CN108127683A - A kind of flexible fixture of multi-angle regulation - Google Patents
A kind of flexible fixture of multi-angle regulation Download PDFInfo
- Publication number
- CN108127683A CN108127683A CN201810115439.7A CN201810115439A CN108127683A CN 108127683 A CN108127683 A CN 108127683A CN 201810115439 A CN201810115439 A CN 201810115439A CN 108127683 A CN108127683 A CN 108127683A
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- Prior art keywords
- finger
- flexible
- mounting blocks
- flexible finger
- hole
- Prior art date
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- 238000009434 installation Methods 0.000 claims abstract description 46
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 22
- 230000013011 mating Effects 0.000 claims description 17
- 238000007789 sealing Methods 0.000 claims description 8
- 230000003014 reinforcing effect Effects 0.000 claims description 7
- 210000001145 finger joint Anatomy 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 239000000178 monomer Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
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- 239000007787 solid Substances 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 241000276425 Xiphophorus maculatus Species 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 239000010425 asbestos Substances 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
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- 239000004917 carbon fiber Substances 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 235000013312 flour Nutrition 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 229910052895 riebeckite Inorganic materials 0.000 description 1
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- 239000010959 steel Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Connection Of Plates (AREA)
Abstract
The invention discloses in the adjustment seat at least provided with two groups of bar shaped mounting holes, every group of bar shaped mounting hole includes two parallel bar shaped mounting holes, one flexible finger component of installation in every group of bar shaped mounting hole, the flexible finger component includes mounting blocks and flexible finger, installation sliding slot is provided at the top of the mounting blocks, the top of the installation sliding slot is provided with strip closing in, the width that the strip closes up is less than the width of installation sliding slot, being slidably installed in the installation sliding slot, there are two connection sliding blocks, it is provided on the connection sliding block and the corresponding connecting screw hole of strip closing in, each connection sliding block is fixed on by mounting screw on corresponding bar shaped mounting hole, the flexible finger is fixed on mounting blocks, the blow vent of the flexible finger is connected with air-channel system.The flexible fixture can adjust the relative angle of flexible finger component, and so as to be suitble to the clamping or crawl of article of different shapes, adaptability is wider.
Description
Technical field
The present invention relates to a kind of flexible fixture more particularly to a kind of flexible fixtures of multi-angle regulation.
Background technology
In industrial automation, mechanical arm tail end grasping movement is mainly completed by rigid mechanical hand claw or vacuum cup.
But rigid mechanical hand claw, since dynamics is difficult to control, it is difficult to realize lossless crawl to soft, fragile object.Vacuum cup is being removed
Fortune during be difficult in adapt to rough surface, trepanning Special-shaped object.This leads to the two application scenarios, and there are limitations.
For it is above-mentioned the problem of, applicant applied a kind of flexible finger and using the flexible finger carry out flexible clamping
With the flexible fixture of crawl, the wherein structure of flexible finger is remembered in detail in the application documents of Patent No. 201710667696.7
It carries, this flexible finger and flexible fixture can realize the crawl to soft, fragile object without generating damage in itself to object
Wound.But this structure still has a problem that it is that since the use scope of this flexible fixture is very wide, for example can press from both sides
It holds egg, such as clamps steel pipe, clamping profiled parts, clamping breakables etc., the size of article to be held, shape are not
Together, the relative position and between the flexible finger of flexible fixture is non-adjustable, thus applicant cause when making flexible fixture it is soft
Property fixture specification it is very more, the production cost increases, die sinking it is costly.
Invention content
The technical problems to be solved by the invention are：A kind of flexible fixture of multi-angle regulation is provided, which can
To adjust the relative angle of flexible finger component, so as to be suitble to the clamping or crawl of article of different shapes, adaptability is wider.
In order to solve the above technical problems, the technical scheme is that：A kind of flexible fixture of multi-angle regulation, including adjusting
It saves seat and flexible finger component, includes two at least provided with two groups of bar shaped mounting holes, every group of bar shaped mounting hole in the adjustment seat
The parallel bar shaped mounting hole of item, every group of bar shaped mounting hole one flexible finger component of interior installation, the flexible finger component include
Mounting blocks and flexible finger are provided with installation sliding slot at the top of the mounting blocks, and the top of the installation sliding slot is provided with strip receipts
Mouthful, the width which closes up is less than the width of installation sliding slot, is slidably installed in the installation sliding slot there are two connection sliding block, should
Be provided on connection sliding block with the corresponding connecting screw hole of strip closing in, each connection sliding block is fixed on corresponding by mounting screw
On bar shaped mounting hole, the flexible finger is fixed on mounting blocks, and the blow vent of the flexible finger is connected with air-channel system.
As a preferred solution, the adjustment seat includes pedestal and at least two pieces of angle adjustment plates, every piece of angle tune
One group of bar shaped mounting hole is respectively provided on section plate, one end of the angle adjustment plate is installed on by articulated shaft or by trip bolt
On pedestal, the angular adjustment connection that angle adjustment plate is facilitated to carry out angular adjustment is provided between the angle adjustment plate and pedestal
Structure.
