CN208409911U - A kind of simple and convenient flexible manipulator - Google Patents
A kind of simple and convenient flexible manipulator Download PDFInfo
- Publication number
- CN208409911U CN208409911U CN201820829460.9U CN201820829460U CN208409911U CN 208409911 U CN208409911 U CN 208409911U CN 201820829460 U CN201820829460 U CN 201820829460U CN 208409911 U CN208409911 U CN 208409911U
- Authority
- CN
- China
- Prior art keywords
- finger
- flexible
- central post
- bearing bracket
- finger slide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The utility model discloses a kind of simple and convenient flexible manipulators, including discoidal ring flange, the threaded central post in a upper end is provided at ring flange lower central position, central post is successively socketed with nut and finger slide from top to bottom, a center bearing bracket is further fixed below central post, spring is provided between center bearing bracket and finger slide, spring is socketed on central post, several connecting rods are evenly arranged with along finger slide outer circle circumferential direction, connecting rod is hinged by being fixed on the pin shaft of finger slide outer wall with finger slide, the downward one end of each connecting rod, which is hinged with, refers to root joint, refer to that root joint is also hinged on center bearing bracket, refer to be further fixed below root joint and refers to root link block, refer to and is clamped with flexible finger below root link block.A kind of simple and convenient flexible manipulator of the utility model, finger adjustable angle grab to flexible, frangible, special-shaped object more efficient.
Description
Technical field
The utility model belongs to industrial automation machine technology field, and in particular to a kind of simple and convenient flexible manipulator.
Background technique
In industrial automation, robot grasping movement is mainly completed by rigid mechanical gripper or vacuum chuck.Rigidity
Gripper is widely used, and grasping force is big, but Rigid Manipulators grasping force is difficult to control, and itself is rigidity, therefore is difficult
Soft, frangible object is grabbed；Vacuum chuck has higher requirements to by grabbing object surface quality in the handling process,
It is difficult to operate rough surface, Special-shaped object.
Flexible manipulator currently on the market is manufactured using flexible material, can be realized to soft, frangible, special-shaped, surface
Coarse article is grasped.Current existing flexible manipulator structure is fixed, and fingers number, angle can not be according to by grasping objects
The shape size of body is adjusted, and adaptability is not strong, therefore it is imperative to develop the flexible manipulator that a structure easily adjusts.
Utility model content
The purpose of the utility model is to provide a kind of simple and convenient flexible manipulator, solving in the prior art can not basis
It is adjusted by the shape size of grabbing object, the problem of bad adaptability.
The utility model is the technical scheme adopted is that a kind of simple and convenient flexible manipulator, including discoidal flange
Disk is provided with the threaded central post in a upper end at ring flange lower central position, and central post is successively socketed with spiral shell from top to bottom
Female and finger slide, central post lower section are further fixed on a center bearing bracket, spring, bullet are provided between center bearing bracket and finger slide
Spring is socketed on central post, is evenly arranged with several connecting rods along finger slide outer circle circumferential direction, connecting rod is by being fixed on finger
The pin shaft of sliding block outer wall is hinged with finger slide, and the downward one end of each connecting rod, which is hinged with, refers to root joint, refers to that root joint is also cut with scissors
It connects on center bearing bracket, refers to and be further fixed on finger root link block below root joint, refer to and be clamped with flexible finger below root link block.
The utility model is also characterized by
Flexible finger includes expanding layer and non-stretchable layer, and expanding layer and non-stretchable layer are bonding, and non-stretchable layer is
Flake structure, expanding layer include the chamber that several bottoms being sequentially connected in series open, and each chamber includes the open cavity in bottom,
It is connected between adjacent cavities by an air guide channel through each chamber, the bottom of each chamber is pasted onto non-stretchable
On layer.
Flexible finger is mutually connected firmly with root joint is referred to by U-shaped card.
The non-stretchable layer of each flexible finger on finger slide is arranged towards disc ring flange central axes.
