CN214724306U

CN214724306U - High-freedom-degree flexible mechanical grabbing hand

Info

Publication number: CN214724306U
Application number: CN202121088828.9U
Authority: CN
Inventors: 符克伟; 周毅钧
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2021-05-20
Filing date: 2021-05-20
Publication date: 2021-11-16
Anticipated expiration: 2031-05-20

Abstract

The utility model discloses a high degree of freedom flexible machinery snatchs hand relates to the manipulator field, including flexible rubber tube, flexible rubber tube's one end fixed mounting has a plurality of connecting blocks, and is a plurality of the outside fixed mounting of connecting block has same sleeve, telescopic inner wall fixed mounting has a plurality of stand pipes, and is a plurality of run through in the stand pipe has a plurality of steel wires, and is a plurality of the equal fixedly connected with fixed block of one end of steel wire, a plurality of the equal fixed connection of fixed block in flexible rubber tube's the outside, a plurality of recesses have been seted up to flexible rubber tube's one end. The utility model discloses rational in infrastructure, motion controller sends a plurality of motors of pulse control and functions in coordination, for example one of them motor rotates, drives the gyro wheel that corresponds and rotates, and the gyro wheel rotates back winding steel wire, and through steel wire tensioning force pulling flexible rubber section of thick bamboo bending slightly, with receiving the small-size pneumatic cylinder activity of switching value control through the solenoid valve.

Description

High-freedom-degree flexible mechanical grabbing hand

Technical Field

The utility model relates to a manipulator field, in particular to high degree of freedom flexible machinery snatchs hand.

Background

The manipulator is an automatic operating device which can imitate certain motion functions of a human hand and an arm and is used for grabbing, carrying objects or operating tools according to a fixed program.

Among the prior art, the manipulator is various, because the application occasion of manipulator is more and more, fixed manipulator structure hardly satisfies diversified operating mode environment, consequently need designers to design the manipulator of more models, be used for satisfying the demand to the manipulator under more occasions, through our design, the flexible machinery of a high degree of freedom is proposed and is snatched the hand, be fit for snatching globular structure, the degree of freedom is high simultaneously, through a plurality of motors of motion controller control and a solenoid valve, moreover, the steam generator is simple in structure, therefore, the clothes hanger is strong in practicability.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a flexible machinery of high degree of freedom snatchs hand to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a high-freedom-degree flexible mechanical grabbing hand comprises a flexible rubber cylinder, wherein a plurality of connecting blocks are fixedly mounted at one end of the flexible rubber cylinder, a sleeve is fixedly mounted on the outer side of each connecting block, a plurality of guide pipes are fixedly mounted on the inner wall of the sleeve, a plurality of steel wires penetrate through the guide pipes, a fixed block is fixedly connected at one end of each steel wire, the fixed blocks are fixedly connected to the outer side of the flexible rubber cylinder, a plurality of grooves are formed in one end of the flexible rubber cylinder, mechanical fingers are rotatably mounted in the grooves, circular through holes are formed in the mechanical fingers, a same connecting ring penetrates through the circular through holes, connecting round steel penetrates through the connecting ring, a limiting nut is fixedly connected at one end of each connecting round steel, and the other end of each connecting round steel penetrates through a movable column fixedly connected with a hollow pipe, the movable column is provided with threads, one side of the movable column is fixedly connected with a cylinder, and a gear is fixedly mounted on the cylinder.

Preferably, an inner ring is fixedly mounted on one side of the sleeve, a plurality of circular through holes are formed in the inner ring, a plurality of motors are fixedly mounted on the inner sides of the circular through holes, output shafts of the motors penetrate through the corresponding circular through holes respectively and are fixedly connected with a plurality of rollers, and the steel wires penetrate through the rollers respectively.

Preferably, one end of the sleeve is fixedly connected with two supporting columns, one side of each supporting column, which is close to the other supporting column, is fixedly connected with the same threaded sleeve, and the threaded sleeves are movably sleeved on the movable columns.

Preferably, a limiting block is fixedly mounted on the threaded sleeve, a sliding groove is formed in the limiting block, a rack is slidably mounted in the sliding groove, and the rack is meshed with the gear.

Preferably, the rack is engaged with the gear.

Preferably, a supporting plate is fixedly mounted on one side of the sleeve, an electromagnetic valve and a small pneumatic cylinder are respectively and fixedly mounted on the supporting plate, and an air pipe connector is arranged on one side of the electromagnetic valve.

Preferably, the flexible rubber tube is made of rubber, and a steel wire mesh framework is arranged in the rubber.