As a preferred solution, the angular adjustment connection structure includes the arc tune being set on angle adjustment plate
Knothole, the articulated shaft or trip bolt are in the circle centre position of arc adjustment hole, are provided on the pedestal and arc adjustment hole
The installation screw of adaptation is equipped with angle lock-screw in the installation screw, which is constrained in corresponding arc
In shape adjustment hole.
As a preferred solution, the left side of the mounting blocks and right side are all provided with being set to mating surface, the installation
The gas channel of perforation left side and right side is provided on block, is both provided on the left side and right side close for installing
The sealing ring mounting groove of seal is fixed with the air inlet being connected with gas channel on the leading flank of the mounting blocks or trailing flank
Mouth, the blow vent of the flexible finger are installed on suction nozzle, and the flexible finger is fixed on mounting blocks, when the number of mounting blocks
It measures when being one, one end of gas channel is equipped with block head, and the other end is equipped with total suction nozzle connector；When the quantity of mounting blocks
When being multiple, be provided on each mounting blocks can by multiple mounting blocks groups to the group that is fixed to connection structure, each mounting blocks
Mating surface seals against each other contact, and the gas channel combination of each mounting blocks constitutes air supply channel, and one end of air supply channel is equipped with
Block head, the other end are equipped with total suction nozzle connector；Total suction nozzle connector is connected with the air-channel system.
As a preferred solution, it at least one is used for what connection structure included being set on each mounting blocks for described group
The stud mounting hole of stud is installed, which is equipped in the stud mounting hole through left side and right side
Connecting stud, the mating surface of each mounting blocks contacts with each other is fixed by the connecting stud axial tightening.
As a preferred solution, described group of link slot or the connection for including being set on mounting blocks to connection structure
Hole, the link slot or connecting hole run through in the link slot or connecting hole on left side and right side, each mounting blocks group pair
Connecting rod is locked, the group is to the latch segment for being provided at both ends with each mounting blocks of axial locking of locking connecting rod.
As a preferred solution, the left side of the mounting blocks and right side are arranged to mating surface, the flexible hand
Finger includes Fingers face and finger bottom plate, and the Fingers face includes finger tip section, finger joint section and refers to section, and the flexible finger leads to
It crosses cover and is buckled in finger with the fixation case outside section on mounting blocks, the blow vent of the flexible finger is arranged on finger with section
Back is arranged on the finger bottom plate of flexible finger, when the blow vent of flexible finger, which is arranged on, refers to the back with section, institute
It states and is fixed with suction nozzle on fixed case, which is inserted into the blow vent of the flexible finger；When the blow vent of flexible finger
When being arranged on the finger bottom plate of flexible finger, suction nozzle is fixed on the mounting blocks, which is inserted into the flexible hand
The blow vent of finger, each suction nozzle are connected with air-channel system.
As a preferred solution, the mounting blocks include a slide contact part and a vertical plate portion, the peace
Dress sliding slot is set on slide contact part, and the finger bottom plate of the flexible finger, which contacts with vertical plate portion and passes through fixed case, to be consolidated
It is scheduled in vertical plate portion.
As a preferred solution, the bottom of the finger bottom plate of the flexible finger is fixed with wear-resisting reinforcing plate.
As a preferred solution, when the flexible fixture includes the flexible finger component of three or more, and it is each
When flexible finger component only includes a mounting blocks and a flexible finger, each flexible finger component is located at the vertex of polygon
Locate, the finger web is connected between adjacent flexible finger.
After employing above-mentioned technical proposal, effect of the invention is：Since the flexible fixture includes adjustment seat and flexible hand
Finger assembly includes two parallel bar shapeds in the adjustment seat at least provided with two groups of bar shaped mounting holes, every group of bar shaped mounting hole
Mounting hole, every group of bar shaped mounting hole one flexible finger component of interior installation, the flexible finger component include mounting blocks and flexibility
Finger is provided with installation sliding slot at the top of the mounting blocks, and the top of the installation sliding slot is provided with strip closing in, which closes up
Width be less than the width of installation sliding slot, be slidably installed there are two connection sliding block in the installation sliding slot, set on the connection sliding block
It is equipped with and corresponding bar shaped mounting hole is fixed on by mounting screw with the corresponding connecting screw hole of strip closing in, each connection sliding block
On, the flexible finger is fixed on mounting blocks, and the blow vent of the flexible finger is connected with air-channel system.The flexible fixture knot
Structure is reasonable, can adjust the relative position between flexible finger component by bar shaped mounting hole, can clamp different size in this way
Article, while only need to adjust two mounting screws on two connection sliding blocks and to different positions can just make mounting blocks
Relative adjustment seat deflects in a certain range, and then finely tunes the claming angle of flexible finger, is suitble to article clamping of different shapes.
