CN113858177B

CN113858177B - Flexible gripping device

Info

Publication number: CN113858177B
Application number: CN202111225232.3A
Authority: CN
Inventors: 姜永生; 贾斌; 颜显国; 殷倩文
Original assignee: Yanfeng Automotive Trim Systems Chongqing Co Ltd
Current assignee: Yanfeng Automotive Trim Systems Chongqing Co Ltd
Priority date: 2021-10-21
Filing date: 2021-10-21
Publication date: 2023-03-10
Anticipated expiration: 2041-10-21
Also published as: CN113858177A

Abstract

The invention provides a flexible grabbing device which comprises a frame and a plurality of grabbing units arranged on the frame, wherein the grabbing units are arranged in a rectangular array. The grabbing unit comprises a first base, a shifting mechanism, a first rotary driving mechanism, a large arm part, a small arm part, a second base, an extension driving mechanism and a grabbing mechanism. Through a plurality of units of snatching of integration on the frame, adopt PLC control system to snatch every unit and control, can make every unit of snatching accomplish the different gesture of snatching to the injection molding of adaptation different specifications has improved this flexible grabbing device's application scope.

Description

Flexible gripping device

Technical Field

The invention relates to the technical field of mechanical grippers, in particular to a flexible gripping device.

Background

In the production of injection-molded parts, in order to increase the production efficiency and to satisfy the personal safety of the workers, the products are usually taken out of the injection-molding machine using a mechanical gripping device. Because of the different shapes of the products, each injection molding part needs to be specially manufactured with a mechanical gripping device matched with the injection molding part.

At present, due to the limitation of site factors and the size of a workpiece, a plurality of independent mechanical grippers are generally integrated on a support of a mechanical gripping device, and a gripping hook is designed on a piston rod of an air cylinder of the mechanical gripper so as to grip an injection molding piece. However, the mechanical gripping device is single in structure and function, and due to the fact that injection molded parts are irregular and different in size, the mechanical gripping device cannot adapt to different types of workpieces, and therefore the production requirement for fast paces cannot be met.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a flexible gripping device to adapt to injection molding pieces with different specifications and improve the application range.

In order to achieve the above object, the present invention provides a flexible grasping apparatus, including a frame, and a plurality of grasping units disposed on the frame, the plurality of grasping units being arranged in a rectangular array, the grasping units including: a first base; the shifting mechanism is arranged on the frame and is used for driving the first base to move; the first rotary driving mechanism is used for driving the first base to rotate; one end of the large arm part is hinged with the first base; a small arm part, one end of which is hinged with the other end of the large arm part; the second base is hinged to the other end of the small arm part, and the rotation axis of the second base is parallel to the rotation axis of the small arm part and the rotation axis of the large arm part; the extension driving mechanism is used for adjusting the extension degree of the large arm part and the small arm part and synchronously driving the second base to rotate; and the gripper mechanism is arranged on the second base.

Preferably, the large arm part comprises two side plates, a first fulcrum shaft is rotatably arranged on the first base, and the two side plates are respectively fixed at two ends of the first fulcrum shaft; the small arm part is of a hollow structure, a second fulcrum shaft is arranged at one end of the small arm part, and the two side plates are respectively hinged to the second fulcrum shaft;

the extension drive mechanism includes: a first motor mounted on the small arm portion; the first screw rod is rotatably arranged in the small arm part and is in transmission connection with the first motor; the ball nut is arranged on the first screw rod in a penetrating mode; the connecting rod is arranged in an included angle formed by the large arm part and the small arm part, and two ends of the connecting rod are respectively hinged with the first base and the ball nut; the first worm is rotatably arranged at one end, far away from the large arm, of the small arm and is connected with the first screw rod; a third fulcrum shaft which is rotatably provided at one end of the small arm portion away from the second fulcrum shaft, and on which the second base is mounted; and a first worm wheel fixedly arranged on the third fulcrum in a penetrating way, wherein the first worm wheel is meshed with the first worm.

