CN218226735U - Water floats flexible tongs device based on gaseous chemical reaction drive - Google Patents

Abstract

The utility model discloses a water-floating flexible gripper device based on gas chemical reaction driving, which comprises an upper end cover, a lower reactor, a slide bar system, a bracket, a buoyancy ring, a flexible claw, a piston and a shaft coupling; the upper end cover and the lower reactor are connected through a mortise and tenon structure to form a reaction chamber for chemical reaction; the bracket is connected with the buoyancy ring through a buckle, so that a floating function and a guiding effect on the sliding rod system are realized; the sliding rod system is connected with the piston through the coupler and moves in the device, the rotary motion of the motor is converted into the translational motion of the piston, and the working gear is controlled; the flexible claws are connected with the lower reactor by bonding, and can realize directional bending under the action of air pressure provided by the reaction chamber. The utility model discloses can realize utilizing the function that chemical reaction driven flexible tongs snatched and released article, it is fast to have reaction rate, advantages such as compliance is strong.

Description

Water floats flexible tongs device based on gaseous chemical reaction drive

Technical Field

The utility model belongs to the technical field of the software robot, concretely relates to water floats flexible tongs device based on gaseous chemical reaction driven.

Background

The flexible gripper is made of low-rigidity materials, has higher compliance compared with a rigid manipulator, can better coat a gripped object, and has better gripping stability. At present, the main driving modes of the flexible gripper comprise rope driving, fluid driving, intelligent material driving, chemical driving and the like, and an air pressure regulating and inputting device based on the traditional pneumatic driving flexible gripper is large in size and complex in structure, so that the dexterity characteristic and the application and popularization value of the flexible gripper are reduced.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a water floats flexible tongs device based on gaseous chemical reaction drive, based on the drive mode of gaseous chemical reaction, effectively reduce the complexity of pneumatic flexible tongs, provide a feasible technical scheme for the application of flexible tongs scene on water.

The utility model provides a water-floating flexible gripper device based on gas chemical reaction driving, which comprises an upper end cover, a lower reactor, a slide bar system, a bracket, a buoyancy ring, a flexible claw, a piston and a shaft coupling;

the upper end cover is connected with the lower reactor through a mortise and tenon structure to form a reaction chamber for chemical reaction;

the bracket is connected with the buoyancy ring through a buckle, and the buoyancy ring supports the lower reactor;

the sliding rod system and the piston are connected through the coupler and move in the device;

the flexible claws are bonded with the lower reactor and used for executing directional bending action under the action of air pressure provided by the reaction chamber;

the lower reactor is provided with a laser ranging sensor module for measuring the distance between the bottom surface of the lower reactor and an underwater object in real time;

the flexible claws comprise four flexible fingers which are distributed at equal intervals on the circumference and are used for bending towards the center after the internal air pressure of the lower reactor reaches a set value and recovering the original shape when the internal air pressure is reduced;

the upper end cover comprises a top exhaust hole, a flange, a spiral guide rail and a valve; the top exhaust holes are circumferentially distributed on the top surface of the upper end cover at equal intervals, and internal threads are arranged on the inner surface of the spiral guide rail;

the lower reactor comprises a reaction vessel and an air inlet channel; the air inlet channels are circumferentially arranged;

the sliding rod system comprises a motor, a motor frame and a sliding rod; the output shaft of the motor is connected with the coupler, and the sliding rod is connected with the upper part of the motor through the motor frame;

the bracket comprises a sliding rod lantern ring and a flange buckle, the sliding rod lantern ring and the sliding rod are matched to form a sliding pair, and the flange buckle is fixedly connected with the flange;

the piston comprises a piston shaft, a sealing ring mounting groove, an upright post, a hook, a central air passage and external threads; the piston shaft is connected with the output shaft of the motor through the coupler and is used for driving the sliding rod to move up and down; the sealing ring mounting groove is provided with a sealing ring; the upright posts are in equidistant circumferential arrays, and the space formed by every two adjacent upright posts is connected with the central air passage; the hook comprises four small circular rings which are distributed circumferentially and used for hanging reaction medicines; the external thread and the internal thread are matched to form thread transmission.

Furthermore, the upper end cover and the lower reactor are both in the shape of spherical caps, and the piston is integrally cylindrical.

Furthermore, the cross section of the flexible finger is in the shape of a semicircle, and the area of the flexible finger decreases progressively from the top to the bottom.

