CN217143985U - Remotely-controllable flexible manipulator with force feedback - Google Patents

Abstract

The utility model relates to the technical field of mechanical equipment, but and a but remote control flexible manipulator with force feedback is disclosed, which comprises a fixing frame, install the controller on the mount bottom intermediate position, install the claw arm on the mount, the claw arm includes hollow finger claw, the fixing base is installed at finger claw top, the connecting block is installed at the fixing base top, the fixed block is installed to connecting block top position, the connecting block is located to lead to the support of inslot formation finger claw fixed, the back evenly is equipped with the opening on the finger claw, install the electro-magnet on the upper and lower inner wall of open-ended respectively, finger claw side position is installed resistance-type sensor, electro-magnet and resistance-type sensor all link with the controller electricity. Positive and negative magnetic fields are formed by switching on and off the electromagnets, so that the magnetic fields are utilized to push the finger claws to deform, and the electromagnets at all positions can independently form attraction or repulsion, so that the finger claws are bent more abundantly, and the gripping performance of various tools is better.

Description

Remotely-controllable flexible manipulator with force feedback

Technical Field

The utility model relates to a mechanical equipment technical field specifically is a but remote control flexible manipulator with force feedback.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. The manipulator is the earliest occurring industrial robot and the earliest occurring modern robot, which can replace the heavy labor of human to realize the mechanization and automation of production.

With the need of social development, flexible manipulators for flexible materials appear on the market. The existing flexible manipulator mostly bends the grasped finger claws through inflation and deflation to form grasping, the bending route of the finger claws is fixed, and simultaneously, the lack of strength feedback exists.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The utility model provides a not enough to prior art, the utility model provides a but remote control flexible manipulator with force feedback possesses the use and controls nimble convenience, and the problem of fixed and lack force feedback of the crooked route of current flexible manipulator has been solved to the advantage that control operation is good.

(II) technical scheme

In order to solve the above problem, the utility model provides a following technical scheme:

the utility model provides a but remote control flexible manipulator with force feedback, which comprises a fixing frame, the mount is the cruciform structure setting, install the controller on the mount bottom intermediate position, four side positions have seted up logical groove all around on the mount, it installs the claw arm to lead to the groove position, the claw arm includes hollow finger claw, the fixing base is installed at finger claw top, the connecting block is installed at the fixing base top, connecting block top position installs the fixed block, the connecting block is located to lead to the support that the inslot formed finger claw is fixed, the back evenly is equipped with the opening on the finger claw, install the electro-magnet on the upper and lower inner wall of open-ended respectively, it installs resistance-type sensor to indicate claw side position, electro-magnet and resistance-type sensor all link with the controller electricity.

Preferably, the support column is installed at the mount top, and the fixed plate is installed at the support column top, has seted up the fixed orifices on the fixed plate, provides the installation constitution of claw arm to use with each industry arm collocation.

Preferably, the front surface of the finger claw is uniformly fixed with anti-skid teeth, so that the friction force during gripping is improved, and the falling of articles is reduced.

Preferably, the anti-skid teeth are arranged obliquely upwards, the stress direction during grabbing is matched, and the anti-skid is stable and reliable.

Preferably, indicate claw, fixing base, connecting block and fixed block inside to communicate with each other, the intermediate position is equipped with the screw hole on the fixed block, is equipped with exhaust nozzle and suction nozzle on the fixed block of side about the screw hole, to the orderly gassing of filling in the finger claw to the structural deformation under the great deformation of cooperation finger claw enlarges its application range, promotes the convenience of use simultaneously.

Preferably, a bearing seat is fixed at the position of the front side of the fixing frame corresponding to the through groove, a stepping motor is installed at the position of the rear side of the fixing frame corresponding to the through groove, a screw rod is arranged right above the through groove, one end of the screw rod is in transmission connection with the other end fixed by the bearing seat in a sleeved mode and the stepping motor, the screw rod penetrates through a threaded hole, the stepping motor is electrically connected with a controller, the stepping motor works to drive the fixing block to move back and forth by the aid of the screw rod, and accordingly the position of the claw arm is adjusted, operation of various workpieces is more suitable, and use is more flexible.