Preferably, the gripper mechanism includes: a clamp bracket disposed on the second base; a suction cup disposed on the jig bracket; the two clamping jaws are respectively and rotatably arranged on the clamp bracket; the second rotary driving mechanism is used for synchronously driving the two clamping jaws to rotate or locking the two clamping jaws; and a third rotation driving mechanism for driving the jig holder to rotate or locking the jig holder.

Preferably, the second rotary drive mechanism comprises: a second motor mounted on the jig bracket; the second worm is arranged on a rotating shaft of the second motor; the two second worm wheels are respectively and rotatably arranged on the clamp bracket, arranged on two sides of the second worm and respectively meshed with the second worm; and the transmission assembly is used for being in transmission connection with the second worm wheel and the clamping jaw.

Preferably, the transmission assembly comprises a first transmission gear and a second transmission gear, and the first transmission gear is coaxially arranged with the second worm gear; the clamp is characterized in that two first rotary bases are rotatably arranged on the clamp support, the clamping jaws are respectively arranged on the two first rotary bases, and one second transmission gear is sleeved on each first rotary base.

Preferably, the third rotary drive mechanism comprises: a third motor mounted on the second base; a third worm provided on a rotation shaft of the third motor; the third worm wheel is rotationally arranged on the second base and meshed with the third worm; the second rotating base is rotatably arranged on the second base, and the clamp bracket is installed on the second rotating base; a third transmission gear arranged coaxially with the third worm wheel; and the fourth transmission gear is sleeved on the second rotating seat and is meshed with the third transmission gear.

Preferably, the displacement mechanism comprises: a guide rail provided on the frame; the second screw rod is rotatably arranged in the guide rail; the fourth motor is connected with the second screw rod; the sliding seat is in sliding fit in the guide rail, penetrates through the second screw rod and is in threaded fit with the second screw rod; and the third rotating seat is arranged on the sliding seat and is in running fit with the first base.

Preferably, the first rotary drive mechanism comprises: a fifth motor mounted on the first base; a fourth worm provided on a rotation shaft of the fifth motor; the fourth worm wheel is rotatably arranged on the first base and meshed with the fourth worm; a fifth transmission gear provided coaxially with the fourth worm wheel; and the sixth transmission gear is sleeved on the third rotating seat and is meshed with the fifth transmission gear.

The invention has the beneficial effects that:

1. according to the flexible gripping device, the plurality of gripping units are integrated on the frame, and the PLC control system is adopted to control each gripping unit, so that each gripping unit can complete different gripping postures, and therefore the flexible gripping device is suitable for injection molding pieces with different specifications, and the application range of the flexible gripping device is expanded.

2. According to the flexible gripping device, the first rotary driving mechanism and the shifting mechanism can respectively drive the first base to rotate and move, so that the position of the gripping mechanism can be adjusted. And the extension driving mechanism can synchronously drive the second base to rotate while adjusting the extension degree of the large arm part and the small arm part, so that the grabbing station of the grabbing mechanism is adjusted to a proper position. The rotation of the gripping mechanism and the extending action of the large arm part and the small arm part are designed to be carried out synchronously, so that the speed of adjusting the gripping posture of the gripping unit is improved.

3. According to the flexible grabbing device, the weight of the grabbing unit is reduced due to the structural design of the large arm part and the small arm part, the requirement for overall light weight of the grabbing unit is met, and the strength requirement of the whole grabbing unit is met due to the mutual matching of the large arm part, the small arm part, the connecting rod and the first base.

4. According to the flexible gripping device, the sucker and the two clamping jaws are integrated on the clamp bracket, so that the gripping mechanism can meet different requirements of pulling, clamping, sucking and the like when a workpiece is taken, the gripping requirements of workpieces of different types are met, and the flexible gripping device is compact in structure, concise in appearance and reasonable in design.

