CN219132342U

CN219132342U - Hydraulic flexible manipulator

Info

Publication number: CN219132342U
Application number: CN202320028368.3U
Authority: CN
Inventors: 罗泊麟
Original assignee: Individual
Current assignee: Individual
Priority date: 2023-01-06
Filing date: 2023-01-06
Publication date: 2023-06-06
Anticipated expiration: 2033-01-06

Abstract

The utility model discloses a hydraulic flexible manipulator which comprises a mounting frame and a flexible clamp arranged on the mounting frame, wherein a hydraulic cylinder is arranged in the mounting frame, the output end of the hydraulic cylinder is connected with the flexible clamp, the upper surface of the mounting frame is fixedly connected with a connector, the hydraulic flexible manipulator also comprises a connecting box arranged on an external mechanical arm, and the lower surface of the connecting box is rotatably connected with a connecting part. According to the utility model, the screw rod is driven to rotate through the output end of the driving motor, so that the first thread section and the fourth thread section drive the two first moving rods to be close to each other, the two first locking rods are driven to be close to each other until the two first locking rods are inserted into the first locking groove to lock the connector, meanwhile, the second thread section and the third thread section drive the two second moving rods to be far away from each other, the two second locking rods are driven to be far away from each other until the two second locking rods are inserted into the second locking groove, and the fixation of the connector is enhanced, so that the problems of poor convenience and low installation efficiency when bolts are adopted for fixation in the prior art are solved.

Description

Hydraulic flexible manipulator

Technical Field

The application relates to the technical field of manipulators, in particular to a hydraulic flexible manipulator.

Background

The manipulator is an automatic operation device which can simulate some action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program, and is characterized in that various expected operations can be completed through programming, and the manipulator has the advantages of the human hand and the manipulator in terms of structure and performance.

The existing manipulator generally adopts the anchor clamps to carry out the centre gripping to the object, the object that rigid manipulator snatches smallly, the shape is complicated and damage easily can make positioning accuracy and grip strength promote by a wide margin, and rigid clamp snatchs small and exquisite, the object that the shape is complicated leads to the object damage easily, therefore, chinese patent with the authority number CN 216613038U discloses an energy-conserving flexible hydraulic manipulator, through having set up flexible clamp, flexible pipe has been set up the splint inboard of flexible clamp, flexible pipe is covered with splint inboard, flexible pipe is inside carries out elastic support to the slider through the spring, flexible pipe stretches out and draws back according to the shape of centre gripping object through a plurality of flexible pipes, and avoid leading to the object damage easily to object rigid centre gripping, when accomplishing the transportation task of snatching, protect the object not damaged, but the device is installed the device through the connector, need utilize the bolt to fix, not only more manual work is needed, moreover, the infirm condition appears easily, long-time use easily drops, simultaneously be inconvenient for changing, there is the convenience poor, the problem of installation effectiveness.

Disclosure of Invention

The utility model aims to provide a hydraulic flexible manipulator for solving the problems in the background art.

The embodiment of the application adopts the following technical scheme:

the utility model provides a hydraulic flexible manipulator, includes the mounting bracket and installs the flexible jig on the mounting bracket, the internally mounted of mounting bracket has the pneumatic cylinder, the output and the flexible jig of pneumatic cylinder are connected, the upper surface fixedly connected with connector of mounting bracket still includes the junction box of installing on external arm, the lower surface of junction box rotates and is connected with connecting portion, the lower fixed surface of connecting portion is connected with the junction box, junction box and connector looks adaptation.

Preferably, the connecting portion comprises a top plate rotationally connected with the lower surface of the connecting box, an installation box is detachably connected to the surface of the top plate, a screw rod is rotationally connected to the inner wall of the installation box, two first moving rods and two second moving rods are respectively in threaded connection with the surface of the screw rod, two ends of each of the first moving rods and the second moving rods are slidably connected with the inner wall of the installation box, a driving motor is fixedly connected to one side of the installation box, and the output end of the driving motor penetrates through the inner wall of the installation box and is fixedly connected with one end of the screw rod.

Preferably, the surface of the screw rod is provided with a first thread section, a second thread section, a third thread section and a fourth thread section respectively, the first thread section and the third thread section are in positive rotation directions, the second thread section and the fourth thread section are in negative rotation directions, two first movable rods are symmetrically arranged on the first thread section and the fourth thread section, and two second movable rods are symmetrically arranged on the second thread section and the third thread section.

