CN112008750A - Manipulator capable of grabbing flexible objects - Google Patents

Abstract

The invention relates to the technical field of robot grabbing, in particular to a manipulator capable of grabbing a flexible object, which comprises a base, wherein a mechanical arm is arranged on the base in a rotating manner, a mechanical claw is fixedly arranged at the tail end of the mechanical arm, the mechanical claw comprises a shell, and a power cavity is arranged in the shell. The target object is protected.

Description

Manipulator capable of grabbing flexible objects

Technical Field

The invention relates to the technical field of robot grabbing, in particular to a manipulator capable of grabbing flexible objects.

Background

The mechanical claw is a mechanical device simulating human fingers to grab objects, and for different types of objects, a special mechanical claw is required to be used, such as a sphere, a cube, a curved surface and the like, which are difficult to realize that the same rigid mechanical claw is used for respectively grabbing the objects. Particularly, the existing mechanical claw for cloth flexible objects is difficult to grasp, and therefore a manipulator capable of grasping the flexible objects is provided to solve the problems.

Disclosure of Invention

The invention aims to provide a manipulator capable of grabbing a flexible object, which can overcome the defects in the prior art, so that the practicability of equipment is improved.

The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to a manipulator capable of grabbing flexible objects, which comprises a base, wherein a mechanical arm is rotatably arranged on the base, a mechanical claw is fixedly arranged at the tail end of the mechanical arm, the mechanical claw comprises a shell, a power cavity is arranged in the shell, a vertically extending screw rod cavity is communicated with the middle part of the power cavity, the screw rod cavity is communicated downwards and is provided with an opening and closing cavity with a downward opening, a motor is fixedly arranged on the upper end wall of the shell, the motor is connected with a motor shaft extending into the power cavity downwards in a power mode, a first gear is fixedly arranged at the lower end of the motor shaft, a nut shaft is rotatably arranged between the upper end wall and the lower end wall of the middle part of the power cavity, a vertically extending threaded hole is arranged in the nut shaft, a second gear meshed with the first gear is fixedly arranged on the nut shaft, a vertically extending first rotating shaft is, a third gear meshed with the second gear is fixedly arranged on the first rotating shaft, a screw shaft is arranged in the screw cavity in a vertical sliding manner, a threaded rod meshed with the threaded hole is fixedly arranged at the upper end of the screw shaft, a rack supporting rod extending leftwards and rightwards is fixedly arranged at the lower end of the threaded shaft, racks extending downwards are fixedly arranged on the left and right end walls of the rack supporting rod in a bilateral symmetry manner, a second rotating shaft extending backwards is arranged on the front end wall of the opening and closing cavity in a bilateral symmetry manner in a rotating manner, an incomplete gear meshed with the racks is fixedly arranged at the rear end of the second rotating shaft, claw finger supporting rods are fixedly arranged on the lower ends of the two incomplete gears in a bilateral symmetry manner, claw finger supporting frames are fixedly arranged at the lower ends of the two claw finger supporting rods in a bilateral symmetry manner, mechanical claw fingers used for grabbing a target are symmetrically arranged on the two claw finger supporting, the upper end of the third rotating shaft is fixedly provided with a fourth gear, the left side of the third rotating shaft is meshed with the fourth gear, the right side of the third rotating shaft is meshed with the fourth gear, the lower end of the third rotating shaft is fixedly provided with a first bevel gear, the first bevel gear can drive a crawler in the mechanical claw finger to rotate through downward transmission of a transmission device so as to lift and grab a target object, and a switch mechanism for controlling the motor to stop is arranged in the mechanical claw finger.