Again since the adjustment seat includes pedestal and at least two pieces of angle adjustment plates, one is respectively provided on every piece of angle adjustment plate
Group bar shaped mounting hole, one end of the angle adjustment plate are installed on by articulated shaft or by trip bolt on pedestal, the angle
The angular adjustment connection structure that angle adjustment plate is facilitated to carry out angular adjustment, the angle tune are provided between degree adjustable plate and pedestal
Section connection structure can facilitate angle adjustment plate to swing (trip bolt unclamps during swing) around its articulated shaft or trip bolt,
So as to adjust the angle between each same angle adjustment plate, the relative position between such flexible finger component changes, in this way
Adaptability is wider, is suitble to the clamping of various articles of different shapes, makes clamping by the relative position for changing flexible finger component
Angle is more reasonable, and clamping or crawl effect are more preferable.
It is described hinged again since the angular adjustment connection structure includes the arc adjustment hole being set on angle adjustment plate
Axis or trip bolt are in the circle centre position of arc adjustment hole, and the installation spiral shell being adapted to arc adjustment hole is provided on the pedestal
Hole is equipped with angle lock-screw in the installation screw, which is constrained in corresponding arc adjustment hole.It should
The adjusting of angular adjustment connection structure is very convenient, only angle lock-screw need to be slightly unclamped, due to the presence of arc adjustment hole, angle
Degree adjustable plate can adjust angle in the range of arc adjustment hole, and it is more convenient to adjust operation.
Again since the left side of the mounting blocks and right side are all provided with being set to mating surface, perforation is provided on the mounting blocks
Left side and the gas channel of right side are both provided with the sealing ring peace for installing sealing ring on the left side and right side
Tankage is fixed with the suction nozzle being connected with gas channel, the flexible hand on the leading flank of the mounting blocks or trailing flank
The blow vent of finger is installed on suction nozzle, and the flexible finger is fixed on mounting blocks, when the quantity of mounting blocks is one, gas
One end of circulation road is equipped with block head, and the other end is equipped with total suction nozzle connector；It is each to pacify when the quantity of mounting blocks is multiple
Dress block on be provided with can by multiple mounting blocks groups to the group being fixed to connection structure, the mating surface of each mounting blocks seals against each other
Contact, the gas channel combination of each mounting blocks constitute air supply channel, and one end of air supply channel is equipped with block head, other end peace
Equipped with total suction nozzle connector；Total suction nozzle connector is connected with the air-channel system.The flexible finger component can be according to reality
The structure of multiple mounting blocks and multiple flexible fingers is grouped into the needs on border, and such adaptability is wider, it is only necessary to according to list
The structure of one modular assembly is produced, and die sinking amount is lacked, and production cost is lower.
At least one spiral shell for being used to install stud for including being set to connection structure on each mounting blocks due to described group again
Column mounting hole, which is equipped with connecting stud through left side and right side in the stud mounting hole, each to pacify
The mating surface of dress block contacts with each other is fixed by the connecting stud axial tightening.The group is reasonable to connection structure, and fixed
It is convenient.
Again since the left side of the mounting blocks and right side are arranged to mating surface, the flexible finger includes Fingers face
With finger bottom plate, the Fingers face includes finger tip section, finger joint section and refers to section, and the flexible finger is buckled in finger with section by cover
External fixation case is mounted on mounting blocks, and the blow vent of the flexible finger is arranged on finger with the back of section or is arranged on
It is solid on the fixed case when the blow vent of flexible finger, which is arranged on, refers to the back with section on the finger bottom plate of flexible finger
Surely there is suction nozzle, which is inserted into the blow vent of the flexible finger；When the blow vent of flexible finger is arranged on flexible finger
Finger bottom plate on when, be fixed with suction nozzle on the mounting blocks, which is inserted into the blow vent of the flexible finger, respectively into
Gas nozzle is connected with air-channel system.Gas channel is omitted in the mounting blocks of this structure, and the volume smaller of such mounting blocks, thickness is more
It is small, in this way, the spacing when being adjusted between mounting blocks can be suitble to the smaller article of clamping in this way with smaller.
Again since the bottom of the flexible finger is fixed with wear-resisting reinforcing plate, the wear-resisting reinforcing plate can improve flexible hand
Refer to the wear-resisting property of bottom so that it is convenient to clamp or capture sharp objects, accommodation is wider.