Preferably, the lower surface fixedly connected with first locking lever of first movable rod, first dodging the groove that is used for first locking lever to remove is seted up to the interior bottom wall of mounting box, the side of connector is seted up and is had the first locking groove with first locking lever looks adaptation.

Preferably, the lower surface fixedly connected with second locking lever of second movable rod, the second of being used for the second locking lever to remove is dodged the groove in the interior bottom wall of installation box, the second locking groove that runs through the inside second locking groove of connector is seted up to the inner wall of connection box, second locking lever and second locking groove looks adaptation.

Preferably, the inner bottom wall of the connecting box is provided with a rotating hole, the inner wall of the rotating hole is rotationally connected with a rotating shaft, the bottom end of the rotating shaft is fixedly connected with the upper surface of the top plate, the connecting part is rotationally connected with the connecting box through the rotating shaft, and the inner wall of the connecting box is fixedly connected with a box cover.

Preferably, the surface fixedly connected with turbine of axis of rotation, the inner wall of connection box is connected with the worm that is used for driving the turbine through the bearing rotation, the interior bottom wall fixedly connected with rotating electrical machines of connection box, the output of rotating electrical machines and the one end fixed connection of worm.

The above-mentioned at least one technical scheme that this application embodiment adopted can reach following beneficial effect:

in the utility model, the screw rod is driven to rotate through the output end of the driving motor, so that the first thread section and the fourth thread section drive the two first moving rods to be close to each other, the two first locking rods are driven to be close to each other until the two first locking rods are inserted into the first locking groove to lock the connector, meanwhile, the second thread section and the third thread section drive the two second moving rods to be far away from each other, the two second locking rods are driven to be far away from each other until the two second locking rods are inserted into the second locking groove, and the fixation of the connector is enhanced, so that the hydraulic flexible manipulator solves the problems of poor convenience and low installation efficiency when bolts are adopted for fixation in the prior art.

In the utility model, the output end of the rotating motor drives the worm to rotate, so as to drive the turbine to rotate, so as to drive the rotating shaft to rotate, and the rotating shaft drives the connecting part, the connecting box, the connector and the flexible clamp to rotate, so that the flexible clamp is convenient to turn and clamp an object, and the hydraulic flexible manipulator has the effect of convenient clamping.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

fig. 1 is: the three-dimensional structure schematic diagram of the utility model;

fig. 2 is: the explosion structure of the connecting part and the connector is shown in the schematic diagram;

fig. 3 is: the connecting box, the mounting box and the connector are in a front section structure schematic diagram;

fig. 4 is: the three-dimensional structure schematic diagram of the connecting box is shown;

fig. 5 is: the three-dimensional structure schematic diagram of the screw rod is provided.

In the figure: 1. a mounting frame; 2. a flexible clamp; 3. a hydraulic cylinder; 4. a connector; 5. a connection box; 6. a connection part; 601. a top plate; 602. a mounting box; 603. a screw rod; 6031. a first thread segment; 6032. a second thread segment; 6033. a third thread segment; 6034. a fourth thread segment; 604. a first moving lever; 605. a second moving lever; 606. a driving motor; 607. a first locking lever; 608. a second locking lever; 7. a connection box; 8. a rotating shaft; 9. a case cover; 10. a turbine; 11. a worm; 12. a rotating electric machine.

Detailed Description

For the purposes, technical solutions and advantages of the present application, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

The following describes in detail the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.

Referring to fig. 1-5, the present utility model provides a hydraulic flexible manipulator technical scheme:

the utility model provides a hydraulic flexible manipulator, includes mounting bracket 1 and installs the flexible anchor clamps 2 on mounting bracket 1, and the internally mounted of mounting bracket 1 has pneumatic cylinder 3, and the output and the flexible anchor clamps 2 of pneumatic cylinder 3 are connected, and the upper surface fixedly connected with connector 4 of mounting bracket 1 still includes the junction box 5 of installing on external arm, and the lower surface of junction box 5 rotates and is connected with connecting portion 6, and the lower fixed surface of connecting portion 6 is connected with junction box 7, junction box 7 and connector 4 looks adaptation.