Drawings

In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings used in the detailed description or the prior art description will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

Fig. 1 is a schematic structural diagram of a flexible gripping device according to an embodiment of the present invention;

FIG. 2 is a schematic view of the grasping unit;

FIG. 3 is a schematic view of the extension driving mechanism;

FIG. 4 is a schematic structural view of the gripper mechanism;

FIG. 5 is a schematic view of a second rotary drive mechanism;

FIG. 6 is a schematic structural view of a third rotary drive mechanism;

FIG. 7 is a schematic structural view of a second base;

fig. 8 is a schematic structural view of the first rotary drive mechanism and the displacement mechanism.

Reference numerals:

10-a frame;

20-a first base;

30-a shifting mechanism, 31-a guide rail, 32-a second screw rod, 33-a fourth motor, 34-a sliding seat and 35-a third rotating seat;

40-a first rotary driving mechanism, 41-a fifth motor, 42-a fourth worm, 43-a fourth worm wheel, 44-a fifth transmission gear and 45-a sixth transmission gear;

50-big arm, 51-side plate;

60-small arm;

70-a second base;

80-an extension driving mechanism, 81-a first motor, 82-a first screw rod, 83-a ball nut, 84-a connecting rod, 85-a first worm, 86-a third fulcrum and 87-a first worm wheel;

90-gripper mechanism, 91-gripper bracket, 92-suction cup, 93-gripper jaw, 94-second rotary drive mechanism, 941-second motor, 942-second worm, 943-second worm wheel, 944-first transmission gear, 945-second transmission gear, 95-third rotary drive mechanism, 951-third motor, 952-third worm, 953-third worm wheel, 954-second swivel mount, 955-third transmission gear, 956-fourth transmission gear, 96-first swivel mount;

101-first fulcrum, 102-second fulcrum, 103-fourth fulcrum, 104-fifth fulcrum, 105-sixth fulcrum.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only used as examples, and the protection scope of the present invention is not limited thereby.

It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.

In the description of the present application, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In this application, unless expressly stated or limited otherwise, a first feature is "on" or "under" a second feature such that the first and second features are in direct contact, or the first and second features are in indirect contact via an intermediary. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

As shown in fig. 1 to 8, in an embodiment of the present invention, a flexible gripping device is provided, which includes a frame 10, and a plurality of gripping units disposed on the frame 10, where the number of gripping units can be designed according to actual production requirements, and in this embodiment, eight gripping units are designed, and the eight gripping units are arranged in a rectangular array.

The gripper unit includes a first base 20, a displacement mechanism 30, a first rotation driving mechanism 40, a large arm portion 50, a small arm portion 60, a second base 70, an extension driving mechanism 80, and a gripper mechanism 90. The displacement mechanism 30 is installed on the frame 10, the displacement mechanism 30 is used for driving the first base 20 to move, and the first rotary driving mechanism 40 is used for driving the first base 20 to rotate. One end of the large arm portion 50 is hinged to the first base 20, one end of the small arm portion 60 is hinged to the other end of the large arm portion 50, the second base 70 is hinged to the other end of the small arm portion 60, and the rotation axis of the second base 70 is parallel to the rotation axis of the small arm portion 60 and the rotation axis of the large arm portion 50. The stretching driving mechanism 80 is used for adjusting the stretching degree of the large arm part 50 and the small arm part 60 and synchronously driving the second base 70 to rotate, and the gripper mechanism 90 is rotatably arranged on the second base 70.

The flexible gripping device of this embodiment, through a plurality of units of snatching of integration on frame 10, adopt PLC control system to control every unit of snatching, can make every unit of snatching accomplish different postures of snatching to adapt to the injection molding of different specifications, improved this flexible gripping device's application scope.

