CN210081760U - Flexible manipulator - Google Patents

Abstract

The utility model belongs to the technical field of the manipulator, concretely relates to flexible manipulator, including fixed plate, hand claw and valve, the hand claw the valve all set up in the fixed plate, the fixed plate is provided with the air flue, the inside of hand claw is hollow structure, the appearance chamber of hand claw the valve all with the air flue intercommunication, the inboard of hand claw is provided with the gasbag structure, atmospheric pressure among the gasbag structure is higher than external atmospheric pressure. The manipulator is simple in structure, convenient to use and strong in practicability, and accidental injury to the object due to overlarge force is effectively avoided when the object is clamped.

Description

Flexible manipulator

Technical Field

The utility model belongs to the technical field of the manipulator, concretely relates to flexible manipulator.

Background

In the energy storage material sintering plant, the cooled sintered pot is generally transferred manually to the next sintering plant. The traditional conveying mode not only increases the danger degree of workers in the processing process, but also reduces the working efficiency and influences the target yield of a factory. Some brittle changes in the bowl material occur as the bowl spends a longer period of time in the high temperature environment of the kiln. As the worker can not control the force for grabbing the pot body, the pot body is cracked, the sintered energy storage material slides out of the pot body, and the production efficiency of the material is seriously influenced.

Some production workshops adopt a manipulator mode to clamp and take the pot bodies from the production line onto an AGV trolley, and the pot bodies are conveyed to the next production workshop through the AGV trolley. Although this reduces the time consumed compared to the conventional manual method, the conventional ferrous robot can interfere with the gripping of the bowl. Traditional mechanical type manipulator receives the influence of factors such as object position, object shape, object weight when snatching the object, and control procedure is unusual complicated to still will control the power of snatching and say, guarantee both can not grab garrulous object, still can not make the object landing naturally.

In view of the above, the related art needs to be perfected.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a: aiming at the defects of the prior art, the flexible manipulator is provided, can self-adaptively coat a target object, and is particularly suitable for grabbing an object which is easy to damage; the flexible manipulator is completely suitable for grabbing the pot body in the production process of the energy storage material, and the pot body cannot be damaged.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a flexible manipulator, includes fixed plate, hand claw and valve, the hand claw the valve all set up in the fixed plate, the fixed plate is provided with the air flue, the inside of hand claw is hollow structure, the appearance chamber of hand claw the valve all with the air flue intercommunication, the inboard of hand claw is provided with the gasbag structure, atmospheric pressure among the gasbag structure is higher than external atmospheric pressure. In practical application, the paw is made of flexible materials, preferably rubber materials; during work, when an object needs to be grabbed, positive pressure gas or liquid is input into the paw, so that the pressure of an air bag in the paw is higher than that of an air bag structure measured in the interior, the lower part of the paw deforms and bends towards the inner side, the object is gradually wrapped, and the object is tightly grabbed so as to be grabbed; when an object needs to be loosened, gas or liquid in the paw is pumped out, the pressure of the air bag in the paw is smaller than that in the inner side air bag structure, the lower part of the paw is restored to deform and outwards expand, and the clamped object is loosened.

As an improvement of the flexible manipulator of the present invention, the number of the grippers is at least 3. The three claws are uniformly distributed on the same circumcircle, when the object is clamped, the minimum contact between the claws and the object is three points, and the stability of the claws when the object is clamped is improved by utilizing the principle that three points form a plane; in practical application, the number of the claws can be four or other numbers, and the claws can be flexibly arranged according to practical situations.

As an improvement of the flexible manipulator, it is a plurality of the paw all sets up on same circumscribed circle. The structure design is beneficial to clamping the object.

As an improvement of the flexible manipulator, two adjacent central angles shared by the grippers are the same. This kind of structural design has increased the structural stability when pressing from both sides and get the object.

As an improvement of the flexible manipulator of the present invention, the air passage is circular. The design of the structure is beneficial to uniformly inputting gas or liquid into the paw when in work.

