CN109483600B - Flexible manipulator grabbing life testing device - Google Patents
Flexible manipulator grabbing life testing device Download PDFInfo
- Publication number
- CN109483600B CN109483600B CN201811530848.XA CN201811530848A CN109483600B CN 109483600 B CN109483600 B CN 109483600B CN 201811530848 A CN201811530848 A CN 201811530848A CN 109483600 B CN109483600 B CN 109483600B
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- Prior art keywords
- flexible manipulator
- guide shaft
- flexible
- testing device
- life
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- 238000012360 testing method Methods 0.000 title claims abstract description 36
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- 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
- B25J19/0095—Means or methods for testing manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flexible manipulator grabbing life testing device which comprises a transmission mechanism for driving a flexible manipulator to grab and move up and down, and a pneumatic mechanism for inflating or inhaling a flexible finger mechanism of the flexible manipulator to grab or release an object, wherein the transmission mechanism comprises a guide shaft which is vertically arranged, a fixed support which is fixedly connected to the upper part of the guide shaft, a movable support which can move up and down along the guide shaft and is used for connecting the flexible manipulator, and an air cylinder for driving the movable support to move up and down, and the movable support is positioned below the fixed support. According to the flexible manipulator grabbing life testing device, the flexible manipulator moves up and down through the transmission mechanism, the linear bearing and the guide shaft form a guide, and the cylinder repeatedly moves to drive the movable supporting frame to drive the flexible manipulator to move up and down to grab an object for testing. The flexible manipulator grabbing life testing device is simple in structure and easy to operate.
Description
Technical Field
The invention relates to a flexible manipulator grabbing life testing device.
Background
In the field of industrial automation, gripper fingers for gripping objects, which cooperate with a robot arm, are very widely used. Most of the prior art mechanical grippers consist of rigid fingers, and flexible mechanical grippers are less common. The invention patent with the application number 201810336627.2 discloses a flexible manipulator which is used for grabbing objects by two flexible mobile phones, wherein each flexible finger mechanism comprises a finger surface and finger backs connected to one side surface of the finger surface, the finger backs 5 are convexly arranged on the finger surface in a finger surface distribution plane, and a first cavity is arranged between the finger backs and the finger surfaces. The flexible finger mechanism also comprises at least one semicircular arch body arranged on the finger back and a second cavity arranged in the semicircular arch body and communicated with the first cavity. The semicircular arch body is used for inflation, inflation and air suction shrinkage, so that the inflation deformation of the back of the finger is larger than that of the finger surface, and when the first cavity and the second cavity are inflated, the semicircular arch body is inflated, so that the flexible finger bends towards one side of the finger surface and is used for grabbing an article by matching with other flexible fingers; when the first cavity and the second cavity are sucked, the semicircular arch body is contracted, so that the flexible fingers are bent to one side of the backs of the fingers and are used for being matched with other flexible fingers to release articles. For this flexible manipulator, it is necessary to test its gripping life, and there is no such testing device in the prior art.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a flexible manipulator grabbing life testing device.
In order to achieve the above purpose, the invention adopts the following technical scheme: the utility model provides a flexible manipulator snatchs life-span testing arrangement, including being used for driving flexible manipulator and snatch the drive mechanism that reciprocates, be used for inflating or breathe in the flexible finger mechanism of flexible manipulator and make flexible manipulator snatch or release the pneumatic mechanism of object, drive mechanism includes the guiding axle of vertical setting, fixed strut of fixed connection on the upper portion of guiding axle, can follow the guiding axle reciprocates and be used for connecting the removal strut of flexible manipulator, the cylinder of drive removal strut reciprocates, the removal strut is located the below of fixed strut.
Further, a linear bearing is connected to the movable bracket and is cooperatively connected with the guide shaft.
Further, the cylinder body of the cylinder is connected to the movable support, and the piston rod of the cylinder is connected to the fixed support.
Further, a floating joint is arranged between the piston rod and the fixed bracket.
Further, the guide shaft has a plurality of guide shafts.
Further, the flexible manipulator grabbing life testing device further comprises a base, and the lower portion of the guide shaft is connected to the base.
Further, a guide shaft support is arranged on the base, and the lower part of the guide shaft is connected with the guide shaft support.
Further, a display device for displaying test data is arranged on the base station, and the test data comprises the grabbing times of the flexible manipulator.
Further, an objective table for placing the gripped object is arranged on the base table, and the objective table is positioned right below the flexible manipulator.
Further, a flexible manipulator is connected below the mobile strut.
