CN107309897B - Flexible manipulator with buffer function - Google Patents
Flexible manipulator with buffer function Download PDFInfo
- Publication number
- CN107309897B CN107309897B CN201710665670.9A CN201710665670A CN107309897B CN 107309897 B CN107309897 B CN 107309897B CN 201710665670 A CN201710665670 A CN 201710665670A CN 107309897 B CN107309897 B CN 107309897B
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- finger
- flexible
- section
- flexible manipulator
- integrated block
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flexible manipulator with a buffer function, which comprises a flexible manipulator body and a mounting flange, wherein the flexible manipulator further comprises an elastic buffer component, the elastic buffer component is arranged between the flexible manipulator body and the mounting flange and is used for elastically changing the distance between the mounting flange and the flexible manipulator body, the flexible manipulator body comprises an integrated block, at least two flexible fingers which are mutually matched to realize flexible clamping are arranged on the integrated block, each flexible finger comprises a finger bottom plate and a finger surface, a driving cavity is jointly surrounded by the finger bottom plate and the finger surface, the elastic modulus of the finger bottom plate is larger than that of the finger surface, each flexible finger is provided with a vent communicated with the driving cavity, the vent is communicated with a gas path, and the flexible manipulator realizes self-adaptive grabbing of tiny objects on an uneven or inclined working surface, is suitable for various environments and target objects, and greatly improves the application range.
Description
Technical Field
The invention relates to a flexible manipulator, in particular to a flexible manipulator with a buffer function.
Background
In the field of industrial automation, the robot arm end gripping action is achieved by a pneumatically flexible robot arm with a chamber. However, the existing mechanical arm and the flexible mechanical arm are rigidly connected, if the flexible finger is too close to the tabletop in the inward folding and clamping process of the flexible mechanical arm, the folding of the flexible finger is blocked, and if the distance between the flexible finger and the tabletop is too far, the sheet-shaped object cannot be accurately pinched. In the use process, the height of the manipulator needs to be accurately adjusted to achieve accurate grabbing of the small lamellar objects. For grabbing articles with irregular or inclined surfaces, when the flexible pneumatic hand in rigid connection points to inward folding, the resistance is inconsistent, and synchronous folding cannot be realized.
In addition, the existing flexible manipulator also has the following technical problems:
1. at present, each flexible finger of the flexible manipulator is externally connected with a split vent pipe and a main air inlet pipe, so that the whole pipeline is complex in connection, high in installation and maintenance difficulty, easy to fail under severe environments, and low in reliability.
2. Because the afterbody of present flexible finger sets up to conical air inlet to flexible finger is vertical puts the example, and the upper portion of every flexible finger is the toper air inlet, and toper air inlet department is provided with the mouth edge, utilizes the mouth edge of specific fixing base grip toper air inlet, therefore, the installation of flexible manipulator is more complicated like this to flexible finger's layout form receives the restriction, can't closely arrange and the article of centre gripping volume less.
3. Because the flexible finger of the flexible manipulator realizes bending by means of the change of internal air pressure to complete clamping, the current flexible finger is made of flexible materials, the strength of the flexible finger is limited, and the service life and the compressive strength of the flexible finger are limited.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the flexible manipulator with the buffer function is provided, and a reaction force can be generated on the flexible manipulator body in the process of folding, deforming and clamping of flexible fingers, so that the folding, deforming and resisting force of the flexible fingers is reduced, the clamping is smoother, and the requirement on mounting precision is reduced.
In order to solve the technical problems, the technical scheme of the invention is as follows: the utility model provides a take flexible manipulator of buffer function, includes flexible manipulator body and mounting flange, flexible manipulator still includes elastic buffer assembly, elastic buffer assembly installs and is used for elasticity to change interval between mounting flange and the flexible manipulator body between flexible manipulator body and the mounting flange, flexible manipulator body includes the integrated circuit, install two at least flexible fingers that mutually support and realize flexible centre gripping on the integrated circuit, flexible finger includes finger bottom plate and finger face, finger bottom plate and finger face enclose jointly and have become the drive cavity, the elastic modulus of finger bottom plate is greater than the elastic modulus of finger face, is provided with the air vent with drive cavity intercommunication on every flexible finger, this air vent and gas circuit intercommunication.
As a preferable scheme, the elastic buffer component comprises a guide connecting rod, one end of the guide connecting rod is fixed with the flexible manipulator body, the other end of the guide connecting rod penetrates through the mounting flange in a sliding mode and is fixed with a limiting piece, and an elastic buffer piece is arranged between the guide connecting rod and the mounting flange.
As a preferred embodiment, the elastic buffer is a spring or an elastic filler.
