CN112720557B - Internal support type operation self-adaptive flexible manipulator for special-shaped internal contour fragile thin-wall workpiece - Google Patents
Internal support type operation self-adaptive flexible manipulator for special-shaped internal contour fragile thin-wall workpiece Download PDFInfo
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- CN112720557B CN112720557B CN202110100982.1A CN202110100982A CN112720557B CN 112720557 B CN112720557 B CN 112720557B CN 202110100982 A CN202110100982 A CN 202110100982A CN 112720557 B CN112720557 B CN 112720557B
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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
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- 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
- B25J19/0091—Shock absorbers
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Abstract
The invention relates to an internal support type operation self-adaptive flexible manipulator which can be used for a special-shaped inner contour fragile thin-wall workpiece, and comprises a cylindrical sleeve, a grabbing device and a self-adaptive connecting device, wherein the grabbing device is arranged on the sleeve; the grabbing device comprises a disc-shaped main body and an internal bracing mechanism arranged on the lower surface of the disc-shaped main body; the inner support mechanism comprises support legs fixed on the lower surface of the disc-shaped main body, sliding blocks along sliding holes at the lower ends of the support legs, arc-shaped inner support bodies fixed at the outer ends of the sliding blocks, arc-shaped elastic adjusting plates are arranged on the outer sides of the inner support bodies, and telescopic adjusting mechanisms are connected between the elastic adjusting plates and the inner support bodies.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an internal support type operation self-adaptive flexible manipulator which can be used for a special-shaped inner contour fragile thin-wall workpiece.
Background
For industrial robots, material taking and discharging are the most basic functions, but the chucks required for different types of products are different, wherein for cylindrical workpieces, external clamping chucks are generally adopted, namely workpieces are clamped from the outside of the workpieces, and the chucks are used for clamping and moving the cylindrical workpieces by utilizing three clamping jaw groups to form cylindrical holes; for tubular workpieces, an internal supporting type structure manipulator is generally adopted, namely the internal supporting type structure manipulator clamps the tubular workpieces, a plurality of internal supporting bodies form a cylindrical structure and extend into the tubular workpieces, so that the gripping and moving of the tubular workpieces are realized, for example, in the prior art (application number: CN202010355810.4, theme name: internal supporting type operation self-adaptive flexible manipulator for fragile thin-wall cylindrical inner wall workpieces), a plurality of identical arc-shaped internal supporting bodies which move along the radial direction simultaneously extend into the tubular workpieces, the curvature radius of the internal supporting bodies is matched with the inner diameter of the gripped workpieces, the workpieces are gripped in an internal supporting mode, the working process is stable, the working efficiency is high, but for the workpieces with special-shaped inner contour, the inner surface of the special-shaped inner contour workpieces is irregular, so that the curvature radius of the inner surface of the workpieces is also changed, and the gripping of the workpieces cannot be carried out by adopting the traditional tubular workpieces; therefore, there is a need to develop a robot for gripping a contoured inner workpiece.
Disclosure of Invention
In order to solve the problems, the invention provides an internal support type operation self-adaptive flexible manipulator which can be used for a special-shaped internal contour fragile thin-wall workpiece.