By adopting the technical scheme, the flexible manipulator grabbing life testing device enables the flexible manipulator to move up and down through the transmission mechanism, the linear bearing and the guide shaft form a guide, and the cylinder repeatedly moves to drive the movable support to drive the flexible manipulator to move up and down to grab an object for testing. The flexible manipulator grabbing life testing device is simple in structure and easy to operate.
Drawings
FIG. 1 is a schematic diagram of a three-dimensional structure of a flexible manipulator grabbing life test device of the invention;
FIG. 2 is a schematic diagram of a front view structure of a flexible manipulator grabbing life test device of the present invention;
fig. 3 is a schematic side view of the flexible manipulator grabbing life test device.
The reference numerals in the figures are:
1. a flexible manipulator; 11. a flexible finger mechanism; 2. a guide shaft; 3. fixing the supporting frame; 4. moving the support; 5. a cylinder; 51. a floating joint; 6. a linear bearing; 7. a base station; 71. a guide shaft support; 8. a display device; 9. and a stage.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the attached drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art.
Referring to fig. 1 to 3, the flexible manipulator gripping life testing device in this embodiment includes a transmission mechanism for driving the flexible manipulator 1 to grip and move up and down, and a pneumatic mechanism for inflating or sucking air into the flexible finger mechanism 11 of the flexible manipulator 1 to grip or release an object by the flexible manipulator 1. The pneumatic mechanism is not an inventive point of the present application, and may be constructed in the prior art, and is not described in detail herein.
The transmission mechanism comprises a guide shaft 2 which is vertically arranged, a fixed support 3 which is fixedly connected to the upper part of the guide shaft 2, a movable support 4 which can move up and down along the guide shaft 2 and is used for connecting the flexible manipulator 1, and an air cylinder 5 which drives the movable support 4 to move up and down.
The movable bracket 4 is located below the fixed bracket 3. The flexible manipulator 1 is connected below the mobile frame 4.
The movable support 4 is connected with a linear bearing 6, and the linear bearing 6 is connected with the guide shaft 2 in a matched manner.
In order to make the structure more stable, the guide shaft 2 is provided in plurality.
The cylinder 5 in this embodiment is located behind the flexible manipulator 1. The cylinder body of the cylinder 5 is connected to the movable bracket 4, and the piston rod of the cylinder 5 is connected with the fixed bracket 3. In a more preferred embodiment, a floating joint 51 is provided between the piston rod and the fixed bracket 3, which makes the connection structure more stable and prevents the piston rod from being locked.
The flexible manipulator grabbing life test device further comprises a base 7, and the lower portion of the guide shaft 2 is connected to the base 7. Specifically, the base 7 is provided with a guide shaft support 71, and the lower portion of the guide shaft 2 is connected to the guide shaft support 71.
Preferably, the base 7 is provided with a display device 8 for displaying test data including the number of grabs of the flexible manipulator 1. The display device 8 is a preferable auxiliary member, so that an operator can not manually record, and the circuit connection structure of the display device 8 is not an application point of the present application, and a circuit structure in the prior art can be adopted, and the present application is not particularly limited. In this embodiment, the display device is disposed in front of the transmission mechanism.
The base 7 is provided with a stage 9 for placing the object to be grasped, and the stage 9 is located directly under the flexible manipulator 1.
According to the flexible manipulator grabbing life testing device, the flexible manipulator moves up and down through the transmission mechanism, the linear bearing and the guide shaft form a guide, and the cylinder repeatedly moves to drive the movable supporting frame to drive the flexible manipulator to move up and down to grab an object for testing.
The flexible manipulator grabbing life testing device is simple in structure and easy to operate.
The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.
Claims (7)
1. A flexible manipulator snatchs life-span testing arrangement, its characterized in that: the flexible manipulator comprises a transmission mechanism for driving the flexible manipulator (1) to grab and move up and down, and a pneumatic mechanism for inflating or sucking air to a flexible finger mechanism (11) of the flexible manipulator (1) to grab or release an object by the flexible manipulator (1), wherein the transmission mechanism comprises a guide shaft (2) which is vertically arranged, a fixed support (3) fixedly connected to the upper part of the guide shaft (2), a movable support (4) which can move up and down along the guide shaft (2) and is used for connecting the flexible manipulator (1), and an air cylinder (5) for driving the movable support (4) to move up and down, and the movable support (4) is positioned below the fixed support (3);
the movable support frame (4) is connected with a linear bearing (6), and the linear bearing (6) is connected with the guide shaft (2) in a matched manner;
The cylinder body of the cylinder (5) is connected to the movable supporting frame (4), and the piston rod of the cylinder (5) is connected with the fixed supporting frame (3);
A floating joint (51) is arranged between the piston rod and the fixed bracket (3).
