CN108453750B - Flexible manipulator with controllable bending direction - Google Patents
Flexible manipulator with controllable bending direction Download PDFInfo
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- CN108453750B CN108453750B CN201810287761.8A CN201810287761A CN108453750B CN 108453750 B CN108453750 B CN 108453750B CN 201810287761 A CN201810287761 A CN 201810287761A CN 108453750 B CN108453750 B CN 108453750B
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- direction control
- plate
- deformation plate
- deformation
- flexible manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- Engineering & Computer Science (AREA)
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Abstract
The invention provides a flexible manipulator with controllable bending direction, comprising: the deformation plate is a flexible piece; the direction control assembly is arranged on the outer surface of the deformation plate so as to bend the deformation plate, one end of the direction control assembly is connected with the edge of the deformation plate, and the other end of the direction control assembly is a free end and extends towards the direction far away from the deformation plate; the direction control assembly is provided with: the first accommodating cavity is internally provided with a first fluid; the second holds the chamber, and the second holds the intracavity and is equipped with the second fluid, and the second holds the chamber and is connected with first chamber of holding, and the first fluid is different with the fluidic volume of second, and the direction control subassembly is crooked towards one side that is small. According to the flexible manipulator with the controllable bending direction, the structure that the deformation plate and the direction control assembly are combined is utilized, so that the surface can be subjected to plane or curved surface deformation, the capability of the flexible manipulator for grabbing articles is improved, and the flexible manipulator has the advantages of being simple in structure, convenient to operate and the like.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a flexible manipulator with controllable bending direction.
Background
In the industrial automation field, often use pneumatic flexible manipulator to realize snatching the action, but present flexible manipulator's structure is comparatively complicated, processing manufacturing cost is higher, admit air in flexible pneumatic manipulator, vent line's connection and structure are comparatively complicated, the degree of difficulty of installation and maintenance is higher, the reliability is low, and the structure of control snatching the direction is comparatively complicated, the time is all wasted in installation and dismantlement, present flexible manipulator is the point contact usually simultaneously, can't realize the face-to-face contact, area of contact is little when snatching the action.
Disclosure of Invention
In view of the above, the present invention provides a flexible manipulator with controllable bending direction.
In order to solve the technical problems, the invention adopts the following technical scheme:
the flexible manipulator with the controllable bending direction comprises the following components: the deformation plate is a flexible piece; the direction control assembly is arranged on the outer surface of the deformation plate so as to bend the deformation plate, one end of the direction control assembly is connected with the edge of the deformation plate, and the other end of the direction control assembly is a free end and extends towards the direction far away from the deformation plate; the direction control assembly is provided with: the first accommodating cavity is internally provided with a first fluid; the second holds the chamber, the second holds the intracavity and is equipped with the second fluid, the second hold the chamber with first holding the chamber and connecting, the first fluid with the volume of second fluid is different, the direction control subassembly is crooked towards one side that is small.
Further, the direction control assembly includes: the first pipe body is of a hollow structure; the baffle plate is arranged in the first pipe body and connected with the inner wall of the first pipe body, and the baffle plate and the inner wall of the first pipe body are matched with each other to limit the first accommodating cavity and the second accommodating cavity.
Further, the direction control assembly includes: the second pipe body is provided with the first accommodating cavity along the length direction; the third body is provided with the second accommodating cavity along the length direction, and the third body is arranged on one side of the second body and connected with the second body.
Furthermore, the number of the direction control assemblies arranged on the outer surface of the deformation plate is 1, and the two sides of the deformation plate are oppositely bent by taking a central line perpendicular to the axis of the direction control assemblies as a base line to form a bending surface.
Further, locate the deformation board surface the quantity of direction control subassembly is more than 3, locates the deformation board surface the direction control subassembly first hold the chamber and be close to the deformation board surface, locate the deformation board surface the direction control subassembly the second hold the chamber and keep away from the deformation board surface, a plurality of locating the deformation board surface the one end of direction control subassembly is connected, locates the deformation board surface the other end of direction control subassembly extends and spaced apart the arrangement towards the border direction of deformation board, a plurality of summits of deformation board are with locating with a plurality of deformation board surface the central line of direction control subassembly is the relative bending type of base point and is formed the face of buckling.
