CN221271179U - Flexible manipulator capable of avoiding accidental injury to object - Google Patents
Flexible manipulator capable of avoiding accidental injury to object Download PDFInfo
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- CN221271179U CN221271179U CN202322471599.4U CN202322471599U CN221271179U CN 221271179 U CN221271179 U CN 221271179U CN 202322471599 U CN202322471599 U CN 202322471599U CN 221271179 U CN221271179 U CN 221271179U
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- flexible manipulator
- connecting plate
- mounting
- fixedly arranged
- mounting disc
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- 208000012260 Accidental injury Diseases 0.000 title description 5
- 208000014674 injury Diseases 0.000 title description 5
- 230000000149 penetrating effect Effects 0.000 claims abstract description 4
- 239000000463 material Substances 0.000 claims description 3
- 238000003491 array Methods 0.000 claims 1
- 238000003825 pressing Methods 0.000 description 7
- 230000006378 damage Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model relates to the technical field of manipulators, and discloses a flexible manipulator which does not injure objects accidentally, comprising a mounting plate, wherein a chute is formed in the surface of the mounting plate in a penetrating manner, a fixed ring is fixedly arranged at the center of the top of the mounting plate, a sliding block is connected in the chute in a sliding manner, a pushing block is fixedly arranged at the top of the sliding block, one side, far away from the axis of the mounting plate, of the pushing block is an arc-shaped inclined surface, a first spring is fixedly arranged between the pushing block and the fixed ring, a connecting plate is fixedly arranged at the bottom end of the sliding block, two inserting rods which are distributed up and down are connected in a penetrating manner on the surface of the connecting plate, a clamping plate is fixedly arranged at one end, close to the axis of the mounting plate, of the inserting rods, and a second spring is fixedly arranged between the clamping plate and the connecting plate. The air bag and the bulge can deform, the air bag is attached to the surface of a workpiece, the clamping force of the workpiece is guaranteed through the elasticity of the second spring, and the workpiece is prevented from being damaged due to overlarge clamping force.
Description
Technical Field
The utility model relates to the technical field of manipulators, in particular to a flexible manipulator which does not injure objects accidentally.
Background
A manipulator is an automatic operating device that mimics certain motion functions of a human hand and arm for grasping, handling objects or operating tools in a fixed program. The clamping jaw of the mechanical arm clamps the workpiece, so that the workpiece is automatically taken and placed in industrial production, and the production efficiency can be improved.
The application date is as follows: 2019-05-29, publication number: the Chinese patent of CN210081760U discloses a flexible manipulator, which comprises a fixed plate, a paw and a valve, wherein the paw and the valve are both arranged on the fixed plate, the fixed plate is provided with an air passage, the inside of the paw is of a hollow structure, a cavity of the paw and the valve are both communicated with the air passage, an air bag structure is arranged on the inner side of the paw, and the air pressure in the air bag structure is higher than the external air pressure. The manipulator has simple structure, can effectively avoid the accidental injury of the object due to overlarge force when clamping the object, and has convenient use and strong practicability.
In the technical scheme, the workpiece is clamped by the air bags at the inner sides of the claws, so that the articles are prevented from being accidentally injured due to excessive force. The air bag is soft and is easy to deform due to workpiece extrusion, so that when the workpiece is large in quality, the clamping force provided by the air bag is insufficient, the workpiece is easy to drop, and further improvement can be performed.
Disclosure of utility model
Aiming at the defects of the prior art, the utility model provides the flexible manipulator which can not accidentally injure objects, has the advantages of self-adaptive expansion and contraction of clamping jaws, ensuring certain clamping force, avoiding damage to objects due to overlarge pressure and the like, and solves the problems that an air bag is easy to deform, the clamping force is insufficient, and a workpiece is easy to drop.
In order to achieve the purposes of realizing self-adaptive expansion and contraction of the clamping jaw, guaranteeing certain clamping force and avoiding damage to articles due to overlarge pressure, the utility model provides the following technical scheme: the utility model provides a flexible manipulator that can not accidental injury object, includes the mounting disc, the spout has been seted up to the mounting disc surface run through the array, mounting disc top center department fixed mounting has solid fixed ring, sliding connection has the slider in the spout, slider top fixed mounting has the ejector pad, ejector pad is kept away from mounting disc axis one side and is the arc inclined plane, fixed mounting has spring one between ejector pad and the solid fixed ring, slider bottom fixed mounting has the connecting plate, the surface of connecting plate runs through two inserted bars that sliding connection has upper and lower distribution, inserted bar is close to mounting disc axis one end fixed mounting and has the grip block, fixed mounting has the spring two between grip block and the connecting plate, the outside at the inserted bar is established to spring two cover, the top of mounting disc is provided with drive assembly, drive assembly is used for driving the ejector pad to the mounting disc axis and removes.