When again due to including the flexible finger component of three or more when the flexible fixture, and each flexible finger component is only
Including a mounting blocks and during a flexible finger, each flexible finger component is located at the apex of polygon, adjacent flexible hand
The finger web is connected between finger.Crawl chamber is formed using flexible finger and the finger web, some graininess, powder can be captured in this way
The article of last shape, such as medicine particle, chemicals, chemical fertilizer, flour etc., while some fibre shape and tiny villus can also be captured
The article of shape, such as the harmful article such as asbestos, shortwave fiber, carbon fiber.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram of the embodiment of the present invention 1；
Fig. 2 is the vertical view of the embodiment of the present invention 1；
Fig. 3 is the structure diagram after the flexible finger component deflection of the embodiment of the present invention 1；
Fig. 4 is the exploded perspective view of the embodiment of the present invention 1；
Fig. 5 is the structure diagram with the finger web in the embodiment of the present invention 2；
Fig. 6 is the mounting structure schematic diagram of multiple modular assemblies；
Fig. 7 is the right view of Fig. 6；
Fig. 8 is sectional views of the Fig. 7 at A-A；
Fig. 9 is the exploded perspective view of the modular assembly of the embodiment of the present invention 1；
Figure 10 is the schematic diagram of another structure of the flexible finger module of the embodiment of the present invention 3；
Figure 11 is the exploded perspective view of the embodiment of the present invention 4；
Figure 12 is the exploded perspective view of the flexible finger of the embodiment of the present invention 4；
In attached drawing：1. pedestal；11. installation screw；2. angle adjustment plate；21. arc adjustment hole；22. bar shaped mounting hole；3.
Flexible finger component；31. flexible finger；311. finger tip sections；312. finger joint sections；313. refer to section；314. wear-resisting reinforcing plates；315.
The finger web；32. mounting blocks；321. gas channel；322. stud mounting holes；323. installation sliding slots；324. dowel hole；325. connection
Sliding block；326. suction nozzle；327. sealing ring mounting groove；328. link slot；33. fix case；331. screw mounting portions；It is 332. convex
Extending portion；4. trip bolt；5. angle lock-screw；6. mounting screw；7. connecting stud.
Specific embodiment
Below by specific embodiment, the present invention is described in further detail.
Embodiment 1
As shown in Figure 1 to Figure 4, shown in Fig. 6 to Fig. 8, a kind of flexible fixture of multi-angle regulation, including adjustment seat and flexible finger
Component 3, the adjustment seat includes pedestal 1 and at least two pieces of angle adjustment plates 2, and in the present embodiment, the quantity of angle adjustment plate 2 is
Four pieces, the quantity of corresponding flexible finger component 3 is also four, and one end of the angle adjustment plate 2 is articulated with by articulated shaft
On pedestal 1, the other end of angle adjustment plate 2 is equipped with flexible finger component 3, is set between the angle adjustment plate 2 and pedestal 1
There is the angular adjustment connection structure that angle adjustment plate 2 is facilitated to carry out angular adjustment.
As shown in Figures 1 to 4, the angular adjustment connection structure includes the arc being set on angle adjustment plate 2 adjusting
Hole 21, the center of circle of the arc adjustment hole 21 are the hinged center of corresponding angle adjustable plate 2, are provided on the pedestal 1 and arc
The installation screw 11 that shape adjustment hole 21 is adapted to is equipped with angle lock-screw 5 in the installation screw 11, the angle lock-screw
5 are constrained in corresponding arc adjustment hole 21, and this angular adjustment connection structure structure is more reasonable, only need to twist when adjusting
It loose angle lock-screw 5 and does not back out completely, around hinged center beat, beat to institute can occur for such angle adjustment plate 2
It needs to tighten angle lock-screw 5 again after angle and completes angular adjustment.
In the present embodiment, the articulated shaft is replaced by trip bolt 4, and one end of the angle adjustment plate 2 passes through fastening
Screw 4 is installed on pedestal 1, and the angle adjustment plate 2 can be swung around trip bolt 4 when unscrewing the trip bolt 4.Make in this way
Entire angle adjustment plate 2 is all detachable, and instant packed transport facilitates in-site installation.And trip bolt 4 also plays articulated shaft
Effect, angle adjustment plate 2 can be around 4 beat of trip bolt.
Certainly, another angular adjustment connection structure is given in the present embodiment, the angular adjustment connection structure includes
The bolt mounting holes being set on angle adjustment plate 2, it is corresponding, arc adjustment hole 21, the bolt are provided on the pedestal 1
The position of mounting hole is corresponding with 21 position of arc adjustment hole, and the center of circle of the arc adjustment hole 21 is corresponding angle adjustable plate 2
Hinged center is equipped with bolt and nut fastener in the bolt mounting holes, and the bolt of the bolt and nut fastener is in arc
In shape adjustment hole 21, that is to say, that the bolt-through bolt mounting holes and arc adjustment hole 21 are simultaneously tightened by nut, the structure
Angular adjustment can be facilitated, but compared to a kind of upper structure, adjusting is relative complex, needs to unscrew nut, and needs also to need when fixing
To utilize screwdriver fixing bolt that can just tighten nut.
Using platy structure, the pedestal 1 is convenient to be used for being fixed on other external execution units pedestal 1 in the present embodiment
On, such as on other mechanical arms, so as to which flexible fixture be driven to be moved to designated position, and this external execution unit can be in market
Upper purchase, such as the outside execution unit such as some mechanical arms, manipulator and the improvement for being not belonging to the present invention, therefore do not retouch in detail
It states.
