CN108621179A - A kind of soft fixture of pneumatic type - Google Patents
A kind of soft fixture of pneumatic type Download PDFInfo
- Publication number
- CN108621179A CN108621179A CN201810429515.1A CN201810429515A CN108621179A CN 108621179 A CN108621179 A CN 108621179A CN 201810429515 A CN201810429515 A CN 201810429515A CN 108621179 A CN108621179 A CN 108621179A
- Authority
- CN
- China
- Prior art keywords
- soft
- clamping jaw
- soft clamping
- clamp base
- fixture
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
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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
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The present invention relates to a kind of soft fixture of pneumatic type, including clamp base, there are two the above soft clamping jaws, soft clamping jaw to be integrally formed by flexible material for annular spread in clamp base；Soft clamping jaw is equipped with flexible nip side and telescopic flexible side, nip side are oppositely arranged with flexible side；Air bag is equipped in soft clamping jaw；Under initial or working condition, air bag air inlet, nip side is smooth or varus, and side diastole of stretching, soft clamping jaw is integrally straight or varus, and the nip side of more than two soft clamping jaws grips workpiece jointly；Under open configuration, air bag vacuumizes, and nip side is turned up, and side of stretching is shunk, whole outer of soft clamping jaw.This structure has the characteristics that simple, reasonable for structure, versatile design, dependable performance, at low cost, easy to maintain, assembling is simple, clamping effect is reliable and stable.
Description
Technical field
The present invention relates to a kind of robot clamp, specifically a kind of soft fixture of pneumatic type.
Background technology
Currently, in the fixture that robot uses, it is common to use the clamping jaw of hard achievees the purpose that clamping workpiece；Its exist with
Lower defect：1. the clamping jaw is usually made of hard material, rigid contact between clamping jaw and workpiece, leads to work in clamping process
Part surface be easy to scratch or directly damage by pressure workpiece (workpiece being especially easily damaged, such as：Plastic part, foam element, wood piece etc.)；
Existing solution is to increase skid resistant course on clamping jaw to increase frictional force and avoid rigid contact, but this method can cause into
This increase, and the service life of skid resistant course is shorter, and timing is needed to replace or safeguard, it is troublesome in poeration；2. to avoid the folder of hard
The chucking power of pawl is excessive and damages workpiece by pressure, then needs the chucking power for accurately controlling clamping jaw, and it is multiple that this just needs technical staff to make
Experiment can just obtain best chucking power；Also there is the size that chucking power is controlled by sensing device, but increase sensing device to lead
Cost is caused to increase, it is complicated, and timing is needed to safeguard sensing device；3. to reach clamping effect, clamping jaw is generally to move
It is dynamic, the manners setting such as swing, it is therefore desirable to reserved sufficient space for clamping jaw activity, cause space needed for fixture work compared with
Greatly.
Therefore, it is necessary to be further improved to existing fixture.
Invention content
It is an object of the invention to overcome above-mentioned the shortcomings of the prior art, and provide that a kind of design is simple, structure is closed
Reason, versatile, dependable performance, the soft folder of pneumatic type at low cost, easy to maintain, assembling is simple, clamping effect is reliable and stable
Tool.
The object of the present invention is achieved like this：
A kind of soft fixture of pneumatic type, including clamp base；It is characterized in that：Annular spread has two in the clamp base
A above soft clamping jaw, soft clamping jaw are integrally formed by flexible material；The soft clamping jaw be equipped with flexible nip side and
Telescopic flexible side, nip side are oppositely arranged with flexible side；Air bag is equipped in the soft clamping jaw；Initial or working condition
Under, air bag air inlet, nip side is smooth or varus, and side diastole of stretching, soft clamping jaw is integrally straight or varus, more than two soft folders
The nip side of pawl grips workpiece jointly；Under open configuration, air bag vacuumizes, and nip side is turned up, and side of stretching is shunk, and soft clamping jaw is whole
External；It is provided with connection sliding block between the soft clamping jaw and clamp base, clamp base is equipped with sliding slot, on connection sliding block
Equipped with tongue, tongue slides into sliding slot, and soft clamping jaw is assemblied in by connection sliding block in clamp base.
The flexible side is equipped with several soft bulge-structures and soft sunk structure, bulge-structure and sunk structure
Compartment is equipped with.
