CN108515529A - A kind of flexible flexible manipulator - Google Patents
A kind of flexible flexible manipulator Download PDFInfo
- Publication number
- CN108515529A CN108515529A CN201810319288.7A CN201810319288A CN108515529A CN 108515529 A CN108515529 A CN 108515529A CN 201810319288 A CN201810319288 A CN 201810319288A CN 108515529 A CN108515529 A CN 108515529A
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- China
- Prior art keywords
- segment
- flexible
- tube
- tube body
- bodies
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of flexible flexible manipulator, including：At least two first tube bodies, adjacent first tube body are oppositely arranged and are connected with each other, and first fluid is equipped in first tube body；First tube body includes：Multiple first segment bodies, multiple first segment bodies are spaced apart setting；Multiple second segment bodies, multiple second segment bodies are spaced apart setting, second segment body is set between two neighboring first segment body and is connect with first segment body, the radial dimension of first segment body is more than the radial dimension of second segment body, and first segment body of first tube body and second segment body of another first tube body are oppositely arranged.Flexible flexible manipulator according to the ... of the embodiment of the present invention, the structure being combined using the first segment body and the second segment body, it can not only realize that flexible manipulator is bent into waveform, longer inner wall of the pipe can also effectively be captured simultaneously, has many advantages, such as simple in structure, easy to operate, production easy to process.
Description
Technical field
The present invention relates to manipulator technical fields, are specifically related to a kind of flexible flexible manipulator.
Background technology
In industrial automation, grasping movement is realized commonly using Pneumatic flexible manipulator, but current flexible machine
The structure of tool hand is complex, processing cost it is higher, the connection of air inlet, vent line in flexible pneumatic manipulator and
Structure is complex, and installation and the difficulty safeguarded are higher, and reliability is low, and the structure for controlling crawl direction is complex, peace
Assembly and disassembly all waste time, and are captured especially for the tube wall of the longer pipeline of length, need, life increasingly complex using structure
Produce the high flexible manipulator of manufacturing cost.
Invention content
In view of this, the present invention provides a kind of flexible flexible manipulator.
In order to solve the above technical problems, the present invention uses following technical scheme：
Flexible flexible manipulator according to the ... of the embodiment of the present invention, including：At least two first tube bodies, adjacent described
One tube body is oppositely arranged and is connected with each other, and first fluid is equipped in first tube body；First tube body includes：Multiple first
Segment body, multiple first segment bodies are spaced apart setting；Multiple second segment bodies, multiple second segment bodies are spaced apart setting, described
Second segment body is set between two neighboring first segment body and is connect with first segment body, the radial ruler of first segment body
The very little radial dimension more than second segment body, first segment body and another first tube body of first tube body
Second segment body is oppositely arranged.
Further, the first fluid is gas or liquid.
Further, the flexible flexible manipulator further includes：Outer tube is formed with the first receiving in the outer tube
Chamber, first accommodating chamber is interior to be equipped with first tube body, and the outer tube is flexible piece.
Further, the outer tube is hollow cylindrical.
Further, flexible flexible manipulator further includes absorbent module, and the absorbent module is set to one described first
Second segment body of the outside of first segment body of tube body and separate adjacent first tube body, the absorbent module production
Raw adsorption capacity.
Further, the absorbent module includes：Second tube body, second tube body is formed with the second accommodating chamber, described
Second fluid is equipped in second accommodating chamber, second tube body is through with multiple through-holes, the through-hole and institute along its wall thickness direction
The connection of the second accommodating chamber is stated, the adsorption capacity is generated by the through-hole；Second fluid pump drainage component, the second fluid pump drainage
Component is connected to second accommodating chamber with the pump drainage second fluid into second accommodating chamber.
Further, the absorbent module further includes：There is hollow structure, the sucker to pass through institute for sucker, the sucker
It states through-hole to be connected to second accommodating chamber, the one end of the sucker far from second tube body is elastic surface.