(III) advantageous effects

Compared with the prior art, the utility model provides a but remote control flexible manipulator with force feedback possesses following beneficial effect:

1. this but remote control flexible manipulator with force feedback, the break-make electricity through the electro-magnet forms positive and negative magnetic field, and then utilizes magnetic field to promote to indicate the claw to produce deformation, and each position electro-magnet can independently form and inhale mutually or repel mutually for indicate the claw to form abundanter bending, it is better to the gripping nature of various different shape instruments, utilize the sensor to detect the bending of indicating the claw simultaneously and obtain its deformation range, thereby acquire the gripping power control, and then made things convenient for control operation.

2. This but remote control flexible manipulator with force feedback utilizes the lead screw to drive the fixed block through step motor work and carries out the back-and-forth movement to the position of adjusting the claw arm more is adapted to the operation of each big or small work piece, uses more in a flexible way.

Drawings

Fig. 1 is a bottom view of the present invention;

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

fig. 3 is a rear view of the middle claw arm of the present invention;

fig. 4 is a front view of the middle claw arm of the present invention.

In the figure: 1. a fixed mount; 2. a support pillar; 3. a fixing plate; 4. a claw arm; 41. a finger claw; 42. a fixed seat; 43. connecting blocks; 44. a fixed block; 45. an electromagnet; 46. anti-slip teeth; 47. a resistive sensor; 48. an opening; 49. a through groove; 5. a controller; 6. a fixing hole; 7. a screw rod; 8. a bearing seat; 9. a stepping motor; 10. an exhaust nozzle; 11. an air inlet nozzle; 12. a threaded bore.

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.

In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "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, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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.

Referring to fig. 1-4, a remote controllable flexible manipulator with force feedback includes a fixed frame 1, a supporting column 2, a fixing plate 3, a claw arm 4 and a controller 5;

the fixing frame 1 is arranged in a cross-shaped structure, the supporting columns 2 are welded and installed at the middle positions of the tops of the fixing frame 1, the fixing plate 3 is welded and installed at the top positions of the supporting columns 2, fixing holes 6 are uniformly formed in the fixing plate 3, four claw arms 4 are symmetrically installed on the fixing frame 1 respectively, the controller 5 is installed at the middle position of the bottom of the fixing frame 1, and the controller 5 is electrically connected with the claw arms 4;

the claw arm 4 comprises a finger claw 41, a fixed seat 42, a connecting block 43, a fixed block 44, an electromagnet 45 and an anti-skidding tooth 46, the finger claw 41 is made of silica gel, the finger claw 41 is arranged in a hollow mode, the top of the finger claw 41 is fixedly connected with the fixed seat 42, the connecting block 43 is arranged at the top of the fixed seat 42 in a hot melting mode, the fixed block 44 is arranged at the top of the connecting block 43 in the hot melting mode, a through groove 49 is formed in the fixed frame 1 corresponding to the position of the claw arm 4, and the connecting block 43 is located in the through groove 49 to form movable supporting and fixing of the finger claw 41;

the back surface of the finger claw 41 is uniformly provided with an opening 48, the upper inner wall and the lower inner wall of the opening 48 are respectively provided with an electromagnet 45 in a hot melting mode, the electromagnet 45 is electrically connected with the controller 5, the front surface of the finger claw 41 is uniformly fixed with an anti-skidding tooth 46 in a hot melting mode, the anti-skidding tooth 46 is arranged obliquely upwards, the side edge of the finger claw 41 is fixedly provided with a resistance type sensor 47 in a hot melting mode, and the resistance type sensor 47 is electrically connected with the controller 5;

the finger claws 41, the fixed seat 42, the connecting block 43 and the fixed block 44 are communicated with each other, a threaded hole 12 is formed in the middle of the fixed block 44, and the fixed blocks 44 on the left side and the right side of the threaded hole 12 are provided with an exhaust nozzle 10 and an air inlet nozzle 11;

the fixing frame 1 is fixedly welded with a bearing seat 8 corresponding to the front position of the through groove 49, the fixing frame 1 is provided with a stepping motor 9 corresponding to the rear position of the through groove 49, a screw rod 7 is arranged right above the through groove 49, one end of the screw rod 7 is in transmission connection with the other end, fixed in a sleeved mode, of the bearing seat 8 and the stepping motor 9, the screw rod 7 penetrates through the threaded hole 12, and the stepping motor 9 is electrically connected with the controller 5.

