CN217669439U - Flexible fixture for manipulator - Google Patents
Flexible fixture for manipulator Download PDFInfo
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- CN217669439U CN217669439U CN202221342026.0U CN202221342026U CN217669439U CN 217669439 U CN217669439 U CN 217669439U CN 202221342026 U CN202221342026 U CN 202221342026U CN 217669439 U CN217669439 U CN 217669439U
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Abstract
The utility model provides a fixture for flexible manipulator belongs to manipulator technical field, including the shell, be provided with adjusting part in the shell, adjusting part includes the arm-tie, is connected with wire rope on the arm-tie, is connected with the linkage piece on the wire rope, is connected with the spring on the linkage piece, is connected with the support on the shell, and the shell in-connection has bellows and telescopic link. The utility model discloses a setting of adjusting part, the cylinder closes the back output and passes through the piston rod and pull back the arm-tie, thereby no longer stimulate wire rope after the arm-tie is pulled back and make the spring lose pressure, thereby the spring loses the drive linkage piece behind the pressure, thereby the installation piece and flexible finger keep away from the centre gripping scope that the shell increased flexible finger, thereby carry out the centre gripping to some material that the volume is bigger than normal, bellows and telescopic link receive the pulling force influence simultaneously and stretch, it is spacing to the bellows to replace the bellows compensator through the telescopic link, avoid the bellows tenesmus, the convenience carries out the centre gripping to material that the volume is bigger than normal.
Description
Technical Field
The utility model belongs to the technical field of the manipulator, a fixture is related to, especially a fixture for flexible manipulator.
Background
The flexible robot is also one of the industrial robots, a clamping mechanism of the flexible robot mainly comprises a rigid clamping structure, a vacuum chuck and a flexible clamping structure, and the flexible clamping structure mainly depends on air to drive flexible fingers to deform to clamp objects.
A flexible manipulator according to application number CN201720979385.X relates to the field of flexible manipulators and comprises at least one pair of flexible fingers. The flexible fingers of the flexible manipulator are simple to install and convenient to fix, and the arrangement of the flexible fingers is tighter, so that the flexible manipulator is more suitable for clamping small articles.
But this fixture position of manipulator is fixed to use the limitation great, is only convenient for carry out the centre gripping to some small article, if flexible finger is difficult to touch the corner of material when meeting some material that the volume is bigger than normal to be difficult to with the material centre gripping.
Disclosure of Invention
The utility model aims at having the above-mentioned problem to current technique, provided a fixture for flexible manipulator to solve the technical problem that the use limitation is big.
The purpose of the utility model can be realized by the following technical proposal: the utility model provides a fixture for flexible manipulator, includes the shell, be provided with adjusting part in the shell, adjusting part includes the arm-tie, be connected with wire rope on the arm-tie, be connected with the linkage piece on the wire rope, be connected with the spring on the linkage piece, be connected with the support on the shell, bellows and telescopic link are connected to the shell in.
Through adopting above-mentioned technical scheme, the cylinder closes the back output and passes through the piston rod and pull back the arm-tie, thereby no longer stimulate wire rope and make the spring lose pressure after the arm-tie is pulled back, thereby the spring loses the pressure back drive linkage block, thereby installation piece and flexible finger keep away from the clamping range that the shell increased flexible finger, so that carry out the centre gripping to some material that the volume is bigger than normal, bellows and telescopic link receive the pulling force influence simultaneously and stretch, it is spacing to the bellows to replace bellows compensator through the telescopic link, avoid the bellows tenesmus.
Furthermore, an air inlet is formed in the shell, an installation block is connected to the linkage block, a flexible finger is connected to the installation block, and a cavity is formed in the flexible finger.
Through adopting above-mentioned technical scheme, thereby input the cavity in flexible finger with compressed air through the air inlet and make the bending of flexible finger with the material centre gripping, the concrete working method of flexible finger is prior art, does not do too much here and describes.
Furthermore, the support is connected with a guide rod, and the linkage block is movably connected with the guide rod.
Through adopting above-mentioned technical scheme, the cylinder closes the back output and passes through the piston rod and pull back the arm-tie, thereby no longer stimulate wire rope and make the spring lose pressure after the arm-tie is pulled back, thereby the spring loses the clamping range that shell was kept away from to drive linkage block, installation piece and flexible finger behind the pressure and increases flexible finger.
