CN209579596U - A kind of flexible manipulator - Google Patents

Abstract

The utility model discloses a kind of flexible manipulators, including pedestal, pedestal is equipped with two pairs of symmetrical driving mechanisms for referring to pick-and-place in the flexible mechanical finger and driving manipulator that are arranged cross, each mechanical finger includes at least three successively hinged joints, it is connected by tension spring between first joint and pedestal and between two adjacent joints, and first joint one end by pin shaft and pedestal it is hinged, the flat rubber belting slot successively worn and connect for flat rubber belting is respectively equipped on the inside of each joint, driving mechanism includes motor and Scroll, when motor driven Scroll rotates forward, Scroll draws flat rubber belting and shrinks, tension spring is stretched, mechanical finger is curved to the inside；When motor driven Scroll rotates backward, Scroll discharges flat rubber belting, and flat rubber belting is unfolded under the action of tension spring, and mechanical finger resets.Using the utility model, frangible object can be grabbed, grasping force is reliable, and crawl precision is high, and range range is thin.

Description

A kind of flexible manipulator

Technical field

The utility model belongs to robotic technology field, more specifically to a kind of flexible manipulator.

Background technique

With the development of Time Technology, robot technology is the composition portion that high-tech artificial intelligence application field can not lack Point, wherein manipulator is also important component part, has all used mechanical arm operation for example, automatic dress in many industrial circles The work such as match, paint, carrying, welding, though having different classification in different field according to mechanical arm, all be unableing to do without manipulator, So the operating accuracy of manipulator, efficiency directly affect robot, therefore it is designed by object of manipulator, the flexible mechanical Hand has soft grasping effect, and then reduces the installation cost in terms of different field, maintenance cost, the market of the flexible manipulator Development prospect is considerable.

Present manipulator is mostly constant moment, when needing to grab breakables, tends to the damage for causing article, or Crawl article could not hold dynamics, grab loosely, article is tended to break, or do not know when crawl article and grab Specific dynamics when taking, does not grab more accurately.This is because, tradition machinery swivel of hand is controlled by motor, steering engine, this model machine The each joint of tool hand can only rotate certain angle, and manipulator grabs object just less flexibly, so when crawl article The specific dynamics used when crawl is not known, cannot more accurately grab object.

Utility model content

Technical problem to be solved in the utility model is to provide for a kind of flexible manipulator, can grab frangible object, Grasping force is reliable, and crawl precision is high, and range range is thin.

In order to solve the above-mentioned technical problem, the utility model provides a kind of flexible manipulator comprising pedestal, the base Seat is equipped with two pairs of symmetrical driving mechanisms for referring to pick-and-place in the mechanical finger and driving manipulator that are arranged cross, Mei Gesuo Mechanical finger is stated including at least three successively hinged joints, between the first joint and the pedestal and two adjacent joints Between by tension spring connect, and one end of the first joint by pin shaft and the pedestal it is hinged, the inside of each joint It is respectively equipped with the flat rubber belting slot successively worn and connect for flat rubber belting, the driving mechanism includes motor and Scroll, and the motor is fixed on On the pedestal, the Scroll is rotated by the motor driven, and the Scroll is connect with the flat rubber belting；When the motor drives When moving the Scroll and rotating forward, the Scroll draws the flat rubber belting and shrinks, and the tension spring is stretched, the mechanical finger It is curved to the inside；When the Scroll described in the motor driven rotates backward, the Scroll discharges the flat rubber belting, the flat rubber belting It is unfolded under the action of the tension spring, the mechanical finger resets.

As the preferred scheme of the utility model, the flexible manipulator further includes control system, the control system packet Control chip and pressure sensor are included, the pressure sensor is arranged in inside the clamping face of the joint and is used to detect each The clamp pressure of joint；The control chip is connect with the pressure sensor and the motor respectively, for receiving the pressure The pressure signal of force snesor simultaneously sends command signal to the control system of each corresponding motor of mechanical finger.

As the preferred scheme of the utility model, the clamping face of at least one joint is fabricated from a flexible material.

As the preferred scheme of the utility model, the motor is direct current generator.

As the preferred scheme of the utility model, the both ends of the tension spring be fixed by screws in respectively corresponding joint or On pedestal.

As the preferred scheme of the utility model, the motor is fixed on the pedestal by motor fixed frame.

A kind of flexible manipulator for implementing the utility model has the following beneficial effects: compared with prior art

The utility model is placed on the flat rubber belting inside the flat rubber belting slot of mechanical finger using motor stretching, and flat rubber belting is shunk, manipulator Refer to slowly to be bent inwardly, and each joint has certain angle bending, at this time since tension spring has elasticity, buffered mechanical finger Curved pulling force, in addition the effect of tension spring damping, increases the flexible characteristic of mechanical finger, so that mechanical finger be made to delay inwardly Slowly, smoothly it is bent, reaches soft grasping function, grasping force is reliable, and crawl precision is high, and range range is thin, can be applied to industry On assembly line, become flexible assembly line.

Detailed description of the invention

In order to illustrate more clearly of the technical solution of the utility model embodiment, the attached drawing of embodiment will be made below simple Ground introduction.

Fig. 1 is a kind of structural schematic diagram of flexible manipulator provided by the utility model.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts Every other embodiment obtained, fall within the protection scope of the utility model.