The air bag includes the main gasbag extended along soft clamping jaw and several extension airbags with respective protrusions respective outer side edges,
Each extension airbag is connected to main gasbag respectively, and for main gasbag with clamping lateral bend, extension airbag is flexible with flexible side.
It is mutually permanently connected by fastener between the connection sliding block and clamp base, soft clamping jaw, which is fixed on connection, to be slided
On block.
The clamp base is equipped with the above branched bottom corresponding with soft clamping jaw of main channel and two, main channel and respectively
Branched bottom is connected to；The connection sliding block is equipped with slide channel；The soft clamping jaw is equipped with the air inlet of connection inner balloon
Mouthful；Branched bottom is sequentially communicated slide channel, air inlet and air bag, it is ensured that has coherent lead between main channel and each soft clamping jaw
Road.
It is provided with fixture flange in the clamp base, the inlet channel being connected to main channel is equipped in the fixture flange.
It is fixed with protective cover on the connection sliding block, which coats soft gripping portions.
The nip side is equipped with skid resistance strip.
Beneficial effects of the present invention are as follows：
Soft clamping jaw is made of flexible material, and the soft clamping jaw has elastically-deformable characteristic, passes through the gas toward inside
Capsule is inflated, and so that soft clamping jaw is integrally generated required deformation, and then achieve the effect that clamping workpiece；Since soft clamping jaw matter is soft,
Therefore it realizes soft contact between workpiece, effectively prevent scratching workpiece surface or defective work piece；Soft clamping jaw clamping workpiece
Chucking power can control in a relatively large range, avoid the work of frequently correction chucking power, and same model
Chucking power in enclosing is applicable to various workpieces, therefore versatility and highly practical；Soft clamping jaw passes through itself slight deformation
Clamping and release action can be completed, work the space occupied is small, effectively reduces the space needed for fixture work, and soft folder
Deformation can be rapidly completed in pawl, effective to improve clamping efficiency, and then improves production efficiency；It is soft for deformation effects expected from realization
Matter clamping jaw side is equipped with flexible side, and initially or under working condition, air bag air inlet, nip side is smooth or varus, side diastole of stretching are soft
Matter clamping jaw is integrally straight or varus, achievees the purpose that clamping workpiece, the nip side of more than two soft clamping jaws grip workpiece jointly；
Under open configuration, air bag vacuumizes, and nip side is turned up, and side of stretching is shunk, and whole outer of soft clamping jaw does standard for gripping workpiece
It is standby；The component that soft clamping jaw is integrally formed, and manufacturing cost is low, and daily maintenance is convenient, and soft clamping jaw passes through connection sliding block
Detachable is assemblied in clamp base, keeps the assembling of soft clamping jaw more convenient.
Description of the drawings
Fig. 1 and Fig. 2 is respectively the stereogram of first embodiment of the invention.
Fig. 3 is the front view of first embodiment of the invention.
Fig. 4 is the right view of first embodiment of the invention.
Fig. 5 is the vertical view of first embodiment of the invention.
Fig. 6 is the upward view of first embodiment of the invention.
Fig. 7 is the sectional view of soft clamping jaw original state in first embodiment of the invention.
Fig. 8 is the sectional view of soft clamping jaw clamp position in first embodiment of the invention.
Fig. 9 is the sectional view in the directions A-A in Fig. 5.
Figure 10 is the explosive view of first embodiment of the invention.
Figure 11 and Figure 12 is respectively the stereogram of second embodiment of the invention.
Figure 13 is the front view of second embodiment of the invention.
Figure 14 is the right view of second embodiment of the invention.
Figure 15 is the vertical view of second embodiment of the invention.
Figure 16 is the upward view of second embodiment of the invention.
Specific implementation mode
The invention will be further described with reference to the accompanying drawings and embodiments.