Furthermore, the flexible finger is divided into a bending deformation area and a deformation blocking area, and the volume of a cavity in the bending deformation area is gradually reduced; the deformation blocking area is provided with a cross beam with the cross section area gradually reduced, and the cross beam and the bending deformation area form a plurality of stages of cavities; the peripheries of the bending deformation area and the deformation blocking area are provided with concave-convex alternate structures for reducing transverse bending resistance coefficient, increasing bending deflection and grabbing strength.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses a drive mode based on gaseous chemical reaction snatchs power enough, and reaction rate is fast, opens and stops easily, and the gas generation part is simple reliable.

2. The utility model discloses a flexible construction is as snatching the part, can have better snatching stability by the snatch thing by the cladding better.

Drawings

Fig. 1 is an overall structural diagram of the water floating flexible gripper driven by gas chemical reaction in the utility model.

Fig. 2 is a partial sectional view of the upper end cover, the sliding rod system and the piston of the water-floating flexible gripper driven by the gas chemical reaction in the utility model.

Figure 3 is a cross-sectional view of the lower reactor of the present invention based on a gas chemical reaction driven water-buoyant flexible gripper.

Fig. 4 is a bottom view of the lower reactor of the present invention based on a gas chemical driven water-floated flexible gripper.

Fig. 5 is a structural diagram of the piston of the water-floating flexible gripper driven by the gas chemical reaction in the invention.

Fig. 6 is a front view of a bending deformation area (6 a) and a deformation blocking area (6 b) in the flexible claw of the water-floating flexible gripper driven based on gas chemical reaction in the invention.

Fig. 7 is a side view of the bending deformation zone (7 a) and deformation blocking zone (7 b) of the flexible fingers of the water-floated flexible gripper of the present invention driven based on gas chemical reaction.

The reference numbers in the figures:

1-upper end cap; 2-a lower reactor; 3-a slide bar system; 4-a scaffold; 5-a buoyancy ring; 6-flexible claws; 7-a piston; 8-a coupler;

101-top vent; 102-a flange; 103-a helical guide; 104-a valve; 105-internal threads;

201-a reaction vessel; 202-four feet; 203-laser ranging sensor module; 204-the airway;

301-a motor; 302-motor mount; 303-a slide bar;

401-a slide bar collar; 402-flange snap;

601-bending deformation zone; 602-a deformation blocking zone; 6011-a cross-beam; 6012-lower cavity; 6021-an upper cavity;

701-a piston shaft; 702-a seal ring mounting groove; 703-upright post; 704-hooking; 705-central airway; 706-external thread.

Detailed Description

The present invention is described in detail with reference to the embodiments shown in the drawings, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should understand that the functions, methods, or structural equivalents or substitutions made by these embodiments are within the scope of the present invention.

Referring to fig. 1 to 5, the embodiment provides a water-floating flexible gripper device driven based on a gas chemical reaction, which includes an upper end cover 1, a lower reactor 2, a sliding rod system 3, a bracket 4, a buoyancy ring 5, a flexible claw 6, a piston 7, and a coupling 8. The upper end cover 1 is connected with the lower reactor 2 through a mortise and tenon joint structure to form a reaction chamber for chemical reaction; the bracket 4 is connected with the buoyancy ring 5 through a buckle, and the buoyancy ring 5 supports the lower reactor 2; the sliding rod system 3 is connected with the piston 7 through a coupling 8 and moves in the device, so that the rotary motion of the motor is converted into the translational motion of the piston, and the working gear is controlled; the flexible claws 6 are connected to the lower reactor 2 by bonding.

The upper end cover 1, the lower reactor 2, the sliding rod system 3, the support 4, the buoyancy ring 5 and the piston main body are made of plastics, the flexible claws 6 are made of silica gel, and the coupler 8 is made of aluminum alloy.

The lower reactor 2 is provided with a laser ranging sensor module 203 for measuring the distance between the bottom surface of the lower reactor 2 and an underwater object in real time.

The bracket 4 and the buoyancy ring 5 are used for realizing the functions of floating and fixing the whole device on water and guiding the sliding rod system.

The flexible claw 6 comprises four flexible fingers which are distributed at equal intervals on the circumference, the flexible fingers bend towards the center after the internal air pressure reaches a certain value, and the flexible fingers recover to the original shape when the internal air pressure is reduced.