As shown in Figure 6 to 8, the present invention has done further improvement again to flexible finger component 3, wherein in the present invention
Finger of the flexible finger 31 described in using application documents of the applicant 201710667696.7, the flexible finger 31
Including finger tip section 311, finger joint section 312 and refer to section 313, venthole is provided on finger bottom plate and with referring to in section 313.And
And applicant also discloses that a kind of flexible fixture its Patent No. 201710667157.3, so the application in application before
In flexible fixture preferably using the flexible finger 31 of applicant oneself, but it is not excluded that other structures can be used
Flexible finger 31, and in order to enhance wear-resisting property, the bottom of the flexible finger 31 is fixed with wear-resisting reinforcing plate 314.Such as
Can also use Patent No. 201620690257.9 described in flexible finger 31, as long as by the flexible finger 31 of the patent with
And it can be used for being mounted on angle adjustment plate 2 with the mating mounting blocks of the flexible finger.
In the present embodiment, the flexible finger component 3 includes flexible finger 31, mounting blocks 32 and fixed case 33, described
The quantity of mounting blocks 32 is multiple, and the left side and right side of the mounting blocks 32 are all provided with being set to mating surface, the mounting blocks 32
It is installed on angle adjustment plate 2, the mounting means that wherein mounting blocks 32 are installed on angle adjustment plate 2 is：The angle adjustment plate 2
On be additionally provided with the two bar shaped mounting holes 22 extended along 2 length direction of angle adjustment plate, the top setting of the mounting blocks 32
There is installation sliding slot 323, the top of the installation sliding slot 323 is provided with strip closing in, and the width which closes up is less than installation sliding slot
323 width is slidably installed there are two connection sliding block 325 in the installation sliding slot 323, be provided on the connection sliding block 325 with
The corresponding connecting screw hole of strip closing in, the connection sliding block 325 are fixed on by mounting screw 6 on angle adjustment plate 2, in this way,
The connection sliding block 325 slides into behind designated position in installation sliding slot 323 and then tightens mounting screw 6 and can fix.The peace
Cartridge screw 6 is constrained in corresponding bar shaped mounting hole 22.Mounting screw 6 can slide adjustment position in bar shaped mounting hole 22 in this way
It puts, and then adjusts the spacing between flexible finger 31, be suitble to clamping or capture different size of article.While mounting screw 6 is not
But it can slide, but also can be slided in installation sliding slot 323 in bar shaped mounting hole 22, thus 32 phase of mounting blocks can be made
It deflects to angle adjustment plate 2, into a fine tuning crawl angle, the clamping crawl for the article for facilitating some special-shaped.
The gas channel 321 of perforation left side and right side, the left side and right side are provided on the mounting blocks 32
The sealing ring mounting groove 327 for installing sealing ring is both provided on face, on the leading flank of the mounting blocks 32 or trailing flank
The suction nozzle 326 being connected with gas channel 321 is fixed with, the finger of the flexible finger 31 is with the blow vent installation in section 313
In on suction nozzle 326, the fixed cover of case 33 is buckled in the outside referred to section 313 and is detachably fixed between mounting blocks 32,
It is provided on the mounting blocks 32 for multiple mounting blocks to be grouped fixed group to connection structure, in the present embodiment, institute
It states group and at least one stud mounting hole 322 for being used to install stud being set on each mounting blocks, this reality is included to connection structure
Example is applied as two, which is equipped with connection through left side and right side in the stud mounting hole 322
Stud 7, the mating surface of each mounting blocks contacts with each other is fixed by the connecting stud axial tightening.In order to facilitate the installation of between block
It is assembled, is also provided with dowel hole 324 on mounting blocks 32, when installation is inserted into positioning pin, facilitates accurate fit.
When the quantity of mounting blocks is multiple, the mating surface of each mounting blocks 32, which seals against each other, contacts and passes through connecting stud 7
Connection is fixed, and the combination of gas channel 321 of each mounting blocks 32 constitutes air supply channel, and one end of air supply channel is equipped with closure
Head, the other end are equipped with total 326 connector of suction nozzle；When the quantity of modular assembly is one, one end peace of gas channel 321
Equipped with block head, the other end is equipped with total 326 connector of suction nozzle.The mounting blocks 32 of this structure can facilitate group pair, raw simultaneously
It is molded less during production, production cost is low, it is only necessary to which mass production can be assembled into different length difference chucking power as needed
's.
As shown in Figure 8,9, connecting stud 7 includes the stud monomer that several sections of head and the tail are threadedly coupled, and each stud monomer is equal
Including stud section and nut section, the end set of stud section has external thread section, and internal thread hole is provided in nut section；The stud
Mounting hole 322 includes the aperture section in middle part and the big hole section in aperture section left and right ends, between big hole section and aperture section
Positioning step is formd, the aperture section and stud section size fit, the big hole section are adapted to nut section.In this way, need to only it match
The flexible finger component 3 of different length can be connected by covering the identical stud monomer of more sizes, make the specification of stud monomer
It is unified.
