CN118061228A - Flexible multi-angle grabbing manipulator - Google Patents
Flexible multi-angle grabbing manipulator Download PDFInfo
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- CN118061228A CN118061228A CN202410467493.3A CN202410467493A CN118061228A CN 118061228 A CN118061228 A CN 118061228A CN 202410467493 A CN202410467493 A CN 202410467493A CN 118061228 A CN118061228 A CN 118061228A
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- 238000007789 sealing Methods 0.000 claims description 9
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- 239000002184 metal Substances 0.000 claims description 7
- 239000003365 glass fiber Substances 0.000 claims description 5
- 238000001746 injection moulding Methods 0.000 abstract description 16
- 238000004519 manufacturing process Methods 0.000 abstract description 15
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- 238000000034 method Methods 0.000 description 5
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- 238000001179 sorption measurement Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
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- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
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Abstract
The invention relates to the technical field of manipulators, in particular to a flexible multi-angle grabbing manipulator; the mechanical arm comprises a joint connecting rod and a connecting arm; the number of the joint connecting rods is two; the two joint connecting rods are rotationally connected; the joint connecting rod is fixedly connected with the connecting arm through a rotating platform; the invention is matched with the push plate through the screw rod; the driving motor can drive the push plate to rotate through the screw rod, so that when the push plate pushes the claw fingers to clamp the embedded part, the push plate can drive the embedded part to rotate under the driving of the driving motor, so that the embedded part similar to a nut can be directly connected onto an injection molding piece in a threaded manner, the mechanical arm does not need to be controlled to stretch, and the nut clamped by the claw fingers is screwed onto the injection molding piece by the driving mechanical arm of the rotary platform; not only can the manipulator still perform normal operation in a narrow space, but also the production efficiency of the product is improved.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a flexible multi-angle grabbing manipulator.
Background
The manipulator is an automatic operation device which can simulate certain action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program; the device is characterized in that various expected operations can be completed through programming, and the device has the advantages of both a human body and a mechanical mobile phone in terms of structure and performance; the manipulator is the earliest industrial robot and the earliest modern robot, can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacture, metallurgy, electronics, light industry and the like.
The manipulator mainly comprises an executing mechanism, a driving mechanism and a control system; the actuating mechanism consists of a mechanical arm and a mechanical claw, and the mechanical claw is arranged at the tail end of the mechanical arm; the mechanical arm consists of a plurality of joint connecting rods, and the relative movement of the joints changes the grabbing direction of the mechanical claw, which is a typical mechanical arm structure; the mechanical arm is generally responsible for positioning and attitude control, and the mechanical claw is responsible for grabbing and manipulating objects; the motion range and the angle change of each joint can influence the gesture and the position of the tail end (mechanical claw) of the whole mechanical arm, so that the grabbing direction and the gesture of the mechanical claw are changed; so flexible grabbing of the mechanical claw in the three-dimensional space can be realized by utilizing the movement combination of different joints;
The existing manipulator is mostly used on a flow line, because tasks on the flow line are generally repeated, simple and highly regular; compared with the manual work, the manipulator can finish the tasks at high speed and high precision, improves the production efficiency, reduces the production cost, and simultaneously can adapt to diversified production and improve the production safety. Therefore, in modern industrial production, the manipulator has wide application prospect on a flow line;
However, existing pipeline workspaces are often limited because pipelines are often designed to save space; the installation of the manipulator on the assembly line often requires consideration of other equipment or structures, such as conveyor belts, sensors, barriers and the like, because the equipment or structures can block the movement space of the manipulator, and limit the movement of the manipulator joints, which can limit the normal extension and swing of the manipulator joints; the working speed is reduced, so that production operation cannot be performed according to the original rhythm, and the production efficiency is reduced; but also affects the normal operation of the robot.
Disclosure of Invention
In order to make up for the defects of the prior art, the invention provides a flexible multi-angle grabbing manipulator, which is matched with a push plate through a screw rod; the driving motor can drive the push plate to rotate through the screw rod, so that when the push plate pushes the claw fingers to clamp the embedded part, the push plate can drive the embedded part to rotate under the driving of the driving motor, so that the embedded part similar to a nut can be directly connected onto an injection molding piece in a threaded manner, the mechanical arm does not need to be controlled to stretch, and the nut clamped by the claw fingers is screwed onto the injection molding piece by the driving mechanical arm of the rotary platform; not only can the manipulator still perform normal operation in a narrow space, but also the production efficiency of the product is improved.