The upper end cover 1 and the lower reactor 2 are both in the shape of spherical caps, and the piston 7 is integrally cylindrical.

In this embodiment, the upper end cap 1 includes a top vent hole 101, a flange 102, a spiral guide 103, a valve 104; the top exhaust holes 101 are circumferentially distributed on the top surface of the upper end cover 1 at equal intervals, and the inner surface of the spiral guide rail 103 is provided with internal threads 105.

In the present embodiment, the lower reactor 2 includes a reaction vessel 201, an air inlet 202, a laser ranging sensor module 203; the inlet channels 202 are arranged circumferentially.

In the present embodiment, the sliding rod system 3 includes a motor 301, a motor frame 302, a sliding rod 303; an output shaft of the motor 301 is connected with the coupler 8, and the sliding rod 303 is connected with the upper part of the motor 301 through the motor frame 302.

In this embodiment, the bracket 4 includes a sliding rod collar 401 and a flange fastener 402, the sliding rod collar 401 and the sliding rod 303 cooperate to form a sliding pair, and the flange fastener 402 is connected with the upper end cover flange 102 through a screw, so as to achieve the function of a fixing device.

In this embodiment, the piston 7 includes a piston shaft 701, a seal ring mounting groove 702, a column 703, a hook 704, a central air passage 705, and an external thread 706; the piston shaft 701 is made of metal to ensure the torsional strength; the piston shaft 701 is connected with an output shaft of the motor 301 through a coupler 8, the output shaft of the motor 301 drives the piston shaft 701 to synchronously rotate, the piston shaft 701 rotates to drive the piston 7 to move up and down, and the up and down movement of the piston 7 drives the slide rod 303 to move up and down; the seal ring mounting groove 702 is a seal ring mounting position; the columns 703 are in an equidistant circumferential array, and the space formed by every two adjacent columns is connected with the central air passage 705; the hook 704 comprises four small rings which are distributed circumferentially and used for hanging reaction medicines; the external threads 706 cooperate with the internal threads 105 to form a thread drive.

In this embodiment, the working principle of the water-floating flexible gripper based on gas chemical reaction driving is that gas is generated in a closed space through chemical reaction, and the internal air pressure change is adjusted through the generation and release of the gas, so that the bending and recovery of the flexible gripper are realized.

In this embodiment, the water-floating flexible gripper driven based on the gas chemical reaction has three working shifts, which correspond to three stages of gripping, holding and releasing of the device, respectively, and the shift switching is realized by moving the piston up and down to adjust the position relationship between the valve 104 of the upper end cover 1 and the hole between the columns 703 of the piston 7.

In the embodiment, the cross sections of four flexible fingers contained in the flexible claws 6 of the water-floating flexible gripper driven by gas chemical reaction are semi-circles, and the areas of the four flexible fingers are sequentially decreased from the top to the bottom; the flexible finger is divided into a bending deformation area and a deformation blocking area, the volume of a cavity in the bending deformation area is larger, the volume of the cavity is gradually reduced, the deformation blocking area is provided with a cross beam with the cross section area gradually reduced, and the bending deformation area forms a plurality of stages of cavities; the peripheries of the bending deformation area and the deformation blocking area are both provided with concave-convex alternate structures so as to reduce the transverse bending resistance coefficient.

The following is a more detailed description of the present invention:

as shown in fig. 1 and 2, the upper end cap 1 is provided with external exhaust holes 101 at equal intervals, an air passage for communicating the internal structure with the external environment is formed, and a spiral guide rail 103 is provided so that the piston 7 moves up and down along the guide rail. The bracket 4 is provided with a flange buckle 402 for fixing the edge of the upper end cover 1. Support 4 and buoyancy ring 5 adopt the buckle to be connected, adopt tenon fourth of twelve earthly branches structure and realize sealing through the sealing washer between upper end cover 1 and the lower part reactor 2, and the connection of lower part reactor 2 and flexible claw 6 adopts silica gel glue to bond, guarantees with the firm in connection of silica gel flexible claw.