The specific contents are as follows: the self-adaptive flexible manipulator for internal support type operation of the special-shaped inner contour fragile thin-wall workpiece comprises an external cylindrical sleeve, a grabbing device arranged in the sleeve and a self-adaptive connecting device arranged at the upper end of the sleeve; the method is characterized in that:
the grabbing device comprises a disc-shaped main body and at least four identical internal supporting mechanisms which are arranged on the lower surface of the disc-shaped main body and uniformly distributed along the circumference;
the inner supporting mechanism comprises supporting legs which are fixed on the lower surface of the disc-shaped main body and extend outwards perpendicularly, and the maximum distance from the outer side surface of each supporting leg to the center of the disc-shaped main body is smaller than the radius of the disc-shaped main body; the sliding block penetrates through the sliding hole at the lower end of the supporting leg along the radial direction of the disc-shaped main body, two ends of the sliding block are respectively connected with a connecting rod between the inner end of the sliding block and a movable part of the linear motion driver through a hinge shaft, and the lower end of the connecting rod is hinged with the inner end of the sliding block; the inner support body is fixed on the arc strip-shaped outer end of the sliding block, the middle position of the upper surface of the inner support body is fixed on the lower surface corresponding to the outer end of the sliding block, an arc-shaped elastic adjusting plate is arranged on the outer side of the inner support body, a central stud is connected between the elastic adjusting plate and the inner support body, the outer end of the central stud is vertically fixed at the center of the inner arc surface of the elastic adjusting plate, the inner end of the central stud penetrates through a through hole in the center of the inner support body and is fixed through two clamping nuts, the two clamping nuts are connected on the central stud through threads and respectively clamped on the inner arc surface and the outer arc surface of the inner support body, a plurality of telescopic adjusting mechanisms for changing the curvature radius of the elastic adjusting plate are also connected between the elastic adjusting plate and the inner support body, the telescopic adjusting mechanisms are symmetrically distributed on two sides of the central stud, and a rubber shock absorbing layer with uniform thickness is arranged on the outer arc surface of the elastic adjusting plate.
Preferably, the sliding block comprises a fixed block and an adjusting block which are connected in a sliding telescopic manner, the inner end of the fixed block is hinged with the lower end of the connecting rod, the outer end of the adjusting block is fixed on the inner supporting body, a square guiding connecting rod which extends outwards horizontally is vertically fixed on the outer end face of the fixed block, a sliding hole which is horizontally communicated with the guiding connecting rod along the length direction of the adjusting block is formed in the adjusting block, the guiding connecting rod is inserted into the sliding hole from the inner end of the adjusting block to form a sliding pair, the cross section profiles of the fixed block and the adjusting block are correspondingly matched, symmetrical threaded holes which are communicated with the sliding hole are formed in two side faces of the adjusting block, and jackscrews which are matched with the threaded holes and tightly propped against the side faces of the guiding connecting rod are connected in each threaded hole.
Preferably, the telescopic adjusting mechanism comprises an adjusting screw, the outer end of the adjusting screw is connected to the inner arc surface of the elastic adjusting plate, the inner end of the adjusting screw penetrates through the corresponding swinging hole on the inner support body and is connected with the inner support body, the swinging holes are horizontally arranged, and the center lines of all the adjusting screws and the center line of the center stud are on the same horizontal plane.
Preferably, the outer end of the adjusting screw is fixed on the inner arc surface of the elastic adjusting plate, the inner end of the adjusting screw penetrates through the corresponding swing hole on the inner support body and is fixed by two manual nuts, and the two manual nuts are connected on the adjusting screw through threads and are respectively clamped on the inner arc surface and the outer arc surface of the inner support body.
Preferably, the swing hole is a slotted hole, a spherical washer clung to the inner arc surface of the inner support body is arranged at the inner port of the swing hole, the corresponding adjusting screw rod penetrates through the spherical washer, and the spherical washer is clamped between the clamping nut at the corresponding side and the inner support body.
Preferably, the outer end of the adjusting screw is hinged on a hinge seat through a vertical first hinge shaft, and the hinge seat is correspondingly fixed on the inner arc surface of the elastic adjusting plate.
Preferably, the outer end of the adjusting screw is provided with a circular positioning groove, a clamping ring which is matched with the positioning groove to form a revolute pair is coaxially arranged on the positioning groove, first fixing lugs which are vertically symmetrical are fixed on the clamping ring, each first fixing lug is correspondingly hinged on a second fixing lug which is fixed on the inner arc surface of the elastic adjusting plate through a second hinge shaft, a fixing nut is connected to the adjusting screw through threads, a third fixing lug which is vertically symmetrical is fixed on the fixing nut, each third fixing lug is correspondingly hinged on a fourth fixing lug which is fixed on the outer arc surface of the inner support body through a third hinge shaft, the first hinge shaft is parallel and vertical to the second hinge shaft, and an inner end surface of the adjusting screw is provided with an inner hexagonal adjusting hole.
Preferably, the inner circumferential surface of the adjusting screw is provided with a circular boss with the diameter larger than the outer diameter of the adjusting screw, the outer circumference of the adjusting screw is also provided with a circular clamping groove, the clamping groove is clamped with a clamping spring matched with the clamping spring, and the positioning groove is formed between the clamping spring and the circular boss.