As shown in Figure 1, a kind of preferred embodiment of flexible manipulator provided by the utility model comprising pedestal 1, it is described Pedestal 1 is equipped with two pairs of symmetrical driving mechanisms for referring to 2 pick-and-places in the mechanical finger 2 and driving manipulator that are arranged cross, Each mechanical finger 2 includes at least three successively hinged joints 3, between the first joint and the pedestal 1 and adjacent Two joints 3 between connected by tension spring 4, and one end of the first joint is hinged by pin shaft 5 and the pedestal 1, each The inside of the joint 3 is respectively equipped with the flat rubber belting slot 6 successively worn and connect for flat rubber belting, and the driving mechanism includes motor 7 and winding Axis (does not indicate) that the motor 7 is fixed on the pedestal 1 in figure, the Scroll is driven by the motor 7 and rotated, described Scroll is connect with the flat rubber belting；When the motor 7 drives the Scroll to rotate forward, the Scroll traction is described flat Band is shunk, and flat rubber belting contraction passes to power on mechanical finger 2, and since 2 inside stress of mechanical finger is big, outside stress is small, manipulator Refer to that 2 can be curved to the inside, while tension spring 4 is stretched；When the motor 7 drives the Scroll to rotate backward, the winding Axis discharges the flat rubber belting, and the flat rubber belting is unfolded under the action of tension spring 4, and the mechanical finger 2 resets.In the present embodiment, The motor 7 is preferably direct current generator, and the motor 7 is fixed on the pedestal 1 by motor fixed frame 8.The tension spring 4 Both ends pass through screw 9 respectively and be fixed on corresponding joint 3 or pedestal 1.

As it can be seen that the utility model stretches the flat rubber belting for being placed on 6 the inside of flat rubber belting slot of mechanical finger 2 using motor 7, flat rubber belting is received Contracting, mechanical finger 2 can be slowly bent inwardly, and each joint 3 has certain angle bending, at this time since tension spring 4 has elasticity, be delayed The curved pulling force of mechanical finger 2 is rushed, in addition the effect of 4 damping of tension spring, increases the flexible characteristic of mechanical finger 2, to make Mechanical finger 2 slowly, is smoothly bent inwardly, reaches soft grasping function, and grasping force is reliable, and crawl precision is high, range range Carefully, it can be applied on industrial flow-line, become flexible assembly line.

Illustratively, in order to realize that automation control, the flexible manipulator further include control system, the control system Including control chip and pressure sensor, the pressure sensor is arranged in inside the clamping face of the joint 3 and for detecting The clamp pressure of each joint 3；The control chip is connect with the pressure sensor and the motor 7 respectively, for receiving The pressure signal of the pressure sensor simultaneously sends order letter to the control system of the corresponding motor 7 of each mechanical finger 2 Number.

Illustratively, the clamping face of at least one joint 3 is fabricated from a flexible material, to protect workpiece surface not Be damaged, guarantee the detection accuracy of pressure sensor, simultaneously as increase holding area, can be used in for surface accuracy and The clamping work of the higher workpiece of surface quality requirements is conducive to guarantee workpiece quality, saves live use cost.

Above disclosed is only the preferred embodiment of the utility model, certainly cannot be practical new to limit this with this The interest field of type, therefore equivalent variations made according to the patent scope of the utility model still belong to the utility model and are covered Range.

Claims (6)

1. a kind of flexible manipulator, which is characterized in that including pedestal, the pedestal be equipped with two pairs it is symmetrical be in single canvas The mechanical finger and driving manipulator set refer to the driving mechanism of pick-and-place, and each mechanical finger includes at least three successively hingedly Joint, connected by tension spring between the first joint and the pedestal and between two adjacent joints, and the first joint One end by pin shaft and the pedestal it is hinged, be respectively equipped with the flat rubber belting successively worn and connect for flat rubber belting on the inside of each joint Slot, the driving mechanism include motor and Scroll, and the motor is fixed on the pedestal, and the Scroll is by the motor Driving rotation, the Scroll are connect with the flat rubber belting；When the Scroll described in the motor driven rotates forward, the winding Axis draws the flat rubber belting and shrinks, and the tension spring is stretched, and the mechanical finger is curved to the inside；It receives described in the motor driven When spool rotates backward, the Scroll discharges the flat rubber belting, and the flat rubber belting is unfolded under the action of the tension spring, the machinery Finger resets.

2. flexible manipulator as described in claim 1, which is characterized in that further include control system, the control system includes Chip and pressure sensor are controlled, the pressure sensor is arranged in inside the clamping face of the joint and for detecting each bone The clamp pressure of section；The control chip is connect with the pressure sensor and the motor respectively, for receiving the pressure The pressure signal of sensor simultaneously sends command signal to the control system of each corresponding motor of mechanical finger.

3. flexible manipulator as claimed in claim 1 or 2, which is characterized in that the clamping face of at least one joint by Flexible material is made.

4. flexible manipulator as described in claim 1, which is characterized in that the motor is direct current generator.

5. flexible manipulator as described in claim 1, which is characterized in that the both ends of the tension spring are fixed by screws in respectively On corresponding joint or pedestal.

6. flexible manipulator as described in claim 1, which is characterized in that the motor is fixed on institute by motor fixed frame It states on pedestal.