The technical scheme adopted for solving the technical problems is as follows: the invention relates to a flexible multi-angle grabbing manipulator, which comprises:
The mechanical arm comprises a joint connecting rod and a connecting arm; the number of the joint connecting rods is two; the two joint connecting rods are rotationally connected; the joint connecting rod is fixedly connected with the connecting arm through a rotating platform; one end of the connecting arm far away from the rotary platform is hinged with a mechanical wrist;
A gripper including a gripper disc and a gripper finger; the claw disc is rotatably arranged at one end of the mechanical wrist far away from the connecting arm; a chute is formed in one surface of the claw disc, which is far away from the mechanical wrist; the claw fingers are connected in the sliding grooves in a sliding manner; the claw fingers are fixedly connected with the groove walls of the sliding grooves through connecting springs; a pushing unit is arranged in the claw disc; the pushing unit is used for pushing the claw fingers to slide in the sliding grooves.
Preferably, the pushing unit comprises a wire rope; a round groove is formed in the claw disc; a screw rod is fixedly connected in the circular groove; a push plate is connected in the round groove in a sliding way; the push plate is in spiral transmission connection with the screw rod; one end of the steel wire rope is fixedly connected with the claw finger, and the other end of the steel wire rope is fixedly connected with the push plate; a driving motor is fixedly arranged at one end of the mechanical wrist far away from the rotary platform; the driving motor is used for driving the screw rod to rotate.
Preferably, an air bag is fixedly arranged in the sliding groove; one end of the air bag is fixedly connected with the claw finger, and the other end of the air bag is fixedly connected with the groove wall of the chute; the claw finger is internally provided with an air passage communicated with the air bag; one end of the air passage far away from the air bag is fixedly provided with a sucker communicated with the air passage.
Preferably, one end of the sucker, which is close to the air passage, is fixedly connected with a sliding rod; the sliding rod is connected in the air passage in a sliding and sealing manner; the sliding rod is fixedly connected with the inner wall of the air passage through a fixed spring; the surface of the sliding rod is provided with an L-shaped groove communicated with the air passage; one end of the L-shaped groove, which is far away from the air passage, is communicated with the sucker.
Preferably, a rack is arranged at the bottom of the chute; the rack is connected to the bottom of the chute in a sliding way; a sliding block is connected in a sliding manner in the sliding groove; the claw finger is rotationally connected with the sliding block; one end of the claw finger, which is close to the bottom of the chute, is fixedly connected with a gear; the surface of the sliding block is provided with a through groove; one end of the through groove is communicated with the air passage, and the other end of the through groove is communicated with the air bag; the gear is meshed with the rack; one end of the rack, which is far away from the gear, is embedded with a magnetic block; the electromagnetic sheets matched with the magnetic blocks are embedded in the wall of the chute; an annular groove is formed in the sliding block; the air passage and the through groove are communicated with the annular groove.
Preferably, a rectangular groove communicated with the through groove is formed in the sliding block; a baffle is connected in the rectangular groove in a sliding and sealing manner; a baffle rod is connected in the rectangular groove in a sliding way; the baffle rod is fixedly connected in the rectangular groove through a mounting spring; the blade plate is rotationally connected with the through groove; the blade plate is fixedly connected with the baffle rod through glass fiber ropes.
Preferably, the baffle plate is fixedly connected with the groove wall of the rectangular groove through a return spring; a cylindrical groove communicated with the rectangular groove is formed in one side of the sliding block; and a metal rod is connected in the cylindrical groove in a sliding and sealing manner.
Preferably, the side wall of the claw disc is provided with an air hole communicated with the air bag; and a one-way valve is fixedly arranged in the air hole.
The beneficial effects of the invention are as follows:
1. The invention is matched with the push plate through the screw rod; the driving motor can drive the push plate to rotate through the screw rod, so that when the push plate pushes the claw fingers to clamp the embedded part, the push plate can drive the embedded part to rotate under the driving of the driving motor, so that the embedded part similar to a nut can be directly connected onto an injection molding piece in a threaded manner, the mechanical arm does not need to be controlled to stretch, and the nut clamped by the claw fingers is screwed onto the injection molding piece by the driving mechanical arm of the rotary platform; not only can the manipulator still perform normal operation in a narrow space, but also the production efficiency of the product is improved.