Specifically, the flexible clamp 2 is a prior art, and has been disclosed in the related art, and the output end of the hydraulic cylinder 3 stretches and contracts to drive the flexible clamp 2 to clamp or unclamp an object.

In this embodiment, as shown in fig. 3-5, the connecting portion 6 includes a top plate 601 rotatably connected to the lower surface of the connecting box 5, a mounting box 602 is detachably connected to the surface of the top plate 601, a screw 603 is rotatably connected to the inner wall of the mounting box 602, two first moving rods 604 and two second moving rods 605 are respectively screwed to the surface of the screw 603, two ends of the first moving rods 604 and the second moving rods 605 are slidably connected to the inner wall of the mounting box 602, a driving motor 606 is fixedly connected to one side of the mounting box 602, and an output end of the driving motor 606 penetrates through the inner wall of the mounting box 602 and is fixedly connected to one end of the screw 603.

The surface of the screw rod 603 is provided with a first thread section 6031, a second thread section 6032, a third thread section 6033 and a fourth thread section 6034 respectively, the first thread section 6031 and the third thread section 6033 are in positive rotation directions, the second thread section 6032 and the fourth thread section 6034 are in negative rotation directions, two first movable rods 604 are symmetrically arranged on the first thread section 6031 and the fourth thread section 6034, and two second movable rods 605 are symmetrically arranged on the second thread section 6032 and the third thread section 6033.

The lower surface fixedly connected with first locking lever 607 of first movable rod 604, the first groove of dodging that is used for first locking lever 607 to remove is seted up to the interior bottom wall of mounting box 602, and the first locking groove with first locking lever 607 looks adaptation is seted up to the side of connector 4.

The lower surface of the second moving rod 605 is fixedly connected with a second locking rod 608, a second avoiding groove for moving the second locking rod 608 is formed in the inner bottom wall of the mounting box 602, a second locking groove penetrating through the inside of the connecting head 4 is formed in the inner wall of the connecting box 7, and the second locking rod 608 is matched with the second locking groove.

Specifically, the output end of the driving motor 606 drives the screw rod 603 to rotate, so that the first thread section 6031 and the fourth thread section 6034 drive the two first moving rods 604 to be close to each other, further drive the two first locking rods 607 to be close to each other until the two first locking rods are inserted into the first locking grooves to lock the connector 4, and simultaneously the second thread section 6032 and the third thread section 6033 drive the two second moving rods 605 to be far away from each other, further drive the two second locking rods 608 to be far away from each other until the two second locking rods are inserted into the second locking grooves, so that the fixation of the connector 4 is enhanced.

In this embodiment, as shown in fig. 3, a rotation hole is formed in an inner bottom wall of the connection box 5, and an inner wall of the rotation hole is rotatably connected with a rotation shaft 8, a bottom end of the rotation shaft 8 is fixedly connected with an upper surface of the top plate 601, the connection portion 6 is rotatably connected with the connection box 5 through the rotation shaft 8, and a box cover 9 is fixedly connected with an inner wall of the connection box 5.

The turbine 10 is fixedly connected to the surface of the rotating shaft 8, the worm 11 for driving the turbine 10 is rotatably connected to the inner wall of the connecting box 5 through a bearing, the rotating motor 12 is fixedly connected to the inner bottom wall of the connecting box 5, and the output end of the rotating motor 12 is fixedly connected with one end of the worm 11.

Specifically, the output end of the rotating motor 12 drives the worm 11 to rotate, so that the turbine 10 is driven to rotate, the rotating shaft 8 is driven to rotate, the connecting portion 6, the connecting box 7, the connector 4 and the flexible clamp 2 are driven to rotate through the rotating shaft 8, the flexible clamp 2 is conveniently turned, and the object is conveniently clamped.

