator according to claim 1 or 4, characterized in that: the joint member (34) is made of memory metal.

8. The flexibly-held electromagnetic manipulator according to claim 1, wherein: the outer side surface of the limiting sleeve (51) is designed to be closed by an elastic surface, and the mechanical finger (3) is designed to be closed.