Further, locate the shape board surface the direction control subassembly with the border of shape board is connected the direction control subassembly is located the same one side of shape board.
Further, the number of the direction control assemblies connected with the edge of the deformation plate is multiple and distributed at intervals.
Further, a plurality of the direction control assemblies connected with the edge of the deformation plate are distributed at equal intervals.
Further, the deformation plate is rectangular, circular or arc-shaped.
Further, the flexible manipulator with controllable bending direction further comprises: an adsorption component, the adsorption component with the direction control component is connected and is located the crooked one side of direction control component just produces the adsorption affinity, the adsorption component includes: a fourth tube body having a third accommodating chamber in which a third fluid is provided, the fourth tube body having a plurality of through holes penetrating therethrough in a wall thickness direction thereof, the through holes generating the suction force; a fluid evacuation assembly in communication with the third receiving chamber for evacuating a third fluid into the third receiving chamber; the sucking disc, the sucking disc have hollow structure and with fourth body coupling, the sucking disc passes through the through-hole with the third holds the chamber intercommunication, the sucking disc is kept away from the one end of fourth body is equipped with the elastic surface.
The technical scheme of the invention has the following beneficial effects:
according to the flexible manipulator with the controllable bending direction, the device combining the deformation plate and the direction control assembly has the following advantages:
(1) by arranging the deformation plate, flexible curved surface deformation or flexible plane deformation can be realized, and the structure is simple;
(2) the bending direction is controlled by the direction control assembly, and the bending device has the advantages of simple structure, convenience in operation, convenience in processing and production and the like;
(3) the bending in multiple angles and multiple directions can be realized by adopting at least two direction control assemblies, the use is convenient, and the adjustment is convenient;
(4) the direction control assembly and the deformation plate are adopted to interact to realize bending deformation, so that a manipulator structure formed by a bending surface can be realized, the grabbing area can be increased, and the quick grabbing device is applied to quick grabbing of various articles;
(5) set up the direction control subassembly at the deformation board border, can cooperate with crooked deformation board, further realize snatching the action when crooked, improve and snatch the effect and snatch efficiency.
Drawings
Fig. 1 is a schematic structural diagram of a flexible manipulator with controllable bending direction according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a flexible manipulator with controllable bending direction according to another embodiment of the present invention;
fig. 3 is a schematic structural diagram of a first pipe of a flexible manipulator with controllable bending direction according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram of a second pipe and a third pipe of a flexible manipulator with controllable bending direction according to another embodiment of the present invention.
Reference numerals:
a flexible manipulator 100 whose bending direction is controllable;
a deformable plate 10;
a direction control assembly 20; the first accommodation chamber 21; the second accommodation chamber 22; a first tube 23; a baffle plate 24; a second tube 25; a third tube 26;
an adsorption component 30; a fourth tube 31; a suction cup 32.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.
The following describes the bending direction controllable flexible robot 100 according to an embodiment of the present invention with reference to the drawings.
As shown in fig. 1 to 4, a bending direction controllable flexible robot 100 according to an embodiment of the present invention includes a deformation plate 10 and at least two direction control assemblies 20, and the direction control assemblies 20 are provided with a first receiving chamber 21 and a second receiving chamber 22.
Specifically, the deformation board 10 is the flexible piece, and one direction control assembly 20 is located the deformation board 10 surface so that the deformation board 10 buckles, and the one end of another direction control assembly 20 is connected with the border of deformation board 10, and the other end of another direction control assembly 20 is the free end and extends towards the direction of keeping away from deformation board 10, is equipped with first fluid in the first chamber 21 that holds, and the second holds and is equipped with the second fluid in the chamber 22, and the second holds the chamber 22 and is connected with first chamber 21 that holds, and first fluid and the fluidic volume of second are different, and direction control assembly 20 is crooked towards one side that is small in size.
