CN108515529B - Flexible manipulator of flexible - Google Patents
Flexible manipulator of flexible Download PDFInfo
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- CN108515529B CN108515529B CN201810319288.7A CN201810319288A CN108515529B CN 108515529 B CN108515529 B CN 108515529B CN 201810319288 A CN201810319288 A CN 201810319288A CN 108515529 B CN108515529 B CN 108515529B
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- section
- pipe
- flexible manipulator
- bendable flexible
- fluid
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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
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a bendable flexible manipulator, comprising: the two first pipe bodies are arranged oppositely and mutually connected adjacent to each other, and a first fluid is arranged in each first pipe body; the first pipe body includes: a plurality of first segments, the plurality of first segments being spaced apart; the second segment bodies are arranged between two adjacent first segment bodies and connected with the first segment bodies, the radial size of each first segment body is larger than that of each second segment body, and the first segment body of one first pipe body is opposite to the second segment body of the other first pipe body. According to the bendable flexible manipulator disclosed by the embodiment of the invention, by utilizing the structure of combining the first section body and the second section body, the bending of the flexible manipulator into a wave shape can be realized, meanwhile, the inner wall of a longer pipeline can be effectively grabbed, and the bendable flexible manipulator has the advantages of simple structure, convenience in operation, convenience in processing and production and the like.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a bendable flexible manipulator.
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 installation all wastes time with the dismantlement, especially snatch to the pipe wall of the longer pipeline of length, it is more complicated to need to adopt the structure, the flexible manipulator that manufacturing cost is high.
Disclosure of Invention
In view of the above, the present invention provides a bendable flexible manipulator.
In order to solve the technical problems, the invention adopts the following technical scheme:
according to the embodiment of the invention, the bendable flexible manipulator comprises: the two first pipe bodies are arranged oppositely and mutually connected adjacent to each other, and a first fluid is arranged in each first pipe body; the first pipe body includes: a plurality of first segments, the plurality of first segments being spaced apart; the second segment bodies are arranged between two adjacent first segment bodies and connected with the first segment bodies, the radial size of each first segment body is larger than that of each second segment body, and the first segment body of one first pipe body is opposite to the second segment body of the other first pipe body.
Further, the first fluid is a gas or a liquid.
Further, the bendable flexible manipulator further comprises: the outer tube, be formed with the first chamber that holds in the outer tube, the first intracavity that holds is equipped with first body, the outer tube is the flexible piece.
Further, the outer tube is hollow cylindrical.
Furthermore, the flexible manipulator comprises an adsorption component, the adsorption component is arranged on the outer side of the first section of the first pipe body and far away from the second section of the first pipe body, and the adsorption component generates adsorption force.
Further, the adsorption assembly includes: the second tube body is provided with a second containing cavity, a second fluid is arranged in the second containing cavity, a plurality of through holes penetrate through the second tube body along the wall thickness direction of the second tube body, the through holes are communicated with the second containing cavity, and the adsorption force is generated through the through holes; a second fluid pumping assembly in communication with the second receiving chamber for pumping a second fluid into the second receiving chamber.
Further, the adsorption assembly further comprises: the sucking disc, the sucking disc has hollow structure, the sucking disc pass through the through-hole with the second holds the chamber intercommunication, the sucking disc is kept away from the one end of second body is the elastic surface.
Further, the bendable flexible manipulator further comprises: a pump body in communication with the first tube to deliver and draw the first fluid.
Further, the bendable flexible manipulator further comprises: the control assembly is connected with the pump body to control the opening or closing of the pump body.
Further, the first body still includes: the tapered section is arranged between the first section body and the second section body, and the size of the tapered section is gradually reduced from the first section body to the second section body.
The technical scheme of the invention has the following beneficial effects:
according to the bendable flexible manipulator provided by the embodiment of the invention, the device which adopts at least two first pipe bodies and is combined has the following advantages:
(1) the first pipe body adopts a device combining a plurality of first section bodies and a plurality of second section bodies, wave-shaped bending and three-dimensional curve bending with a plurality of degrees of freedom can be realized, and further, effective grabbing on the inner wall of a longer pipeline can be realized, and the device has the advantages of simple structure, convenience in operation, convenience in processing and production and the like;
(2) the outer pipes are arranged outside the two or more first pipe bodies, so that the pipe joint has the advantages of compact structure, convenience in installation, attractive appearance and the like;
(3) the adsorption component is arranged on the outer side of the first section of one first pipe body and in the direction away from the adjacent second section of the other first pipe body, so that the adsorption force can be further improved;
(4) the sucker is of a hollow structure, one end, far away from the second pipe body, of the sucker is an elastic surface, when the volume of second fluid in the sucker is increased, the elastic surface can swell, and the contact surface and the adsorption force between the elastic surface and a grabbed object can be reduced;
(5) be equipped with the convergent section between the first section body and the second section body, the size of convergent section reduces from the direction of the first section body towards the second section body gradually, has improved the life of first body and is convenient for improve crooked degree and stability.