First embodiment
Referring to Fig. 1-Figure 10, the soft fixture of this pneumatic type, including clamp base 2, the 2 side annular of clamp base are evenly equipped with
Three soft clamping jaws 4, each soft clamping jaw 4 are integrally formed by flexible material (rubber) respectively；4 inside of soft clamping jaw is equipped with flexible
Nip side 401, outside be equipped with telescopic flexible side 402, nip side 401 is oppositely arranged with flexible side 402；Soft clamping jaw 4
Inside empty the air bag of combed；Under initial or working condition, air bag air inlet, nip side 401 is smooth or varus, side 402 of stretching are relaxed
, the whole straight or varus of soft clamping jaw 4, the nip side 401 of more than two soft clamping jaws 4 grips workpiece, realizes clamping jointly
The effect of workpiece；Under open configuration, air bag vacuumizes, and nip side 401 is turned up, and side 402 of stretching is shunk, and soft clamping jaw 4 is whole outer
；It is provided with connection sliding block 3 between soft clamping jaw 4 and clamp base 2, T-shaped sliding slot 203 is formed in clamp base 2, even
It connects 3 inside of sliding block and forms T-shaped tongue 302, tongue 302 coordinates from lower to upper to be slid into sliding slot 203, effectively prevent connecting
Sliding block 3 and 2 lateral separation of clamp base, soft clamping jaw 4 are assemblied in by connection sliding block 3 in clamp base 2, simple operation, property
It can be reliable.
Further, flexible side 402 is linearly evenly equipped with several soft bulge-structures 404 and soft sunk structure 405,
Bulge-structure 404 is equipped with 405 compartment of sunk structure, so that flexible side 402 is had stretching elasticity, it is promoted to become easily
Shape；Specifically, the shapes such as 402 undulate of side, zigzag, gauffer shape, cog shape of stretching setting.4 end set of soft clamping jaw
It is useful for the assembly head 408 of connection connection sliding block 3,401 one end of nip side and 402 one end of flexible side are separately connected assembly head 408.
Further, coordinate if air bag includes the main gasbag 403 extended along soft clamping jaw 4 and respective protrusions structure 404
Dry extension airbag 403 ' and the transition air bag 409 coordinated with assembly head 408, each extension airbag 403 ' and transition air bag 409 are distinguished
It is connected to main gasbag 403；The constant cross-section of main gasbag 403, i.e. main gasbag 403 are strip shaped air sac；The wall thickness of soft clamping jaw 4 is permanent
Fixed, i.e., air bag global shape matches with 4 shape of soft clamping jaw；Air bag is whole to be deformed and deformation with soft clamping jaw 4, i.e. main gasbag
403 are bent with nip side 401, and extension airbag 403 ' is flexible with flexible side 402；Specifically, under initial or working condition, air bag fills
Gas, main gasbag 403 is smooth or varus, 403 ' diastole of each extension airbag and volume becomes larger, promote soft clamping jaw 4 it is whole it is straight (or
Varus), i.e., soft clamping jaw 4 can effectively be clamped at this time generally in nature (generally straightened condition) or varus state
Workpiece；Under open configuration, air bag vacuumizes, and main gasbag 403 turns up, and each extension airbag 403 ' is shunk and volume becomes smaller, soft at this time
Whole outer of matter clamping jaw 4, prepares for clamping work.
Further, connection sliding block 3 is equipped with assembly screw hole, and clamp base 2 is equipped with assembly through-hole, a fastener (spiral shell
Nail) it is spirally connected with assembly screw hole after assembly through-hole, so that connection sliding block 3 is mutually permanently connected by fastener with clamp base 2,
Not only stabilized structure is reliable for this package assembly, and dismounts soft clamping jaw 4 and be easy, and maintains easily/replaces；4 top of soft clamping jaw
It is fixed on 3 outside of connection sliding block by the modes such as being buckled to, pasting.
Further, offer main channel 201 on 2 axis of clamp base, 201 side of main channel offer three with it is soft
4 corresponding branched bottom 202 of clamping jaw, main channel 201 is connected to each branched bottom 202；It is logical that 3 middle part of connection sliding block offers sliding block
Road 301；4 top of soft clamping jaw offers the air inlet 406 of connection inner balloon；Branched bottom 202 is sequentially communicated slide channel
301, air inlet 406 and air bag, it is ensured that have coherent channel between main channel 201 and each soft clamping jaw 4, to be taken out in air bag
Vacuum or inflation.
Further, 2 top of clamp base is provided with the fixture flange 1 for connecting robot, is set in the fixture flange 1
There is the inlet channel 101 being connected to main channel 201.