Furthermore, the mechanical gripper finger comprises a fourth rotating shaft which is arranged on the gripper finger supporting frame in a rotating manner and extends forwards and backwards, a first crawler wheel is fixedly arranged at the front end of the fourth rotating shaft, a fifth rotating shaft which extends forwards is arranged on the gripper finger supporting frame in a rotating manner and is close to the symmetrical center side, a first circular ring is fixedly arranged on the fifth rotating shaft, a second circular ring is arranged outside the first circular ring, six groups of first springs which are symmetrically distributed relative to the center of the first circular ring are connected between the inner end wall of the second circular ring and the outer end wall of the first circular ring, a sixth rotating shaft which extends forwards is arranged on the lower side of the gripper finger supporting frame in a rotating manner, a second crawler wheel is fixedly arranged on the sixth rotating shaft, two sliding grooves are arranged on the upper and lower parts of the gripper finger supporting frame close to the symmetrical center end wall, sliding rods are arranged in the sliding grooves in a left-right sliding manner, the sliding rods are far away from the symmetrical center end wall and, the sliding rod is provided with a seventh rotating shaft in a rotating mode close to the symmetrical center, a third crawler wheel is fixedly arranged on the seventh rotating shaft, and the crawler belt is connected among the first crawler wheel, the second crawler wheel, the third crawler wheel and the second ring.

Furthermore, the transmission device comprises an eighth rotating shaft which is arranged on the rear end wall of the opening and closing cavity and extends forwards, a second bevel gear meshed with the first bevel gear is fixedly arranged on the eighth rotating shaft, a first belt wheel is fixedly arranged on the front end of the eighth rotating shaft, a second belt wheel is fixedly arranged on the rear end of the fourth rotating shaft, and the second belt wheel is connected with the first belt wheel through a belt.

Further, the switch mechanism includes the right side the opening that sets up on the claw indicates the supporting rack is to the switch chamber of symmetric center, the slip is provided with the switch slide bar from side to side in the switch chamber, the switch slide bar be close to the fixed contact ball that is provided with the butt of second ring near the symmetric center end wall, the switch slide bar keep away from the symmetric center end wall with the switch chamber is kept away from and is used the third spring coupling between the symmetric center end wall, the switch slide bar keeps away from the fixed first contact that is provided with of symmetric center end wall, the switch chamber keep away from the fixed second contact that is provided with of symmetric center end wall can with the butt of first contact, first contact with the second contact with the control line electric connection of motor.

The invention has the beneficial effects that: the manipulator capable of grabbing the flexible objects, provided by the invention, has a simple structure and is ingenious in design, the rotation of the crawler and the clamping of the claw fingers are used, not only can a specific object be grabbed, but also different types of objects can be adapted to the grabbing of the flexible objects, and even the grabbing of the flexible objects is realized, the floating auxiliary wheel is used for replacing a rigid rod piece to drive the claw piece to realize the flexible grabbing of the mechanical claw on the objects, the manipulator can be adaptive to various objects with different shapes, the objects with irregular surfaces can be grabbed accurately, the contact area between the claw piece and the objects is increased, the clamping force is improved, meanwhile, an automatic stopping device arranged in the manipulator stops moving when reaching the preset grabbing force, and the target objects are protected.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic view of the overall structure of a mechanical arm for grabbing a flexible object according to the present invention;

FIG. 2 is an enlarged schematic view of A in FIG. 1;

FIG. 3 is an enlarged schematic view of B of FIG. 2;

fig. 4 is a schematic diagram of the structure C-C in fig. 2.

Detailed Description

The invention will now be described in detail with reference to fig. 1-4, wherein for ease of description the orientations described hereinafter are now defined as follows: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.