When the single gripper unit is operated, the first rotary drive mechanism 40 and the shift mechanism 30 can respectively rotate and move by driving the first base 20, thereby adjusting the position of the gripper mechanism 90. And, the extension driving mechanism 80 simultaneously drives the second base 70 to rotate while adjusting the extension degree of the large arm portion 50 and the small arm portion 60, so as to adjust the grasping station of the grasping mechanism 90 to a proper position. By designing the rotation of the gripper mechanism 90 and the extending action of the large arm portion 50 and the small arm portion 60 to be performed in synchronization, the speed of adjusting the gripping posture of the gripping unit is increased.

In one embodiment, the large arm 50 includes two side plates 51, the first base 20 is rotatably provided with a first fulcrum 101, and the two side plates 51 are respectively fixed at two ends of the first fulcrum 101; the small arm portion 60 is a hollow structure, one end of the small arm portion 60 is provided with a second support shaft 102, and the two side plates 51 are respectively hinged on the second support shaft 102.

The extension driving mechanism 80 includes a first motor 81, a first lead screw 82, a ball nut 83, a link 84, a first worm 85, a third fulcrum 86, and a first worm wheel 87. The first motor 81 is installed on the small arm portion 60, the first lead screw 82 is rotatably arranged in the small arm portion 60 and is in transmission connection with the first motor 81, the ball nut 83 is arranged on the first lead screw 82 in a penetrating mode, the connecting rod 84 is arranged in an included angle formed by the large arm portion 50 and the small arm portion 60, and two ends of the connecting rod 84 are hinged to the first base 20 and the ball nut 83 respectively. The first worm 85 is rotatably disposed at an end of the small arm portion 60 away from the large arm portion 50, the first worm 85 is connected to the first screw 82, the third fulcrum 86 is rotatably disposed at an end of the small arm portion 60 away from the second fulcrum 102, and the second base 70 is fixedly mounted on the third fulcrum 86. A first worm wheel 87 is fixedly arranged on the third fulcrum 86 in a penetrating way, and the first worm wheel 87 is meshed with the first worm 85.

When the extension driving mechanism 80 adjusts the extension degree of the large arm portion 50 and the small arm portion 60, the first motor 81 drives the first screw 82 to rotate, and since the ball nut 83 is restricted by the link 84, when the ball nut 83 moves along the first screw 82 toward the second support shaft 102, the large arm portion 50 and the small arm portion 60 assume the extended state. When the ball nut 83 moves along the first screw 82 toward the third support shaft 86, the large arm 50 and the small arm 60 are retracted.

When the first lead screw 82 rotates, the first lead screw 82 also drives the first worm 85 to rotate, and the first worm 85 drives the first worm wheel 87 to rotate, so as to realize the rotation adjustment of the third fulcrum 86 and the second base 70. Since the worm can drive the worm wheel to rotate, but the worm wheel cannot drive the worm to rotate, after the first motor 81 stops, the small arm portion 60 and the large arm portion 50, and the second base 70 and the gripper mechanism 90 can be locked at a required stop position by using the self-locking property of the worm wheel and the worm, so that the working position of the gripper mechanism 90 can be accurately and reliably adjusted.

Meanwhile, the weight of the grabbing unit is reduced due to the structural design of the large arm part 50 and the small arm part 60, the requirement of light weight of the whole grabbing unit is met, and the strength requirement of the whole grabbing unit is guaranteed due to the mutual matching of the large arm part 50, the small arm part 60, the connecting rod 84 and the first base 20.

In one embodiment, the gripper mechanism 90 includes a clamp bracket 91, a suction cup 92, two clamping jaws 93, a second rotary drive mechanism 94, and a third rotary drive mechanism 95. Specifically, the suction cup 92 is fixed on the clamp bracket 91, the two clamping jaws 93 (a pneumatic clamp and a finger cylinder can be selected respectively) are rotatably disposed on the clamp bracket 91, the clamping directions of the two clamping jaws 93 can be the same or different, and the second rotary driving mechanisms 94 of the two clamping jaws 93 are used for synchronously driving the two clamping jaws 93 to rotate or locking the two clamping jaws 93. The third rotation driving mechanism 95 is used to drive the jig support 91 to rotate, or lock the jig support 91.

