CN210704868U - Rigid-flexible composite soft finger module and mechanical gripper integrated with same - Google Patents
Rigid-flexible composite soft finger module and mechanical gripper integrated with same Download PDFInfo
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- CN210704868U CN210704868U CN201921239626.2U CN201921239626U CN210704868U CN 210704868 U CN210704868 U CN 210704868U CN 201921239626 U CN201921239626 U CN 201921239626U CN 210704868 U CN210704868 U CN 210704868U
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- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- 239000004952 Polyamide Substances 0.000 claims description 3
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- 229920002647 polyamide Polymers 0.000 claims description 3
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- 239000004945 silicone rubber Substances 0.000 claims 1
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Abstract
The utility model provides a just gentle compound soft finger module and integrated mechanical gripper who has this module, just gentle compound soft finger structure is: the elastic sheet is embedded in the limiting layer, the expansion layer is fixed on the upper surface of the limiting layer, and the expansion layer sequentially comprises a fingertip section, an expansion section and a fixing section from left to right; the expansion section consists of a plurality of expansion joints; the right end of the rectangular tube of the fixed section is provided with a fixed edge, and the inner cavity of the rectangular tube is composed of a plurality of expansion joints; there is fixed edge on the quarter bend right end of fixed section, this quarter bend inner chamber and if just expansion joint inner chamber intercommunication, this soft finger module is: the outer main fixing block is attached to the rectangular tube of the fixing section from three sides, the outer auxiliary fixing block is attached to the other side of the rectangular tube and fixed with the outer main fixing block through bolts, the fixing edge on the rectangular tube is embedded into the clamping grooves of the outer main fixing block and the outer auxiliary fixing block, the rectangular tube protrusion of the inner fixing block is inserted into the rectangular tube of the fixing section, the pneumatic connector is screwed into the threaded through hole on the inner fixing block and is communicated with the inner cavity of the rectangular tube in front, and the two-finger and four-finger mechanical gripper can be formed by adopting the soft finger type. The vertical and horizontal grabbing performance of the mechanical gripper is effectively improved, and particularly the horizontal grabbing performance is remarkably improved.
Description
Technical Field
The utility model relates to a mechanical gripper especially relates to a rigid-flexible composite mechanical gripper who is used for realizing flexible centre gripping.
Background
In the commodity production process, the automation level is continuously improved, the production line flexibility requirement is stronger, the physical isolation between the robot and the human in partial scenes is broken, and the robot becomes a human collaborator; the robot also enters public places such as restaurants, offices and the like and families at the same time. This puts high adaptability and high safety demands on the end effector of the robot.
Current end effectors consist primarily of rigid gripper arms, vacuum chucks, and newly emerging purely soft gripper arms. The rigid mechanical claw is unsafe to grab, and the vacuum chuck is difficult to adapt to objects with rough and irregular surfaces.
The current soft mechanical gripper like the pure soft mechanical gripper of the patents (CN201620683993.1 and CN201710667157.3) mainly comprises a finger bottom plate and a finger surface in structure, and the material is made of soft material such as silicon rubber. When an object is grabbed in the horizontal direction, due to the low rigidity of the material, large oblique deformation occurs during grabbing, and the grabbing load is reduced, so that the application of grabbing in the horizontal direction is limited, and the grabbing application in the basically vertical direction is caused at present.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the purpose provides a just gentle compound mechanical gripper to the problem that prior art exists, aims at effectively promoting vertical direction and horizontal direction and snatchs the performance, especially is showing to promote the horizontal direction and snatchs the performance.
