CN218909004U

CN218909004U - Flexible object clamping manipulator

Info

Publication number: CN218909004U
Application number: CN202223375551.5U
Authority: CN
Inventors: 崔磊; 潘从艳
Original assignee: Lunan Technician College
Current assignee: Lunan Technician College
Priority date: 2022-12-15
Filing date: 2022-12-15
Publication date: 2023-04-25
Anticipated expiration: 2032-12-15

Abstract

The utility model discloses a flexible object clamping manipulator, which belongs to the field of manipulators and comprises a machine body, wherein a first connecting frame is rotationally connected to the machine body, a second connecting frame is rotationally connected to the first connecting frame, a claw frame is fixedly arranged on the second connecting frame, a flexible claw is movably arranged in the claw frame, a pushing rod is movably arranged at the center of the machine body, a pushing plate is fixedly arranged at the upper end of the pushing rod, the pushing plate is also rotationally connected with the second connecting frame, a leakage-proof mechanism is movably arranged at the side surface of the claw frame, when the flexible claw moves in opposite directions to grab objects, the linkage rod drives the rotating rod to move, leakage-proof plates in the connecting box move in opposite directions, and after the flexible claw is lifted up, the leakage-proof plates collide with each other under the action of gravity to form a receiving device.

Description

Flexible object clamping manipulator

Technical Field

The utility model relates to the field of manipulators, in particular to a flexible object clamping manipulator.

Background

The clamping manipulator is a mechanical device which performs grabbing operation by means of mechanical power as the name implies, the flexibility is strong, the manipulator can simulate certain action functions of a human hand and an arm, grabbing, carrying and the like of different workpieces can be adapted through adjustment, for example, the fin effect manipulator is a flexible object clamping manipulator which has two-claw, three-claw and other structures, the existing two-claw fin flexible clamping manipulator is easy to slide and drop when grabbing some round fruits such as apples and the like, and the grabs are damaged, so improvement is needed.

Disclosure of Invention

The utility model mainly aims to provide a flexible object clamping manipulator which can effectively solve the problems in the background technology.

In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:

the utility model provides a flexible thing centre gripping manipulator, includes the organism, rotate on the organism and be connected with a link, a link internal rotation is connected with No. two links, fixed mounting has the claw frame on No. two links, movable mounting has flexible claw in the claw frame, the central point put movable mounting of organism has the catch bar, the upper end fixed mounting of catch bar has the catch plate, the catch plate is connected with No. two links rotation equally, the side position movable mounting of claw frame has leak protection mechanism, leak protection mechanism includes spread box, fly leaf, leak protection plate, gyro wheel, dwang, extension board and gangbar, extension board fixed mounting is in the side position of claw frame, spread box movable mounting is in the top position of extension board, fly leaf movable mounting is in the one end position of fly leaf, gyro wheel movable mounting is on the leak protection board, dwang fixed mounting is in the bottom position of spread box, pole fixed mounting is on the catch plate, dwang and gangbar movable mounting.

Preferably, the anti-leakage mechanism further comprises a mounting groove, the mounting groove is fixedly formed in the anti-leakage plate, and the roller is movably mounted in the mounting groove.

Preferably, the leakage-proof mechanism further comprises a movable groove and a movable rod, the movable groove is fixedly arranged at the side surface of the connecting box, the movable rod is fixedly arranged at the other end of the movable plate, and the movable rod is movably arranged in the movable groove.

Preferably, the leakage-proof mechanism further comprises a connector, the connector is fixedly arranged at the bottom of the connecting box, and the rotating rod is fixedly arranged with the connector.

Preferably, the leakage-proof mechanism further comprises a support plate and a limiting plate, the support plate is fixedly arranged on the extension plate, the rotating rod is movably arranged with the support plate, and the limiting plate is fixedly arranged on the rotating rod and is positioned at the outer side of the support plate.

Preferably, the leakage-proof mechanism further comprises two bearings and telescopic tubes, the two bearings are movably mounted on the linkage rod, the telescopic tubes are movably mounted on the rotating rod, and the rotating rod is movably mounted with the linkage rod through the bearings and the telescopic tubes.