As shown in figure 9, the fixed case 33 includes shroud body, it is provided in the shroud body with referring to section 313
The installation chamber of adaptation, the shroud body side adjacent with the finger bottom plate of flexible finger 31 are provided with opening, the cover
Screw mounting portion 331 is provided on shell ontology；The case 33 that is fixed of mounting screw 6 is fixed on installation on screw mounting portion 331
On block 32, be both provided with convex extension part 332 at left and right sides of the opening of the shroud body, the left side of corresponding mounting blocks 32 and
The auxiliary section coordinated with the convex extension part 332 is provided on right side, is detachably connected between the convex extension part 332 and auxiliary section solid
It is fixed.Detachable connection between the auxiliary section and convex extension part 332 is fixed or is buckled fixation for screw.
The left and right described at this is that the placement position in Fig. 6 is determined and extended with gas channel 321 for horizontal left and right
In the state of determine direction.
Embodiment 2
As shown in figure 5, the present embodiment changes on the basis of embodiment 1, when the flexible fixture includes three
During above flexible finger component 3, and each flexible finger component 3 only includes a mounting blocks 32 and a flexible finger 31
When, each flexible finger component 3 is located at the apex of polygon, and the finger web 315 is connected between adjacent flexible finger 31.The finger web
315 can be made of the material similar to 31 material of flexible finger, or other materials, such as cloth, plastic foil, elasticity
Film etc., fixed form may be used glue bonding, sewing or be integrally formed with wear-resisting reinforcing plate 314.
Embodiment 3
As shown in Figure 10, another group of scheme to connection structure is proposed on the basis of the embodiment and embodiment 1, institute
Link slot 328 or connecting hole that group includes being set on mounting blocks 32 to connection structure are stated, the link slot 328 or connecting hole run through
Left side and right side, through there is group (not show locking connecting rod in figure in the link slot 328 or connecting hole on each mounting blocks 32
Go out), the group is to the latch segment for being provided at both ends with each mounting blocks of axial locking of locking connecting rod.That is, group is to locking connecting rod
After being inserted into link slot 328, locked by the latch segment at both ends, constrain mounting blocks 32, avoid its axial movement, while also give
Certain axial pressing force is given, this structure can also realize the group pair of mounting blocks.
Embodiment 4
As is illustrated by figs. 11 and 12, the structure of the embodiment and embodiment 1 is substantially similar, and only adjustment seat is integrally formed
Adjustment seat 100, that is, pedestal 1 and angle adjustment plate 2 be integrally formed, and cannot adjust angle in this way, but still have
Multigroup bar shaped mounting hole 22, every group of bar shaped mounting hole 22 include two bar shaped mounting holes 22, and the structure of mounting blocks 32 done into
One step it is simple, the left side and right side of the mounting blocks 32 are arranged to mating surface, and the flexible finger 31 includes Fingers
Face and finger bottom plate, the Fingers face include finger tip section, finger joint section and refer to section, and the flexible finger 31 is buckled in finger by cover
It is mounted on mounting blocks 32 with the fixation case 33 outside section, the blow vent of the flexible finger 31 is arranged on the back referred to section
Or be arranged on the finger bottom plate of flexible finger, blow vent is provided in the back referred to section in Figure 12, when flexible finger
When blow vent is arranged on back of the finger with section, suction nozzle is fixed on the fixed case, which is inserted into the flexible hand
The blow vent of finger；When the blow vent of flexible finger is arranged on the finger bottom plate of flexible finger, it is fixed on the mounting blocks
Suction nozzle, the suction nozzle are inserted into the blow vent of the flexible finger, and each suction nozzle is connected with air-channel system.
As shown in figure 12, the mounting blocks 32 include a slide contact part and a vertical plate portion, slide contact part and
Vertical plate portion constitutes the structure of approximate " 7 " font, and the installation sliding slot is set on slide contact part, the flexible finger 31
Finger bottom plate contact with vertical plate portion and be fixed in vertical plate portion by fixed case 33, fixed case 33 is to pass through screw
It is fixed in vertical plate portion, and the opening sidewalls of fixed case are provided between convex extension part 332 and vertical plate portion and are clasped.
Embodiment described above is only the description to the preferred embodiment of the present invention, not as the limit to the scope of the invention
Fixed, the various modifications made to technical solution of the present invention on the basis of design spirit of the present invention is not departed from and transformation should all be fallen
Enter in the protection domain that claims of the present invention determines.
Claims (10)
1. a kind of flexible fixture of multi-angle regulation, including adjustment seat and flexible finger component, it is characterised in that：The adjustment seat
On at least provided with two groups of bar shaped mounting holes, every group of bar shaped mounting hole includes two parallel bar shaped mounting holes, every group of bar shaped peace
It fills and a flexible finger component is installed in hole, the flexible finger component includes mounting blocks and flexible finger, the mounting blocks
Top is provided with installation sliding slot, and the top of the installation sliding slot is provided with strip closing in, and the width which closes up is less than installation and slides
The width of slot is slidably installed there are two connection sliding block in the installation sliding slot, is provided on the connection sliding block and strip closes up pair
The connecting screw hole answered, each connection sliding block are fixed on by mounting screw on corresponding bar shaped mounting hole, and the flexible finger is consolidated
Due on mounting blocks, the blow vent of the flexible finger is connected with air-channel system.