Preferably, the center stud is sleeved with a common washer, and the common washer is clamped between the inner arc surface of the inner support body and the corresponding clamping nut.
The beneficial technical effects of the invention are as follows: the invention relates to an internal support type operation self-adaptive flexible manipulator which can be used for a special-shaped internal profile fragile thin-wall workpiece, wherein a sliding block is formed by combining a fixed block and an adjusting block which are connected in a telescopic way, the whole length of the sliding block is adjusted within a certain range to adapt to the change of profiles in different positions inside the workpiece, so that when the workpiece is grabbed, all elastic adjusting plates can be simultaneously supported at corresponding positions of the internal profile of the workpiece, and then the workpiece can be grabbed, meanwhile, a telescopic adjusting mechanism is arranged between an internal support body and the elastic adjusting plates, and the curvature radius of the elastic adjusting plates is adjusted by changing the actual acting length of an adjusting screw rod in the telescopic adjusting mechanism, so that the curvature radius of the elastic adjusting plates is matched with the curvature radius of the profile at the corresponding position inside the workpiece; finally, the manipulator is provided with at least four internal supporting mechanisms so as to increase and disperse the force application positions of the workpiece with the different internal contours, form stable support for the workpiece with the different internal contours, ensure the stability and the reliability of the working process, ensure that the stress of the workpiece in the clamping process is more balanced, reduce the stress intensity of a single point and protect fragile workpieces, and therefore, the manipulator can be used for workpieces with different working radiuses and contour shapes, has safe and stable operation process, ensures the working efficiency, reduces the equipment occupation, improves the utilization rate of equipment, reduces the production cost and is convenient to apply and popularize.
Drawings
FIG. 1 is a schematic perspective view of a manipulator according to the present invention;
fig. 2 is a bottom view of the internal support mechanism mounted on the disc-shaped main body (including schematic drawing a of clamping an elliptical internal contour workpiece, schematic drawing b of clamping a rectangular internal contour workpiece, and schematic drawing c of clamping a diamond internal contour workpiece, respectively);
FIG. 3 is a schematic view of a mechanism for connecting an inner support body with an elastic adjusting plate;
FIG. 4 is a cross-sectional view taken along the direction A-A in FIG. 3;
FIG. 5 is a schematic diagram showing a specific structure of the connection between the inner support body and the elastic adjusting plate;
FIG. 6 is a cross-sectional view taken in the direction B-B of FIG. 5;
FIG. 7 is a schematic diagram II of a specific structure of the connection between the inner support and the elastic adjusting plate;
FIG. 8 is a cross-sectional view taken along the direction C-C in FIG. 7;
FIG. 9 is a schematic perspective view of the inner support body in FIG. 5 or FIG. 7;
FIG. 10 is a schematic diagram III showing a specific structure of the connection of the inner support body and the elastic adjusting plate;
FIG. 11 is a cross-sectional view taken along the direction D-D in FIG. 10;
FIG. 12 is a schematic perspective view of the inner support of FIG. 10;
FIG. 13 is a schematic perspective view of the adjusting screw of FIG. 10;
FIG. 14 is a schematic perspective view of the spring adjustment plate of FIG. 10;
in the figure: 31. the device comprises a driving module, a driving slide block, a compliant ring, a connecting cylinder, a limit ring, a warning spring, a sleeve and a sleeve, wherein the driving module, the driving slide block, the compliant ring, the connecting cylinder, the limit ring and the limit ring are arranged in sequence, respectively, and the driving module, the driving slide block, the compliant ring, the connecting cylinder, the limit ring, the warning spring, flexible damping ring, 22, return spring, 23, linear motion driver, 25, support leg, 28, sliding block, 29, disk-shaped main body;
101. the device comprises an inner support body 102, an elastic adjusting plate 103, a rubber shock absorbing layer 104, a telescopic adjusting mechanism 105, an adjusting block 106, a fixed block 107, a central stud 108, a guide connecting rod 109, a jackscrew 112, a threaded hole 113, a sliding hole 114, a clamping nut 115, a common gasket 116, an adjusting screw 117, a manual nut 118, a spherical gasket 119, a hinging seat 120, a first hinging shaft 121, a through hole 122, a swinging hole 123, a second fixing lug 124, a second hinging shaft 125, a first fixing lug 126, a clamping ring 127, a fixing nut 128, a third fixing lug 129, a third hinging shaft 130, a fourth fixing lug 131, an inner hexagonal adjusting hole 132, a locating groove 133, an annular boss 134, a clamping spring 135, a clamping groove 136, an oval inner contour workpiece 137, a rectangular inner contour workpiece 138 and an inner contour workpiece.