Further, 3 outside of connection sliding block is fixed with protective cover 5 by fastener (screw), which coats soft
The assembly head 408 at 4 top of clamping jaw.
Further, nip side 401 forms skid resistance strip 407, is effectively increased frictional force.
Second embodiment
Referring to Figure 11-Figure 16, the soft fixture of this pneumatic type is different from being in place of first embodiment：2 side of clamp base
Annular is uniformly distributed, and there are six soft clamping jaws 4；In addition, soft clamping jaw 4 can also be arranged four, five, seven or eight etc..
Other not described same first embodiments in part, are no longer described in detail here.
The basic principles and main features and the present invention of the present invention have been shown and described in the above-mentioned preferred embodiment for the present invention
The advantages of.Those skilled in the art should be recognized that the present invention is not limited to the above embodiments, above embodiments and description
Described in merely illustrate the principles of the invention, without departing from the spirit and scope of the present invention the present invention also have it is various
Changes and improvements, these changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by institute
Attached claims and its equivalent define.
Claims (8)
1. a kind of soft fixture of pneumatic type, including clamp base (2)；It is characterized in that：Annular spread on the clamp base (2)
There are two the above soft clamping jaw (4), soft clamping jaw (4) is integrally formed by flexible material；The soft clamping jaw (4) is equipped with bendable
Bent nip side (401) and telescopic flexible side (402), nip side (401) is oppositely arranged with flexible side (402)；It is described soft
Air bag is equipped in matter clamping jaw (4)；Under initial or working condition, air bag air inlet, nip side (401) is smooth or varus, side of stretching
(402) diastole, the whole straight or varus of soft clamping jaw (4), the nip side (401) of more than two soft clamping jaws (4) grip jointly
Workpiece；Under open configuration, air bag vacuumizes, and nip side (401) is turned up, side (402) contraction of stretching, and soft clamping jaw (4) is whole outer
；Connection sliding block (3) is provided between the soft clamping jaw (4) and clamp base (2), clamp base (2) is equipped with sliding slot
(203), connection sliding block (3) is equipped with tongue (302), and tongue (302) slides into sliding slot (203), and soft clamping jaw (4) passes through connection
Sliding block (3) is assemblied in clamp base (2).
2. the soft fixture of pneumatic type according to claim 1, it is characterised in that：The flexible side (402) is equipped with several
Soft bulge-structure (404) and soft sunk structure (405), bulge-structure (404) are matched with sunk structure (405) compartment
Close setting.
3. the soft fixture of pneumatic type according to claim 2, it is characterised in that：The air bag includes along soft clamping jaw (4)
The main gasbag (403) of extension and several extension airbags (403 ') coordinated with respective protrusions structure (404), each extension airbag
(403 ') are connected to main gasbag (403) respectively, and main gasbag (403) is bent with nip side (401), and extension airbag (403 ') is with flexible
Side (402) is flexible.
4. the soft fixture of pneumatic type according to claim 1, it is characterised in that：The connection sliding block (3) and clamp base
(2) it is mutually permanently connected by fastener between, soft clamping jaw (4) is fixed on connection sliding block (3).
5. the soft fixture of pneumatic type according to claim 1, it is characterised in that：The clamp base (2) is equipped with main logical
Road (201) and two or more branched bottom (202) corresponding with soft clamping jaw (4), main channel (201) and each branched bottom
(202) it is connected to；The connection sliding block (3) is equipped with slide channel (301)；The soft clamping jaw (4) is equipped with the internal gas of connection
The air inlet (406) of capsule；Branched bottom (202) is sequentially communicated slide channel (301), air inlet (406) and air bag, it is ensured that main logical
There is coherent channel between road (201) and each soft clamping jaw (4).
6. the soft fixture of pneumatic type according to claim 5, it is characterised in that：It is provided with folder on the clamp base (2)
General laws orchid (1), the fixture flange (1) is interior to be equipped with the inlet channel (101) being connected to main channel (201).
7. the soft fixture of pneumatic type according to claim 1, it is characterised in that：It is fixed on the connection sliding block (3) anti-
Shield (5), the protective cover (5) coat soft clamping jaw (4) part.