Further, the flexible flexible manipulator further includes：The pump housing, the pump housing connect with first tube body
It passes to conveying and extracts the first fluid.
Further, the flexible flexible manipulator further includes：Control assembly, the control assembly and the pump
Body is connected to control being turned on and off for the pump housing.
Further, first tube body further includes：Converging transition, the converging transition are set to first segment body and described the
Between bis body, the size of the converging transition is gradually reduced from first segment body towards the direction of second segment body.
Above-mentioned technical proposal of the present invention has the beneficial effect that：
Flexible flexible manipulator according to the ... of the embodiment of the present invention by using at least two first tube bodies, is combined
Device, have the following advantages that：
(1) first tube body uses the device that multiple first segment bodies and multiple second segment bodies are combined, and waveform may be implemented
It is bent and the three-dimensional curve with multiple degree of freedom is bent, and then can not only realize and longer inner wall of the pipe is carried out effectively
Crawl, has many advantages, such as simple in structure, easy to operate, production easy to process；
(2) it is externally provided with outer tube in two or more first tube bodies, has many advantages, such as compact-sized, be easily installed, is beautiful；
(3) in the outside of the first segment body of one first tube body and the side of the second segment body of separate adjacent another first tube body
To equipped with absorbent module, adsorption capacity can be further increased；
(4) sucker uses one end of hollow structure and separate second tube body for elastic surface, when the second fluid in sucker
When volume increases, elastic surface can stick out, and elastic surface and the contact surface and adsorption capacity that are crawled between article can reduce；
(5) it is equipped with converging transition between the first segment body and the second segment body, the size of converging transition is from the first segment body towards second
The direction of segment body is gradually reduced, and improves the service life of the first tube body and convenient for improving bending degree and stability.
Description of the drawings
Fig. 1 is the structural schematic diagram of the flexible flexible manipulator of one embodiment of the invention；
Fig. 2 is the structural schematic diagram of the flexible flexible manipulator of another embodiment of the present invention.
Reference numeral：
Flexible flexible manipulator 100；
First tube body 10；First segment body 11；Second segment body 12；Converging transition 13；
Outer tube 20；
Absorbent module 30；Second tube body 31；Sucker 32.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
Attached drawing, the technical solution of the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is this hair
Bright a part of the embodiment, instead of all the embodiments.Based on described the embodiment of the present invention, ordinary skill
The every other embodiment that personnel are obtained, shall fall within the protection scope of the present invention.
Flexible flexible manipulator 100 according to the ... of the embodiment of the present invention is specifically described below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, flexible flexible manipulator 100 according to the ... of the embodiment of the present invention includes at least two pieces the
One tube body 10, the first tube body 10 include multiple first segment bodies 11 and multiple second segment bodies 12.
Specifically, adjacent first tube body 10 is oppositely arranged and is connected with each other, first fluid is equipped in the first tube body 10, it is more
A first segment body 11 is spaced apart setting, and multiple second segment bodies 12 are spaced apart setting, and the second segment body 12 is set to two neighboring first segment
It being connect between body 11 and with the first segment body 11, the radial dimension of the first segment body 11 is more than the radial dimension of the second segment body 12, and one the
First segment body 11 of one tube body 10 is oppositely arranged with the second segment body 12 of another first tube body 10.
In other words, flexible flexible manipulator 100 according to the ... of the embodiment of the present invention is mainly by least two first tube bodies
10 compositions, the first tube body 10 are mainly made of multiple first segment bodies 11 and multiple second segment bodies 12, at least two first tube bodies 10
It is oppositely arranged, when the quantity of the first tube body 10 is two, two first tube bodies 10 are oppositely arranged, since the first tube body 10 includes
Multiple first segment bodies 11 and multiple second segment bodies 12, the first tube body 11 and the second segment body 12 are spaced apart distribution, in the first tube body 10
It is interior to be equipped with first fluid, since the radial dimension of the first segment body 11 is more than the radial dimension of the second segment body 12, the first tube body 10
Part can be bent towards the direction of the first segment body 11, to realize that overall structure waveform is bent, when the quantity of the first tube body 10
When being more, more first tube bodies 10 are oppositely arranged, and more first tube bodies 10 all have more first segment bodies 11 and multiple second
Segment body 12, the first segment body 11 and the second segment body 12 are spaced apart distribution, so as to realize the three-dimensional curve bending of multiple degree of freedom.