Furthermore, a sliding groove is formed in the support, and the linkage block is movably connected with the support.
Through adopting above-mentioned technical scheme, the cylinder closes the back output and passes through the piston rod and pull back the arm-tie, thereby no longer stimulate wire rope and make the spring lose pressure after the arm-tie is pulled back, thereby the spring loses the clamping range that shell was kept away from to drive linkage block, installation piece and flexible finger behind the pressure and increases flexible finger.
Furthermore, an air cylinder used for driving the pulling plate to move up and down is installed in the shell, and the pulling plate is movably connected with the shell.
Through adopting above-mentioned technical scheme, the cylinder closes the back output and passes through the piston rod and pull back the arm-tie, thereby no longer pulls wire rope and makes the spring lose pressure after the arm-tie pulls back, thereby the spring loses pressure back drive linkage piece, installation piece and flexible finger and keep away from the shell and increase the clamping range of flexible finger.
Furthermore, a pulley is connected in the shell, and the steel wire rope is L-shaped.
Through adopting above-mentioned technical scheme, the cylinder closes the back output and passes through the piston rod and pull back the arm-tie, thereby no longer pulls wire rope and makes the spring lose pressure after the arm-tie pulls back, thereby the spring loses pressure back drive linkage piece, installation piece and flexible finger and keep away from the shell and increase the clamping range of flexible finger.
Furthermore, the mounting block is movably connected with the bracket, and the linkage block is fixedly connected with the mounting block.
Through adopting above-mentioned technical scheme, the cylinder closes the back output and passes through the piston rod and pull back the arm-tie, thereby no longer pulls wire rope and makes the spring lose pressure after the arm-tie pulls back, thereby the spring loses pressure back drive linkage piece, installation piece and flexible finger and keep away from the shell and increase the clamping range of flexible finger.
Compared with the prior art, the utility model has the advantages of it is following: the utility model discloses a setting of adjusting part, the cylinder closes the back output and passes through the piston rod and pull back the arm-tie, thereby no longer stimulate wire rope after the arm-tie is pulled back and make the spring lose pressure, thereby the spring loses the drive linkage piece behind the pressure, thereby the installation piece and flexible finger keep away from the centre gripping scope that the shell increased flexible finger, thereby carry out the centre gripping to some material that the volume is bigger than normal, bellows and telescopic link receive the pulling force influence simultaneously and stretch, it is spacing to the bellows to replace the bellows compensator through the telescopic link, avoid the bellows tenesmus, the convenience carries out the centre gripping to material that the volume is bigger than normal.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic sectional structure of the present invention;
FIG. 3 is a schematic diagram of the structure at A in FIG. 2 according to the present invention;
fig. 4 is a schematic structural view of the middle support of the present invention.
In the figure: 1. a housing; 2. an air inlet; 3. mounting blocks; 4. a flexible finger; 5. an adjustment assembly; 501. a support; 502. a guide bar; 503. a linkage block; 504. a spring; 505. a cylinder; 506. pulling a plate; 507. a wire rope; 508. a bellows; 509. a telescopic rod; 6. a cavity.
Detailed Description
The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.
As shown in fig. 1-4, a clamping mechanism for a flexible manipulator comprises a housing 1, and an adjusting assembly 5 is arranged in the housing 1.
Specifically, adjusting part 5 includes arm-tie 506, arm-tie 506 bottom is connected with two at least wire rope 507, wire rope 507 one end is connected with linkage block 503, linkage block 503 one side is connected with spring 504, shell 1 one side is connected with support 501, linkage block 503 is located support 501, shell 1 in-connection has two bellows 508 and a plurality of telescopic link 509, a plurality of telescopic link 509 use two bellows 508 to be the annular array form distribution as the centre of a circle, conveniently carry out the centre gripping to the material that the volume is bigger than normal.
Referring to fig. 1, 2 and 3, in the above embodiment, the outer surface of the housing 1 is provided with the air inlet 2, the bottom of the linkage block 503 is connected with the mounting block 3, the bottom of the mounting block 3 is penetrated with the flexible finger 4, the cavity 6 is formed in the flexible finger 4, and the air is introduced through the air inlet 2 to deform the flexible finger 4 so as to clamp the material.