The utility model has the beneficial effects that a kind of simple and convenient flexible manipulator of the utility model, flexible hand are instigated
It is made of flexible material, using air pressure as driving force, there is certain flexibility, refer to and referred to root joint and refer to the peace of root link block
Dress is standard interface, installs replacement reliable and easy to disassemble, can grab to flexible, frangible, special-shaped object.
Detailed description of the invention
Fig. 1 is a kind of structure chart of simple and convenient flexible manipulator of the utility model；
Fig. 2 is a kind of side view of simple and convenient flexible manipulator of the utility model；
Fig. 3 is the structural schematic diagram of the flexible finger of the utility model；
Fig. 4 is the cross-sectional view of the flexible finger of the utility model；
Fig. 5 is the central mounting structure figure of the utility model.
In figure, 1. ring flanges, 2. finger slides, 3. center bearing brackets, 4. refer to root joint, and 5. refer to root link block, 6. flexible hands
Refer to, 61. expanding layers, 62. non-stretchable layers, 63. air guide channels, 64. chambers, 7.U type card, 8. springs, 9. connecting rods, 10. nuts.
Specific embodiment
The utility model is described in detail in the following with reference to the drawings and specific embodiments.
A kind of simple and convenient flexible manipulator structure of the utility model as shown in Figure 1, include discoidal ring flange 1,
Ring flange is provided with the threaded central post in a upper end at 1 lower central position, and central post is successively socketed with nut from top to bottom
10 and finger slide 2, a center bearing bracket 3 is further fixed below central post, is provided with spring between center bearing bracket 3 and finger slide
8, spring is socketed on central post, is evenly arranged with several connecting rods 9 along 2 outer circle circumferential direction of finger slide, connecting rod 9 passes through fixation
It is hinged in the pin shaft of 2 outer wall of finger slide with finger slide 2, the downward one end of each connecting rod 9, which is hinged with, refers to root joint 4, refers to
Root joint 4 is also hinged on center bearing bracket 3, is referred to and is further fixed on finger root link block 5 below root joint 4, refers to and press from both sides below root link block 5
Hold flexible finger 6.
Flexible finger 6 includes expanding layer 61 and non-stretchable layer 62, and expanding layer 61 and non-stretchable layer 62 are bonding, can not
Tensile layer 62 is flake structure, and expanding layer 61 includes the chamber 64 that several bottoms being sequentially connected in series open, and each chamber 64 wraps
The open cavity in bottom is included, is connected between adjacent cavities by an air guide channel 63 through each chamber 64, each chamber
The bottom of room 64 is pasted on non-stretchable floor 62.
Flexible finger 6 is connected firmly with root joint 4 is referred to by 7 phase of U-shaped card.
The non-stretchable layer 62 of each flexible finger 6 on finger slide 2 is towards 1 central axes of disc ring flange
Setting.
Flexible finger 6 is fabricated from a flexible material, and elastic restoring force can change according to article size is crawled, nut 10
It can be moved up and down along the screw thread on central post, connecting rod 9 is driven to move up and down, further control the high and low position of flexible finger, it can
According to machinery and is grabbed distance between object and adjusted accordingly, it is adaptable.
Embodiment 1
In one embodiment of the utility model, propose that one kind three refers to reconfigurable flexible robot manipulator structure such as Fig. 1 and Fig. 2 institute
Show, including discoidal ring flange 1, ring flange is provided with the threaded central post in a upper end, central post at 1 lower central position
Successively be socketed with nut 10 and finger slide 2 from top to bottom, be further fixed on a center bearing bracket 3 below central post, center bearing bracket 3 with
Spring 8 is provided between finger slide 2, spring is socketed on central post, if being evenly arranged with along 2 outer circle circumferential direction of finger slide
Dry connecting rod 9, the downward one end of each connecting rod 9, which is hinged with, refers to root joint 4, refers to that root joint 4 is also hinged on 3 (such as Fig. 5 of center bearing bracket
It is shown) on, refer to and be further fixed on finger root link block 5 below root joint 4, refers to and be clamped with flexible finger 6 below root link block 5.