Compared with the prior art, the utility model has the following beneficial effects:

according to the utility model, through the arranged leakage-proof mechanism, when the flexible claw moves in opposite directions to grab an object, the pushing plate moves towards the machine body, the linkage rod drives the rotating rod to move, so that the connecting box moves in opposite directions, the leakage-proof plate moves on a plane through the roller, after the flexible claw grabs the object and lifts off, the movable plate moves downwards under the action of gravity, the leakage-proof plates collide with each other to form a receiving device, and when the object in the flexible claw slides, the object falls between the leakage-proof plates and is caught, so that the grabbed object is prevented from falling onto the ground and being damaged.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present utility model;

FIG. 2 is a schematic view of the leakage preventing mechanism of the present utility model;

fig. 3 is a schematic diagram of a split structure of the connection box of the present utility model.

In the figure: 1. a body; 2. a first connecting frame; 3. a second connecting frame; 4. a claw stand; 5. a flexible claw; 6. a leakage prevention mechanism; 601. a connection box; 602. a movable plate; 603. a leakage-proof plate; 604. a mounting groove; 605. a roller; 606. a movable groove; 607. a movable rod; 608. a connector; 609. a rotating lever; 610. a limiting plate; 611. a support plate; 612. an extension plate; 613. a linkage rod; 614. a bearing; 615. a telescopic tube; 7. a pushing plate; 8. pushing the rod.

Detailed Description

The utility model is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the utility model easy to understand.

As shown in fig. 1-3, a flexible object clamping manipulator comprises a machine body 1, a first connecting frame 2 is rotatably connected to the machine body 1, a second connecting frame 3 is rotatably connected to the first connecting frame 2, a claw frame 4 is fixedly arranged on the second connecting frame 3, a flexible claw 5 is movably arranged in the claw frame 4, a pushing rod 8 is movably arranged at the center of the machine body 1, a pushing plate 7 is fixedly arranged at the upper end of the pushing rod 8, the pushing plate 7 is also rotatably connected with the second connecting frame 3, a leakage-proof mechanism 6 is movably arranged at the side surface of the claw frame 4, the leakage-proof mechanism 6 comprises a connecting box 601, a movable plate 602, a leakage-proof plate 603, a roller 605, a rotating rod 609, an extension plate 612 and a linkage rod 613, the extension plate 612 is fixedly arranged at the side surface of the claw frame 4, the movable plate 602 is movably arranged at the upper position of the extension plate 612, the movable plate 602 is movably arranged in the connecting box 601, the anti-leakage plate 603 is fixedly arranged at one end of the movable plate 602, the roller 605 is movably arranged on the anti-leakage plate 603, the anti-leakage mechanism 6 also comprises a mounting groove 604, the mounting groove 604 is fixedly arranged on the anti-leakage plate 603, the roller 605 is movably arranged in the mounting groove 604, the anti-leakage mechanism 6 also comprises a movable groove 606 and a movable rod 607, the movable groove 606 is fixedly arranged at the side surface of the connecting box 601, the movable rod 607 is fixedly arranged at the other end of the movable plate 602, the movable rod 607 is movably arranged in the movable groove 606, the movable plate 607 moves in the movable groove 606 through the movable rod 607, when the movable plate 602 moves in the connecting box 601, the movable plate 602 is not completely separated from the connecting box 601, the falling phenomenon of the movable plate 602 is avoided, the anti-leakage plate 603 moves on a plane through the roller 605 arranged on the anti-leakage plate 603, thereby facilitating the partial accommodation of the flap 602 into the junction box 601.

The dwang 609 fixed mounting is in the bottom position of joint box 601, gangbar 613 fixed mounting is on push plate 7, gangbar 609 and gangbar 613 movable mounting, leak protection mechanism 6 still includes connector 608, connector 608 fixed mounting is in the bottom position of joint box 601, dwang 609 and connector 608 fixed mounting, leak protection mechanism 6 still includes backup pad 611 and limiting plate 610, backup pad 611 fixed mounting is on extension board 612, dwang 609 and backup pad 611 movable mounting, limiting plate 610 fixed mounting is on dwang 609, and be located the outside position of backup pad 611, leak protection mechanism 6 still includes bearing 614 and flexible pipe 615, the quantity of bearing 614 is two, and movable mounting is on gangbar 613, flexible pipe 615 movable mounting is on dwang 609, the dwang 609 is through bearing 614, flexible pipe 615 and gangbar 613 movable mounting, thereby operation connector 608 through dwang 609, joint box 601 rotates between backup pad 611, flexible pipe 615 is movable mounting on dwang 609, the inner tube and bearing 614 side fixed mounting of flexible pipe 615, the structure through flexible pipe 615 for dwang 609 is convenient for in the pivoted in-process, change length.