The second rotary driving mechanism 94 can drive the two clamping jaws 93 to rotate, so that the clamping direction of the single or the two clamping jaws 93 can be adjusted, and meanwhile, the second rotary driving mechanism 94 can lock the two clamping jaws 93 at a required stop position, so that the working position of the single or the two clamping jaws 93 can be accurately and reliably adjusted.

In addition, the third rotary driving mechanism 95 can drive the whole clamp bracket 91 to rotate, so that the clamp bracket 91 is locked at a required stop position, and the working positions of the suction cup 92 and the two clamping jaws 93 are accurately and reliably adjusted, so that the grabbing requirements of different types of workpieces are met.

By integrating the suction cup 92 and the two clamping jaws 93 on the clamp bracket 91, the gripper mechanism 90 can meet different requirements of pulling, clamping, sucking and the like when taking a workpiece, so that the gripper mechanism can meet the gripping requirements of workpieces of different types, and has the advantages of compact structure, concise appearance and reasonable design.

In one embodiment, the second rotary drive mechanism 94 includes a second motor 941, a second worm 942, two second worm gears 943 and two transmission assemblies. The second motor 941 is mounted on the clamp bracket 91, the second worm 942 is fixedly sleeved on a rotating shaft of the second motor 941, two second worm wheels 943 are respectively rotatably disposed on the clamp bracket 91, the two second worm wheels 943 are arranged on two sides of the first worm 85 and are respectively engaged with the second worm 942, and each transmission assembly is used for connecting the second worm wheels 943 and the clamping jaw 93.

Specifically, a supporting plate is fixed on the top of the second motor 941, each second worm wheel 943 is fixedly arranged on one fourth supporting shaft 103 in a penetrating manner, and two ends of the fourth supporting shaft 103 are respectively connected with the supporting plate and the clamp bracket 91 in a rotating manner. When the second motor 941 is activated, the second worm 942 will drive the two second worm wheels 943 to rotate at the same time, so that the rotating second worm wheels 943 will be driven by the corresponding transmission assemblies, and the two clamping jaws 93 rotate synchronously. When the second motor 941 is stopped, the single or two clamping jaws 93 can be locked at a required stop position by using the self-locking property of the worm gear, so that the working position of the single or two clamping jaws 93 can be accurately and reliably adjusted.

In one embodiment, the transmission assembly includes a first transmission gear 944 and a second transmission gear 945, the first transmission gear 944 being coaxially arranged with the second worm gear 943; the fixture support 91 is rotatably provided with two first rotating bases 96, the two clamping jaws 93 are respectively arranged on the two first rotating bases 96, and the first rotating bases 96 are sleeved with a second transmission gear 945.

After the second motor 941 is started, the second worm 942 drives the two second worm gears 943 to rotate at the same time, so that the rotating second worm gears 943 drive the first transmission gears 944 to rotate, and the first transmission gears 944 drive the corresponding second transmission gears 945 to rotate, so as to drive the first rotating base 96 to rotate, and thus, the clamping jaws 93 on the first rotating base 96 can rotate. Through using gear and gear to mutually support, improved driven smoothness nature.

In one embodiment, the third rotational drive mechanism 95 includes a third motor 951, a third worm 952, a third worm gear 953, a second swivel mount 954, a third drive gear 955, and a fourth drive gear 956. The third motor 951 is installed on the second base 70, the third worm 952 is fixedly arranged on a rotating shaft of the third motor 951 in a penetrating mode, a fifth fulcrum 104 is arranged in the second base 70 in a rotating mode, the axis of the fifth fulcrum 104 is parallel to the axis of the fourth fulcrum 103, and a third worm wheel 953 is fixedly arranged on the fifth fulcrum 104 in a penetrating mode and meshed with the third worm 952. The second rotating base 954 is rotatably disposed on the second base 70, the fixture support 91 is mounted on the second rotating base 954, the third transmission gear 955 is fixedly disposed on the fifth fulcrum 104, the fourth transmission gear 956 is disposed on the second rotating base 954, and the fourth transmission gear 956 is engaged with the third transmission gear 955.