Working principle: when the hydraulic flexible manipulator needs to be installed, a user aligns the connector 4 with the connection box 7 and enables the connector 4 to be sleeved outside the connection box 7, then the driving motor 606 is started, the output end of the driving motor 606 drives the screw rod 603 to rotate, the first thread section 6031 and the fourth thread section 6034 drive the two first moving rods 604 to be close to each other, the two first moving rods 604 drive the two first locking rods 607 to be close to each other until the first locking rods 607 are inserted into the first locking grooves to lock the connector 4, meanwhile, the second thread section 6032 and the third thread section 6033 drive the two second moving rods 605 to be far away from each other, the two second moving rods 605 drive the two second locking rods 608 to be far away from each other until the second locking rods 608 are inserted into the second locking grooves, the fixing of the connector 4 is enhanced, then the rotating motor 12 is started, the output end of the rotating motor 12 drives the worm 11 to rotate, the worm 11 drives the worm wheel 10 to rotate, the rotating shaft 8 drives the connecting part 6, the connection box 7, the connector 4 and the flexible clamp 2 to rotate, the flexible clamp 2 are convenient to rotate, and the flexible clamp 3 is convenient to rotate, and the hydraulic flexible clamp is convenient to be installed, and the hydraulic flexible manipulator is convenient to rotate, and the flexible clamp is convenient to install, and the flexible clamp is difficult to install, and the flexible manipulator is easy to install, and the problem is solved.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims

1. The utility model provides a flexible manipulator of hydraulic pressure, includes mounting bracket (1) and installs flexible fixture (2) on mounting bracket (1), internally mounted of mounting bracket (1) has pneumatic cylinder (3), the output and the flexible fixture (2) of pneumatic cylinder (3) are connected, the last fixed surface of mounting bracket (1) is connected with connector (4), its characterized in that: still including installing connection box (5) on external arm, the lower surface rotation of connection box (5) is connected with connecting portion (6), the lower fixed surface of connecting portion (6) is connected with connection box (7), connection box (7) and connector (4) looks adaptation.

2. A hydraulic flexible manipulator according to claim 1, wherein: connecting portion (6) include with connecting box (5) lower surface rotate roof (601) of being connected, the surface of roof (601) can be dismantled and be connected with install box (602), the inner wall of install box (602) rotates and is connected with lead screw (603), the surface of lead screw (603) threaded connection has two first movable rods (604) and two second movable rods (605) respectively, the both ends of first movable rods (604) and second movable rods (605) all with the inner wall sliding connection of install box (602), one side fixedly connected with driving motor (606) of install box (602), the output of driving motor (606) runs through the inner wall of install box (602) and with the one end fixed connection of lead screw (603).

3. A hydraulic flexible manipulator according to claim 2, wherein: the surface of lead screw (603) is provided with first screw thread section (6031), second screw thread section (6032), third screw thread section (6033) and fourth screw thread section (6034) respectively, first screw thread section (6031) and third screw thread section (6033) are positive direction, second screw thread section (6032) and fourth screw thread section (6034) are the anti-direction, two first movable rod (604) symmetry sets up on first screw thread section (6031) and fourth screw thread section (6034), two second movable rod (605) symmetry sets up on second screw thread section (6032) and third screw thread section (6033).

4. A hydraulic flexible manipulator according to claim 2, wherein: the lower surface fixedly connected with first locking lever (607) of first movable rod (604), first dodging groove that is used for first locking lever (607) to remove is seted up to the interior bottom wall of installation box (602), the side of connector (4) has been seted up and has been locked the groove with first locking lever (607) looks adaptation.

5. A hydraulic flexible manipulator according to claim 2, wherein: the lower surface fixedly connected with second locking lever (608) of second movable rod (605), the second of being used for second locking lever (608) to remove is dodged the groove in interior bottom wall of installation box (602), the second locking groove that runs through inside connector (4) is seted up to the inner wall of connection box (7), second locking lever (608) and second locking groove looks adaptation.

6. A hydraulic flexible manipulator according to claim 1, wherein: the inner bottom wall of the connecting box (5) is provided with a rotating hole, the inner wall of the rotating hole is rotationally connected with a rotating shaft (8), the bottom end of the rotating shaft (8) is fixedly connected with the upper surface of the top plate (601), the connecting part (6) is rotationally connected with the connecting box (5) through the rotating shaft (8), and the inner wall of the connecting box (5) is fixedly connected with a box cover (9).

7. The hydraulic flexible manipulator of claim 6, wherein: the surface fixedly connected with turbine (10) of axis of rotation (8), the inner wall of junction box (5) is connected with worm (11) that are used for driving turbine (10) through the bearing rotation, the interior bottom wall fixedly connected with rotating electrical machines (12) of junction box (5), the output of rotating electrical machines (12) and the one end fixed connection of worm (11).