Preferably, the drive assembly is including rotating the carousel of connection in the fixed ring, fixed ring inner wall fixed mounting has annular flange, annular flange and mounting disc centre gripping are in the carousel upside down, carousel top center department fixed mounting has the threaded rod, the top array of mounting disc is provided with the guide bar, the surface sliding connection of guide bar has the pressure disk, the surface of pressure disk corresponds the guide bar and runs through the slide hole of having seted up, threaded hole is seted up to the center department of pressure disk, the pressure disk passes through threaded hole threaded connection at the threaded rod surface, pressure disk bottom array is provided with the depression bar, depression bar and ejector pad one-to-one, depression bar bottom butt is on the arc inclined plane of ejector pad.
Preferably, the length of the pressing rod is greater than that of the pushing block, an arc-shaped portion is arranged at the bottom end of the pressing rod, and the pressing rod is attached to the arc-shaped inclined surface of the pushing block through the arc-shaped portion.
Preferably, an air bag is fixedly arranged on one side, close to the axis of the mounting plate, of the clamping plate.
Preferably, an air duct is fixedly arranged at the center of the clamping plate, the air duct is communicated with the air bag, and the air duct penetrates through the connecting plate and is in sliding connection with the connecting plate.
Preferably, the bottom of gasbag department is provided with the bellying, gasbag and bellying are the rubber material.
Preferably, the connecting plate is in an inverted L shape, and the pushing block and the horizontal part of the connecting plate are clamped on the upper side and the lower side of the mounting plate.
Compared with the prior art, the utility model provides the flexible manipulator which can not injure objects accidentally, and has the following beneficial effects:
According to the flexible manipulator without accidentally injuring the object, the threaded rod is driven to rotate by the external driving source, the pressure plate is driven to move downwards along the guide rod, the pressure rod moves downwards, the pushing block is extruded from the outer side, and the sliding block is driven to slide in the sliding groove, so that the connecting plate approaches to the axis of the mounting plate; therefore, the air bag and the bulge are clamped on the surface of the workpiece, air is introduced into the air bag and the bulge through the air guide pipe in cooperation with the air pump, the air bag and the bulge are expanded, and the air bag and the bulge are flexibly clamped on the surface of the workpiece through the elasticity of the second spring. The air bag and the bulge can deform, the air bag is attached to the surface of a workpiece, the clamping force of the workpiece is guaranteed through the elasticity of the second spring, and the workpiece is prevented from being damaged due to overlarge clamping force.
Drawings
Fig. 1 is a schematic perspective view of a flexible manipulator without injuring objects by mistake.
Fig. 2 is a schematic perspective view of a pushing block of a flexible manipulator without injuring an object by mistake.
Fig. 3 is a schematic perspective view of a driving assembly of a flexible manipulator without injuring objects by mistake.
Fig. 4 is a schematic view of a three-dimensional cutaway structure of an airbag of a flexible manipulator without injuring an object by mistake.