As a preferable scheme, a main channel which is convenient for medium flow is arranged in the integrated block, a total joint and a plurality of taps which are communicated with the main channel are arranged on the integrated block, and the air vents on each flexible finger are sleeved on the taps in one-to-one correspondence and are detachably fixed on the integrated block through the housing.
As a preferable scheme, the finger surface comprises a fingertip section, a finger section and a finger heel section which are sequentially connected, the finger section is in a wave shape, a transition groove is formed between the finger section and the finger heel section, an expansion communication cavity communicated with a driving cavity is formed in the finger heel section, the position of a vent corresponds to the finger heel section and is arranged on a finger bottom plate, the cover is buckled on the finger heel section, the side wall of the cover, which is close to the fingertip section, is positioned in the transition groove, and the cover and the integrated block are detachably fixed through bolts.
As a preferred option, the transition groove comprises a rear groove wall adjacent the heel section and a front groove wall adjacent the fingertip section, the rear groove wall having a thicker wall thickness than the front groove wall, the rear Fang Aocao wall forming part of the chamber wall of the expansion communication chamber.
As a preferable scheme, the finger sections are wave-shaped, and reinforcing sheets are arranged in the valley bottom parts of the wave troughs of the finger sections.
As a preferable scheme, the finger sections are wavy, at least one group of reinforcing ribs are arranged in the driving cavity, the group of reinforcing ribs comprises reinforcing rib bodies which are equal to the number of the wave troughs of the finger sections, and the reinforcing rib bodies are connected between the inner side walls of the wave troughs of the finger sections and the finger bottom plate in a one-to-one correspondence mode.
As a preferable scheme, the number of the flexible fingers is two or four, when the number of the flexible fingers is four, the flexible fingers are arranged in a cross shape, and the finger bottom plates are opposite to each other; when the number of the flexible fingers is two, the flexible fingers are arranged in a straight line, and the finger bottom plates are oppositely arranged.
As a preferred solution, the main joint and the plurality of taps are all screwed on the integrated block.
After the technical scheme is adopted, the invention has the following effects: because flexible manipulator still includes elastic buffer assembly, elastic buffer assembly installs and is used for elasticity to change interval between mounting flange and the flexible manipulator body between flexible manipulator body and mounting flange, flexible manipulator body includes the integrated circuit, install two at least flexible fingers that mutually support and realize flexible centre gripping on the integrated circuit, flexible finger includes finger bottom plate and finger face, finger bottom plate and finger face enclose jointly and have become the drive cavity, the elastic modulus of finger bottom plate is greater than the elastic modulus of finger face, is provided with the air port with drive cavity intercommunication on every flexible finger, this air port and gas circuit intercommunication. Therefore, the action of the flexible finger is controlled through the inflation and the suction of the air circuit, and when the flexible finger is inflated, the flexible finger bends towards the direction of the finger bottom plate to complete the furling deformation; when inhaling, the flexible finger bends towards the direction of the finger surface to finish the opening deformation; when the flexible manipulator moves towards the object to be clamped (the object to be clamped is placed on the tabletop), the accuracy requirement of the moving distance can be reduced due to the action of the elastic buffer component; in the inflation process, the flexible finger can generate a reaction force on the flexible finger from the opening and closing deformation process, and due to the action of the elastic buffer component, the reaction force forces the space between the flexible manipulator body and the mounting flange to be reduced, so that the flexible finger can be naturally and flexibly closed and deformed, the self-adaptive grabbing of micro objects on an uneven or inclined working surface is realized, the flexible manipulator is suitable for various environments and target objects, and the application range is greatly increased.
And because the main channel which is convenient for medium to flow is arranged in the integrated block, the integrated block is provided with the main joint and a plurality of taps which are communicated with the main channel, and the air vents on each flexible finger are sleeved on the taps in one-to-one correspondence and are detachably fixed on the integrated block through the housing, the flexible finger is installed without an external connecting pipeline, the use reliability is higher, the medium leakage phenomenon is reduced, and the integrated block is suitable for some severe environments.
The finger surface of the finger comprises a fingertip section, a finger section and a finger heel section which are sequentially connected, the finger section is in a wave shape, a transition groove is formed between the finger section and the finger heel section, an expansion communication cavity communicated with the driving cavity is formed in the finger heel section, the position of the air vent corresponds to the finger heel section and is arranged on the finger bottom plate, the cover is buckled on the finger heel section, the side wall of the cover, which is close to the fingertip section, is positioned in the transition groove, and the cover and the integrated block are detachably fixed through bolts.