Detailed Description
1-14, an internal support type operation self-adaptive flexible manipulator for a special-shaped internal profile fragile thin-wall workpiece comprises an external cylindrical sleeve, a grabbing device arranged in the sleeve and a self-adaptive connecting device arranged at the upper end of the sleeve; the specific mechanisms of undescribed parts such as the sleeve, the self-adaptive connecting device and the grabbing device are not described in detail, and specific reference is made to published patent application documents (application number: CN202010355810.4, theme name: internal bracing type operation self-adaptive flexible manipulator for fragile thin-walled cylindrical inner wall workpieces);
the grabbing device comprises a disc-shaped main body and at least four identical internal supporting mechanisms which are arranged on the lower surface of the disc-shaped main body and uniformly distributed along the circumference;
the inner supporting mechanism comprises supporting legs which are fixed on the lower surface of the disc-shaped main body and extend outwards perpendicularly, and the maximum distance from the outer side surface of each supporting leg to the center of the disc-shaped main body is smaller than the radius of the disc-shaped main body; the sliding block penetrates through the sliding hole at the lower end of the supporting leg along the radial direction of the disc-shaped main body, two ends of the sliding block are respectively connected with a connecting rod between the inner end of the sliding block and a movable part of the linear motion driver through a hinge shaft, and the lower end of the connecting rod is hinged with the inner end of the sliding block; the elastic adjusting device comprises an inner supporting body, an elastic adjusting plate, a central stud, two clamping nuts, a plurality of telescopic adjusting mechanisms, a plurality of rubber shock absorbing layers and a rubber shock absorbing layer, wherein the inner supporting body is fixed at the outer end of the sliding block, the middle position of the upper surface of the inner supporting body is fixed on the lower surface of the outer end of the sliding block, the lower surface of the outer end of the sliding block is corresponding to the middle position of the upper surface of the inner supporting body, the outer side of the inner supporting body is provided with the elastic adjusting plate in an arc shape, the central stud is connected between the elastic adjusting plate and the inner supporting body, the outer end of the central stud is vertically fixed at the center of the inner arc surface of the elastic adjusting plate, the inner end of the central stud penetrates through a through hole in the center position of the inner supporting body and is fixed through the two clamping nuts, the two clamping nuts are connected to the central stud through threads and respectively clamped on the inner arc surface of the inner supporting body, a plurality of telescopic adjusting mechanisms for changing the curvature radius of the elastic adjusting plate are connected between the elastic adjusting plate and the inner supporting body, the elastic adjusting plate is changed in length through the telescopic adjusting mechanisms, when the curvature radius of the elastic adjusting plate is changed greatly, the curvature radius of the elastic adjusting plate is also changed, and when the actual action length of the elastic adjusting plate is changed, the curvature is also through the actual length of the central stud is changed, and the elastic rubber shock absorbing layers with uniform thickness is arranged on the arc surface and arranged on the outer arc surface of the elastic adjusting surface of the central stud.
The sliding block comprises a fixed block and an adjusting block which are connected in a sliding telescopic manner, the inner end of the fixed block is hinged to the lower end of the connecting rod, the outer end of the adjusting block is fixed to the inner support body, a square guide connecting rod which extends outwards horizontally is vertically fixed to the outer end face of the fixed block, a sliding hole which is horizontally communicated with the guide connecting rod in the length direction of the adjusting block is formed in the adjusting block, the guide connecting rod is inserted into the sliding hole from the inner end of the adjusting block to form a sliding pair, the cross section profiles of the fixed block and the adjusting block are correspondingly matched, symmetrical threaded holes which are communicated with the sliding hole are formed in two side faces of the adjusting block, and jackscrews which are matched with the threaded holes and tightly propped against the side face of the guide connecting rod are arranged in each threaded hole.