After the third motor 951 is started, the third worm 952 drives the third worm gear 953 to rotate, so that the rotating third worm gear 953 rotates, so that the rotating third worm gear 953 drives the third transmission gear 955 to transmit, and the third transmission gear 955 drives the fourth transmission gear 956 to transmit, so as to drive the second rotation seat 954 to rotate, so that the clamp bracket 91 on the second rotation seat 954 can rotate. Through using gear and gear to mutually support, improved driven smoothness nature.

Similarly, the self-locking feature of the worm gear can be used to lock the clamp holder 91 at a desired stop position, so as to precisely and reliably adjust the working positions of the suction cup 92 and the two clamping jaws 93, thereby adapting to the gripping requirements of different types of workpieces.

In one embodiment, the displacement mechanism 30 includes a guide rail 31, a second lead screw 32, a fourth motor 33, a slide 34, and a third swivel mount 35. The guide rail 31 is fixed on the frame 10, the second screw rod 32 is rotatably arranged in the guide rail 31, the fourth motor 33 is in transmission connection with the second screw rod 32, the sliding seat 34 is in sliding fit in the guide rail 31, the sliding seat 34 penetrates through the second screw rod 32 and is in threaded fit with the second screw rod 32, the third rotating seat 35 is arranged on the sliding seat 34, and the third rotating seat 35 is in rotating fit with the first base 20. When the fourth motor 33 is started, the second screw 32 drives the sliding base 34 to move along the length direction of the second screw 32, so that the first base 20, the large arm 50, the small arm 60, and the gripper 90 move integrally.

In one embodiment, the first rotary drive mechanism 40 includes a fifth motor 41, a fourth worm 42, a fourth worm gear 43, a fifth drive gear 44, and a sixth drive gear 45. The fifth motor 41 is installed on the first base 20, the fourth worm 42 is arranged on a rotating shaft of the fifth motor 41, a sixth fulcrum shaft is rotatably arranged on the first base 20, the fourth worm wheel 43 is fixedly arranged on the sixth fulcrum shaft in a penetrating manner, the fourth worm wheel 43 is meshed with the fourth worm 42, the fifth transmission gear 44 is also fixedly arranged on the sixth fulcrum shaft in a penetrating manner, the fourth worm wheel 43 is coaxially arranged, the sixth transmission gear 45 is sleeved on the third rotary base 35, and the sixth transmission gear 45 is meshed with the fifth transmission gear 44.

When the fifth motor 41 drives the fourth worm 42 to rotate, the fourth worm 42 drives the fourth worm wheel 43 to rotate, so that the rotating fourth worm wheel 43 drives the fifth transmission gear 44 to transmit, the fifth transmission gear 44 drives the sixth transmission gear 4 to transmit, and since the third rotating base 35 is rotatably connected with the first base 20, the fifth transmission gear 44 rotates around the central axis of the third rotating base 35, thereby driving the first base 20 to rotate.

In the description of the present invention, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.

Claims

1. A flexible grabbing device which characterized in that: including the frame, and set up a plurality of grabbing units on the frame, it is a plurality of grab the unit and be the rectangular array and arrange, it includes to grab the unit:

a first base;

the shifting mechanism is arranged on the frame and is used for driving the first base to move;

the first rotary driving mechanism is used for driving the first base to rotate;

the large arm part is hinged with the first base at one end;

a small arm part, one end of which is hinged with the other end of the large arm part;

the second base is hinged to the other end of the small arm part, and the rotation axis of the second base is parallel to the rotation axis of the small arm part and the rotation axis of the large arm part;

the extension driving mechanism is used for adjusting the extension degree of the large arm part and the small arm part and synchronously driving the second base to rotate; and

