CN111761605A

CN111761605A - Manipulator capable of clamping irregular-shaped object

Info

Publication number: CN111761605A
Application number: CN202010663301.8A
Authority: CN
Inventors: 郑学威; 朱小鹏
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-07-10
Filing date: 2020-07-10
Publication date: 2020-10-13

Abstract

The invention discloses a manipulator capable of clamping irregular-shaped objects, which comprises a mounting box, wherein a fixed rod is fixedly connected to the inner wall of the mounting box, a first sleeve ring and a second sleeve ring are sleeved on the side wall of the fixed rod, mechanical claws are fixedly connected to the side walls of the first sleeve ring and the second sleeve ring, flexible bags are fixedly connected to the side walls of the two mechanical claws, electrorheological fluid is filled in the two flexible bags, the side walls of the two mechanical claws are fixedly connected with the fixed rod, conductive balls are fixedly connected to one ends, far away from the mechanical claws, of the two fixed rods, a power supply is fixedly connected to the inner wall of the mounting box, the positive electrode and the negative electrode of the power supply are respectively connected with the two conductive balls through wires, and the two wires respectively extend. The invention can tightly clamp the object, and can tightly press the object on the side wall of the flexible bag through the external air pressure, thereby preventing the object from falling off and ensuring the orderly operation of the industrial production flow.

Description

Manipulator capable of clamping irregular-shaped object

Technical Field

The invention relates to the technical field of manipulators, in particular to a manipulator capable of clamping an irregular-shaped object.

Background

The manipulator is the earliest industrial robot and the earliest modern robot, and can replace heavy labor of people to realize mechanization and automation of production, so that the work efficiency in industrial production is improved, but the existing manipulator can only effectively clamp objects with regular shapes in the using process, and when clamping objects with irregular shapes, because the contact surface between the manipulator and the objects is too small, even the contact surface between some objects and the manipulator is only some action points, the manipulator can clamp the objects insecurely, the situation that the objects fall off is easily caused, and the ordered proceeding of the industrial production process is influenced, so the manipulator capable of clamping the objects with irregular shapes needs to be designed to solve the problems.

Disclosure of Invention

The invention aims to solve the defects in the prior art and provides a manipulator capable of clamping an irregularly-shaped object.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a but manipulator of centre gripping irregular shape article, includes the mounting box, mounting box inner wall fixedly connected with loop bar, first lantern ring and second lantern ring have been cup jointed to the loop bar lateral wall, the equal fixedly connected with gripper of first lantern ring and second lantern ring lateral wall, two the equal fixedly connected with flexible bag of gripper lateral wall, two the flexible bag is inside all to be filled with electrorheological fluids, two the equal fixedly connected with dead lever of gripper lateral wall, two the dead lever is kept away from the equal fixedly connected with conductive ball of gripper one end, mounting box inner wall fixedly connected with power, the positive negative pole of power all is connected with two conductive balls respectively through the wire, two the wire extends to respectively in two flexible bags, two flexible bag lateral wall all is equipped with adsorption apparatus.

Preferably, the side wall of the mounting box is provided with an opening, and both the mechanical claws penetrate through the opening and extend out of the mounting box.

Preferably, adsorption device is including setting up a plurality of adsorption tanks at the adsorption device lateral wall, and is a plurality of adsorption tank inner wall all has the sheetmetal through extension spring elastic connection.

Preferably, it is a plurality of the adsorption tank all is hopper-shaped, and is a plurality of sheetmetal and the equal sealing sliding connection of adsorption tank inner wall that corresponds.

Preferably, two equal fixedly connected with electric telescopic handle of gripper lateral wall, two electrically conductive ball respectively with two electric telescopic handle fixed connection.