The purpose of the utility model is realized like this: a hard and soft composite soft finger module is characterized in that the structure of the hard and soft composite soft finger module is as follows: an elastic sheet is embedded in the limiting layer, and the limiting layer is divided into an upper limiting layer) and a lower limiting layer, wherein an expansion layer is fixed on the upper surface of the upper limiting layer, the expansion layer is sequentially provided with a solid fingertip section, an expansion section and a fixed section from left to right, the expansion section consists of a plurality of hollow expansion joints which are raised upwards, the cross section of each expansion joint is in a conical shape, the fixed section is formed by enclosing a front vertical plate, a rear vertical plate, an outer fixed part used as the expansion layer of a top plate and the upper limiting layer used as a bottom plate to form a rectangular tube, and a fixed edge which extends outwards is arranged on the right end surface of the rectangular tube; the inner cavity of the rectangular tube is communicated with the inner cavities of the expansion joints; the elastic modulus of the limiting layer with the elastic thin sheet inside is larger than or equal to that of the expansion layer; the front side vertical plate and the rear side vertical plate of the outer main fixing block are fixed on the bottom plate, the outer main fixing block is coated and attached to the rectangular tube of the fixing section from bottom to top, and the outer auxiliary fixing block is formed by welding a vertical plate on the right side of the top surface of the horizontal plate; the horizontal plate of the outer auxiliary fixing block is covered and attached to the top plate of the rectangular tube and is fixed on the end surfaces of the front and rear side vertical plates of the outer main fixing plate through 4 bolts, and the fixing edge on the rectangular tube is embedded into the clamping grooves of the outer main fixing block and the outer auxiliary fixing block; the inner fixed block is formed by fixing a rectangular pipe bulge on the left side surface of the vertical plate; the rectangular pipe bulge of the inner fixing block is inserted into the rectangular pipe on the fixing section from right to left and forms sliding fit or tight fit with the rectangular pipe, the vertical plate of the inner fixing block is fastened on the fixing edge through four bolts and forms air-tight fit with the fixing edge, and the pneumatic connector is screwed into the threaded through hole on the vertical plate, namely the top plate, of the inner fixing block from right to left and is communicated with the inner cavity of the rectangular pipe.
The elastic sheet is made of a steel sheet or a copper sheet or a PVC sheet or a polyamide plastic sheet.
The width of the fixed part on the elastic sheet is the same as or slightly smaller than that of the fixed part on the limiting layer; the width of the non-fixed part on the elastic sheet is smaller than that of the non-fixed part of the limiting layer; the elastic sheet is provided with a plurality of hollow structures.
The expansion layer and the limiting layer are both made of silicon rubber; and a plurality of friction increasing strips are uniformly distributed on the bottom surface of the non-fixed part of the lower limiting layer.
Compared with the prior art, the beneficial effects of the utility model are that:
firstly, the inclined deformation angle of the rigid-flexible composite soft finger is greatly reduced when the rigid-flexible composite mechanical claw is used for grabbing an object in the horizontal direction. The reduction is about 1/7 through the measurement of the comparative experiment.
Secondly, the load is greatly improved when the rigid-flexible composite mechanical gripper is used for gripping an object in the horizontal direction, and the load is about 2-3 times of the original load measured by a comparison experiment.
And thirdly, the rigid-flexible composite mechanical gripper enlarges the application range of the flexible gripping jaw. The improvement of the performance of the gripper in the horizontal direction enables the gripper to be used widely in the vertical direction and the horizontal direction.
The utility model discloses added elastic sheet in the finger restriction in situ for main power and bending moment have been born to the elastic sheet part that rigidity is big when the horizontal direction snatchs, and it is very little to the drive direction influence simultaneously. Therefore, the inclined deformation angle of the rigid-flexible composite soft finger is small when the finger is grabbed in the horizontal direction, the grabbing load is effectively improved, and the application range of the finger is expanded.
Drawings
Fig. 1 is a sectional view of a rigid-flexible composite finger according to embodiment 1 of the present invention.
Fig. 2 is a cross-sectional view at a-a of fig. 1.
Fig. 3 is a perspective view of embodiment 1 of the present invention.
Fig. 4 is a schematic diagram of a partial explosion of embodiment 1 of the present invention.
Fig. 5 is a sectional view of embodiment 1 of the present invention.
Fig. 6 is a perspective view of embodiment 2 of the present invention.
Fig. 7 is a perspective view of embodiment 3 of the present invention.
Fig. 8 is a sectional view of embodiment 3 of the present invention.
Fig. 9 is a perspective view of another embodiment of the present invention 3.