Flexible flexible manipulator 100 according to the ... of the embodiment of the present invention uses at least two first tube body, 10 phases as a result,
In conjunction with device, the device that the first tube body 10 is combined using multiple first segment bodies 11 and multiple second segment bodies 12 may be implemented
Waveform be bent and with multiple degree of freedom three-dimensional curve bending, and then can not only realize for longer inner wall of the pipe into
Row effectively crawl, has many advantages, such as simple in structure, easy to operate, production easy to process.
According to one embodiment of present invention, first fluid can be gas or liquid.
In certain specific embodiments of the invention, flexible flexible manipulator 100 further includes outer tube 20, outer tube 20
It is inside formed with the first accommodating chamber, the first tube body 10 can be equipped in the first accommodating chamber, outer tube 20 is flexible piece, has structure tight
The advantages that gathering, being easily installed, is beautiful.
Optionally, outer tube 20 can be hollow cylindrical.
According to one embodiment of present invention, flexible flexible manipulator 100 further includes absorbent module 30, absorbent module
30 are set to the outside of the first segment body 11 of one first tube body 10 and the second segment body 12 far from adjacent another first tube body 10, inhale
Attached component 30 generates adsorption capacity, further increases adsorption capacity.
Further, absorbent module 30 includes the second tube body 31 and second fluid pump drainage component.
Specifically, the second tube body 31 is formed with the second accommodating chamber, and second fluid, the second tube body can be equipped in the second accommodating chamber
31 are through with multiple through-holes along its wall thickness direction, and through-hole can be connected to the second accommodating chamber, and adsorption capacity can be generated by through-hole, and second
Fluid pump drainage component is connected to the second accommodating chamber with the pump drainage second fluid into the second accommodating chamber.
In certain specific embodiments of the invention, absorbent module 30 further includes sucker 32, and sucker 32 has hollow knot
Structure, sucker 32 are connected to by through-hole with the second accommodating chamber, and the one end of sucker 32 far from the second tube body 31 is elastic surface, needs to illustrate
, when the volume of the second fluid in sucker 32 increases, elastic surface can stick out, and elastic surface and be crawled between article
Contact surface and adsorption capacity can reduce.
According to one embodiment of present invention, flexible flexible manipulator 100 further includes the pump housing, the pump housing and the first tube body
10 connections are to convey and extract first fluid.
In certain specific embodiments of the invention, flexible flexible manipulator 100 further includes control assembly, control
Component is connect with the pump housing to control being turned on and off for the pump housing, high degree of automation.
According to one embodiment of present invention, the first tube body 10 further includes converging transition 13, and converging transition 13 is set to the first segment body
11 and second between segment body 12, and the size of converging transition 13 is gradually reduced from the first segment body 11 towards the direction of the second segment body 12, is carried
The high service life of first tube body 10 and convenient for improving bending degree and stability.
To sum up, the flexible flexible manipulator 100 according to embodiments of the present invention, can not only realize that waveform is curved
Bent and three-dimensional curve bending with multiple degree of freedom, and then can not only realize and longer inner wall of the pipe is effectively grabbed
It takes, has many advantages, such as simple in structure, easy to operate, production easy to process.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, it can also make several improvements and retouch, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of flexible flexible manipulator, which is characterized in that including：
At least two first tube bodies, adjacent first tube body are oppositely arranged and are connected with each other, and the is equipped in first tube body
One fluid；
First tube body includes：
Multiple first segment bodies, multiple first segment bodies are spaced apart setting；
Multiple second segment bodies, multiple second segment bodies are spaced apart setting, and second segment body is set to two neighboring described first
It is connect between segment body and with first segment body, the radial dimension of first segment body is more than the radial ruler of second segment body
Very little, first segment body of first tube body and second segment body of another first tube body are oppositely arranged.