And because the transition groove comprises a rear groove wall close to the heel section and a front groove wall close to the fingertip section, the wall thickness of the rear groove wall is thicker than that of the front groove wall, and the rear Fang Aocao wall forms a part of the wall of the expansion communication chamber, the connecting part of the heel section and the fingertip section shakes less in the process of inflation or inspiration, and the rapid clamping is more suitable.
And because the knuckle section is wave-shaped, the reinforcing sheet is arranged in the valley bottom part of the trough of the knuckle section, thus the compressive strength of the finger can be enhanced, and the service life of the flexible finger is prolonged.
And because the knuckle section is the wave, be provided with at least a set of strengthening rib in the drive chamber, this a set of strengthening rib include with the equal strengthening rib body of the trough quantity of knuckle section, this strengthening rib body one-to-one is connected between the trough inside wall and the finger bottom plate of the trough of knuckle section, this strengthening rib body can improve the compressive strength of trough department, very big extension flexible finger's life.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a perspective view of embodiment 1 of the present invention;
FIG. 2 is a perspective view of embodiment 1 of the present invention in another direction;
FIG. 3 is a front view of FIG. 2;
FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3;
FIG. 5 is a top view of FIG. 2;
FIG. 6 is a perspective view of a flexible finger in example 1 of the present invention;
FIG. 7 is a perspective view of the flexible finger in another direction in embodiment 1 of the present invention;
FIG. 8 is a top view of example 2;
FIG. 9 is a cross-sectional view taken along B-B of FIG. 8;
FIG. 10 is a cross-sectional view taken along line C-C of FIG. 8;
FIG. 11 is a schematic view showing the structure of a flexible finger in embodiment 3 of the present invention;
FIG. 12 is a schematic view of a flexible finger using only reinforcing sheets;
in the accompanying drawings: 1. a mounting flange; 2. a robot body; 21. an integrated block; 22. a flexible finger; 221. a finger bottom plate; 222. finger surface; 2221. a fingertip segment; 2222. finger segments; 2223. finger heel section; 2224. a transition groove; 223. a vent; 3. a guide link; 4. a limiting piece; 5. a spring; 6. a main channel; 7. a total joint; 8. a tap; 9. a housing; 10. an expansion communication chamber; 11. a reinforcing sheet; 12. a reinforcing rib body; 13. friction protrusions.
Detailed Description
The present invention will be described in further detail with reference to the following examples.
Example 1
As shown in fig. 1 to 10, a flexible manipulator with a buffering function comprises a flexible manipulator body 2 and a mounting flange 1, the flexible manipulator further comprises an elastic buffering component, the elastic buffering component is mounted between the flexible manipulator body 2 and the mounting flange 1 and used for elastically changing the distance between the mounting flange 1 and the flexible manipulator body 2, the flexible manipulator body 2 comprises an integrated block 21, at least two flexible fingers 22 which are mutually matched to realize flexible clamping are mounted on the integrated block 21, each flexible finger 22 comprises a finger bottom plate 221 and a finger surface 222, the finger bottom plate 221 and the finger surface 222 jointly enclose a driving cavity, the elastic modulus of the finger bottom plate 221 is larger than that of the finger surface 222, a vent 223 communicated with the driving cavity is formed in each flexible finger 22, and the vent 223 is communicated with a gas path.
In this embodiment, total joint 7 and a plurality of tap 8 all screw thread installation are on integrated block 21, elastic buffer assembly includes direction connecting rod 3, the one end and the flexible manipulator body 2 of direction connecting rod 3 are fixed, and the other end slip of direction connecting rod 3 runs through mounting flange 1 and be fixed with locating part 4, be provided with elastic buffer between direction connecting rod 3 and the mounting flange 1, elastic buffer is spring 5, of course, elastic buffer can also be elastic filler, be provided with the main channel 6 that makes things convenient for the medium to flow in the integrated block 21, be provided with total joint 7 and a plurality of tap 8 that all communicate with main channel 6 on the integrated block 21, the vent 223 one-to-one suit on every flexible finger 22 is on tap 8 and can dismantle through housing 9 and be fixed in on the integrated block 21.