In other words, the bending direction controllable flexible manipulator 100 according to the embodiment of the present invention is mainly composed of the deformation plate 10 and at least two direction control assemblies 20, the direction control assemblies 20 are mainly provided with the first receiving chamber 21 and the second receiving chamber 22, the deformation plate 10 is a flexible member, can be bent, on the outer surface of the deformation plate 10, a direction control assembly 20 may be provided, by which the deformation plate 10 is bent toward one side by the direction control assembly 20, on the other side of the outer surface of the transformation plate 10, there may be provided a further direction control assembly 20, by which the transformation plate 10 is bent toward the other side, since the first containing chamber 21 and the second containing chamber 22 are provided with different volumes of the first fluid and the second fluid, therefore, the direction control assembly 20 can be bent toward the small-sized side, so that the deformation plate can be driven to be bent in different directions.
Therefore, the flexible manipulator 100 with controllable bending direction according to the embodiment of the present invention employs a device combining the deformation plate 10 and the at least two direction control assemblies 20, the direction control assemblies 20 employ a device combining the first accommodating cavity 21 and the second accommodating cavity 22, and the at least two direction control assemblies 20 and the deformation plate 10 are matched with each other, so that the deformation plate 10 can be bent towards multiple directions, and a manipulator structure formed by bending surfaces can be realized, so that the grabbing area can be increased, and the manipulator structure can be applied to fast grabbing of multiple articles.
As shown in fig. 3, the direction control assembly 20 includes a first pipe body 23 and a barrier 24 according to an embodiment of the present invention.
Specifically, first body 23 is hollow structure, separates shelves board 24 and locates in first body 23 and with the inner wall connection of first body 23, separates shelves board 24 and mutually supports the first chamber 21 that holds of injecing and the second chamber 22 that holds with the inner wall of first body 23, has simple structure, advantages such as the processing production of being convenient for.
As shown in fig. 4, in some embodiments of the present invention, the direction control assembly 20 includes a second tube 25 and a third tube 26.
Specifically, the second tube 25 is provided with a first accommodating cavity 21 along the length direction thereof, the third tube 26 is provided with a second accommodating cavity 22 along the length direction thereof, and the third tube 26 is disposed on one side of the second tube 25 and connected to the second tube 25.
Alternatively, the number of the direction control assemblies 20 arranged on the outer surface of the deformation plate 10 is 1, and two sides of the deformation plate 10 are bent relative to each other with a central line perpendicular to the axis of the direction control assemblies 20 as a base line to form a bending surface.
As shown in fig. 2, optionally, the number of the direction control assemblies 20 disposed on the outer surface of the deformation plate 10 is more than 3, the first accommodating chamber 21 of the direction control assembly 20 disposed on the outer surface of the deformation plate 10 is close to the outer surface of the deformation plate 10, the second accommodating chamber 22 of the direction control assembly 20 disposed on the outer surface of the deformation plate 10 is far from the outer surface of the deformation plate 10, one ends of the direction control assemblies 20 disposed on the outer surface of the deformation plate 10 are connected, the other ends of the direction control assemblies 20 disposed on the outer surface of the deformation plate 10 extend toward the edge direction of the deformation plate 10 and are spaced apart from each other, and a plurality of vertexes of the deformation plate 10 are bent relative to each other to form a bending surface with the central lines of the direction control assemblies 20 disposed on.
Further, the direction control member 20 provided on the outer surface of the transformation plate 10 and the direction control member 20 connected to the edge of the transformation plate 10 may be located on the same side of the transformation plate 10.
According to an embodiment of the present invention, the number of the direction control assemblies 20 connected to the edge of the transformation plate 10 may be plural and spaced apart.
Alternatively, a plurality of direction control assemblies 20 connected to the edges of the deformed plate 10 are distributed at equal intervals.
Further, the deformation plate may be rectangular, circular, or arc-shaped.
According to an embodiment of the present invention, the flexible manipulator 100 with controllable bending direction further comprises a suction assembly 30, and the suction assembly 30 comprises a fourth tube 31, a fluid pumping assembly and a suction cup 32.