2. flexible flexible manipulator according to claim 1, which is characterized in that the first fluid is gas or liquid
Body.
3. flexible flexible manipulator according to claim 1, which is characterized in that further include：
Outer tube is formed with the first accommodating chamber in the outer tube, first tube body, the outer tube is equipped in first accommodating chamber
For flexible piece.
4. flexible flexible manipulator according to claim 3, which is characterized in that the outer tube is hollow cylindrical.
5. flexible flexible manipulator according to claim 1, which is characterized in that further include：
Absorbent module, the absorbent module are set to the outside of first segment body of first tube body and far from adjacent institutes
Second segment body of the first tube body is stated, the absorbent module generates adsorption capacity.
6. flexible flexible manipulator according to claim 5, which is characterized in that the absorbent module includes：
Second tube body, second tube body are formed with the second accommodating chamber, are equipped with second fluid in second accommodating chamber, and described the
Two tube bodies are through with multiple through-holes along its wall thickness direction, and the through-hole is connected to second accommodating chamber, is produced by the through-hole
The raw adsorption capacity；
Second fluid pump drainage component, the second fluid pump drainage component are connected to second accommodating chamber to be accommodated to described second
Intracavitary pump drainage second fluid.
7. flexible flexible manipulator according to claim 6, which is characterized in that the absorbent module further includes：
There is hollow structure, the sucker to be connected to second accommodating chamber by the through-hole for sucker, the sucker, the suction
The one end of disk far from second tube body is elastic surface.
8. flexible flexible manipulator according to claim 1, which is characterized in that further include：
The pump housing, the pump housing are connected to first tube body to convey and extract the first fluid.
9. flexible flexible manipulator according to claim 8, which is characterized in that further include：
Control assembly, the control assembly are connect with the pump housing to control being turned on and off for the pump housing.
10. flexible flexible manipulator according to claim 1, which is characterized in that first tube body further includes：
Converging transition, the converging transition are set between first segment body and second segment body, and the size of the converging transition is from institute
The direction for stating the first segment body towards second segment body is gradually reduced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810319288.7A CN108515529B (en) | 2018-04-10 | 2018-04-10 | Flexible manipulator of flexible |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810319288.7A CN108515529B (en) | 2018-04-10 | 2018-04-10 | Flexible manipulator of flexible |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108515529A true CN108515529A (en) | 2018-09-11 |
| CN108515529B CN108515529B (en) | 2020-10-30 |
Family
ID=63432020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810319288.7A Active CN108515529B (en) | 2018-04-10 | 2018-04-10 | Flexible manipulator of flexible |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108515529B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107234627A (en) * | 2017-03-24 | 2017-10-10 | 北京航空航天大学 | A kind of soft adsorption winds grasping device |
| CN207027538U (en) * | 2017-02-24 | 2018-02-23 | 苏州柔触机器人科技有限公司 | A kind of flexible manipulator |
-
2018
- 2018-04-10 CN CN201810319288.7A patent/CN108515529B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN207027538U (en) * | 2017-02-24 | 2018-02-23 | 苏州柔触机器人科技有限公司 | A kind of flexible manipulator |
| 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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| Publication number | Publication date |
|---|---|
| CN108515529B (en) | 2020-10-30 |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20201012 Address after: Room 301, unit 1, building 25, datangxia District 2, chuocheng street, Yiwu City, Jinhua City, Zhejiang Province Applicant after: Yiwu Siqi Industrial Design 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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