As shown in Figure 3 and Figure 4, flexible finger 6 includes the expanding layer 61 and non-stretchable layer 62 of multi-cavity cascaded structure, expansion
Layer 61 and non-stretchable layer 62 are bonding, and non-stretchable layer 62 is flake structure, and expanding layer 61 includes what several were sequentially connected in series
The open chamber 64 in bottom, each chamber 64 include the open cavity in bottom, pass through one between adjacent cavities and run through each chamber
The air guide channel 63 of room 64 is connected, and the bottom of each chamber 64 is pasted on non-stretchable layer 62.
Flexible finger 6 is connected firmly with root joint 4 is referred to by 7 phase of U-shaped card.
The non-stretchable layer of each flexible finger 6 on finger slide 2 is set towards disc ring flange central axes
It sets.
8 one end of spring is fixed on finger slide 2, and the other end is fixed on center bearing bracket 3.
Flexible finger is made of soft material, and finger itself can be divided into expanding layer and non-stretchable layer two parts.Expanding layer is
Multi-cavity cascaded structure is manufactured by the method for injection molding, and expanding layer has 8 chambers, passes through an air guide channel connection at center；No
Deformable layer is flake structure, and the non-stretchable material of one layer of high elastic modulus is embedded in soft material, forms non-stretchable layer.
Expanding layer and non-stretchable layer are bonded, flexible finger is formed.There is installation link block 5 in finger root, main function is will be soft
Property finger with refer to root joint connect, link block and refer between root joint by standard interface connection.
The effect of ring flange 1 is connect with mechanical arm, and the effect of center bearing bracket 3 is to provide main support for manipulator；Hand
2 sets of sliding block of finger is on the central post of center bearing bracket 3；There are spring, center bearing bracket between center bearing bracket bottom below finger slide
Screw thread is arranged at top, and screw thread and nut cooperate, and sliding block can slide up and down under the drive of nut；Center bearing bracket lower outside is in 120
Three finger-joints are evenly distributed with, finger-joint is hinged with center bearing bracket, can swing up and down；Three connecting rods 9 are separately connected three fingers
Root joint and sliding block, connecting rod two end and finger root joint, sliding block are hinged.When sliding block slides up and down, refer to that root joint can be therewith
It swings up and down.
In use, air to be pressed into from gas-guide tube by air guide channel to each cavity in flexible finger using air pump
In, each intumescent layers elongation, due to the constraint of the non-stretchable layer in flexible finger bottom, finger will be to non-stretchable layer
Bending is shunk in side, to complete crawl object motion.When air pump pumping, negative pressure is generated in cavity, flexible finger will be reversed
Bending, to realize the movement of release object.
Claims (4)
1. a kind of simple and convenient flexible manipulator, which is characterized in that including discoidal ring flange (1), under the ring flange (1)
Square center position is provided with the threaded central post in a upper end, the central post be successively socketed with from top to bottom nut (10) and
Finger slide (2), the central post lower section is further fixed on a center bearing bracket (3), between the center bearing bracket (3) and finger slide
Spring (8) are provided with, the spring is socketed on central post, along the finger slide (2) if outer circle circumferential direction is evenly arranged with
Dry connecting rod (9), the connecting rod (9) are hinged by being fixed on the pin shaft of finger slide (2) outer wall with finger slide (2), often
The downward one end of a connecting rod (9), which is hinged with, refers to root joint (4), and the finger root joint (4) is also hinged on center bearing bracket (3)
On, it is further fixed below the finger root joint (4) and refers to root link block (5), be clamped with flexible hand below the finger root link block (5)
Refer to (6).
2. a kind of simple and convenient flexible manipulator according to claim 1, which is characterized in that flexible finger (6) packet
Expanding layer (61) and non-stretchable layer (62) are included, the expanding layer (61) and non-stretchable layer (62) are bonding, described to draw
Stretching layer (62) is flake structure, and the expanding layer (61) includes the chamber (64) that several bottoms being sequentially connected in series open, each
The chamber (64) includes the open cavity in bottom, runs through the air guide of each chamber (64) between the adjacent cavity by one
Channel (63) is connected, and the bottom of each chamber (64) is pasted on non-stretchable layer (62).