The working principle and the using process of the utility model are that the device is installed and fixed from the position of the fixed plate 3 when in use, the device is controlled by the controller 5 when in control, when the device is matched with the mechanical arm to use, the controller 5 and the mechanical arm are connected to the industrial personal computer to carry out uniform control, and the specific control mode is freely selected by technical personnel according to the field condition;

when the control is carried out, firstly, the stepping motor 9 works, the fixed block 44 is driven to move by utilizing the connection relation between the screw rod 7 and the threaded hole 12 of the fixed block 44, so that the position of the whole claw arm 4 is adjusted to be suitable for the size of a workpiece, then the electromagnet 45 is controlled to work, the electromagnet 45 at the position of the opening 48 generates repulsion when the opposite sides are in magnetic communication and pushes the same to move outwards, the amount of motion of the back side of the finger claw 41 is larger than that of the front side, so that the finger claw 41 is bent to grasp, the finger claw 41 is driven to reset when the opposite positive magnetism is attracted, because of the arrangement of the plurality of openings 48, the magnetic poles of the electromagnet 45 at the position of each opening 48 can be freely controlled according to specific requirements, so that the magnets of the fingers form repulsion or attraction, thereby different bends are formed on each section of the finger claw 41, the grasping performance of different tools is better, when the finger claw 41 bends, the resistance type sensor 47 is bent to cause the change of internal voltage, therefore, the deformation degree of the finger claws 41 is detected, and the gripping force can be obtained by combining the original position data, so that the control operation is facilitated.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1. A remotely controllable flexible manipulator with force feedback, comprising a fixed mount (1), characterized in that: mount (1) is the setting of cruciform structure, install controller (5) on mount (1) bottom intermediate position, lead to groove (49) has been seted up to four side positions all around on mount (1), logical groove (49) position is installed claw arm (4), claw arm (4) are including hollow finger claw (41), fixing base (42) are installed at finger claw (41) top, connecting block (43) are installed at fixing base (42) top, fixed block (44) are installed to connecting block (43) top position, connecting block (43) are located to lead to the support of forming finger claw (41) in groove (49) and are fixed, the back evenly is equipped with opening (48) on finger claw (41), install electro-magnet (45) on the upper and lower inner wall of opening (48) respectively, resistance-type sensor (47) are installed to finger claw (41) side position, electro-magnet (45) and resistance-type sensor (47) all are connected with controller (5) electricity.

2. A remotely steerable flexible manipulator with force feedback as claimed in claim 1, wherein: support column (2) are installed at mount (1) top, and fixed plate (3) are installed at support column (2) top, have seted up fixed orifices (6) on fixed plate (3).

3. A remotely steerable flexible manipulator with force feedback as claimed in claim 1, wherein: anti-skid teeth (46) are uniformly fixed on the front surface of the finger claw (41).

4. A remotely steerable flexible manipulator with force feedback as claimed in claim 3, wherein: the anti-skid teeth (46) are arranged obliquely upwards.

5. A remotely steerable flexible manipulator with force feedback as claimed in claim 3, wherein: the finger claw (41), the fixing seat (42), the connecting block (43) and the fixing block (44) are communicated with each other, a threaded hole (12) is formed in the middle of the fixing block (44), and an exhaust nozzle (10) and an air inlet nozzle (11) are arranged on the fixing block (44) on the left side edge and the right side edge of the threaded hole (12).

6. A remotely controllable flexible manipulator with force feedback according to any of claims 1-5 and characterised by: the utility model discloses a lead screw, including mount (1), lead screw (7) one end and the fixed other end of bearing frame (8) suit are connected with step motor (9) transmission, lead screw (7) pass screw hole (12), step motor (9) are connected with controller (5) electricity.

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