The utility model discloses a technological effect and advantage:

1. the utility model discloses it is rational in infrastructure, send a plurality of motors of pulse control to function in coordination through motion controller, for example one of them motor rotates, the gyro wheel that drives the correspondence rotates, the gyro wheel rotates back winding steel wire, through steel wire tensioning force pulling flexible rubber section of thick bamboo bending slightly, with receiving the small-size pneumatic cylinder activity of switching value control through the solenoid valve, it removes to drive the rack through small-size pneumatic cylinder, the rack drives gear revolve, the gear drives movable post and rotates, when movable post rotates the pivoted, movable post can upwards displacement, thereby drive the round steel upwards displacement, and then realize the inner of a plurality of mechanical fingers of extrusion simultaneously, just the snatching of manipulator has been realized.

2. The design through limit nut can realize controlling the range of snatching, snatchs the range and can adjust according to grabbing the size of getting the thing, through the design of stopper, has realized spacing and the direction to the rack, through the design of trachea connector, has realized the effect of connecting the cylinder, snatchs through pneumatic control, snatchs fastly, whole manipulator simple structure, and the practicality is strong.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

fig. 2 is a schematic perspective view of another perspective of the present invention;

FIG. 3 is an enlarged schematic view of the structure at A of FIG. 1 according to the present invention;

FIG. 4 is an enlarged schematic view of the structure of FIG. 2;

fig. 5 is a schematic side view of the present invention.

In the figure: 1. a flexible rubber cylinder; 2. connecting blocks; 3. a sleeve; 4. a guide tube; 5. a steel wire; 6. a fixed block; 7. a mechanical finger; 8. a limit nut; 9. a connecting ring; 10. an inner ring; 11. a motor; 12. a roller; 13. a hollow tube; 14. round steel; 15. a movable post; 16. a gear; 17. a support plate; 18. an electromagnetic valve; 19. a gas pipe connector; 20. a small pneumatic cylinder; 21. a rack; 22. and a limiting block.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The utility model provides a high-freedom flexible mechanical grabbing hand as shown in figures 1-4, which comprises a flexible rubber cylinder 1, wherein one end of the flexible rubber cylinder 1 is fixedly provided with a plurality of connecting blocks 2, the outer sides of the connecting blocks 2 are fixedly provided with a same sleeve 3, the inner wall of the sleeve 3 is fixedly provided with a plurality of guide pipes 4, a plurality of steel wires 5 penetrate through the guide pipes 4, one ends of the steel wires 5 are fixedly connected with fixing blocks 6, the fixing blocks 6 are fixedly connected with the outer side of the flexible rubber cylinder 1, one end of the flexible rubber cylinder 1 is provided with a plurality of grooves, mechanical fingers 7 are rotatably arranged in the grooves, a plurality of the mechanical fingers 7 are provided with round through holes, a plurality of the round through holes penetrate through a same connecting ring 9, a connecting round steel 14 penetrates through the round steel 9, connect the one end fixedly connected with stop nut 8 of round steel 14, the other end of connecting round steel 14 passes hollow tube 13 fixedly connected with activity post 15, set up screw thread on the activity post 15, one side fixedly connected with cylinder of activity post 15, fixed mounting has gear 16 on the cylinder, through stop nut 8's design, has realized spacing and effect of adjusting.

Further, in the above scheme, one side fixed mounting of sleeve 3 has inner ring 10, a plurality of circular through-holes have been seted up on inner ring 10, and is a plurality of the inboard fixed mounting of circular through-hole has a plurality of motors 11, and is a plurality of output shaft of motor 11 runs through corresponding circular through-hole respectively and a plurality of gyro wheels 12 of fixedly connected with, and is a plurality of steel wire 5 runs through a plurality of respectively gyro wheel 12 through the design of gyro wheel 12, has realized the function that drives 5 movements of steel wire, realizes multi-angle and adjusts, lets the flexibility and the practicality of manipulator stronger.

Further, in the above scheme, one end of the sleeve 3 is fixedly connected with two supporting columns, two supporting columns are fixedly connected with the same threaded sleeve on the side close to each other, the threaded sleeve is movably sleeved on the movable column 15, and the limiting and adjusting linkage effects are realized through the design of the threaded sleeve.

Further, in the above scheme, a limit block 22 is fixedly installed on the threaded sleeve, a sliding groove is formed in the limit block 22, a rack 21 is installed in the sliding groove in a sliding mode, and transmission of mechanical energy is achieved through design of the rack 21.

Further, in the above solution, the rack 21 is engaged with the gear 16, and the transmission of mechanical energy is realized by the design of the gear 16.