The invention has the following beneficial effects:

1. compared with the prior art, when clamping an object, the flexible bag tightly wraps the object, then the two conductive balls are contacted, the circuit of the power supply is conducted, and the electrorheological fluid is gradually changed into a solid state, so that the flexible bag cannot be deformed, the object can be tightly clamped, the object is prevented from falling, and the ordered proceeding of the industrial production process is ensured;

2. compared with the prior art, the clamping device is provided with the adsorption mechanism, when current passes through the wire, a magnetic field is generated around the wire and attracts the metal sheet to move, so that negative pressure is formed in the adsorption groove, and an object can be tightly pressed on the side wall of the flexible bag through external air pressure, so that the clamping effect is better;

3. according to the invention, by controlling the expansion of the electric telescopic rod, the contact of the conductive balls can be controlled when the manipulator clamps a larger object, so that the device can effectively clamp the larger object, and the application range of the device is expanded.

Drawings

FIG. 1 is a schematic structural diagram of a robot capable of holding an irregular object according to the present invention;

FIG. 2 is an enlarged view of a structure at position A of a robot capable of clamping irregular-shaped objects according to the present invention;

fig. 3 is a schematic structural diagram of a robot capable of clamping an irregular object according to embodiment 2 of the present invention.

In the figure: the device comprises an installation box 1, a power supply 2, a loop bar 3, a mechanical claw 4, a flexible bag 5, a fixing bar 6, a conductive ball 7, electrorheological fluid 8, an opening 9, a first loop bar 10, a second loop bar 11, an adsorption groove 12, a metal sheet 13 and an electric telescopic rod 14.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Example 1

Referring to fig. 1-2, a manipulator capable of clamping irregular-shaped objects comprises a mounting box 1, a loop bar 3 is fixedly connected to the inner wall of the mounting box 1, a first loop 10 and a second loop 11 are sleeved on the side wall of the loop bar 3, mechanical claws 4 are fixedly connected to the side walls of the first loop 10 and the second loop 11, openings 9 are formed in the side wall of the mounting box 1, and the two mechanical claws 4 penetrate through the openings 9 and extend out of the mounting box 1.

The side walls of the two mechanical claws 4 are fixedly connected with flexible bags 5, the two flexible bags 5 are filled with electrorheological fluid 8, the electrorheological fluid 8 is a suspension liquid in a normal state, liquid-solid conversion can be completed under the action of an electric field force, the shearing yield capacity is increased, when the electric field force disappears, the electrorheological fluid is converted from a solid state to a liquid state, the side walls of the two mechanical claws 4 are fixedly connected with fixing rods 6, one ends of the two fixing rods 6, far away from the mechanical claws 4, are fixedly connected with conductive balls 7, the conductive balls 7 are made of conductive materials, the inner wall of the mounting box 1 is fixedly connected with a power supply 2, the positive electrode and the negative electrode of the power supply 2 are respectively connected with the two conductive balls 7 through leads, and the two leads respectively extend.

Two 5 lateral walls of flexible bag all are equipped with adsorption apparatus structure, adsorption apparatus structure is including setting up a plurality of adsorption tanks 12 at the adsorption apparatus structure lateral wall, a plurality of adsorption tanks 12 all are hourglass hopper-shaped, a plurality of adsorption tanks 12 inner wall all have sheetmetal 13 through extension spring elastic connection, a plurality of sheetmetal 13 and the equal sealing sliding connection of adsorption tank 12 inner wall that corresponds, furtherly, a plurality of adsorption tanks 12 are located the space and the external intercommunication of sheetmetal 13 upper end (sheetmetal 13 is close to the one end of extension spring promptly), guarantee that sheetmetal 13 can remove smoothly in adsorption tank 12.