In this embodiment, the finger surface 222 includes a fingertip section 2221, a knuckle section 2222 and a finger heel section 2223 that are sequentially connected, the knuckle section 2222 is in a wave shape, a transition groove 2224 is disposed between the knuckle section 2222 and the finger heel section 2223, an expansion communication chamber 10 communicated with a driving chamber is disposed in the finger heel section 2223, the position of the air vent 223 corresponds to the finger heel section 2223 and is disposed on the finger bottom plate 221, the cover shell 9 is covered on the finger heel section 2223, the side wall of the cover shell 9 close to the fingertip section 2221 is located in the transition groove 2224, the cover shell 9 is detachably fixed with the integrated block 21 by bolts, the transition groove 2224 includes a rear groove wall close to the finger heel section 2223 and a front groove wall close to the fingertip section 2221, the wall thickness of the rear groove wall is thicker than that of the front groove wall, the rear Fang Aocao wall forms a part of the chamber wall of the expansion communication chamber 10, the structure can reduce shake of the flexible finger 22, the two cross sections 22 are arranged in the four flexible bottom plates 22, and when the two cross sections 22 are arranged in the four flexible finger sections 22, and the four flexible bottom plates 22 are arranged in the four flexible finger sections 221; when there are two flexible fingers 22, the flexible fingers 22 are arranged in a straight line and the finger bottom plates 221 are opposite to each other, in this embodiment 1, four flexible fingers are used.
The side surface of the finger bottom plate 221 away from the finger surface 222 may further be provided with a plurality of friction protrusions, so that the friction force between the flexible finger 22 and the object is increased, and the object can be effectively prevented from sliding off the flexible manipulator during the process of grabbing the object by the flexible finger 22.
When the flexible manipulator works, objects need to be grabbed, the objects are inflated firstly, enter the main channel 6 through the main joint 7 and enter each tap joint 8 in sequence, so that the driving chambers of each flexible finger 22 are filled with gas through the gas path, the flexible fingers 22 are bent towards the direction of the finger bottom plate 221, the furling deformation is completed, and the flexible manipulator is convenient for grabbing the objects; when inhaling, the flexible fingers 22 bend towards the finger surface 222 to complete the opening deformation of each flexible finger 22, and the flexible manipulator releases the article; in the process that the flexible manipulator moves to the article to be clamped (the article to be clamped is placed on the tabletop), the requirement of the moving distance on precision is reduced due to the elastic buffering effect of the elastic buffering component, the tabletop can generate a reaction force on the flexible finger 22 in the deformation process that the flexible finger 22 is folded from being unfolded, the distance between the flexible manipulator body 2 and the mounting flange 1 is reduced due to the buffering effect of the elastic buffering component, and therefore the flexible finger 22 can be folded and deformed naturally and flexibly, the self-adaptive grabbing of tiny objects on an uneven or inclined working surface is achieved, the flexible manipulator is suitable for various environments and target objects, and the application range is greatly improved.
The air path mentioned in the embodiment 1 is disclosed in detail in the 3 rd edition of SMC training teaching material of the modern practical pneumatic technology published by the mechanical industry Press on the 08 th and 01 th year in 2008, and the air path structure in the embodiment is also known in the prior art, so that the air path connection is clear.
Example 2
As shown in fig. 8-10, the knuckle section 2222 is wave-shaped, at least one group of reinforcing ribs is arranged in the driving cavity, the group of reinforcing ribs comprises reinforcing rib bodies 12 equal to the number of the wave troughs of the knuckle section 2222, the reinforcing rib bodies 12 are connected between the inner side walls of the wave troughs of the knuckle section 2222 and the finger bottom plate 221 in a one-to-one correspondence manner, the reinforcing rib bodies 11 can improve the compressive strength of flexible fingers, prolong the service life, and the reinforcing rib bodies 12 influence the flow of gas.
Other technical features in embodiment 2 are similar to those in embodiment 1, and are not described here again.
Example 3
As shown in fig. 11, the knuckle section 2222 is wave-shaped, the bottom portion of the trough of the knuckle section 2222 is internally provided with a reinforcing sheet 11, at least one group of reinforcing ribs are further arranged in the driving cavity, the group of reinforcing ribs comprises reinforcing rib bodies 12 equal to the trough of the knuckle section 2222 in number, and the reinforcing rib bodies 12 are connected between the inner side walls of the trough of the knuckle section 2222 and the finger bottom plate 221 in a one-to-one correspondence manner.
Other technical features in this embodiment 3 are similar to those in embodiment 1, and are not described here again.
In fig. 12, the reinforcing sheet 11 is used alone for the flexible finger, so that the bending life of the flexible finger 22 is prolonged, and the reinforcing sheet 11 may be made of other fibers.
The above embodiments all use gas as the driving medium, but it is of course possible to use liquid as the driving medium.
The above examples are merely illustrative of the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and various modifications and adaptations of the technical solution of the present invention should and are intended to fall within the scope of the present invention as defined in the claims.