2. According to the invention, through the arrangement of the air hole, when the connecting spring pulls the sliding block in the sliding groove to squeeze the air bag, the air in the air bag can be sprayed out through the one-way valve of the air hole; thereby ensuring that the air bag is always in a good negative pressure state so as to improve the clamping effect of the sucker on the clamped parts; the practical application effect of the invention is further improved.
Drawings
The invention will be further described with reference to the drawings and embodiments.
FIG. 1 is a perspective view of a robotic arm used in the present invention;
FIG. 2 is a perspective view of a gripper used in the present invention;
FIG. 3 is a schematic view of the structure of a gripper used in the present invention;
fig. 4 is an enlarged view at a in fig. 3;
fig. 5 is an enlarged view at B in fig. 3;
FIG. 6 is an enlarged view at C in FIG. 5;
FIG. 7 is a perspective view of the drive of the finger used in the present invention;
In the figure: 1. a mechanical arm; 11. a joint link; 12. a connecting arm; 13. rotating the platform; 14. a mechanical wrist; 15. a wire rope; 16. a driving motor; 2. a mechanical claw; 21. a claw disk; 211. a chute; 212. a connecting spring; 213. a circular groove; 214. a screw; 215. a push plate; 216. an air bag; 22. claw fingers; 221. an airway; 23. a suction cup; 231. a slide bar; 232. a fixed spring; 233. an L-shaped groove; 24. a rack; 241. a gear; 242. a magnetic block; 243. an electro-magnetic sheet; 25. a slide block; 251. a through groove; 252. an annular groove; 26. rectangular grooves; 261. a baffle; 262. a gear lever; 263. installing a spring; 264. a blade; 265. glass fiber ropes; 266. a return spring; 27. a cylindrical groove; 271. a metal rod; 28. air holes; 281. a one-way valve.
Detailed Description
The invention is further described in connection with the following detailed description in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
As shown in fig. 1 to 7, a flexible multi-angle grabbing manipulator according to the present invention includes:
The mechanical arm 1, wherein the mechanical arm 1 comprises a joint connecting rod 11 and a connecting arm 12; the number of the joint connecting rods 11 is two; the two joint connecting rods 11 are rotationally connected; the joint connecting rod 11 is fixedly connected with the connecting arm 12 through the rotating platform 13; one end of the connecting arm 12 far away from the rotary platform 13 is hinged with a mechanical wrist 14;
A gripper 2, the gripper 2 comprising a gripper disc 21 and gripper fingers 22; the claw disk 21 is rotatably arranged at one end of the mechanical wrist 14 far away from the connecting arm 12; a sliding groove 211 is formed in one surface of the claw disk 21 away from the mechanical wrist 14; the claw finger 22 is connected in the sliding groove 211 in a sliding way; the claw finger 22 is fixedly connected with the groove wall of the chute 211 through a connecting spring 212; a pushing unit is arranged inside the claw disk 21; the pushing unit is used for pushing the claw finger 22 to slide in the sliding groove 211.