As shown in fig. 2 and 3, the lower half part of the piston 7 is provided with a through hole, and the middle part is provided with an internal vent hole, so that the gas in the reaction vessel 201 can escape to the outside through the piston 7 and the top vent hole 101 of the upper end cover 1; the piston 7 and the spiral guide rail 103 of the upper end cover 1 jointly form a valve 104, and the opening and the closing of the valve can be controlled by the up-and-down movement of the piston. In order to prevent gas leakage, a gasket mounting groove 702 is provided above the inner exhaust hole of the piston 7 to mount a gasket for sealing, and a hook 704 is provided below the piston 7 for hanging a solid medicine, which is integrated with the piston 7 by means of cotton thread hanging.

As shown in fig. 2, the motor 301 drives the piston 7 to move up and down through the combined action of a series of components such as the motor 301, the piston 7, the coupling 8, the sliding rod 303, the bracket 4, the spiral guide rail 103 and the like, the upper end of the motor 301 is fixed on the sliding rod 303 through the motor frame 302, the sliding rod 303 is matched with a sliding rod sleeve ring 401 at the end of the bracket 4 to form a moving pair, the rotation of the motor 301 and the sliding rod 303 is limited through the shapes of the sliding rod sleeve ring 401 and the sliding rod 303, and only the output shaft of the motor 301 rotates; the output shaft of the motor 301 rotates to drive the piston 7 to move up and down, so that the sliding rod system 3 can only move up and down, the rotation of the output shaft of the motor is transmitted to the piston shaft 701 of the piston 7 through a coupler), and the lower half part of the piston 7 and the spiral guide rail 103 are respectively provided with an external thread 706 and an internal thread 105 to form thread transmission; the piston 7 moves up and down under the combined action of the threaded connection and the rotary motion of the piston, and the water floating flexible gripper driven based on the gas chemical reaction can enter different working stages by controlling the moving distance.

As shown in fig. 4, the lower end of the lower reactor 2 is provided with a laser ranging sensor module 203 which records the distance between the bottom of the lower reactor 2 and the object in the water in real time.

This flexible tongs work based on water of gas chemical reaction drive floats, can divide into three stages according to the difference of piston position with the working process, also is three fender position. The motor 301 drives the piston to move up and down to a position corresponding to the designated stage.

The water-floating flexible gripper driven based on the gas chemical reaction mainly comprises the following three gears when working, time in the following description is not taken as an absolute reference, and the time can be adjusted after any condition is changed.

As shown in fig. 2 and 5, the first gear (gripping gear) is characterized in that: the sensor measures the vertical distance between the bottom of the lower reactor 2 and the floater in real time, when the vertical distance is smaller than a preset threshold value, the motor 301 rotates forward for 30s to drive the piston 7 to rotate downward, solid medicines hung below the piston 7 by the hooks 704 can enter liquid contained in the reaction container 201, and a large amount of gas is generated by catalytic liquid reaction. After the working gear is kept for a certain time, the four flexible fingers of the flexible claw 6 are filled with gas and bent to grab objects below, and the time for keeping is required to ensure enough duration and tight grabbing.

The second gear (holding gear) is characterized in that: in order to prevent the reaction from continuously proceeding, the pressure is continuously increased to ensure that the device and the flexible claws cannot bear too much pressure and break, the working gear is automatically changed into a second gear keeping gear after being kept for 15s, at the moment, the motor 301 rapidly rotates reversely for 9s, the piston 7 rotates upwards to drive the solid medicine suspended below to be separated from the reaction container, the reaction is stopped, but the sealing gasket of the piston 7 is still positioned below the valve 104, so the inner part and the outer part are not communicated at the moment, the internal air pressure is kept constant, and the four flexible fingers of the flexible claws 6 keep clamping states.

The third gear (released gear) is characterized by: when the grabbed articles are manually taken down or the stop switch is remotely pressed, the motor 301 continuously rotates reversely for 21s, the piston continuously rotates upwards to the starting point and enters a third gear position, namely a release gear position, an internal exhaust hole of the piston 7 is opposite to a valve hole, the valve 104 is opened, an air passage is formed inside and outside, air is exhausted, the air pressure inside the device is reduced, and the flexible claw 6 is restored to the initial state to form circulation. The above is the description of the working phase of the present invention.

As shown in fig. 6 and 7, a flexible finger is composed of two parts, a bending deformation area 601 and a deformation blocking area 602, which are integrally bonded by silicone adhesive. There is the cavity whole inside, through 6011 crossbeam, 6012 cavity down, 6013 cavity components, crossbeam 6011's cross sectional area and height are evenly degressive for holistic cavity volume also for degressive step by step, guaranteed that flexible finger is crooked stable under the inside condition that is full of gas, can not take place the condition that the structure interferes. The side edges of the bending deformation area 601 and the deformation blocking area 602 are both of a concave-convex structure, so that the bending strength can be reduced, and the bending deflection and the grabbing strength can be increased.