Claims (7)
1. The utility model provides a take buffer function's flexible manipulator, includes flexible manipulator body (2) and mounting flange (1), its characterized in that: the flexible manipulator further comprises an elastic buffer component, the elastic buffer component is arranged between the flexible manipulator body (2) and the mounting flange (1) and used for elastically changing the distance between the mounting flange (1) and the flexible manipulator body (2), the flexible manipulator body (2) comprises an integrated block (21), at least two flexible fingers (22) which are mutually matched to realize flexible clamping are arranged on the integrated block (21), each flexible finger (22) comprises a finger bottom plate (221) and a finger surface (222), the finger bottom plates (221) and the finger surfaces (222) jointly enclose a driving cavity, the elastic modulus of each finger bottom plate (221) is larger than that of each finger surface (222), a vent (223) communicated with the driving cavity is arranged on each flexible finger (22), and the vent (223) is communicated with an air path; a main channel (6) which is convenient for medium to flow is arranged in the integrated block (21), a main joint (7) and a plurality of taps (8) which are communicated with the main channel (6) are arranged on the integrated block (21), and air vents (223) on each flexible finger (22) are sleeved on the taps (8) in a one-to-one correspondence manner and are detachably fixed on the integrated block (21) through a housing (9); the finger surface (222) comprises a fingertip section (2221), a knuckle section (2222) and a finger heel section (2223) which are sequentially connected, the knuckle section (2222) is wavy, a transition groove (2224) is formed between the knuckle section (2222) and the finger heel section (2223), an expansion communication cavity (10) communicated with a driving cavity is formed in the finger heel section (2223), the position of the air vent (223) corresponds to the finger heel section (2223) and is arranged on a finger bottom plate (221), the cover shell (9) is buckled on the finger heel section (2223), the side wall, close to the fingertip section (2221), of the cover shell (9) is located in the transition groove (2224), and the cover shell (9) and the integrated block (21) are detachably fixed through bolts; the transition groove (2224) includes a rear groove wall adjacent the heel section (2223) and a front groove wall adjacent the fingertip section (2221), the rear groove wall having a thicker wall thickness than the front groove wall, the rear Fang Aocao wall forming part of the chamber wall of the expansion communication chamber (10).
2. The flexible manipulator with buffering function according to claim 1, wherein: the elastic buffer assembly comprises a guide connecting rod (3), one end of the guide connecting rod (3) is fixed with the flexible manipulator body (2), the other end of the guide connecting rod (3) penetrates through the mounting flange (1) in a sliding mode and is fixed with a limiting piece, and an elastic buffer piece is arranged between the guide connecting rod (3) and the mounting flange (1).
3. A flexible manipulator with cushioning function as set forth in claim 2, wherein: the elastic buffer piece is a spring (5) or elastic filler.
4. A flexible manipulator with cushioning functionality as set forth in claim 3, wherein: the knuckle section (2222) is wavy, and a reinforcing sheet (11) is arranged in the valley bottom part of the valley of the knuckle section (2222).
5. The flexible manipulator with buffering function according to claim 4, wherein: the knuckle section (2222) is wave-shaped, be provided with at least a set of strengthening rib in the drive chamber, this a set of strengthening rib include with the equal strengthening rib body (12) of the trough quantity of knuckle section (2222), this strengthening rib body (12) one-to-one connect between the valley bottom inside wall and the finger bottom plate (221) of the trough of knuckle section (2222).
6. The flexible manipulator with buffering function according to claim 5, wherein: the number of the flexible fingers (22) is two or four, when the number of the flexible fingers (22) is four, the flexible fingers (22) are arranged in a cross shape, and the finger bottom plates (221) are opposite to each other; when the number of the flexible fingers (22) is two, the flexible fingers (22) are arranged in a straight line, and the finger bottom plates (221) are oppositely arranged.
7. The flexible manipulator with buffering function according to claim 1, wherein: the main joint (7) and the plurality of taps (8) are both arranged on the integrated block (21) in a threaded manner.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710102279.8A CN106625733A (en) | 2017-02-24 | 2017-02-24 | Novel flexible finger |
| CN2017101022798 | 2017-02-24 | ||
| CN2017204837071 | 2017-05-04 | ||
| CN201720483707 | 2017-05-04 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107309897A CN107309897A (en) | 2017-11-03 |
| CN107309897B true CN107309897B (en) | 2023-09-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710665670.9A Active CN107309897B (en) | 2017-02-24 | 2017-08-07 | Flexible manipulator with buffer function |
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| CN (1) | CN107309897B (en) |
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| CN106625733A (en) * | 2017-02-24 | 2017-05-10 | 张帆 | Novel flexible finger |
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| CN111300460A (en) * | 2020-04-09 | 2020-06-19 | 苏州大学 | Flexible finger structure of robot |
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