the gripper mechanism is arranged on the second base;

the large arm part comprises two side plates, a first fulcrum shaft is rotatably arranged on the first base, and the two side plates are respectively fixed at two ends of the first fulcrum shaft; the small arm part is of a hollow structure, a second fulcrum shaft is arranged at one end of the small arm part, and the two side plates are respectively hinged to the second fulcrum shaft;

the extension driving mechanism comprises a first motor, a first screw rod, a ball nut, a connecting rod, a first worm, a third fulcrum and a first worm wheel, the first motor is installed on the small arm part, the first screw rod is rotatably arranged in the small arm part and is in transmission connection with the first motor, and the ball nut is arranged on the first screw rod in a penetrating mode; the connecting rod is arranged in an included angle formed by the large arm part and the small arm part, and two ends of the connecting rod are respectively hinged with the first base and the ball nut;

the first worm is rotatably arranged at one end, far away from the large arm, of the small arm and is connected with the first screw rod; the third fulcrum is rotatably arranged at one end of the small arm part far away from the second fulcrum, and the second base is arranged on the third fulcrum; the first worm wheel is fixedly arranged on the third fulcrum in a penetrating mode, and the first worm wheel is meshed with the first worm.

2. The flexible grasping device according to claim 1, characterized in that: the tongs mechanism includes:

a clamp bracket disposed on the second base;

a suction cup disposed on the jig bracket;

the two clamping jaws are respectively and rotatably arranged on the clamp bracket;

the second rotary driving mechanism is used for synchronously driving the two clamping jaws to rotate or locking the two clamping jaws; and

and the third rotary driving mechanism is used for driving the clamp bracket to rotate or locking the clamp bracket.

3. The flexible grasping device according to claim 2, wherein: the second rotary drive mechanism includes:

a second motor mounted on the jig bracket;

the second worm is arranged on a rotating shaft of the second motor;

the two second worm wheels are respectively and rotatably arranged on the clamp bracket, arranged on two sides of the second worm and respectively meshed with the second worm; and

and the transmission assembly is used for driving and connecting the second worm wheel and the clamping jaw.

4. The flexible grasping device according to claim 3, characterized in that: the transmission assembly comprises a first transmission gear and a second transmission gear, and the first transmission gear and the second worm gear are coaxially arranged; the clamp is characterized in that two first rotary bases are rotatably arranged on the clamp support, the clamping jaws are respectively arranged on the two first rotary bases, and one second transmission gear is sleeved on each first rotary base.

5. The flexible grasping device according to claim 2, wherein: the third rotary drive mechanism includes:

a third motor mounted on the second base;

a third worm provided on a rotation shaft of the third motor;

the third worm wheel is rotatably arranged on the second base and meshed with the third worm;

the second rotating base is rotatably arranged on the second base, and the clamp bracket is installed on the second rotating base;

a third transmission gear arranged coaxially with the third worm wheel; and

and the fourth transmission gear is sleeved on the second rotating seat and is meshed with the third transmission gear.

6. The flexible grasping device according to claim 1, wherein: the displacement mechanism includes:

a guide rail provided on the frame;

the second screw rod is rotatably arranged in the guide rail;

the fourth motor is connected with the second screw rod;

the sliding seat is in sliding fit in the guide rail, penetrates through the second screw rod and is in threaded fit with the second screw rod; and

and the third rotating seat is arranged on the sliding seat and is in running fit with the first base.

7. The flexible grasping device according to claim 6, characterized in that: the first rotary drive mechanism includes:

a fifth motor mounted on the first base;

the fourth worm is arranged on a rotating shaft of the fifth motor;

the fourth worm wheel is rotatably arranged on the first base and meshed with the fourth worm;

a fifth transmission gear provided coaxially with the fourth worm wheel; and

and the sixth transmission gear is sleeved on the third rotating seat and is meshed with the fifth transmission gear.