2. a kind of flexible fixture of multi-angle regulation as described in claim 1, it is characterised in that：The adjustment seat includes pedestal
At least two pieces of angle adjustment plates, are respectively provided with one group of bar shaped mounting hole on every piece of angle adjustment plate, and the one of the angle adjustment plate
End is installed on by articulated shaft or by trip bolt on pedestal, is provided between the angle adjustment plate and pedestal and is facilitated angle
Adjustable plate carries out the angular adjustment connection structure of angular adjustment.
3. a kind of flexible fixture of multi-angle regulation as claimed in claim 2, it is characterised in that：The angular adjustment connection knot
Structure includes the arc adjustment hole being set on angle adjustment plate, and the articulated shaft or trip bolt are in the center of circle of arc adjustment hole
Locate, be provided with the installation screw being adapted to arc adjustment hole on the pedestal, angle locking screw is installed in the installation screw
Nail, the angle lock-screw are constrained in corresponding arc adjustment hole.
4. a kind of flexible fixture of multi-angle regulation as described in any one of claims 1 to 3, it is characterised in that：The installation
The left side and right side of block are all provided with being set to mating surface, and the air-flow that perforation left side and right side are provided on the mounting blocks leads to
Road is both provided with the sealing ring mounting groove for installing sealing ring, the front side of the mounting blocks on the left side and right side
The suction nozzle being connected with gas channel is fixed on face or trailing flank, the blow vent of the flexible finger is installed on suction nozzle
On, the flexible finger is fixed on mounting blocks, and when the quantity of mounting blocks is one, one end of gas channel is equipped with closure
Head, the other end are equipped with total suction nozzle connector；When the quantity of mounting blocks is multiple, being provided on each mounting blocks can be by multiple peace
Block group is filled to the group being fixed to connection structure, the mating surface of each mounting blocks seals against each other contact, and the air-flow of each mounting blocks leads to
Road combination constitutes air supply channel, and one end of air supply channel is equipped with block head, and the other end is equipped with total suction nozzle connector；It is described
Total suction nozzle connector is connected with the air-channel system.
5. a kind of flexible fixture of multi-angle regulation as claimed in claim 4, it is characterised in that：Described group to connection structure packet
It includes and is set at least one for installing the stud mounting hole of stud on each mounting blocks, the stud mounting hole is through left side
And right side, connecting stud is installed in the stud mounting hole, the mating surface of each mounting blocks contacts with each other through the connection
Stud is axially strained and fixed.
6. a kind of flexible fixture of multi-angle regulation as claimed in claim 4, it is characterised in that：Described group to connection structure packet
The link slot or connecting hole being set on mounting blocks, the link slot or connecting hole are included through left side and right side, each mounting blocks
On link slot or connecting hole in through have group to lock connecting rod, the group to lock connecting rod the axial locking that is provided at both ends with respectively pacify
Fill the latch segment of block.
7. a kind of flexible fixture of multi-angle regulation as described in any one of claims 1 to 3, it is characterised in that：The installation
The left side and right side of block are arranged to mating surface, and the flexible finger includes Fingers face and finger bottom plate, the Fingers
Face includes finger tip section, finger joint section and refers to section, and the flexible finger is buckled in finger by cover and is mounted on the fixation case outside section
On mounting blocks, the blow vent of the flexible finger be arranged on refer to section back or be arranged on the finger bottom plate of flexible finger
On, when the blow vent of flexible finger, which is arranged on, refers to the back with section, suction nozzle is fixed on the fixed case, the suction nozzle
It is inserted into the blow vent of the flexible finger；It is described when the blow vent of flexible finger is arranged on the finger bottom plate of flexible finger
Suction nozzle is fixed on mounting blocks, which is inserted into the blow vent of the flexible finger, and each suction nozzle is connected with air-channel system.
8. a kind of flexible fixture of multi-angle regulation as described in claim 1, it is characterised in that：The mounting blocks include one
Slide contact part and a vertical plate portion, the installation sliding slot are set on slide contact part, the finger bottom of the flexible finger
Plate is contacted with vertical plate portion and is fixed in vertical plate portion by fixed case.
9. a kind of flexible fixture of multi-angle regulation as described in claim 1, it is characterised in that：The finger of the flexible finger
The bottom of bottom plate is fixed with wear-resisting reinforcing plate.