Drawings
FIG. 1 is a schematic structural diagram of a bendable flexible manipulator according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a bendable flexible manipulator according to still another embodiment of the present invention.
Reference numerals:
a bendable flexible manipulator 100;
a first pipe 10; a first segment body 11; a second segment 12; a tapered section 13;
an outer tube 20;
an adsorption component 30; a second 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 bendable flexible manipulator 100 according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, a bendable manipulator 100 according to an embodiment of the present invention includes at least two first tubes 10, and the first tubes 10 include a plurality of first segments 11 and a plurality of second segments 12.
Specifically, adjacent first pipe bodies 10 are oppositely arranged and connected with each other, a first fluid is arranged in each first pipe body 10, a plurality of first segment bodies 11 are arranged at intervals, a plurality of second segment bodies 12 are arranged at intervals, the second segment bodies 12 are arranged between two adjacent first segment bodies 11 and connected with the first segment bodies 11, the radial size of each first segment body 11 is larger than that of each second segment body 12, and the first segment body 11 of one first pipe body 10 is oppositely arranged with the second segment body 12 of another first pipe body 10.
In other words, the bendable flexible manipulator 100 according to the embodiment of the present invention mainly includes at least two first pipe bodies 10, the first pipe bodies 10 mainly include a plurality of first segments 11 and a plurality of second segments 12, the at least two first pipe bodies 10 are disposed opposite to each other, when the number of the first pipe bodies 10 is two, the two first pipe bodies 10 are disposed opposite to each other, since the first pipe bodies 10 include the plurality of first segments 11 and the plurality of second segments 12, the first pipe bodies 11 and the second segments 12 are distributed at intervals, a first fluid is disposed in the first pipe bodies 10, since a radial dimension of the first segments 11 is greater than a radial dimension of the second segments 12, a portion of the first pipe bodies 10 may be bent in a direction of the first segments 11, thereby realizing overall structural wave-shaped bending, when the number of the first pipe bodies 10 is multiple, the plurality of first pipe bodies 10 are disposed opposite to each other, each of the plurality of first pipe bodies 10 has the plurality of first segments 11 and the plurality of second segments 12, the first segment body 11 and the second segment body 12 are spaced apart, so that three-dimensional curve bending with multiple degrees of freedom can be realized.
Therefore, the bendable flexible manipulator 100 according to the embodiment of the invention adopts a device combining at least two first pipe bodies 10, and the first pipe bodies 10 adopt a device combining a plurality of first section bodies 11 and a plurality of second section bodies 12, so that wave-shaped bending and three-dimensional curve bending with a plurality of degrees of freedom can be realized, and further, effective grabbing on the inner wall of a longer pipeline can be realized, and the bendable flexible manipulator has the advantages of simple structure, convenience in operation, convenience in processing and production and the like.
According to one embodiment of the invention, the first fluid may be a gas or a liquid.
In some embodiments of the present invention, the bendable flexible manipulator 100 further includes an outer tube 20, a first accommodating cavity is formed in the outer tube 20, the first tube 10 can be disposed in the first accommodating cavity, and the outer tube 20 is a flexible member, which has advantages of compact structure, easy installation, and good appearance.
Alternatively, the outer tube 20 may be hollow cylindrical.
According to an embodiment of the present invention, the bendable flexible manipulator 100 further includes an absorption component 30, the absorption component 30 is disposed outside the first segment 11 of one first pipe 10 and is far away from the second segment 12 of another adjacent first pipe 10, and the absorption component 30 generates an absorption force to further improve the absorption force.
Further, the adsorption assembly 30 includes a second tube 31 and a second fluid pumping assembly.