The pushing unit comprises a steel wire rope 15; a circular groove 213 is formed in the claw disc 21; a screw 214 is fixedly connected in the circular groove 213; a push plate 215 is slidably connected in the circular groove 213; the push plate 215 is in screw transmission connection with the screw 214; one end of the steel wire rope 15 is fixedly connected with the claw finger 22, and the other end of the steel wire rope is fixedly connected with the push plate 215; a driving motor 16 is fixedly arranged at one end of the mechanical wrist 14 far away from the rotary platform 13; the driving motor 16 is used for driving the screw 214 to rotate;
In the initial state, the two joint connecting rods 11 are in rotary connection through an electric shaft, the mechanical wrist 14 is also in rotary connection with the mechanical arm 1 through the electric shaft, and a user installs the joint connecting rods 11 of the mechanical arm on transmission equipment between two production lines through a rotary platform 13; the transmission equipment is used for driving the mechanical arm 1 to move in the horizontal direction and the vertical direction between the two production lines; the user controls the electric shaft to drive the joint connecting rod 11 close to the connecting arm 12 to rotate, so that the joint connecting rod 11 can be in a vertical state;
Meanwhile, an electric shaft connected with the mechanical wrist 14 is controlled to drive the mechanical wrist 14 to rotate, so that the mechanical wrist 14 rotates to be in a vertical state with the mechanical arm 1; then, the rotating platform 13 connected with the connecting arm 12 is controlled to rotate, so that the rotating platform 13 can drive the connecting arm 12 to drive the mechanical arm 14 to rotate, the mechanical arm 14 drives the mechanical claw 2 to rotate and face the embedded part supporting piece, if the embedded part is a nut, the nut is conveyed to the mechanical arm through a pipeline, and then the mechanical arm is controlled to approach to drive the mechanical claw 2 to approach the nut; since at least three fingers 22 are provided in the number of the initial state, the fingers 22 are in a state of being far away from each other under the connection spring 212, and the fingers 22 are opened at this time; so when the finger 22 moves to the nut, and three fingers 22 wrap around the nut;
The screw 214 is in sliding connection with the output end of the driving motor 16; controlling the operation of the drive motor 16 such that the drive motor 16 is capable of driving the screw 214 to rotate; the screw 214 is driven to enter the round groove 213 by the push plate 215 in spiral transmission connection with the screw 214, and in the process that the push plate 215 enters the round groove 213, the push plate 215 can pull the claw finger 22 through the steel wire rope 15 to squeeze the connecting spring 212 to slide along the sliding groove 211, so that the claw finger 22 is continuously close to the nut until the claw finger 22 contacts with the nut, and the claw finger 22 clamps the nut; at the moment, the transmission equipment is controlled to drive the mechanical arm 1 to move towards the direction close to the injection molding piece, and meanwhile, the electric shaft connected with the mechanical wrist 14 is controlled to drive the mechanical wrist 14 to rotate, so that the mechanical wrist 14 drives the nuts clamped by the claw fingers 22 to rotate and face the injection molding piece; the driving device is controlled to drive the claw finger 22 to be close to the injection molding piece, so that the claw finger 22 drives the clamped nut to the injection molding screw 214 of the injection molding piece, and the driving motor 16 is controlled to run, so that the driving motor 16 can drive the screw 214 to rotate; because the claw fingers 22 clamp the nuts, the push plate 215 cannot pull the claw fingers 22 to move through the steel wire rope 15, and the push plate 215 is fixed at the moment;
Along with the rotation of the screw 214, the screw 214 can drive the push plate 215 to rotate, so that the push plate 215 can push the whole claw disc 21 to rotate through the groove wall of the circular groove 213, the claw disc 21 can drive the nut clamped by the claw finger 22 to rotate, and the rotated nut is in threaded connection with the injection-molded screw 214; then the driving motor 16 is controlled to reversely rotate, so that the driving motor 16 can drive the screw rod 214 to reversely rotate, the screw rod 214 drives the push plate 215 to slide in the direction away from the bottom of the circular groove 213, and at the moment, the claw finger 22 is reset under the pushing of the restoring force of the connecting spring 212; the nut is no longer gripped by the fingers 22;
The invention adopts the cooperation between the screw 214 and the push plate 215; the driving motor 16 can drive the push plate 215 to rotate through the screw 214, so that when the push plate 215 pushes the claw finger 22 to clamp the embedded part, the push plate 215 can drive the embedded part to rotate under the driving of the driving motor 16, so that the embedded part similar to a nut can be directly connected onto an injection molding in a threaded manner, the extension of a mechanical arm is not required to be controlled, and the rotating platform 13 drives the mechanical arm 1 to screw the nut clamped by the claw finger 22 onto the injection molding; not only can the manipulator still perform normal operation in a narrow space, but also the production efficiency of the product is improved.
As an embodiment of the present invention, an airbag 216 is fixedly installed in the chute 211; one end of the air bag 216 is fixedly connected with the claw finger 22, and the other end is fixedly connected with the groove wall of the sliding groove 211; the inside of the claw finger 22 is provided with an air channel 221 communicated with the air bag 216; the end of the air channel 221 far away from the air bag 216 is fixedly provided with a sucker 23 communicated with the air channel.
One end of the sucker 23, which is close to the air channel 221, is fixedly connected with a sliding rod 231; the sliding rod 231 is in sliding sealing connection with the air channel 221; the sliding rod 231 is fixedly connected with the inner wall of the air channel 221 through a fixed spring 232; an L-shaped groove 233 communicated with the air channel 221 is formed on the surface of the sliding rod 231; the L-shaped slot 233 communicates with the suction cup 23 at an end remote from the air channel 221.