Referring to fig. 1, 2, 3 and 4, in the above embodiment, two guide rods 502 are connected to one side of the support 501, the spring 504 is located outside the guide rods 502, the linkage block 503 is slidably connected to the guide rods 502, a sliding slot is formed in the support 501, and the linkage block 503 is slidably connected to the support 501 through the sliding slot. Install in the shell 1 and be used for driving the cylinder 505 that arm-tie 506 reciprocated, and arm-tie 506 and shell 1 sliding connection, the in-connection of shell 1 has the pulley, and wire rope 507 is "L" font, installation piece 3 and support 501 sliding connection, and linkage piece 503 is through welding mode and installation piece 3 fixed connection, conveniently carries out the centre gripping to the material of volume bigger than normal.
The implementation principle of the embodiment is as follows: firstly, compressed air is input into the cavity 6 in the flexible finger 4 through the air inlet 2, so that the flexible finger 4 is bent to clamp materials, and the specific working mode of the flexible finger 4 is the prior art and is not described too much; adjust the centre gripping size, the output is pulled back the arm-tie 506 through the piston rod after cylinder 505 closes, thereby no longer pull wire rope 507 makes spring 504 lose pressure after arm-tie 506 pulls back, spring 504 loses pressure back drive linkage block 503, thereby installation piece 3 and flexible finger 4 keep away from the centre gripping scope of the flexible finger of shell 1 increase, so that carry out the centre gripping to some material that the volume is bigger than normal, bellows 508 and telescopic link 509 receive the pulling force influence simultaneously tensile, it is spacing to bellows 508 to replace the bellows compensator through telescopic link 509, avoid bellows 508 tenesmus.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Although 1, the housing is used more herein; 2. an air inlet; 3. mounting blocks; 4. a flexible finger; 5. an adjustment assembly; 501. a support; 502. a guide bar; 503. a linkage block; 504. a spring; 505. a cylinder; 506. pulling a plate; 507. a wire rope; 508. a bellows; 509. a telescopic rod; 6. cavities, etc., but does not exclude the possibility of using other terms. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed in a manner that is inconsistent with the spirit of the invention.
Claims (6)
1. The utility model provides a fixture for flexible manipulator, includes shell (1), its characterized in that: an adjusting component (5) is arranged in the shell (1), the adjusting component (5) comprises a pulling plate (506), a steel wire rope (507) is connected onto the pulling plate (506), a linkage block (503) is connected onto the steel wire rope (507), a spring (504) is connected onto the linkage block (503), a support (501) is connected onto the shell (1), and a corrugated pipe (508) and a telescopic rod (509) are connected into the shell (1); the air inlet (2) is formed in the shell (1), the linkage block (503) is connected with the installation block (3), the installation block (3) is connected with the flexible finger (4), and the cavity (6) is formed in the flexible finger (4).
2. The clamping mechanism for the flexible manipulator as claimed in claim 1, wherein a guide rod (502) is connected to the support (501), and the linkage block (503) is movably connected with the guide rod (502).
3. The clamping mechanism for the flexible manipulator as claimed in claim 2, wherein the bracket (501) is provided with a sliding groove, and the linkage block (503) is movably connected with the bracket (501).
4. The clamping mechanism for the flexible manipulator as claimed in claim 1, wherein a cylinder (505) for driving a pulling plate (506) to move up and down is installed in the housing (1), and the pulling plate (506) is movably connected with the housing (1).
5. The clamping mechanism for the flexible manipulator as claimed in claim 1, wherein a pulley is connected in the housing (1), and the steel cable (507) is in an "L" shape.
6. The clamping mechanism for the flexible manipulator according to claim 1, wherein the mounting block (3) is movably connected with the bracket (501), and the linkage block (503) is fixedly connected with the mounting block (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221342026.0U CN217669439U (en) | 2022-05-30 | 2022-05-30 | Flexible fixture for manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221342026.0U CN217669439U (en) | 2022-05-30 | 2022-05-30 | Flexible fixture for manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217669439U true CN217669439U (en) | 2022-10-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221342026.0U Active CN217669439U (en) | 2022-05-30 | 2022-05-30 | Flexible fixture for manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217669439U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116038668A (en) * | 2023-03-31 | 2023-05-02 | 深圳博尚精密制造有限公司 | Grabbing manipulator for processing precise electronic device |
-
2022
- 2022-05-30 CN CN202221342026.0U patent/CN217669439U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116038668A (en) * | 2023-03-31 | 2023-05-02 | 深圳博尚精密制造有限公司 | Grabbing manipulator for processing precise electronic device |
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