8. the soft fixture of pneumatic type according to claim 1, it is characterised in that：The nip side (401) is equipped with anti-skidding
Striped (407).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810429515.1A CN108621179A (en) | 2018-05-07 | 2018-05-07 | A kind of soft fixture of pneumatic type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810429515.1A CN108621179A (en) | 2018-05-07 | 2018-05-07 | A kind of soft fixture of pneumatic type |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108621179A true CN108621179A (en) | 2018-10-09 |
Family
ID=63695856
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810429515.1A Withdrawn CN108621179A (en) | 2018-05-07 | 2018-05-07 | A kind of soft fixture of pneumatic type |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108621179A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109866243A (en) * | 2019-04-19 | 2019-06-11 | 南京农业大学 | More perception robot flexibility grippers and gas pressure controlling device |
| CN109927070A (en) * | 2019-04-17 | 2019-06-25 | 苏州柔性智能科技有限公司 | Multi-functional software handgrip for articles sorting |
| CN110181544A (en) * | 2019-06-14 | 2019-08-30 | 北京航空航天大学 | A kind of extensible member, handgrip and robot |
| CN110509268A (en) * | 2019-08-27 | 2019-11-29 | 燕山大学 | Software based on principle of negative pressure grasps robot device |
| CN110843950A (en) * | 2019-11-26 | 2020-02-28 | 常州机电职业技术学院 | Locust-simulated bouncing robot |
| CN111283709A (en) * | 2020-03-20 | 2020-06-16 | 徐州柚创谷智能科技有限公司 | Mechanical clamping jaw for robot ring pipe part |
| JP2020168691A (en) * | 2019-04-04 | 2020-10-15 | 学校法人立命館 | Soft gripper |
| TWI775411B (en) * | 2021-04-26 | 2022-08-21 | 國立成功大學 | Soft actuator, gripping jaws, method, computer program product and computer readable recording medium for designing such |
| CN116766505A (en) * | 2022-03-11 | 2023-09-19 | 刘清平 | Single-finger vertical pneumatic clamp |
-
2018
- 2018-05-07 CN CN201810429515.1A patent/CN108621179A/en not_active Withdrawn
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2020168691A (en) * | 2019-04-04 | 2020-10-15 | 学校法人立命館 | Soft gripper |
| JP7373785B2 (en) | 2019-04-04 | 2023-11-06 | 学校法人立命館 | soft gripper |
| CN109927070A (en) * | 2019-04-17 | 2019-06-25 | 苏州柔性智能科技有限公司 | Multi-functional software handgrip for articles sorting |
| CN109866243B (en) * | 2019-04-19 | 2021-12-31 | 南京农业大学 | Multi-perception robot flexible paw |
| CN109866243A (en) * | 2019-04-19 | 2019-06-11 | 南京农业大学 | More perception robot flexibility grippers and gas pressure controlling device |
| CN110181544B (en) * | 2019-06-14 | 2021-12-28 | 北京航空航天大学 | Extensible member, gripper and robot |
| CN110181544A (en) * | 2019-06-14 | 2019-08-30 | 北京航空航天大学 | A kind of extensible member, handgrip and robot |
| CN110509268B (en) * | 2019-08-27 | 2020-10-30 | 燕山大学 | Robot device is held to software based on negative pressure principle |
| CN110509268A (en) * | 2019-08-27 | 2019-11-29 | 燕山大学 | Software based on principle of negative pressure grasps robot device |
| CN110843950B (en) * | 2019-11-26 | 2021-08-13 | 常州机电职业技术学院 | Locust-simulated bouncing robot |
| CN110843950A (en) * | 2019-11-26 | 2020-02-28 | 常州机电职业技术学院 | Locust-simulated bouncing robot |
| CN111283709A (en) * | 2020-03-20 | 2020-06-16 | 徐州柚创谷智能科技有限公司 | Mechanical clamping jaw for robot ring pipe part |
| CN111283709B (en) * | 2020-03-20 | 2023-01-24 | 深圳市翔银精工有限公司 | Mechanical clamping jaw for robot ring pipe part |
| TWI775411B (en) * | 2021-04-26 | 2022-08-21 | 國立成功大學 | Soft actuator, gripping jaws, method, computer program product and computer readable recording medium for designing such |
| CN116766505A (en) * | 2022-03-11 | 2023-09-19 | 刘清平 | Single-finger vertical pneumatic clamp |
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Legal Events
| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181009 |