A rack 24 is arranged at the bottom of the sliding groove 211; the rack 24 is connected to the bottom of the chute 211 in a sliding manner; a sliding block 25 is connected in a sliding manner in the sliding groove 211; the claw finger 22 is rotationally connected with the sliding block 25; one end of the claw finger 22, which is close to the bottom of the chute 211, is fixedly connected with a gear 241; the surface of the sliding block 25 is provided with a through groove 251; one end of the through groove 251 is communicated with the air channel 221, and the other end is communicated with the air bag 216; the gear 241 is meshed with the rack 24; a magnetic block 242 is embedded at one end of the rack 24 far away from the gear 241; the slot wall of the slot 211 is embedded with an electromagnetic sheet 243 matched with the magnetic block 242; an annular groove 252 is formed in the slider 25; the air channel 221 and the through groove 251 are communicated with the annular groove 252;
when a user needs to clamp a smooth part in a circular ring shape or a conical ring shape, the surface of the clamped part is smoother, so that the friction coefficient of the surface of the part is insufficient, and the part clamped by the claw fingers 22 can slide out due to extrusion; in the invention, through the sucker 23, when a user controls the claw finger 22 to clamp smooth parts, the steel wire rope 15 pulls the sliding block 25 to drive the claw finger 22 to slide along the sliding groove 211 towards the clamped parts, and at the moment, the sliding block 25 pulls the air bag 216 to stretch, so that the internal space of the stretched air bag 216 is increased, and negative pressure is formed inside the air bag 216;
The connecting spring 212 is arranged in the air bag 216, so that the connecting spring 212 can support the wall of the stretched air bag 216, and the air bag 216 is prevented from collapsing due to the action of negative pressure adsorption force; as the claw finger 22 is continuously close to the component, the claw finger 22 can drive the sucker 23 to contact with the component, and in the process of clamping the component by the claw finger 22, the sucker 23 contacted with the component can push the sliding rod 231 connected with the sucker under the blocking force of the component to enter the air, so that the sliding rod 231 extrudes the fixed spring 232 to enter the air channel 221;
In the process that the sliding rod 231 enters the air channel 221, the sliding rod 231 drives the L-shaped groove 233 on the surface to enter the air channel 221, and at the moment, the sucker 23 is communicated with the air channel 221 through the L-shaped groove 233, so that the sucker 23 is communicated with the air bag 216; because the inside of the air bag 216 is in a negative pressure state, the sucker 23 communicated with the air bag 216 is also in a negative pressure state, and at the moment, the sucker 23 can tightly adsorb parts under the action of negative pressure adsorption force; therefore, the invention can tightly clamp smooth parts, the practical application range of the invention is effectively improved, and the sucker 23 is made of silica gel material, so that the soft sucker 23 can be effectively attached to the surface of the smooth parts, and the adsorption effect of the sucker 23-degree smooth parts is further improved; the practicability of the invention is improved;
When the cylindrical part is required to be inserted into the hole of the injection molding piece, the claw fingers 22 clamp the outer wall of the cylindrical part, so that the claw fingers 22 can not easily insert the clamped cylindrical part into the hole matched with the cylindrical part in the injection molding piece; in the invention, the gear 241 and the rack 24 are arranged, so that before clamping the cylindrical parts, a user firstly controls the three sliding blocks 25 to drive the claw fingers 22 connected with the sliding blocks to slide along the sliding grooves 211 in the direction of approaching each other; in the sliding process of the sliding block 25, the sliding block 25 drives the gear 241 at the lower end to synchronously slide; in the initial state, the magnetic block 242 is embedded at one end of the rack 24 far from the gear 241, so that the rack 24 moves in the direction approaching the electromagnetic sheet 243 due to the magnetic attraction force of the magnetic block 242 to attract the slot wall of the chute 211;