The mechanical arm capable of grabbing flexible objects, which is described in conjunction with fig. 1-4, includes a base 1, a mechanical arm 8 is rotatably disposed on the base 1, a mechanical claw 7 is fixedly disposed at the end of the mechanical arm 8, the mechanical claw 7 includes a housing 10, a power chamber 13 is disposed in the housing 10, a vertically extending screw cavity 18 is communicated with the middle of the power chamber 13, the screw cavity 18 is communicated with a downwardly opening and closing cavity 47 having a downward opening, a motor 16 is fixedly disposed on the upper end wall of the housing 10, the motor 16 is connected with a motor shaft 15 extending into the power chamber 13 in a downward power manner, a first gear 14 is fixedly disposed at the lower end of the motor shaft 15, a nut shaft 20 is rotatably disposed between the upper end wall and the lower end wall of the middle of the power chamber 13, a vertically extending threaded hole 60 is disposed in the nut shaft 20, and a second gear 17 engaged with the first gear 14 is fixedly disposed on, a first rotating shaft 21 extending up and down is fixedly arranged at the left end of the nut shaft 20 between the upper end wall and the lower end wall of the power cavity 13, a third gear 22 engaged with the second gear 17 is fixedly arranged on the first rotating shaft 21, a screw shaft 23 is arranged in the screw cavity 18 in a vertically sliding manner, a threaded rod 19 engaged with the threaded hole 60 is fixedly arranged at the upper end of the screw shaft 23, a rack support rod 25 extending left and right is fixedly arranged at the lower end of the screw shaft 23, downwardly extending racks 26 are fixedly arranged at the left end wall and the right end wall of the rack support rod 25 in a bilaterally symmetrical manner, a second rotating shaft 28 extending backwards is rotatably arranged at the front end wall of the opening and closing cavity 47 in a bilaterally symmetrical manner, an incomplete gear 27 engaged with the racks 26 is fixedly arranged at the rear end of the incomplete gear 27 in a bilaterally symmetrical manner, claw finger support rods 29 are fixedly arranged at the lower end of the, the two claw finger supporting frames 36 are symmetrically provided with mechanical claw fingers 100 for grabbing a target object, the power cavity 13 and the opening and closing cavity 47 are symmetrically provided with a third rotating shaft 11, the upper end of the third rotating shaft 11 is fixedly provided with a fourth gear 12, the left side of the fourth gear 12 is meshed with the third gear 22, the right side of the fourth gear 12 is meshed with the first gear 14, the lower end of the third rotating shaft 11 is fixedly provided with a first bevel gear 55, the first bevel gear 55 is driven downwards by a transmission device 200 to drive a crawler 30 in the claw fingers 100 to rotate so as to lift and grab the target object, and the claw fingers 100 are internally provided with a switch mechanism 300 for controlling the motor 16 to stop.

Advantageously, the gripper finger 100 includes a fourth rotating shaft 33 extending forward and backward and rotatably disposed on the gripper finger support 36, a first track wheel 32 is fixedly disposed at a front end of the fourth rotating shaft 33, a fifth rotating shaft 41 extending forward and rotatably disposed on the gripper finger support 36 near the symmetrical center side, a first circular ring 42 is fixedly disposed on the fifth rotating shaft 41, a second circular ring 43 is disposed outside the first circular ring 42, six sets of first springs 48 symmetrically distributed with respect to the center of the first circular ring 42 are connected between an inner end wall of the second circular ring 43 and an outer end wall of the first circular ring 42, a sixth rotating shaft 38 extending forward and rotatably disposed on a lower side of the gripper finger support 36, a second track wheel 37 is fixedly disposed on the sixth rotating shaft 38, two sliding grooves 39 are disposed on and below the gripper finger support 36 near the symmetrical center end wall, a sliding rod 61 is slidably disposed in the sliding grooves 39 from left to right, the end wall of the slide rod 61 far from the symmetric center is connected with the end wall of the slide groove 39 far from the symmetric center by a second spring 40, the side of the slide rod 61 near the symmetric center is rotatably provided with a seventh rotating shaft 35, the seventh rotating shaft is fixedly provided with a third crawler wheel 34, and the crawler 30 is connected among the first crawler wheel 32, the second crawler wheel 37, the third crawler wheel 34 and the second ring 43.