When clamping an object, controlling the two mechanical claws 4 to be close to each other, after the two flexible bags 5 are contacted with the object, the mechanical claws 4 continuously move, the flexible bags 5 can be deformed by the pressure on the surface of the object, along with the approach of the mechanical claws 4, the object can be tightly wrapped by the flexible bags 5, the side walls of the flexible bags 5 can be attached to the side walls of the object as much as possible until the side walls of the conductive balls 7 are contacted, then the mechanical claws 4 stop moving, the external circuit of the power supply 2 can be switched on after the conductive balls 7 are contacted, when current passes through a lead, under the action of electric field force, electrorheological fluid 8 in the flexible bags 5 can be converted from liquid state to solid state, so that the flexible bags 5 can not deform, the object can be tightly wrapped, and a good clamping effect is achieved.

When the side wall of the flexible bag 5 is tightly attached to the side wall of the object, a closed space is formed in a space at the lower end of the metal sheet 13 in the adsorption groove 12 (the lower end described here is a morphological lower end, namely, the metal sheet 13 is far away from one end of the tension spring), when the two conductive balls 7 are contacted, current passes through the wire, according to the ampere law, a magnetic field can be generated around the electrified wire, under the action of the magnetic field force, the metal sheet 13 can be moved by the magnetic field force and extrudes the tension spring, so that the volume of the closed space is increased, and because the air in the closed space is kept unchanged, negative pressure can be formed in the closed space, under the action of external air pressure, the side wall of the flexible bag 5 can play an adsorption role on the object, and the manipulator can more stably clamp the object.

Example 2

Referring to fig. 2-3, the side walls of two mechanical claws 4 are fixedly connected with electric telescopic rods 14, and two conductive balls 7 are respectively and fixedly connected with the two electric telescopic rods 14.

When clamping a larger object, the situation that the two conductive balls 7 are not in contact after the flexible bag 5 wraps the object may occur, and compared with embodiment 1, in the present embodiment, when the situation occurs, the electric telescopic rod 14 is controlled to extend the electric telescopic rod 14, so that the conductive balls 7 are in contact without rotating the two mechanical claws 4, and further the circuit of the power supply 2 is conducted, so that the electrorheological fluid 8 is converted into a solid state, and a good clamping effect can be achieved on the larger object.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. A manipulator capable of clamping irregular-shaped objects comprises a mounting box (1) and is characterized in that: the inner wall of the mounting box (1) is fixedly connected with a loop bar (3), the side wall of the loop bar (3) is sleeved with a first loop (10) and a second loop (11), the side walls of the first loop (10) and the second loop (11) are fixedly connected with mechanical claws (4), the side walls of the two mechanical claws (4) are fixedly connected with flexible bags (5), electrorheological fluid (8) is filled in the two flexible bags (5), the side walls of the two mechanical claws (4) are fixedly connected with fixing rods (6), one ends of the two fixing rods (6) far away from the mechanical claws (4) are fixedly connected with conductive balls (7), the inner wall of the mounting box (1) is fixedly connected with a power supply (2), the positive electrode and the negative electrode of the power supply (2) are respectively connected with the two conductive balls (7) through leads, the two leads respectively extend into the two flexible bags (5), and the side walls of the two flexible bags (5) are provided with adsorption mechanisms.

2. A robot hand for gripping an irregularly shaped article according to claim 1, wherein: the side wall of the mounting box (1) is provided with an opening (9), and the mechanical claws (4) penetrate through the opening (9) and extend out of the mounting box (1).

3. A robot hand for gripping an irregularly shaped article according to claim 1, wherein: adsorption device is including setting up a plurality of adsorption tanks (12) at the adsorption device lateral wall, and is a plurality of adsorption tank (12) inner wall all has sheetmetal (13) through extension spring elastic connection.

4. A robot hand for gripping an irregularly shaped article according to claim 3, wherein: it is a plurality of adsorption tank (12) all are hopper-shaped, and are a plurality of sheetmetal (13) and the equal sealing sliding connection of adsorption tank (12) inner wall that corresponds.

5. A robot hand for gripping an irregularly shaped article according to claim 1, wherein: two equal fixedly connected with electric telescopic handle (14) of gripper (4) lateral wall, two electrically conductive ball (7) respectively with two electric telescopic handle (14) fixed connection.