The telescopic adjusting mechanism comprises an adjusting screw, the outer end of the adjusting screw is connected to the inner arc surface of the elastic adjusting plate, the inner end of the adjusting screw penetrates through the corresponding swinging hole on the inner support body and is connected with the inner support body, the swinging holes are horizontally arranged, and the center lines of all the adjusting screws and the center line of the center stud are on the same horizontal plane.
The outer end of the adjusting screw is fixed on the inner arc surface of the elastic adjusting plate, the inner end of the adjusting screw penetrates through the corresponding swing hole on the inner support body and is fixed by two manual nuts, and the two manual nuts are connected to the adjusting screw through threads and are respectively clamped on the inner arc surface and the outer arc surface of the inner support body.
The swing hole is a slotted hole, a spherical washer clung to the inner arc surface of the inner support body is arranged at the inner port of the swing hole, the corresponding adjusting screw penetrates through the spherical washer, and the spherical washer is clamped between the clamping nut at the corresponding side and the inner support body.
The outer end of the adjusting screw is hinged to a hinge seat through a vertical first hinge shaft, and the hinge seat is correspondingly fixed on the inner arc surface of the elastic adjusting plate.
The outer end of the adjusting screw is provided with a circular positioning groove, a clamping ring matched with the positioning groove to form a revolute pair is coaxially arranged on the positioning groove, first fixing lugs which are vertically symmetrical are fixed on the clamping ring, each first fixing lug is correspondingly hinged on a second fixing lug which is fixed on the inner arc surface of the elastic adjusting plate through a second hinging shaft, a fixing nut is connected to the adjusting screw through threads, a third fixing lug which is vertically symmetrical is fixed on the fixing nut, each third fixing lug is correspondingly hinged on a fourth fixing lug which is fixed on the outer arc surface of the inner support body through a third hinging shaft, the first hinging shaft is parallel and vertical to the second hinging shaft, an inner hexagonal adjusting hole is formed in the inner end surface of the adjusting screw, a circular boss with the diameter larger than the outer diameter of the adjusting screw is arranged on the inner end circumferential surface of the adjusting screw, a circular clamping groove matched with the clamping spring is also arranged on the outer circumference of the adjusting screw, the clamping ring and the clamping ring is detachable, and the clamping ring is convenient to install on the clamping ring according to requirements.
And the center stud is sleeved with a common gasket, and the common gasket is clamped between the inner arc surface of the inner support body and the corresponding clamping nut.
The working process and principle of the invention are as follows:
according to the shape of the inner outline of the workpiece, the specific length of each sliding block is adjusted, namely, a jackscrew is loosened, an adjusting block is pulled to a proper position, then the jackscrew is screwed to fix the adjusting block and a guide connecting rod on a fixed block, then according to the curvature radius of each elastic adjusting plate on the corresponding position of the inner outline of the workpiece, the curvature radius of the elastic adjusting plate is adjusted, namely, the actual acting length of an adjusting screw in each telescopic adjusting mechanism on the same elastic adjusting plate is changed, so that the curvature radius of the corresponding elastic adjusting plate is adjusted to be matched with the curvature radius of the corresponding position of the inner outline of the workpiece, after the inner supporting mechanism is adjusted, the workpiece is grabbed, and the specific process of grabbing the workpiece by the manipulator is disclosed in the patent application document (application number: CN202010355810.4, topic name: the self-adaptive flexible manipulator for inner supporting operation of fragile thin-walled cylindrical inner wall workpieces).