As an improvement of the flexible manipulator of the present invention, the cross-sectional shape of the fixing plate is at least one of a semicircular shape, a circular shape, a fan shape and a polygonal shape. The shape of the fixing plate can be flexibly set according to the actual working requirement.

As an improvement of the flexible manipulator of the present invention, the valve is an air valve or an electromagnetic valve. The gas valve can control the on-off of gas, and the electromagnetic valve can control the on-off of gas or liquid; besides, other valves with the same function can be arranged, and the valves can be flexibly arranged according to actual conditions.

As an improvement of the flexible manipulator of the present invention, the number of the valves is at least 2. A plurality of valves are provided to enhance the control effect.

As an improvement of the flexible manipulator, the flexible manipulator further comprises a connecting device, the connecting device is arranged on the fixing plate. The connecting device is used for connecting and fixing the paw and other equipment, so that the paw can be applied to different equipment, and the practicability of the paw is improved.

As an improvement of the flexible manipulator of the present invention, the connecting device is a hollow structure. In practical application, a small air pump can be arranged at the hollow structure of the connecting device, and the small air pump is connected with the valve through a conduit so as to conveniently introduce air into the paw; in addition, can also install small-size water pump, let in liquid in to the hand claw, realize pressing from both sides and get and loosen the object, can set up according to actual conditions in a flexible way.

Drawings

The accompanying drawings, which are described herein, serve to provide a further understanding of the invention and constitute a part of this specification, and the exemplary embodiments and descriptions thereof are provided for explaining the invention without unduly limiting it. In the drawings:

fig. 1 is a schematic structural view of a front view in the present invention;

wherein: 1-fixing the plate; 2-paw; 3-a valve; 4-the airway; 5-air bag structure; 6-connecting means.

Detailed Description

As used in the specification and in the claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, within which a person skilled in the art can solve the technical problem to substantially achieve the technical result.

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

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

The present invention will be described in further detail with reference to the accompanying drawings, which are not intended to limit the present invention.

As shown in fig. 1, a flexible manipulator comprises a fixing plate 1, a paw 2 and a valve 3, wherein the paw 2 and the valve 3 are both arranged on the fixing plate 1, the fixing plate 1 is provided with an air passage 4, the inside of the paw 2 is of a hollow structure, the cavity of the paw 2 and the valve 3 are both communicated with the air passage 4, an air bag structure 5 is arranged on the inner side of the paw 2, and air pressure in the air bag structure 5 is higher than that in the outside. In practical application, the paw 2 is made of flexible material, and preferably, the paw 2 is made of rubber material; in the working process, when an object needs to be grabbed, positive pressure gas or liquid is input into the paw 2, so that the pressure of an air bag in the paw 2 is higher than that of the air bag structure 5, the lower part of the paw 2 deforms and bends inwards to gradually wrap the object, and the object is tightly gripped to be grabbed; when the object is loosened, gas or liquid in the paw 2 is pumped out, the pressure of the air bag in the paw 2 is smaller than the pressure in the inner side air bag structure 5, the lower part of the paw 2 recovers to deform and outwards expand, the clamped object is loosened, the manipulator is simple in structure, the object is prevented from being accidentally injured due to overlarge force when the object is clamped effectively, and the manipulator is convenient to use and high in practicability.

Preferably, the number of paws 2 is at least 3. The three claws 2 are uniformly distributed on the same circumcircle, when the object is clamped, the minimum contact between the claws 2 and the object is three points, and the stability of the claws 2 when the object is clamped is improved by utilizing the principle that three points form a plane; in practical application, the number of the claws 2 can also be four, or other multiple ones, and can be flexibly set according to practical situations.

Preferably, a plurality of claws 2 are all arranged on the same circumcircle. The structure design is beneficial to clamping the object.

Preferably, the central angles occupied by two adjacent claws 2 are the same. This kind of structural design has increased the structural stability when pressing from both sides and get the object.