2. The flexible manipulator gripping life test device of claim 1, wherein: the guide shafts (2) are multiple.
3. The flexible manipulator gripping life test device of claim 1, wherein: the flexible manipulator grabbing life testing device further comprises a base (7), and the lower part of the guide shaft (2) is connected to the base (7).
4. A flexible manipulator gripping life testing device according to claim 3, characterised in that: the base (7) is provided with a guide shaft support (71), and the lower part of the guide shaft (2) is connected with the guide shaft support (71).
5. A flexible manipulator gripping life testing device according to claim 3, characterised in that: the base (7) is provided with a display device (8) for displaying test data, and the test data comprise the grabbing times of the flexible manipulator (1).
6. A flexible manipulator gripping life testing device according to claim 3, characterised in that: an object stage (9) for placing the object to be grabbed is arranged on the base (7), and the object stage (9) is located right below the flexible manipulator (1).
7. The flexible manipulator gripping life test device of claim 1, wherein: the flexible manipulator (1) is connected below the movable supporting frame (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811530848.XA CN109483600B (en) | 2018-12-14 | 2018-12-14 | Flexible manipulator grabbing life testing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811530848.XA CN109483600B (en) | 2018-12-14 | 2018-12-14 | Flexible manipulator grabbing life testing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109483600A CN109483600A (en) | 2019-03-19 |
| CN109483600B true CN109483600B (en) | 2024-05-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811530848.XA Active CN109483600B (en) | 2018-12-14 | 2018-12-14 | Flexible manipulator grabbing life testing device |
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| Country | Link |
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| CN (1) | CN109483600B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101653938A (en) * | 2008-08-22 | 2010-02-24 | 比亚迪股份有限公司 | Detectable gripper, detectable manipulator and detection method thereof |
| CN104608141A (en) * | 2013-11-05 | 2015-05-13 | 发那科株式会社 | Robot hand for gripping cylindrical object and robot having the robot hand |
| CN104626154A (en) * | 2013-11-13 | 2015-05-20 | 珠海格力电器股份有限公司 | Pressing manipulator and automatic key service life detection device |
| CN104690736A (en) * | 2015-02-12 | 2015-06-10 | 成都天马微电子有限公司 | Mechanical arm as well as detection system and detection method of mechanical arm |
| CN108312172A (en) * | 2018-04-16 | 2018-07-24 | 苏州迪天机器人自动化有限公司 | A kind of flexible manipulator |
| CN108527449A (en) * | 2018-05-29 | 2018-09-14 | 汽-大众汽车有限公司 | A kind of manipulator analog platform |
| CN108907462A (en) * | 2018-07-25 | 2018-11-30 | 江南大学 | A kind of the flexible frock fixture and welding method of car light laser welding |
| CN209257003U (en) * | 2018-12-14 | 2019-08-16 | 苏州迪天机器人自动化有限公司 | Flexible manipulator grabs endurance testing device |
-
2018
- 2018-12-14 CN CN201811530848.XA patent/CN109483600B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101653938A (en) * | 2008-08-22 | 2010-02-24 | 比亚迪股份有限公司 | Detectable gripper, detectable manipulator and detection method thereof |
| CN104608141A (en) * | 2013-11-05 | 2015-05-13 | 发那科株式会社 | Robot hand for gripping cylindrical object and robot having the robot hand |
| CN104626154A (en) * | 2013-11-13 | 2015-05-20 | 珠海格力电器股份有限公司 | Pressing manipulator and automatic key service life detection device |
| CN104690736A (en) * | 2015-02-12 | 2015-06-10 | 成都天马微电子有限公司 | Mechanical arm as well as detection system and detection method of mechanical arm |
| CN108312172A (en) * | 2018-04-16 | 2018-07-24 | 苏州迪天机器人自动化有限公司 | A kind of flexible manipulator |
| CN108527449A (en) * | 2018-05-29 | 2018-09-14 | 汽-大众汽车有限公司 | A kind of manipulator analog platform |
| CN108907462A (en) * | 2018-07-25 | 2018-11-30 | 江南大学 | A kind of the flexible frock fixture and welding method of car light laser welding |
| CN209257003U (en) * | 2018-12-14 | 2019-08-16 | 苏州迪天机器人自动化有限公司 | Flexible manipulator grabs endurance testing device |
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| Publication number | Publication date |
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| CN109483600A (en) | 2019-03-19 |
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