In the drawings: 1. a rigid and flexible composite soft finger; 11. a confinement layer; 111. an upper confinement layer; 112. an elastic sheet; 1121. a fixing portion of the elastic sheet; 1122. a non-fixed portion of the elastic sheet; 1123. the middle of the elastic sheet is of a hollow structure; 113. a lower confinement layer; increased friction bars (increased friction); 12. an intumescent layer; 121 refers to the tip section; 122. an expansion section; 1221. an expansion joint; 1222. an expansion interval; 123. a fixed section; 1231. an outer fixing portion; 1232. a fixing edge; 13. a hollow chamber; 131. an expansion chamber; 132. communicating the chambers; fixing the inner cavity; 2A, the outer fixing block of the embodiment 1; 2b. the outer fixing block of embodiment 3; 21a. the outer main fixation block of embodiment 1; 211a. (on the outer main fixed block of embodiment 1) a card slot; 212A fixed facade (on the outer main fixed block of example 1); 213A left and right connection screw holes (on the outer main fixing block of embodiment 1); 214A. (on the outer main fixing block of embodiment 1) are connected with threaded holes up and down; 21B. (of example 3) outer main fixation block; 22A. (of example 1) outer auxiliary fixation blocks; 22B. (of example 3) outer auxiliary fixation blocks; 3A. (of example 1) inner fixation block; 31a. (on the inner fixture block of example 1) a rectangular tube protrusion; 32A. (for connecting with 2A on the fixed block in embodiment 1); 33A. (for mounting the integrated fixing plate 6 in embodiment 1); 34a. (on the internal fixation block of example 1) threaded through holes; 4. a pneumatic joint; 5. a bolt; 6. an integrated fixing plate; 61. (on the fixed plate) mounting adjustment grooves; a bolt adjustment notch (on the fixed plate); 63. mounting holes (of the integrated fixing plate); (pneumatic fitting) lumen.
Detailed Description
The present invention will be described in further detail with reference to the following examples.
The utility model discloses hard and soft compound mechanical gripper mainly includes hard and soft compound soft finger 1, outer fixed block 2, interior fixed block 3, is connected with pneumatic joint 4 on the interior fixed block, and hard and soft compound soft finger is fixed by outer fixed block and interior fixed block. The rigid-flexible composite soft finger structurally comprises a limiting layer 11, an expansion layer 12 and a cavity chamber 13 enclosed by the limiting layer and the expansion layer. The limiting layer is divided into an upper limiting layer 111, an elastic sheet 112, a lower limiting layer 113 and friction increasing strips 114; the elastic sheet 112 comprises a fixed part 1121, a non-fixed part 1122 and a hollow structure 1123 in the middle; the expansion layer is divided into a 121 finger tip section, a 122 expansion section and a 123 fixing section. The hollow chamber comprises an expansion chamber 131, a communication chamber 132 and a fixed inner cavity 133. The expansion section consists of a plurality of expansion joints 1221 and expansion intervals 1222; the fixing section includes an outer fixing portion 1231 and a fixing edge 1232.
The width 1 of the fixing part 1121 on the elastic sheet 112 is the same as or slightly smaller than that of the fixing part of the restriction layer 11;
the outer fixing block comprises an outer main fixing block and an outer auxiliary fixing block. The outer main fixing block is provided with a clamping groove 211A on the outer main fixing block in the embodiment 1, a fixing vertical surface 212A on the outer main fixing block in the embodiment 1, a left and right connecting threaded hole 213A on the outer main fixing block in the embodiment 1, and an upper and lower connecting threaded hole 214A on the outer main fixing block in the embodiment 1.
The inner fixing block 3A is provided with a rectangular pipe bulge 31A used for being matched with the rigid-flexible composite soft finger fixing inner cavity, a connecting hole 32A used for being connected with the outer fixing block 2A, a mounting hole 33A used for being mounted with the integrated fixing plate and a threaded through hole 34A used for being connected with a pneumatic connector.
The outer fixing part 1231 of the rigid-flexible composite soft finger is matched with the fixing vertical face 212A on the outer main fixing block, the fixing edge 1232 of the rigid-flexible composite soft finger is matched with the clamping grooves on the outer main fixing block and the outer auxiliary fixing block, the fixing inner cavity 133 of the rigid-flexible composite soft finger is matched with the protrusion 31A, the outer fixing block 2A and the inner fixing block 3A are connected together through the bolt 5, and meanwhile, the rigid-flexible composite soft finger is fixed.
Preferably, the soft material of the rigid-flexible composite soft finger, such as the expansion layer and the limiting layer, is silicon rubber.
Preferably, the restrictive layer 11 of the rigid-flexible composite soft finger shown has a modulus of elasticity greater than or equal to the modulus of elasticity of the expandable layer 12.
Preferably, the elastic sheet is made of metal sheet such as steel sheet and copper sheet, or plastic sheet such as PVC and polyamide.