It should be noted that, in the use of the two-claw fin-bar flexible manipulator, the two flexible claws 5 move in opposite directions so as to grasp the object, but when capturing fruits, such as apples, plums and other round fruits, the two flexible claws 5 move in opposite directions, so that the two claw brackets 4 move in opposite directions by pulling the push plate 7 towards the machine body 1 through the push rod 8, the flexible claws 5 synchronously move in opposite directions, the flexible claws 5 grasp the object, the linkage rod 613 on the push plate 7 synchronously moves towards the machine body 1, so that the telescopic pipe 615 is properly elongated, the rotating rod 609 rotates, the connector 608 synchronously rotates through the rotation of the rotating rod 609, the connecting box 601 rotates in opposite directions, the movable plates 602 in the connecting box 601 move downwards on a plane through the roller 605 and are close to each other, the movable plates 602 properly move towards the connecting box 601, when the flexible claws 5 are lifted and transferred, the movable plates 602 continue to move downwards under the action of gravity, so that the two leak-proof plates 603 contact each other, and the two flexible claws 5 can form a sliding device when the flexible claws 5 are completely captured, and the object is prevented from being damaged, and the object can be received on the ground.

The foregoing has shown and described the basic principles and main features of the present utility model and the advantages of the present utility model. The present utility model has been described in detail with particular reference to preferred embodiments thereof, but it should not be understood by those skilled in the art that the utility model is not limited thereto, but is capable of numerous changes, modifications, substitutions and alterations herein without departing from the spirit and scope of the utility model as defined by the appended claims. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a flexible thing centre gripping manipulator, includes organism (1), rotate on organism (1) and be connected with link (2), link (2) internal rotation is connected with No. two link (3), fixed mounting has claw frame (4) on No. two link (3), movable mounting has flexible claw (5) in claw frame (4), central point put movable mounting of organism (1) has catch bar (8), the upper end fixed mounting of catch bar (8) has catch plate (7), catch plate (7) are connected with link (3) rotation equally, its characterized in that: the side position movable mounting of claw frame (4) has leak protection mechanism (6), leak protection mechanism (6) include connection box (601), fly leaf (602), leak protection board (603), gyro wheel (605), dwang (609), extension board (612) and gangbar (613), extension board (612) fixed mounting is in the side position of claw frame (4), connection box (601) movable mounting is in the top position of extension board (612), fly leaf (602) movable mounting is in connection box (601), leak protection board (603) fixed mounting is in the one end position of fly leaf (602), gyro wheel (605) movable mounting is on leak protection board (603), dwang (609) fixed mounting is in the bottom position of connection box (601), gangbar (613) fixed mounting is on push plate (7), dwang (609) and gangbar (613) movable mounting.

2. The flexible object holding manipulator of claim 1, wherein: the anti-leakage mechanism (6) further comprises a mounting groove (604), the mounting groove (604) is fixedly arranged on the anti-leakage plate (603), and the roller (605) is movably arranged in the mounting groove (604).

3. The flexible object holding manipulator of claim 2, wherein: the leakage-proof mechanism (6) further comprises a movable groove (606) and a movable rod (607), the movable groove (606) is fixedly arranged at the side surface of the connecting box (601), the movable rod (607) is fixedly arranged at the other end of the movable plate (602), and the movable rod (607) is movably arranged in the movable groove (606).

4. A flexible object holding manipulator as claimed in claim 3, wherein: the leakage-proof mechanism (6) further comprises a connector (608), the connector (608) is fixedly arranged at the bottom of the connecting box (601), and the rotating rod (609) is fixedly arranged with the connector (608).

5. The flexible object holding manipulator of claim 4, wherein: the leakage-proof mechanism (6) further comprises a supporting plate (611) and a limiting plate (610), the supporting plate (611) is fixedly arranged on the extending plate (612), the rotating rod (609) is movably arranged with the supporting plate (611), and the limiting plate (610) is fixedly arranged on the rotating rod (609) and is positioned at the outer side of the supporting plate (611).

6. The flexible object holding manipulator of claim 5, wherein: the leakage-proof mechanism (6) further comprises two bearings (614) and two telescopic tubes (615), the two bearings (614) are movably mounted on the linkage rod (613), the telescopic tubes (615) are movably mounted on the rotating rod (609), and the rotating rod (609) is movably mounted with the linkage rod (613) through the bearings (614) and the telescopic tubes (615).