So when the sliding block 25 slides, the electromagnetic sheet 243 is controlled to be electrified, so that the electromagnetic sheet 243 generates the same magnetic pole as the magnetic block 242, and the magnetic block 242 can push the rack 24 to move towards the direction approaching to the gear 241 under the action of magnetic repulsion force; so that the rack 24 is meshed with the gear 241, so that the gear 241 can perform meshing rolling with respect to the rack 24; because the gear 241 is fixedly connected with the claw fingers 22, the gear 241 can drive the claw fingers 22 to rotate, so that the three claw fingers 22 drive the sucking discs 23 on the surfaces to rotate to the surfaces far away from each other, at the moment, the electromagnetic sheet 243 is controlled to be powered off, and at the moment, the rack 24 is far away from the gear 241 under the action of magnetic attraction force of the magnetic block 242; at this time, the slider 25 drives the three fingers 22 to approach each other, and then controls the fingers 22 to be inserted into the cylindrical part; by controlling the drive motor 16 to rotate in the opposite direction;
The driving motor 16 can drive the push plate 215 to release the steel wire rope 15 through the screw 214, so that the sliding block 25 moves towards the direction close to the air bag 216 under the action of the restoring force of the connecting spring 212, the sliding block 25 drives the claw finger 22 to move towards the direction close to the inner wall of the cylindrical part, and the claw finger 22 drives the sucker 23 to be close to the inner wall of the cylindrical part and supports the cylindrical part; the claw finger 22 can insert the supported cylindrical part into the hole matched with the cylindrical part in the injection molding part, so that the practical range of the invention is effectively improved; because the claw finger 22 is rotationally and hermetically connected with the sliding block 25, in order to ensure that the air hole 28 in the claw finger 22 is effectively communicated with the air bag 216, the invention ensures that the claw finger 22 can drive the air channel 221 to rotate in the annular groove 252 when the claw finger 22 rotates through the arrangement of the annular groove 252; therefore, the air passage 221 of the claw finger 22 is prevented from being blocked by the sliding block 25 due to the rotation of the claw finger 22, and the normal communication between the air passage 221 and the air bag 216 is further ensured, so that the practicability of the invention is effectively improved.
As an embodiment of the present invention, a rectangular groove 26 communicating with the through groove 251 is formed in the slider 25; a baffle 261 is connected in a sliding and sealing manner in the rectangular groove 26; a baffle rod 262 is slidably connected in the rectangular groove 26; the baffle rod 262 is fixedly connected in the rectangular groove 26 through the mounting spring 263; the blade 264 is rotatably connected with the through groove 251; the blade 264 and the baffle 262 are fixedly connected through glass fiber ropes 265.
The baffle 261 is fixedly connected with the groove wall of the rectangular groove 26 through a return spring 266; a cylindrical groove 27 communicated with the rectangular groove 26 is formed in one side of the sliding block 25; a metal rod 271 is connected with the cylindrical groove 27 in a sliding and sealing manner;
The side wall of the claw disk 21 is provided with an air hole 28 communicated with the air bag 216; the air hole 28 is fixedly provided with a one-way valve 281.
With long-time use, the surface of the sucker 23 is damaged due to abrasion or dust corrosion, so that the sucker 23 leaks air, and external air enters the air bag 216 through the damaged sucker 23, so that negative pressure in the air bag 216 is relieved, and the adsorption effect of the sucker 23 is affected;
In the invention, when the sucking disc 23 is damaged and leaks air, the external air enters the L-shaped groove 233 of the sliding rod 231 through the air leakage opening of the sucking disc 23, then flows through the air channel 221 and the annular groove 252 from the L-shaped groove 233 to the through groove 251, and at the moment, the air flowing through the through groove 251 blows the blade 264 in the through groove 251 to rotate; the blade 264 can push the baffle rod 262 to press the mounting spring 263 and move downwards through the glass fiber ropes 265 in the rotating process until the baffle rod no longer blocks the baffle 261, so that the baffle 261 extends out of the rectangular groove 26 and blocks the through groove 251 under the pushing of the restoring force of the mounting spring 263; so that the external air cannot enter the air bag 216 through the through groove 251, thereby ensuring the negative pressure effect in the air bag 216;
when the baffle 261 enters the through groove 251, the distance between the baffle 261 and the bottom of the rectangular groove 26 increases; so that the hydraulic oil in the cylindrical groove 27 enters the rectangular groove 26, and at this time, the metal rod 271 in the cylindrical groove 27 enters the cylindrical groove 27 under negative pressure adsorption; for the user, the user can determine whether the sucking disc 23 of the claw finger 22 is damaged or not by only observing the length of the metal rod 271 extending out of the cylindrical groove 27 in the sliding groove 211, so that the detection by using gas detection equipment is not needed, the production cost is reduced, and the consumption of electric energy is reduced; the practical application effect of the invention is effectively improved;