Advantageously, the transmission device 200 comprises an eighth rotating shaft 58 extending forwards and rotatably arranged on the rear end wall of the opening and closing cavity 47, a second bevel gear 57 engaged with the first bevel gear 55 is fixedly arranged on the eighth rotating shaft 58, a first belt pulley 56 is fixedly arranged on the front end of the eighth rotating shaft 58, a second belt pulley 45 is fixedly arranged on the rear end of the fourth rotating shaft 33, and the second belt pulley 45 is connected with the first belt pulley 56 by a belt 46.

Advantageously, the switching mechanism 300 includes a switching chamber 51 opened to the symmetric center and provided on the right finger support 36, a switch slide rod 50 is slidably provided in the switching chamber 51 from left to right, a contact ball 49 abutting against the second ring 43 is fixedly provided on the end wall of the switch slide rod 50 close to the symmetric center, the switch slide rod 50 is connected to the end wall of the switching chamber 51 far from the symmetric center by a third spring 53, a first contact 54 is fixedly provided on the switch slide rod 50 far from the end wall of the symmetric center, a second contact 52 capable of abutting against the first contact 54 is fixedly provided on the end wall of the switching chamber 51 far from the symmetric center, and the first contact 54 and the second contact 52 are electrically connected to the control line of the motor 16.

The fixing and connecting method in this embodiment includes, but is not limited to, bolting, welding, and the like.

As shown in fig. 1-4, the first contact 54 is out of abutment with the second contact 52 when the device of the present invention is in the initial state.

Sequence of mechanical actions of the whole device: by controlling the mechanical arm 8 to move the mechanical claw 7 above the target, the motor 16 is started to drive the motor shaft 15 to rotate, so as to drive the first gear 14 to rotate, so as to drive the second gear 17 to rotate, so as to drive the nut shaft 20 to rotate, so as to drive the threaded rod 19 to move downwards, so as to drive the rack 26 to move upwards, so as to drive the right incomplete gear 27 to rotate clockwise, so as to drive the left incomplete gear 27 to rotate counterclockwise to grab the target, the first gear 14 rotates while driving the right fourth gear 12 to rotate, the second gear 17 rotates while driving the third gear 22 to rotate, so as to drive the left fourth gear 12 to rotate, the fourth gear 12 rotates while driving the first bevel gear 55 to rotate, so as to drive the second bevel gear 57 to rotate, so as to drive the eighth rotating shaft 58 to rotate, thereby rotating the first belt pulley 56, and thus the second belt pulley 45, and thus the fourth rotating shaft 33, thereby driving the first track wheel 32 to rotate, thereby driving the track 30 to rotate to lift and grab the object, when the mechanical claw finger 100 grabs the target object to reach the set force, the second ring 43 on the right moves right and left under the target object, thereby moving the contact ball 49 to the right, thereby moving the switch slide 50 to the right, the first contact 54 and the second contact 52 are abutted with each other, so that the motor 16 stops rotating, the mechanical arm 8 is controlled to move the mechanical claw 7 and the target object to the required positions, the motor 16 is reversed to release the target object and reset the mechanical claw 7, and the grabbing and transferring of the target object can be completed by repeating the actions.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims (4)