This flexible tongs device floats to water based on gaseous chemical reaction drive realizes the regulation and control to the chemical reaction process through driving motor, and then adjusts the atmospheric pressure in the airtight reactor, controls the bending degree of flexible finger, realizes snatching and the release action of object. The flexible gripper is high in reaction speed, strong in compliance, simple and reliable in structure, capable of automatically gripping floaters on the water surface, and applicable to the fields of environmental protection and the like.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims (4)

1. A water-floating flexible gripper device based on gas chemical reaction driving is characterized by comprising an upper end cover (1), a lower reactor (2), a sliding rod system (3), a support (4), a buoyancy ring (5), a flexible claw (6), a piston (7) and a coupling (8);

the upper end cover (1) is connected with the lower reactor (2) through a mortise and tenon structure to form a reaction chamber for chemical reaction;

the support (4) is connected with a buoyancy ring (5) through a buckle, and the buoyancy ring (5) supports the lower reactor (2);

the sliding rod system (3) and the piston (7) are connected through the coupler (8) and move in the device;

the flexible claw (6) is bonded with the lower reactor (2) and is used for executing directional bending action under the action of air pressure provided by the reaction chamber;

the lower reactor (2) is provided with a laser ranging sensor module (203) for measuring the distance between the bottom surface of the lower reactor (2) and an underwater object in real time;

the flexible claws (6) comprise four flexible fingers which are distributed at equal intervals on the circumference and are used for bending towards the center after the internal air pressure of the lower reactor (2) reaches a set value and recovering the original shape when the internal air pressure is reduced;

the upper end cover (1) comprises a top exhaust hole (101), a flange (102), a spiral guide rail (103) and a valve (104); the top exhaust holes are circumferentially distributed on the top surface of the upper end cover at equal intervals, and internal threads (105) are arranged on the inner surface of the spiral guide rail (103);

the lower reactor (2) comprises a reaction container (201) and an air inlet channel (202); the air inlet channels (202) are circumferentially arranged;

the sliding rod system (3) comprises a motor (301), a motor frame (302) and a sliding rod (303); an output shaft of the motor (301) is connected with the coupler (8), and the sliding rod (303) is connected with the upper part of the motor (301) through the motor frame (302);

the support (4) comprises a sliding rod sleeve ring (401) and a flange buckle (402), the sliding rod sleeve ring (401) and the sliding rod (303) are matched to form a sliding pair, and the flange buckle (402) is fixedly connected with the flange (102);

the piston (7) comprises a piston shaft (701), a sealing ring mounting groove (702), a vertical column (703), a hook (704), a central air passage (705) and an external thread (706); the piston shaft (701) is connected with an output shaft of the motor through the coupler (8) and is used for driving the sliding rod (303) to move up and down; a sealing ring is arranged in the sealing ring mounting groove (702); the upright columns (703) are in equidistant circumferential arrays, and the space formed by every two adjacent upright columns is connected with the central air passage (705); the hook (704) comprises four small circular rings which are distributed circumferentially and used for hanging reaction medicines; the external thread (706) and the internal thread (105) are matched to form a thread transmission.

2. The gas chemical reaction driving-based water floating flexible gripper device as claimed in claim 1, wherein the upper end cover (1) and the lower reactor (2) are both in the shape of spherical caps, and the piston (7) is cylindrical as a whole.

3. The gas chemical reaction-driven water-floating flexible gripper according to claim 1, wherein the flexible fingers are semicircular in cross section and gradually decrease in area from top to bottom.

4. The gas chemical reaction drive-based water-floating flexible gripper device according to claim 3, wherein the flexible finger is divided into a bending deformation area and a deformation blocking area, and the cavity volume of the bending deformation area is gradually reduced; the deformation blocking area is provided with a cross beam with the cross section area gradually reduced, and the cross beam and the bending deformation area form a plurality of stages of cavities; the peripheries of the bending deformation area and the deformation blocking area are provided with concave-convex alternate structures for reducing transverse bending resistance coefficient, increasing bending deflection and grabbing strength.

Images