When the suction cup 23 is replaced, a user only needs to pull the metal rod 271 to extend out of the cylindrical groove 27, so that a negative pressure state is formed in the cylindrical groove 27, hydraulic oil in the rectangular groove 26 enters the cylindrical groove 27, so that the rectangular groove 26 is in a negative pressure state, the baffle 261 in the rectangular groove 26 presses the return spring 266 from the through groove 251 to enter the rectangular groove 26 under the suction of the negative pressure until the baffle 261 passes over the baffle 262, and at the moment, the baffle 262 rises under the pushing of the restoring force of the mounting spring 263, so that the baffle 261 in the rectangular groove 26 is blocked again by the baffle 262; the air hole 28 is arranged, when the connecting spring 212 pulls the sliding block 25 in the sliding groove 211 to press the air bag 216, the air in the air bag 216 can be sprayed out through the one-way valve 281 of the air hole 28; thereby ensuring that the air bag 216 is always in a good negative pressure state so as to improve the clamping effect of the sucker 23 on the clamped parts; the practical application effect of the invention is further improved.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in fig. 1, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the scope of the present invention, and furthermore, the terms "first", "second", "third", etc. are merely used for distinguishing the description, and should not be construed as indicating or implying relative importance.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. Flexible multi-angle snatchs manipulator, its characterized in that: comprising the following steps:
The mechanical arm (1), the mechanical arm (1) comprises a joint connecting rod (11) and a connecting arm (12); the number of the joint connecting rods (11) is two; the two joint connecting rods (11) are rotationally connected; the joint connecting rod (11) is fixedly connected with the connecting arm (12) through the rotating platform (13); one end of the connecting arm (12) far away from the rotary platform (13) is hinged with a mechanical wrist (14);
A gripper (2), the gripper (2) comprising a gripper disc (21) and gripper fingers (22); the claw disc (21) is rotatably arranged at one end of the mechanical wrist (14) far away from the connecting arm (12); a chute (211) is formed in one surface of the claw disc (21) away from the mechanical wrist (14); the claw finger (22) is connected in the sliding groove (211) in a sliding way; the claw finger (22) is fixedly connected with the groove wall of the chute (211) through a connecting spring (212); a pushing unit is arranged in the claw disc (21); the pushing unit is used for pushing the claw finger (22) to slide in the sliding groove (211).
2. The flexible multi-angle grasping manipulator according to claim 1, wherein: the pushing unit comprises a steel wire rope (15); a round groove (213) is formed in the claw disc (21); a screw rod (214) is fixedly connected in the circular groove (213); a push plate (215) is connected in a sliding way in the round groove (213); the push plate (215) is in spiral transmission connection with the screw rod (214); one end of the steel wire rope (15) is fixedly connected with the claw finger (22), and the other end of the steel wire rope is fixedly connected with the push plate (215); a driving motor (16) is fixedly arranged at one end of the mechanical wrist (14) far away from the rotary platform (13); the driving motor (16) is used for driving the screw rod (214) to rotate.
3. The flexible multi-angle grasping manipulator according to claim 2, wherein: an air bag (216) is fixedly arranged in the sliding groove (211); one end of the air bag (216) is fixedly connected with the claw finger (22), and the other end of the air bag is fixedly connected with the groove wall of the sliding groove (211); an air passage (221) communicated with the air bag (216) is formed in the claw finger (22); one end of the air channel (221) far away from the air bag (216) is fixedly provided with a sucker (23) communicated with the air channel.
4. A flexible multi-angle gripping robot as claimed in claim 3, wherein: one end of the sucker (23) close to the air channel (221) is fixedly connected with a sliding rod (231); the sliding rod (231) is connected in the air channel (221) in a sliding and sealing manner; the sliding rod (231) is fixedly connected with the inner wall of the air channel (221) through a fixed spring (232); an L-shaped groove (233) communicated with the air channel (221) is formed in the surface of the sliding rod (231); one end of the L-shaped groove (233) far away from the air channel (221) is communicated with the sucker (23).