Preferably, the air passage 4 is circular. This design is advantageous in that, during operation, gas or liquid is introduced uniformly into the gripper 2.

Preferably, the cross-sectional shape of the fixing plate 1 is at least one of semicircular, circular, fan-shaped, and polygonal. The shape of the fixing plate 1 can be flexibly set according to the actual working requirement.

Preferably, the valve 3 is an air valve or an electromagnetic valve. The gas valve can control the on-off of gas, and the electromagnetic valve can control the on-off of gas or liquid; besides, other valves with the same function can be arranged, and the valves can be flexibly arranged according to actual conditions.

Preferably, the number of valves 3 is at least 2. A plurality of valves 3 are provided to enhance the control effect.

The utility model discloses still include connecting device 6, connecting device 6 sets up in fixed plate 1. The connecting device 6 is used for connecting and fixing the paw 2 with other equipment, so that the paw 2 can be applied to different equipment, and the practicability of the paw 2 is improved.

Preferably, the connecting means 6 is of hollow construction. In practical application, a small air pump can be arranged at the hollow structure of the connecting device 6, and the small air pump is connected with the valve 3 through a conduit so as to conveniently introduce air into the paw 2; in addition, can also install small-size water pump, let in liquid in to hand claw 2, realize pressing from both sides and getting and loosen the object, can set up according to actual conditions in a flexible way.

The utility model discloses a theory of operation is: in the working process, when an object needs to be grabbed, positive pressure gas or liquid is input into the paw 2, so that the pressure of an air bag in the paw 2 is higher than that of the air bag structure 5, the lower part of the paw 2 deforms and bends inwards to gradually wrap the object, and the object is tightly gripped to be grabbed; when the object is loosened, gas or liquid in the paw 2 is pumped out, the pressure of the air bag in the paw 2 is smaller than the pressure in the inner side air bag structure 5, the lower part of the paw 2 recovers to deform and outwards expand, the clamped object is loosened, the manipulator is simple in structure, the object is prevented from being accidentally injured due to overlarge force when the object is clamped effectively, and the manipulator is convenient to use and high in practicability.

While the foregoing description shows and describes several preferred embodiments of the invention, it is to be understood, as noted above, that the invention is not limited to the forms disclosed herein, but is not intended to be exhaustive or to exclude other embodiments and may be used in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as expressed herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. But that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention, which is to be limited only by the claims appended hereto.

Claims (10)

1. A flexible manipulator, its characterized in that: including fixed plate (1), hand claw (2) and valve (3), hand claw (2) valve (3) all set up in fixed plate (1), fixed plate (1) is provided with air flue (4), the inside of hand claw (2) is hollow structure, the appearance chamber of hand claw (2) valve (3) all with air flue (4) intercommunication, the inboard of hand claw (2) is provided with gasbag structure (5), atmospheric pressure in gasbag structure (5) is higher than external atmospheric pressure.

2. The flexible manipulator of claim 1, wherein: the number of the paws (2) is at least 3.

3. The flexible manipulator of claim 2, wherein: a plurality of the paws (2) are all arranged on the same circumcircle.

4. The flexible manipulator of claim 3, wherein: the central angles occupied by the two adjacent paws (2) are the same.

5. The flexible manipulator of claim 1, wherein: the air passage (4) is circular.

6. The flexible manipulator of claim 1, wherein: the cross section of the fixing plate (1) is at least one of semicircular, circular, fan-shaped and polygonal.

7. The flexible manipulator of claim 1, wherein: the valve (3) is an air valve or an electromagnetic valve.

8. The flexible manipulator of claim 1, wherein: the number of the valves (3) is at least 2.

9. The flexible manipulator of claim 1, wherein: the fixing plate is characterized by further comprising a connecting device (6), wherein the connecting device (6) is arranged on the fixing plate (1).

10. The flexible manipulator of claim 9, wherein: the connecting device (6) is of a hollow structure.

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