According to the invention, the sliding block is formed by combining the fixed block and the adjusting block which are connected in a telescopic way, the whole length of the sliding block is adjusted within a certain range to adapt to the change of the contours in different positions in the workpiece, so that when the workpiece is grabbed, all elastic adjusting plates can be simultaneously supported at the corresponding positions of the contours in the workpiece, and then the workpiece can be grabbed, meanwhile, a telescopic adjusting mechanism is arranged between the inner supporting body and the elastic adjusting plate, and the curvature radius of the elastic adjusting plate is adjusted by changing the actual acting length of an adjusting screw rod in the telescopic adjusting mechanism, so that the curvature radius of the elastic adjusting plate is matched with the curvature radius of the contour at the corresponding position in the workpiece, and when the elastic adjusting plate grabs the workpiece, the clamping contact area between a rubber damping layer on the outer arc surface of the elastic adjusting plate and the corresponding inner wall of the workpiece is maximized, the pressure born by the workpiece is reduced while the operation stability is ensured, and the workpiece is prevented from being damaged; the manipulator is provided with at least four internal supporting mechanisms so as to increase and disperse the force application positions of the workpieces with different internal contours, form stable support for the workpieces with different internal contours, ensure the stability and reliability of the working process, ensure more balanced stress of the workpieces in the clamping process, reduce the stress intensity of single points and protect fragile workpieces, and therefore, the manipulator can be used for the workpieces with different working radiuses, has safe and stable operation process, ensures the working efficiency, reduces the equipment occupation, improves the utilization rate of equipment, reduces the production cost and is convenient to apply and popularize.
Claims (7)
1. The self-adaptive flexible manipulator for internal support type operation of the special-shaped inner contour fragile thin-wall workpiece comprises an external cylindrical sleeve, a grabbing device arranged in the sleeve and a self-adaptive connecting device arranged at the upper end of the sleeve; the method is characterized in that:
the grabbing device comprises a disc-shaped main body and at least four identical internal supporting mechanisms which are arranged on the lower surface of the disc-shaped main body and uniformly distributed along the circumference;
the inner supporting mechanism comprises supporting legs which are fixed on the lower surface of the disc-shaped main body and extend outwards perpendicularly, and the maximum distance from the outer side surface of each supporting leg to the center of the disc-shaped main body is smaller than the radius of the disc-shaped main body; the sliding block penetrates through the sliding hole at the lower end of the supporting leg along the radial direction of the disc-shaped main body, two ends of the sliding block are respectively connected with a connecting rod between the inner end of the sliding block and a movable part of the linear motion driver through a hinge shaft, and the lower end of the connecting rod is hinged with the inner end of the sliding block; the middle position of the upper surface of the inner support body is fixed on the lower surface corresponding to the outer end of the sliding block, an arc-shaped elastic adjusting plate is arranged on the outer side of the inner support body, a central stud is connected between the elastic adjusting plate and the inner support body, the outer end of the central stud is vertically fixed at the center of the inner arc surface of the elastic adjusting plate, the inner end of the central stud penetrates through a through hole in the central position of the inner support body and is fixed by two clamping nuts, the two clamping nuts are connected on the central stud through threads and are respectively clamped on the inner arc surface and the outer arc surface of the inner support body, a plurality of telescopic adjusting mechanisms for changing the curvature radius of the elastic adjusting plate are also connected between the elastic adjusting plate and the inner support body, the telescopic adjusting mechanisms are symmetrically distributed on two sides of the central stud, and a rubber shock absorbing layer with uniform thickness is arranged on the outer arc surface of the elastic adjusting plate;
the telescopic adjusting mechanism comprises an adjusting screw, the outer end of the adjusting screw is connected to the inner arc surface of the elastic adjusting plate, the inner end of the adjusting screw penetrates through the corresponding swinging hole on the inner support body and is connected with the inner support body, the swinging holes are horizontally arranged, and the center lines of all the adjusting screw and the center line of the center stud are on the same horizontal plane;
the outer end of the adjusting screw is fixed on the inner arc surface of the elastic adjusting plate, the inner end of the adjusting screw penetrates through the corresponding swing hole on the inner support body and is fixed by two manual nuts, and the two manual nuts are connected to the adjusting screw through threads and are respectively clamped on the inner arc surface and the outer arc surface of the inner support body.