1. The utility model provides a can snatch flexible thing manipulator, includes the base, its characterized in that: the mechanical arm is rotatably arranged on the base, a mechanical claw is fixedly arranged at the tail end of the mechanical arm, the mechanical claw comprises a shell, a power cavity is arranged in the shell, a vertically extending screw rod cavity is communicated with the middle part of the power cavity, an opening and closing cavity with a downward opening is communicated with the screw rod cavity downwards, a motor is fixedly arranged on the upper end wall of the shell, the motor is connected with a motor shaft extending into the power cavity downwards in a power mode, a first gear is fixedly arranged at the lower end of the motor shaft, a nut shaft is rotatably arranged between the upper end wall and the lower end wall of the middle part of the power cavity, a vertically extending threaded hole is arranged in the nut shaft, a second gear meshed with the first gear is fixedly arranged on the nut shaft, a vertically extending first rotating shaft is fixedly arranged between the upper end wall and the lower end wall of the power cavity and the left end of the nut shaft, a screw shaft is arranged in the screw cavity in an up-and-down sliding manner, a threaded rod meshed with the threaded hole is fixedly arranged at the upper end of the screw shaft, a rack support rod extending leftwards and rightwards is fixedly arranged at the lower end of the threaded shaft, racks extending downwards are fixedly arranged on the left end wall and the right end wall of the rack support rod in a bilateral symmetry manner, a second rotating shaft extending backwards is arranged on the front end wall of the opening-closing cavity in a bilateral symmetry manner in a bilateral rotation manner, an incomplete gear meshed with the racks is fixedly arranged at the rear end of the second rotating shaft, claw finger support rods are fixedly arranged at the lower ends of the incomplete gears in a bilateral symmetry manner, claw finger support frames are fixedly arranged at the lower ends of the two claw finger support frames in a bilateral symmetry manner, mechanical claw fingers for grabbing a target are symmetrically arranged on the two claw finger support frames in a bilateral, the left side fourth gear is meshed with the third gear, the right side fourth gear is meshed with the first gear, a first bevel gear is fixedly arranged at the lower end of the third rotating shaft, the first bevel gear can drive a crawler in the mechanical claw finger to rotate through downward transmission of a transmission device so as to lift and grab a target object, and a switch mechanism for controlling the motor to stop is arranged in the mechanical claw finger.

2. A graspable, flexible object manipulator as claimed in claim 1, wherein: the mechanical gripper finger comprises a fourth rotating shaft which is arranged on the gripper finger supporting frame in a rotating manner and extends forwards and backwards, a first crawler wheel is fixedly arranged at the front end of the fourth rotating shaft, a fifth rotating shaft which extends forwards is arranged on the gripper finger supporting frame in a rotating manner and is close to the symmetrical center side, a first circular ring is fixedly arranged on the fifth rotating shaft, a second circular ring is arranged outside the first circular ring, six groups of first springs which are symmetrically distributed relative to the center of the first circular ring are connected between the inner end wall of the second circular ring and the outer end wall of the first circular ring, a sixth rotating shaft which extends forwards is arranged on the lower side of the gripper finger supporting frame in a rotating manner, a second crawler wheel is fixedly arranged on the sixth rotating shaft, two sliding grooves are arranged on the upper and lower parts of the gripper finger supporting frame close to the symmetrical center end wall, sliding rods are arranged in the sliding grooves in a left-right sliding manner, and the sliding rods are far away from the symmetrical center, the sliding rod is provided with a seventh rotating shaft in a rotating mode close to the symmetrical center, a third crawler wheel is fixedly arranged on the seventh rotating shaft, and the crawler belt is connected among the first crawler wheel, the second crawler wheel, the third crawler wheel and the second ring.

3. A graspable, flexible object manipulator as claimed in claim 1, wherein: the transmission device comprises an eighth rotating shaft which is arranged on the rear end wall of the opening and closing cavity in a rotating mode and extends forwards, a second bevel gear meshed with the first bevel gear is fixedly arranged on the eighth rotating shaft, a first belt wheel is fixedly arranged at the front end of the eighth rotating shaft, a second belt wheel is fixedly arranged at the rear end of the fourth rotating shaft, and the second belt wheel is connected with the first belt wheel through a belt.

4. A graspable, flexible object manipulator as claimed in claim 1, wherein: the switching mechanism includes the right side the opening that sets up on the claw indicates the supporting rack is to the switch chamber of symmetric center, the slip is provided with the switch slide bar about in the switch chamber, the switch slide bar be close to the fixed contact ball that is provided with the second ring butt of symmetric center end wall, the switch slide bar keep away from the symmetric center end wall with the switch chamber is kept away from and is used the third spring coupling between the symmetric center end wall, the switch slide bar is kept away from the fixed first contact that is provided with of symmetric center end wall, the switch chamber keep away from the fixed second contact that is provided with of symmetric center end wall can with the butt of first contact, first contact with the second contact with the control line electric connection of motor.

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