Specifically, the second tube 31 is formed with a second accommodating cavity, a second fluid can be disposed in the second accommodating cavity, a plurality of through holes penetrate through the second tube 31 in the wall thickness direction, the through holes can be communicated with the second accommodating cavity, an adsorption force can be generated through the through holes, and the second fluid pumping and discharging assembly is communicated with the second accommodating cavity to pump and discharge the second fluid into the second accommodating cavity.
In some embodiments of the present invention, the suction assembly 30 further includes a suction cup 32, the suction cup 32 has a hollow structure, the suction cup 32 is communicated with the second accommodating cavity through a through hole, and an end of the suction cup 32 away from the second tube 31 is an elastic surface, it should be noted that when the volume of the second fluid in the suction cup 32 increases, the elastic surface swells, and the contact surface and the suction force between the elastic surface and the gripped object decrease.
According to an embodiment of the present invention, the bendable flexible manipulator 100 further comprises a pump body in communication with the first tube 10 for delivering and extracting the first fluid.
In some embodiments of the present invention, the bendable flexible manipulator 100 further comprises a control assembly, which is connected to the pump body to control the opening or closing of the pump body, and the degree of automation is high.
According to an embodiment of the present invention, the first pipe 10 further includes a tapered section 13, the tapered section 13 is disposed between the first section 11 and the second section 12, and the size of the tapered section 13 is gradually reduced from the first section 11 to the second section 12, so as to improve the service life of the first pipe 10 and facilitate the improvement of the bending degree and the stability.
In summary, the bendable flexible manipulator 100 according to the embodiment of the present invention can not only realize wave-shaped bending and three-dimensional curve bending with multiple degrees of freedom, but also effectively grasp the inner wall of a longer pipeline, and has the advantages of simple structure, convenient operation, convenient processing and production, etc.
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 (8)
1. A bendable flexible manipulator, comprising:
the three first pipe bodies are arranged oppositely and mutually connected adjacent to each other, and first fluid is arranged in each first pipe body;
the first pipe body includes:
a plurality of first segments, the plurality of first segments being spaced apart;
the second sections are arranged at intervals, the second sections are arranged between two adjacent first sections and connected with the first sections, the radial size of each first section is larger than that of each second section, and the first section of one first pipe body is opposite to the second section of another first pipe body;
further comprising: the outer pipe is internally provided with a first accommodating cavity, the first accommodating cavity is internally provided with the first pipe body, and the outer pipe is a flexible part;
the first pipe body further includes: the tapered section is arranged between the first section body and the second section body, and the size of the tapered section is gradually reduced from the first section body to the second section body.
2. The bendable flexible manipulator according to claim 1, wherein the first fluid is a gas or a liquid.
3. The bendable flexible manipulator according to claim 1, wherein the outer tube is hollow cylindrical.
4. The bendable flexible manipulator according to claim 1, further comprising:
and the adsorption component is arranged on the outer side of the first section body of the first pipe body and is far away from the adjacent second section body of the first pipe body, and the adsorption component generates adsorption force.
5. The bendable flexible manipulator according to claim 4, wherein the suction assembly comprises:
the second tube body is provided with a second containing cavity, a second fluid is arranged in the second containing cavity, a plurality of through holes penetrate through the second tube body along the wall thickness direction of the second tube body, the through holes are communicated with the second containing cavity, and the adsorption force is generated through the through holes;
a second fluid pumping assembly in communication with the second receiving chamber for pumping a second fluid into the second receiving chamber.
6. The bendable flexible manipulator according to claim 5, wherein the suction assembly further comprises:
the sucking disc, the sucking disc has hollow structure, the sucking disc pass through the through-hole with the second holds the chamber intercommunication, the sucking disc is kept away from the one end of second body is the elastic surface.
7. The bendable flexible manipulator according to claim 1, further comprising:
a pump body in communication with the first tube to deliver and draw the first fluid.
8. The bendable flexible manipulator according to claim 7, further comprising:
the control assembly is connected with the pump body to control the opening or closing of the pump body.
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 |
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| Publication Number | Publication Date |
|---|---|
| CN108515529A CN108515529A (en) | 2018-09-11 |
| CN108515529B true CN108515529B (en) | 2020-10-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810319288.7A Active CN108515529B (en) | 2018-04-10 | 2018-04-10 | Flexible manipulator of flexible |
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| Country | Link |
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| 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 |
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| CN108515529A (en) | 2018-09-11 |
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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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