2. The self-adaptive compliant manipulator for internal bracing operation for a fragile thin-walled workpiece with a special-shaped inner contour according to claim 1, wherein the self-adaptive compliant manipulator is characterized in that: the sliding block comprises a fixed block and an adjusting block which are connected in a sliding telescopic manner, the inner end of the fixed block is hinged to the lower end of the connecting rod, the outer end of the adjusting block is fixed to the inner support body, a square guide connecting rod which extends outwards horizontally is vertically fixed to the outer end face of the fixed block, a sliding hole which is horizontally communicated with the guide connecting rod in the length direction of the adjusting block is formed in the adjusting block, the guide connecting rod is inserted into the sliding hole from the inner end of the adjusting block to form a sliding pair, the cross section profiles of the fixed block and the adjusting block are correspondingly matched, symmetrical threaded holes which are communicated with the sliding hole are formed in two side faces of the adjusting block, and jackscrews which are matched with the threaded holes and tightly propped against the side face of the guide connecting rod are arranged in each threaded hole.
3. The self-adaptive compliant manipulator for internal bracing operation for a fragile thin-walled workpiece with a special-shaped inner contour according to claim 1, wherein the self-adaptive compliant manipulator is characterized in that: the swing hole is a slotted hole, a spherical washer clung to the inner arc surface of the inner support body is arranged at the inner port of the swing hole, the corresponding adjusting screw penetrates through the spherical washer, and the spherical washer is clamped between the clamping nut at the corresponding side and the inner support body.
4. The self-adaptive compliant manipulator for internal bracing operation for a fragile thin-walled workpiece with a special-shaped inner contour of claim 3, wherein the manipulator comprises: the outer end of the adjusting screw is hinged to a hinge seat through a vertical first hinge shaft, and the hinge seat is correspondingly fixed on the inner arc surface of the elastic adjusting plate.
5. The self-adaptive compliant manipulator for internal bracing operation for a fragile thin-walled workpiece with a special-shaped inner contour according to claim 1, wherein the self-adaptive compliant manipulator is characterized in that: the outer end of adjusting screw be equipped with annular constant head tank, coaxial mounting has the snap ring rather than matching formation revolute pair on this constant head tank, is fixed with the first fixed ear of upper and lower symmetry on this snap ring, every first fixed ear all corresponds the articulated on the second fixed ear fixed with the interior cambered surface of elastic adjustment board through the second articulated shaft, has fixation nut through threaded connection on adjusting screw, is fixed with the third fixed ear of upper and lower symmetry on this fixation nut, every third fixed ear all corresponds the articulated on the fourth fixed ear fixed with the outer circular arc surface of internal stay body through the third articulated shaft, and first articulated shaft and second articulated shaft are parallel and vertical, adjusting screw's inner terminal surface be equipped with interior hexagonal regulation hole.
6. The self-adaptive flexible manipulator for internal bracing operation for a fragile thin-walled workpiece with a special-shaped inner contour according to claim 5, which is characterized in that: the inner circumferential surface of the adjusting screw is provided with a circular boss with the diameter larger than the outer diameter of the adjusting screw, the outer circumference of the adjusting screw is also provided with a circular clamping groove, the clamping groove is provided with a clamping spring matched with the clamping spring, and the positioning groove is formed between the clamping spring and the circular boss.
7. The self-adaptive compliant manipulator for internal bracing operation for a fragile thin-walled workpiece with a special-shaped inner contour according to claim 1, wherein the self-adaptive compliant manipulator is characterized in that: and the center stud is sleeved with a common gasket, and the common gasket is clamped between the inner arc surface of the inner support body and the corresponding clamping nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110100982.1A CN112720557B (en) | 2021-01-26 | 2021-01-26 | Internal support type operation self-adaptive flexible manipulator for special-shaped internal contour fragile thin-wall workpiece |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110100982.1A CN112720557B (en) | 2021-01-26 | 2021-01-26 | Internal support type operation self-adaptive flexible manipulator for special-shaped internal contour fragile thin-wall workpiece |
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| CN112720557A CN112720557A (en) | 2021-04-30 |
| CN112720557B true CN112720557B (en) | 2023-06-16 |
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| CN113865543A (en) * | 2021-10-14 | 2021-12-31 | 吉林大学 | Be used for three-dimensional curved surface part to measure strutting arrangement |
| CN115136791B (en) * | 2022-07-12 | 2023-06-16 | 郑州轻工业大学 | Fruit picking manipulator for fruit picking machine |
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