3. a kind of simple and convenient flexible manipulator according to claim 1, which is characterized in that the flexible finger (6) with
Refer to that root joint (4) are mutually connected firmly by U-shaped card (7).
4. a kind of simple and convenient flexible manipulator according to claim 1, which is characterized in that be located on finger slide (2)
Each of the flexible finger (6) non-stretchable layer (62) towards disc ring flange (1) central axes be arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820829460.9U CN208409911U (en) | 2018-05-31 | 2018-05-31 | A kind of simple and convenient flexible manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820829460.9U CN208409911U (en) | 2018-05-31 | 2018-05-31 | A kind of simple and convenient flexible manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208409911U true CN208409911U (en) | 2019-01-22 |
Family
ID=65111800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820829460.9U Expired - Fee Related CN208409911U (en) | 2018-05-31 | 2018-05-31 | A kind of simple and convenient flexible manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208409911U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114603591A (en) * | 2022-03-15 | 2022-06-10 | 浙江理工大学 | Pneumatic software grasping system of general type of fruit letter sorting case packer |
-
2018
- 2018-05-31 CN CN201820829460.9U patent/CN208409911U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114603591A (en) * | 2022-03-15 | 2022-06-10 | 浙江理工大学 | Pneumatic software grasping system of general type of fruit letter sorting case packer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105027831B (en) | A kind of drive lacking fruits picking mechanical hand pawl of hard and soft mixed structure | |
| CN105583831B (en) | Fluid drives flexible link cluster adaptive robot arm device | |
| CN104015197B (en) | The dynamic flexible miniature finger of the two inner chamber gas drive of ripple type, control method and grasping system | |
| WO2019165878A1 (en) | Claw-like logistics packaging mechanical arm with electric-gas hybrid drive flexible fingers | |
| WO2019210761A1 (en) | Electric compound driving thickness irregularly shaped plate spring framework flexible manipulator | |
| CN105818143A (en) | Flexible multi-arm pneumatic gripper based on active wrapping and passive shaping | |
| CN108673506A (en) | A kind of reconfigurable flexible manipulator | |
| CN109465840A (en) | A kind of compound grabbing device of sucker-gripper | |
| SE536154C2 (en) | Insert for bellows with asymmetric compression in vacuum driven gripper | |
| CN203127745U (en) | Connecting rod driving device | |
| WO2016180337A1 (en) | Grapple device having serial hinged structure and driven by single-acting cylinders with elastic bellows | |
| CN105583821A (en) | Fluid drive type multi-dimensional self-adaptive robot hand device | |
| CN110315567B (en) | Rigid-flexible coupling joint egg picking soft manipulator | |
| CN210704869U (en) | Pneumatic flexible multi-finger-deformation mechanical clamping jaw | |
| CN108453778B (en) | Under-actuated vacuum chuck gripper with multiple grabbing modes | |
| CN105856264A (en) | Software-driven radial opening and closing type pneumatic clamping device | |
| CN107081744A (en) | Bellows fluid drive lacking articulated robot finger apparatus | |
| CN113104576B (en) | Soft pneumatic claw | |
| CN209504144U (en) | A kind of cup grasping mechanism | |
| CN109834721A (en) | A kind of more finger joint variation rigidity software fingers | |
| CN108606847B (en) | Liver adsorption and separation soft robot | |
| CN209022098U (en) | A kind of pneumatic software gripper of articulated type endoskeleton | |
| CN109605419A (en) | A kind of multiple dimensioned software grabbing device of multiple degrees of freedom | |
| CN105856269A (en) | Negative-pressure auxiliary rod cluster-provided self-adaptive robot hand device | |
| CN105643649A (en) | Six-joint three-finger manipulator for grabbing apples |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190122 |