Specifically, the adsorption component 30 is connected with the direction control component 20 and is located the crooked one side of direction control component 20 and produces the adsorption affinity, the third body is formed with the third and holds the chamber, the third holds the intracavity and is equipped with the third fluid, the third body has been link up along its wall thickness direction has a plurality of through-holes, produce the adsorption affinity through the through-hole, the fluid pump drainage component holds the chamber intercommunication with the third and holds the intracavity pump drainage third fluid in order to hold the third to the third, the sucking disc 32 has hollow structure and is connected with the third body, the sucking disc 32 holds the chamber intercommunication through-hole and third, the one end that the third body was kept away from to the sucking disc 32 is equipped with the elastic surface, can improve through the adsorption component 30 and sna.
In summary, according to the flexible manipulator 100 with controllable bending direction in the embodiment of the present invention, the flexible grasping action can be effectively achieved, not only the multi-angle plane bending and curved surface bending can be achieved, but also the surface-to-surface grasping can be achieved, and meanwhile, the contact surface between the flexible manipulator and the object to be grasped can be improved, and the flexible manipulator has the advantages of simple structure, convenience in operation, convenience in processing, production, installation, and disassembly, and the like.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A flexible manipulator with controllable bending direction, comprising:
the deformation plate is a flexible piece; the deformation plate is rectangular, circular or arc;
the direction control assembly is arranged on the outer surface of the deformation plate so as to bend the deformation plate, one end of the direction control assembly is connected with the edge of the deformation plate, and the other end of the direction control assembly is a free end and extends towards the direction far away from the deformation plate;
the direction control assembly is provided with:
the first accommodating cavity is internally provided with a first fluid;
the second holds the chamber, the second holds the intracavity and is equipped with the second fluid, the second hold the chamber with first holding the chamber and connecting, the first fluid with the volume of second fluid is different, the direction control subassembly is crooked towards one side that is small.
2. The flexure direction controllable flexible manipulator of claim 1, wherein the direction control assembly comprises:
the first pipe body is of a hollow structure;
the baffle plate is arranged in the first pipe body and connected with the inner wall of the first pipe body, and the baffle plate and the inner wall of the first pipe body are matched with each other to limit the first accommodating cavity and the second accommodating cavity.
3. The flexure direction controllable flexible manipulator of claim 1, wherein the direction control assembly comprises:
the second pipe body is provided with the first accommodating cavity along the length direction;
the third body is provided with the second accommodating cavity along the length direction, and the third body is arranged on one side of the second body and connected with the second body.
4. The bending direction controllable flexible manipulator according to claim 2 or 3, wherein the number of the direction control assemblies provided on the outer surface of the deformation plate is 1, and both sides of the deformation plate are bent relative to each other with a center line perpendicular to the axis of the direction control assemblies as a base line to form a bending surface.
5. The flexible manipulator according to claim 2 or 3, wherein the number of the direction control units on the outer surface of the deformable plate is 3 or more, the first receiving cavity of the direction control unit on the outer surface of the deformable plate is close to the outer surface of the deformable plate, the second receiving cavity of the direction control unit on the outer surface of the deformable plate is far away from the outer surface of the deformable plate, one end of the direction control units on the outer surface of the deformable plate is connected, and the other end of the direction control unit on the outer surface of the deformable plate extends toward the edge of the deformable plate and is spaced apart from the deformable plate, and a plurality of vertexes of the deformation plate are bent relatively to the central lines of the direction control assemblies arranged on the outer surface of the deformation plate as base points to form bending surfaces.
6. The flexure-direction-controllable flexible manipulator of claim 5, wherein the direction control assembly disposed on the outer surface of the deformation plate and the direction control assembly connected to the edge of the deformation plate are located on the same side of the deformation plate.
7. The bending direction controllable flexible manipulator according to claim 6, wherein the number of the direction control assemblies connected with the edge of the deformation plate is multiple and distributed at intervals.
8. The flexure direction controllable flexible manipulator of claim 7, wherein a plurality of the direction control assemblies connected to the edge of the deformation plate are distributed at equal intervals.