Further, in the above scheme, one side of sleeve 3 is fixedly mounted with a support plate 17, a solenoid valve 18 and a small pneumatic cylinder 20 are respectively fixedly mounted on support plate 17, a pneumatic pipe connector 19 is provided on one side of solenoid valve 18, and the function of connecting the cylinders is realized through the design of pneumatic pipe connector 19.

Further, in the above scheme, the flexible rubber tube 1 is made of rubber, a steel wire mesh framework is arranged in the rubber, and the strength of one point is enhanced while the flexibility requirement is met through the design of the steel wire mesh framework.

This practical theory of operation: the motion controller sends pulses to control the plurality of motors 11 to cooperatively operate, for example, one motor 11 rotates to drive the corresponding roller 12 to rotate, the roller 12 winds the steel wire 5 after rotating, the flexible rubber tube 1 is pulled to slightly bend by the tension force of the steel wire 5, the electromagnetic valve 18 receives the switching value to control the movement of the small pneumatic cylinder 20, the small pneumatic cylinder 20 drives the rack 21 to move, the rack 21 drives the gear 16 to rotate, the gear 16 drives the movable column 15 to rotate, the movable column 15 moves upwards while rotating and rotating, so as to drive the round steel 14 to move upwards, further, the inner ends of the plurality of mechanical fingers 7 are simultaneously extruded, the grabbing of the manipulator is realized, the grabbing amplitude can be controlled by the design of the limit nut 8, the grabbing amplitude can be adjusted according to the size of a grabbed object, and the design of the limit block 22, realized spacing and the direction to rack 21, through the design of trachea connector 19, realized the effect of connecting the cylinder, snatch through pneumatic control, snatch fastly, whole manipulator simple structure, the practicality is strong.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and variations can be made in the embodiments or in part of the technical features of the embodiments without departing from the spirit and the scope of the invention.

Claims

1. The utility model provides a flexible mechanical gripper of high degree of freedom, includes flexible rubber section of thick bamboo (1), its characterized in that: one end of the flexible rubber cylinder (1) is fixedly provided with a plurality of connecting blocks (2), the outer side of each connecting block (2) is fixedly provided with the same sleeve (3), the inner wall of the sleeve (3) is fixedly provided with a plurality of guide pipes (4), a plurality of steel wires (5) penetrate through the guide pipes (4), one end of each steel wire (5) is fixedly connected with a fixing block (6), the fixing blocks (6) are fixedly connected with the outer side of the flexible rubber cylinder (1), one end of the flexible rubber cylinder (1) is provided with a plurality of grooves, a plurality of mechanical fingers (7) are rotatably arranged in the grooves, a plurality of circular through holes are arranged on the mechanical fingers (7) and a plurality of connecting rings (9) penetrate through the circular through holes, and connecting round steel bars (14) penetrate through the circular through the connecting rings (9), connect one end fixedly connected with stop nut (8) of round steel (14), the other end of connecting round steel (14) passes hollow tube (13) fixedly connected with activity post (15), set up screw thread on activity post (15), one side fixedly connected with cylinder of activity post (15), fixed mounting has gear (16) on the cylinder.

2. The high-freedom flexible mechanical gripper according to claim 1, wherein: one side fixed mounting of sleeve (3) has inner ring (10), a plurality of circular through-holes have been seted up on inner ring (10), and is a plurality of the inboard fixed mounting of circular through-hole has a plurality of motors (11), and is a plurality of the output shaft of motor (11) runs through corresponding circular through-hole and a plurality of gyro wheels of fixedly connected with (12) respectively, and is a plurality of steel wire (5) run through a plurality ofly respectively gyro wheel (12).

3. The high-freedom flexible mechanical gripper according to claim 1, wherein: the one end fixedly connected with two support columns of sleeve (3), two the same thread bush of one side fixedly connected with that the support column is close to each other, the activity of thread bush cup joints on activity post (15).

4. The high-freedom flexible mechanical gripper according to claim 3, wherein: fixed mounting has stopper (22) on the thread bush, the sliding tray has been seted up on stopper (22), slidable mounting has rack (21) in the sliding tray.

5. The high-freedom flexible mechanical gripper according to claim 4, wherein: the rack (21) is meshed with the gear (16).

6. The high-freedom flexible mechanical gripper according to claim 1, wherein: one side fixed mounting of sleeve (3) has backup pad (17), fixed mounting has solenoid valve (18) and small-size pneumatic cylinder (20) respectively on backup pad (17), trachea connector (19) have been seted up to one side of solenoid valve (18).

7. The high-freedom flexible mechanical gripper according to claim 1, wherein: the flexible rubber cylinder (1) is made of rubber, and a steel wire mesh framework is arranged in the rubber.