Flexible manipulator

Abstract

The invention discloses a flexible manipulator which comprises at least one pair of flexible fingers, and further comprises a distribution integrated block. A main channel and a plurality of sub-channels are formed in the distribution integrated block; a sub-joint is arranged on each sub-channel, and a main joint is arranged on the main channel; each flexible finger comprises a finger bottom plate and a finger surface, wherein the elastic modulus of the finger bottom plate is larger than the elastic modulus of the finger surface, the finger surface comprises a fingertip section, a knuckle section and a finger root section, a driving chamber is formed by joint surrounding of the knuckle section and the finger bottom plate, a transition groove is formed between the knuckle section and the finger root section, and a ventilation port is formed in the finger bottom plate or the finger root section; the sub-joints are sleeved with the ventilation ports of the flexible fingers in a one-to-one correspondence mode; the exteriors of the finger root sections are buckled with cover shells in a covered mode; and the cover shells are detachably fixed to the distribution integrated block, and one side wall of each cover shell is located in the corresponding transition groove. The flexible fingers of the flexible manipulator are easy to install, convenient to fix, more compact in arrangement and accordingly more suitable for clamping small articles.

Description

technical field [0001] The invention relates to a flexible manipulator, in particular to a flexible manipulator for realizing flexible clamping. Background technique [0002] In the field of industrial automation, the grasping action at the end of the robotic arm is mainly completed by rigid mechanical grippers or vacuum suction cups. However, due to the difficulty in controlling the strength of rigid mechanical grippers, it is difficult to achieve non-destructive grasping of soft and fragile objects. It is difficult for vacuum suction cups to adapt to irregular objects with rough surfaces and holes during handling. This leads to limitations in both application scenarios. [0003] The flexible manipulator includes flexible fingers and a fixed seat. The flexible fingers are made of elastic materials, which can grasp soft and fragile objects without causing damage to the objects themselves. Current flexible fingers include fingertips and knuckles, and the fingertips and knu...

AI Technical Summary

Problems solved by technology

[0004]1. Flexible fingers have limited service life and compressive strength due to the limitation of the strength of the flexible material itself

[0005] 2. Since the tail of the current flexible finger is a tapered air intake nozzle, a special fixing seat is required to clamp the flange edge of the air intake nozzle from all sides, so the installation of the flexible manipulator is more complicated, and the arrangement of the flexible fingers is fixed. The size of the seat is limited, and it cannot be closely arranged to grab small items

[0006]3. Since the air intake nozzle is tapered, the joint between the air intake nozzle and the knuckle is a closed neck. During the use of flexible fingers, due to The existence of the neck neck makes the flexible fingers shake a lot during the deformation process, which makes the flexible fingers unable to adapt to fast grasping

[0007] 4. At present, each flexible finger of the flexible manipulator is externally connected to the air pipe and the main air intake pipe. Therefore, the entire pipeline connection is complicated, and installation and maintenance are difficult. In some harsh environments, the above-mentioned flexible manipulator is prone to failure. low reliability

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