5. The flexible multi-angle gripping robot of claim 4, wherein: a rack (24) is arranged at the bottom of the chute (211); the rack (24) is connected to the bottom of the chute (211) in a sliding way; a sliding block (25) is connected in a sliding manner in the sliding groove (211); the claw finger (22) is rotationally connected with the sliding block (25); one end of the claw finger (22) close to the bottom of the chute (211) is fixedly connected with a gear (241); a through groove (251) is formed in the surface of the sliding block (25); one end of the through groove (251) is communicated with the air channel (221), and the other end is communicated with the air bag (216); the gear (241) is meshed with the rack (24); one end of the rack (24) far away from the gear (241) is embedded with a magnetic block (242); the slot wall of the chute (211) is embedded with an electromagnetic sheet (243) matched with the magnetic block (242); an annular groove (252) is formed in the slider (25); the air passage (221) and the through groove (251) are communicated with the annular groove (252).
6. The flexible multi-angle gripping robot of claim 5, wherein: a rectangular groove (26) communicated with the through groove (251) is formed in the sliding block (25); a baffle plate (261) is connected in a sliding and sealing manner in the rectangular groove (26); a baffle rod (262) is connected in a sliding way in the rectangular groove (26); the baffle rod (262) is fixedly connected in the rectangular groove (26) through the mounting spring (263); the through groove (251) is rotationally connected with a blade plate (264); the blade plate (264) is fixedly connected with the baffle rod (262) through glass fiber ropes (265).
7. The flexible multi-angle grasping manipulator according to claim 6, wherein: the baffle plate (261) is fixedly connected with the groove wall of the rectangular groove (26) through a return spring (266); a cylindrical groove (27) communicated with the rectangular groove (26) is formed in one side of the sliding block (25); a metal rod (271) is connected with the cylindrical groove (27) in a sliding and sealing manner.
8. The flexible multi-angle gripping robot of claim 7, wherein: an air hole (28) communicated with the air bag (216) is formed in the side wall of the claw disc (21); the inside of the air hole (28) is fixedly provided with a one-way valve (281).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410467493.3A CN118061228B (en) | 2024-04-18 | 2024-04-18 | Flexible multi-angle grabbing manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410467493.3A CN118061228B (en) | 2024-04-18 | 2024-04-18 | Flexible multi-angle grabbing manipulator |
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| CN118061228B CN118061228B (en) | 2024-07-05 |
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| CN205996993U (en) * | 2016-08-30 | 2017-03-08 | 英力电子科技（重庆）有限公司 | The sucker of manipulator gripping workpiece |
| CN108655688A (en) * | 2018-05-22 | 2018-10-16 | 阜阳市润泰通用机械有限公司 | A kind of mechanical arm for plank installation |
| CN109483586A (en) * | 2018-11-16 | 2019-03-19 | 四川长虹电器股份有限公司 | Pick-and-place type manipulator |
| DE102018006991A1 (en) * | 2018-09-04 | 2020-03-05 | KIMIYA GmbH | Multifunctional long-arm gripping mechanism |
| CN113021388A (en) * | 2021-03-09 | 2021-06-25 | 浙江理工大学 | Multifunctional flexible claw mechanical arm with gas-magnetic switching function |
| CN217292388U (en) * | 2022-04-11 | 2022-08-26 | 大连永煜工业有限公司 | Mechanical clamping jaw manufactured by mechanical equipment |
-
2024
- 2024-04-18 CN CN202410467493.3A patent/CN118061228B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205996993U (en) * | 2016-08-30 | 2017-03-08 | 英力电子科技（重庆）有限公司 | The sucker of manipulator gripping workpiece |
| CN108655688A (en) * | 2018-05-22 | 2018-10-16 | 阜阳市润泰通用机械有限公司 | A kind of mechanical arm for plank installation |
| DE102018006991A1 (en) * | 2018-09-04 | 2020-03-05 | KIMIYA GmbH | Multifunctional long-arm gripping mechanism |
| CN109483586A (en) * | 2018-11-16 | 2019-03-19 | 四川长虹电器股份有限公司 | Pick-and-place type manipulator |
| CN113021388A (en) * | 2021-03-09 | 2021-06-25 | 浙江理工大学 | Multifunctional flexible claw mechanical arm with gas-magnetic switching function |
| CN217292388U (en) * | 2022-04-11 | 2022-08-26 | 大连永煜工业有限公司 | Mechanical clamping jaw manufactured by mechanical equipment |
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| CN118061228B (en) | 2024-07-05 |
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