10. a kind of flexible fixture of multi-angle regulation as described in claim 1, it is characterised in that：When the flexible fixture packet
When including the flexible finger component of three or more, and each flexible finger component only includes a mounting blocks and a flexible finger
When, each flexible finger component is located at the apex of polygon, and the finger web is connected between adjacent flexible finger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810115439.7A CN108127683B (en) | 2018-02-06 | 2018-02-06 | Flexible clamp with multi-angle adjustment function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810115439.7A CN108127683B (en) | 2018-02-06 | 2018-02-06 | Flexible clamp with multi-angle adjustment function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108127683A true CN108127683A (en) | 2018-06-08 |
| CN108127683B CN108127683B (en) | 2024-05-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810115439.7A Active CN108127683B (en) | 2018-02-06 | 2018-02-06 | Flexible clamp with multi-angle adjustment function |
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| Country | Link |
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| CN (1) | CN108127683B (en) |
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| CN108555958A (en) * | 2018-06-19 | 2018-09-21 | 苏州大学 | Self-adapting type software handgrip |
| CN109019051A (en) * | 2018-08-03 | 2018-12-18 | 泸州品创科技有限公司 | Flexible fixture and the fresh curved billet stacking system of white wine yeast with the flexible fixture |
| CN109048982A (en) * | 2018-10-25 | 2018-12-21 | 赵洪清 | A kind of software self-locking manipulator localization method |
| CN109514545A (en) * | 2018-11-15 | 2019-03-26 | 詹子勋 | A kind of multifunction flexible manipulator |
| CN110666332A (en) * | 2019-10-18 | 2020-01-10 | 中国人民解放军陆军工程大学 | Double-vertical explosive welding comprehensive protection device |
| CN112476472A (en) * | 2020-11-21 | 2021-03-12 | 西安交通大学 | Pneumatic soft gripper with adjustable shape |
| CN113319323A (en) * | 2021-05-08 | 2021-08-31 | 盐城亚恩科技有限公司 | Automobile parts drilling equipment who facilitates use |
| CN113733051A (en) * | 2021-09-17 | 2021-12-03 | 贵州航天天马机电科技有限公司 | Six-degree-of-freedom mechanical arm |
| CN114194767A (en) * | 2021-11-01 | 2022-03-18 | 苏州研鹏亮智能设备有限公司 | Carton turnover mechanism |
| CN114310126A (en) * | 2022-03-04 | 2022-04-12 | 成都中挖金属制品有限公司 | Bucket tooth connecting seat welding set |
| CN114434460A (en) * | 2022-02-16 | 2022-05-06 | 佛山华胜伟业精密模具有限公司 | Flexible finger structure and manufacturing method thereof |
| CN114555493A (en) * | 2019-12-11 | 2022-05-27 | 宝马股份公司 | Apparatus and method for gripping an object |
| CN116460880A (en) * | 2023-05-06 | 2023-07-21 | 无锡市弘泰检测科技有限公司 | Mechanical arm for ray detection device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108555958B (en) * | 2018-06-19 | 2023-07-18 | 苏州大学 | Self-adaptive soft gripper |
| CN108555958A (en) * | 2018-06-19 | 2018-09-21 | 苏州大学 | Self-adapting type software handgrip |
| CN109019051A (en) * | 2018-08-03 | 2018-12-18 | 泸州品创科技有限公司 | Flexible fixture and the fresh curved billet stacking system of white wine yeast with the flexible fixture |
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| CN109048982A (en) * | 2018-10-25 | 2018-12-21 | 赵洪清 | A kind of software self-locking manipulator localization method |
| CN109514545A (en) * | 2018-11-15 | 2019-03-26 | 詹子勋 | A kind of multifunction flexible manipulator |
| CN110666332A (en) * | 2019-10-18 | 2020-01-10 | 中国人民解放军陆军工程大学 | Double-vertical explosive welding comprehensive protection device |
| CN114555493A (en) * | 2019-12-11 | 2022-05-27 | 宝马股份公司 | Apparatus and method for gripping an object |
| CN112476472B (en) * | 2020-11-21 | 2022-08-05 | 西安交通大学 | Pneumatic soft gripper with adjustable shape |
| CN112476472A (en) * | 2020-11-21 | 2021-03-12 | 西安交通大学 | Pneumatic soft gripper with adjustable shape |
| CN113319323A (en) * | 2021-05-08 | 2021-08-31 | 盐城亚恩科技有限公司 | Automobile parts drilling equipment who facilitates use |
| CN113733051A (en) * | 2021-09-17 | 2021-12-03 | 贵州航天天马机电科技有限公司 | Six-degree-of-freedom mechanical arm |
| CN114194767A (en) * | 2021-11-01 | 2022-03-18 | 苏州研鹏亮智能设备有限公司 | Carton turnover mechanism |
| CN114194767B (en) * | 2021-11-01 | 2023-11-21 | 苏州研鹏亮智能设备有限公司 | Carton tilting mechanism |
| CN114434460A (en) * | 2022-02-16 | 2022-05-06 | 佛山华胜伟业精密模具有限公司 | Flexible finger structure and manufacturing method thereof |
| CN114310126A (en) * | 2022-03-04 | 2022-04-12 | 成都中挖金属制品有限公司 | Bucket tooth connecting seat welding set |
| CN116460880A (en) * | 2023-05-06 | 2023-07-21 | 无锡市弘泰检测科技有限公司 | Mechanical arm for ray detection device |
| CN116460880B (en) * | 2023-05-06 | 2023-11-07 | 无锡市弘泰检测科技有限公司 | Mechanical arm for ray detection device |
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