In the figure: 1. a mounting plate; 2. a chute; 3. a fixing ring; 4. a slide block; 5. a pushing block; 6. a first spring; 7. a connecting plate; 8. a rod; 9. a clamping plate; 10. a second spring; 11. a turntable; 12. an annular flange; 13. a threaded rod; 14. a guide rod; 15. a pressure plate; 16. a threaded hole; 17. a compression bar; 18. an arc-shaped portion; 19. an air bag; 20. an air duct; 21. a boss.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Referring to fig. 1-2, a flexible manipulator capable of avoiding accidental injury to objects comprises a mounting plate 1, wherein a chute 2 is formed in a penetrating array on the surface of the mounting plate 1, a fixed ring 3 is fixedly arranged at the center of the top of the mounting plate 1, a sliding block 4 is slidably connected in the chute 2, a push block 5 is fixedly arranged at the top of the slide block 4, one side, far away from the axis of the mounting plate 1, of the push block 5 is an arc-shaped inclined surface, a spring I6 is fixedly arranged between the push block 5 and the fixed ring 3, a connecting plate 7 is fixedly arranged at the bottom end of the slide block 4, the connecting plate 7 is in an inverted-L shape, and the push block 5 and the horizontal part of the connecting plate 7 are clamped on the upper side and the lower side of the mounting plate 1. The surface of connecting plate 7 runs through sliding connection has two inserted bars 8 that distribute from top to bottom, and inserted bar 8 is close to mounting disc 1 axis one end fixed mounting has grip block 9, and fixed mounting has spring two 10 between grip block 9 and the connecting plate 7, and spring two 10 cover is established in the outside of inserted bar 8, and the interval between grip block 9 and the connecting plate 7 is adjustable, when grip block 9 carries out the centre gripping to the work piece, through the elasticity of spring two 10, makes the flexible centre gripping of grip block 9 at the surface of work piece. The elasticity of the second spring 10 provides enough clamping force for the workpiece and prevents the workpiece from being damaged by rigid clamping. The top of the mounting plate 1 is provided with a drive assembly for driving the push block 5 to move towards the axis of the mounting plate 1.
Referring to fig. 1-3, the driving assembly includes a turntable 11 rotatably connected in the fixed ring 3, an annular flange 12 is fixedly mounted on the inner wall of the fixed ring 3, and the annular flange 12 and the mounting plate 1 are clamped on the upper and lower sides of the turntable 11, so that a threaded rod 13 is stably arranged in the fixed ring 3. The center department fixed mounting has threaded rod 13 at carousel 11 top, the top array of mounting disc 1 is provided with guide bar 14, guide bar 14's surface sliding connection has pressure disk 15, the slide opening has been run through to guide bar 14 in the surface correspondence of pressure disk 15, pressure disk 15 passes through slide opening and guide bar 14 sliding connection, threaded hole 16 has been seted up at the center department of pressure disk 15, pressure disk 15 passes through threaded hole 16 threaded connection at threaded rod 13 surface, thereby drive threaded rod 13 through the outside drive source and rotate, cooperation threaded rod 13 and pressure disk 15's threaded connection effect, drive pressure disk 15 and slide along guide bar 14. The pressure disk 15 bottom array is provided with depression bar 17, and depression bar 17 and ejector pad 5 one-to-one, and depression bar 17 bottom butt is on the arc inclined plane of ejector pad 5. The length of the pressing rod 17 is greater than that of the pushing block 5, an arc-shaped portion 18 is arranged at the bottom end of the pressing rod 17, and the pressing rod 17 is attached to the arc-shaped inclined surface of the pushing block 5 through the arc-shaped portion 18. So that when the pressure plate 15 moves downward, the pressing rod 17 presses the push block 5 from the outside, pushing the push block 5 toward the axis of the mounting plate 1.
Referring to fig. 1-4, an air bag 19 is fixedly mounted on the side of the clamping plate 9 near the axis of the mounting plate 1. Through the setting of gasbag 19, strengthen the flexibility of grip block 9 and work piece contact surface, further prevent that the clamping force is too big, cause the work piece to damage. An air duct 20 is fixedly arranged at the center of the clamping plate 9, the air duct 20 is communicated with the air bag 19, and the air duct 20 penetrates through the connecting plate 7 and is in sliding connection with the connecting plate 7. The other end of the air duct 20 is connected with an air pump, and the air pump ventilates the air bag 19, and the clamping force on the workpiece is further controlled by controlling the air quantity of the air pumped into the air bag 19. The bottom of the air bag 19 is provided with a bulge 21, and the air bag 19 and the bulge 21 are made of rubber materials. So that when the air bag 19 and the convex portion 21 are inflated, the convex portion 21 protrudes from the surface of the air bag 19, enhancing the load bearing effect on the bottom of the work piece.
Working principle: the threaded rod 13 is driven to rotate by an external driving source, the pressure plate 15 is driven to move downwards along the guide rod 14, the pressure rod 17 moves downwards, the push block 5 is extruded from the outer side, the sliding block 4 is driven to slide in the sliding groove 2, and the connecting plate 7 is made to approach to the axis of the mounting plate 1; thereby the air bag 19 and the bulge 21 are clamped on the surface of the workpiece, air is introduced into the air bag 19 and the bulge 21 through the air duct 20 by matching with the air pump, the air bag 19 and the bulge 21 are inflated, and the air bag 19 and the bulge 21 are flexibly clamped on the surface of the workpiece through the elasticity of the second spring 10.
Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides a flexible manipulator that can not accidentally injure object, includes mounting disc (1), its characterized in that: the utility model provides a mounting disc (1) surface runs through array and has seted up spout (2), fixed ring (3) are located in mounting disc (1) top center, sliding connection has slider (4) in spout (2), slider (4) top fixed mounting has ejector pad (5), ejector pad (5) are kept away from the outside of mounting disc (1) axis one side and are the arc inclined plane, fixed mounting has spring one (6) between ejector pad (5) and fixed ring (3), slider (4) bottom fixed mounting has connecting plate (7), the surface of connecting plate (7) runs through two inserted bars (8) that sliding connection has upper and lower to distribute, inserted bar (8) are close to mounting disc (1) axis one end fixed mounting and have grip block (9), fixed mounting has spring two (10) between grip block (9) and the connecting plate (7), spring two (10) cover are established in the outside of inserted bar (8), the top of mounting disc (1) is provided with drive assembly, drive assembly is used for driving ejector pad (5) axis to remove to mounting disc (1).
2. The flexible manipulator of claim 1, wherein the flexible manipulator does not accidentally injure an object, wherein: the driving assembly comprises a rotary table (11) which is rotationally connected in a fixed ring (3), an annular flange (12) is fixedly arranged on the inner wall of the fixed ring (3), the annular flange (12) and a mounting disc (1) are clamped on the upper side and the lower side of the rotary table (11), a threaded rod (13) is fixedly arranged at the center of the top of the rotary table (11), guide rods (14) are arranged on the top array of the mounting disc (1), pressure plates (15) are slidably connected on the surfaces of the guide rods (14), sliding holes are formed in the surfaces of the pressure plates (15) in a penetrating mode through the corresponding guide rods (14), threaded holes (16) are formed in the center of the pressure plates (15), the pressure plates (15) are connected on the surfaces of the threaded rods (13) through threaded holes (16), pressure rods (17) are arranged on the bottom arrays of the pressure plates (15), the pressure rods (17) are in one-to-one correspondence with the push blocks (5), and the bottom ends of the pressure rods (17) are abutted against the arc-shaped inclined surfaces of the push blocks (5).
3. The flexible manipulator of claim 2, wherein the flexible manipulator does not accidentally injure an object, wherein: the length of the pressure lever (17) is greater than that of the push block (5), an arc-shaped part (18) is arranged at the bottom end of the pressure lever (17), and the pressure lever (17) is attached to the arc-shaped inclined surface of the push block (5) through the arc-shaped part (18).
4. The flexible manipulator of claim 1, wherein the flexible manipulator does not accidentally injure an object, wherein: an air bag (19) is fixedly arranged on one side, close to the axis of the mounting plate (1), of the clamping plate (9).
5. The flexible manipulator of claim 4, wherein the flexible manipulator does not accidentally injure an object, wherein: an air duct (20) is fixedly arranged at the center of the clamping plate (9), the air duct (20) is communicated with the air bag (19), and the air duct (20) penetrates through the connecting plate (7) and is in sliding connection with the connecting plate (7).
6. The flexible manipulator of claim 4 or 5, wherein the flexible manipulator does not accidentally injure an object, wherein: the bottom of the air bag (19) is provided with a protruding portion (21), and the air bag (19) and the protruding portion (21) are made of rubber materials.
7. The flexible manipulator of claim 1, wherein the flexible manipulator does not accidentally injure an object, wherein: the connecting plate (7) is in an inverted L shape, and the pushing block (5) and the horizontal part of the connecting plate (7) are clamped on the upper side and the lower side of the mounting plate (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322471599.4U CN221271179U (en) | 2023-09-12 | 2023-09-12 | Flexible manipulator capable of avoiding accidental injury to object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322471599.4U CN221271179U (en) | 2023-09-12 | 2023-09-12 | Flexible manipulator capable of avoiding accidental injury to object |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN221271179U true CN221271179U (en) | 2024-07-05 |
Family
ID=91701074
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322471599.4U Active CN221271179U (en) | 2023-09-12 | 2023-09-12 | Flexible manipulator capable of avoiding accidental injury to object |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN221271179U (en) |
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2023
- 2023-09-12 CN CN202322471599.4U patent/CN221271179U/en active Active
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| GR01 | Patent grant |