9. The flexure-direction-controllable flexible manipulator of claim 1, further comprising:
an adsorption component, the adsorption component with the direction control component is connected and is located the crooked one side of direction control component just produces the adsorption affinity, the adsorption component includes:
a fourth tube body having a third accommodating chamber in which a third fluid is provided, the fourth tube body having a plurality of through holes penetrating therethrough in a wall thickness direction thereof, the through holes generating the suction force;
a fluid evacuation assembly in communication with the third receiving chamber for evacuating a third fluid into the third receiving chamber;
the sucking disc, the sucking disc have hollow structure and with fourth body coupling, the sucking disc passes through the through-hole with the third holds the chamber intercommunication, the sucking disc is kept away from the one end of fourth body is equipped with the elastic surface.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810287761.8A CN108453750B (en) | 2018-04-03 | 2018-04-03 | Flexible manipulator with controllable bending direction |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810287761.8A CN108453750B (en) | 2018-04-03 | 2018-04-03 | Flexible manipulator with controllable bending direction |
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| CN108453750A CN108453750A (en) | 2018-08-28 |
| CN108453750B true CN108453750B (en) | 2020-10-02 |
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| CN112720428A (en) * | 2021-01-19 | 2021-04-30 | 杨慧 | New-generation industrial robot based on high-end equipment manufacturing industry |
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| CN1431084A (en) * | 2001-12-28 | 2003-07-23 | 松下电工株式会社 | Wearable human body movement applicator |
| CN1753762A (en) * | 2003-06-27 | 2006-03-29 | 松下电器产业株式会社 | Laminated-type multi-joint portion drive mechanism and manufacturing method therefor, grasping hand and robot arm provided with the same |
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| CN102601799A (en) * | 2012-03-30 | 2012-07-25 | 北京工业大学 | Flexible mechanical finger adaptive to shapes of clamped objects |
| KR20120106328A (en) * | 2011-03-18 | 2012-09-26 | 인하대학교 산학협력단 | Micro ray using magnetostriction phenomena |
| CN107234627A (en) * | 2017-03-24 | 2017-10-10 | 北京航空航天大学 | A kind of soft adsorption winds grasping device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9272426B2 (en) * | 2013-06-26 | 2016-03-01 | The Uniteed States of America as represented by the Secretary of the Army | Optically-actuated mechanical devices |
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2018
- 2018-04-03 CN CN201810287761.8A patent/CN108453750B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1431084A (en) * | 2001-12-28 | 2003-07-23 | 松下电工株式会社 | Wearable human body movement applicator |
| CN1753762A (en) * | 2003-06-27 | 2006-03-29 | 松下电器产业株式会社 | Laminated-type multi-joint portion drive mechanism and manufacturing method therefor, grasping hand and robot arm provided with the same |
| CN102525380A (en) * | 2010-12-23 | 2012-07-04 | 德昌电机(深圳)有限公司 | Bendable structure and endoscopic device, gastric tube and mechanical joint using the same |
| KR20120106328A (en) * | 2011-03-18 | 2012-09-26 | 인하대학교 산학협력단 | Micro ray using magnetostriction phenomena |
| CN102601799A (en) * | 2012-03-30 | 2012-07-25 | 北京工业大学 | Flexible mechanical finger adaptive to shapes of clamped objects |
| CN107234627A (en) * | 2017-03-24 | 2017-10-10 | 北京航空航天大学 | A kind of soft adsorption winds grasping device |
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Effective date of registration: 20200903 Address after: 536000 Northeast Jilin Road, Taiwanese Road, Beihai City, Guangxi Zhuang Autonomous Region (Room 30, North District, China Electronic Beihai Industrial Park) Applicant after: Beihai union Technology Co.,Ltd. Address before: 528000 6259 (Residence Declaration) on the 6th floor of No. 2 Building No. 117 Zhangcha Road, Chancheng District, Foshan City, Guangdong Province Applicant before: FOSHAN AOYEKESI MACHINERY EQUIPMENT Co.,Ltd. |
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