Preferably, the elastic sheet has a plurality of hollowed-out structures 1123 thereon. The width of the non-fastening portion 1122 on the elastic sheet is smaller than the width of the non-fastening portion of the restriction layer 11.
Preferably, the finger tip section is of a solid structure. A plurality of friction increasing strips 114 are uniformly distributed on the bottom surface of the non-fixed part of the lower limiting layer 113.
The utility model discloses a working process and principle are:
rigid and flexible composite soft finger: is composed of a restriction layer 11, an expansion layer 12 and a cavity chamber 13 enclosed by the restriction layer and the expansion layer. The limiting layer consists of an upper limiting layer 111, an elastic sheet 112, a lower limiting layer 113 and friction increasing strips 114; the elastic sheet 112 is composed of a fixed part 1121, a non-fixed part 1122, and a hollow structure 1123 in the middle; the expansion layer is composed of a 121 fingertip section, a 122 expansion section and a 123 fixing section. The hollow chamber 13 comprises an expansion chamber 131, a communication chamber 132 and a fixed inner cavity 133. The expansion section consists of a plurality of expansion joints 1221 and expansion intervals 1222; the fixing section includes an outer fixing portion 1231 and a fixing edge 1232. preferably, the width of the fixing portion 1121 of the elastic sheet is the same as or slightly smaller than that of the fixing portion of the restriction layer 11.
Rigid-flexible composite soft finger module: the outer fixing part 1231 of the rigid-flexible composite soft finger is attached to the fixing vertical face 212A of the outer main fixing block, the fixing edge 1232 of the rigid-flexible composite soft finger is matched with the clamping groove 211A of the outer main fixing block, the fixing inner cavity 133 of the rigid-flexible composite soft finger is matched with the protrusion 31A, the outer fixing block 2 and the inner fixing block 3 are connected together through the bolts 5 through 213A, 214A and 32A, and meanwhile the rigid-flexible composite soft finger is fixed. The pneumatic connector 4 is mounted on the threaded through hole 34 of the inner fixing block 3.
Rigid-flexible composite soft finger gripper: as shown in fig. 6, the multi-finger gripper can be combined with the mounting hole 33A of the inner fixing block and the integrated fixing plate 6 to be used as the multi-finger gripper in the second embodiment. The width of the outer fixing block 21A is matched in the installation adjusting groove 61 of the integrated fixing plate, and the bolt passes through the installation hole 33A of the fixing block for being installed with the integrated fixing plate and is fixed with the bolt adjusting groove 62 of the integrated fixing plate. The integrated fixing plate is further provided with a mounting hole 63 to facilitate the connection of the embodiment 2 with other equipment such as a mechanical arm.
The number of the rigid-flexible composite soft finger modules can be 2 to more; the integrated fixing plate 6 shown in the figure is only an illustration, and can also be in a shape of a corresponding two-finger shape, a three-finger triangle, a four-finger rectangle, and the like. Thereby forming a rigid-flexible composite mechanical claw with two fingers, three fingers and the like.
Or directly form a two-finger gripper as in the third embodiment;
the working principle is as follows: and inserting an air pipe into the pneumatic connector 4, and ventilating the rigid-flexible composite soft finger module through the air pipe. When the pressure in the hollow chamber 13 is negative pressure, the compressed length of the expansion layer is shortened, the length change of the limiting layer is small, so that the fingers bend towards the side of the expansion layer, and the mechanical claw is opened to release the grabbed object; when the pressure in the hollow chamber 13 is positive pressure, the expansion length of the expansion layer is increased, so that the fingers bend to the side of the limiting layer, and the mechanical claw is closed to grab the object.
When the elastic sheet is grabbed in the horizontal direction, the width of the fixing portion 1121 of the elastic sheet is the same as that of the fixing portion of the limiting layer 11 and is the same as that of the fixing vertical surface 212A on the outer main fixing block, so that force and moment are transmitted to the elastic sheet with higher rigidity. The effect is that the inclined deformation angle of the soft finger is greatly reduced, and the horizontal grabbing load is improved. The application range is expanded.
As shown in fig. 1 to 5, a rigid-flexible composite finger module. The rigid-flexible composite soft finger fixing device mainly comprises a rigid-flexible composite soft finger 1, an outer fixing block 2A and an inner fixing block 3A, wherein a pneumatic connector 4 is connected to the inner fixing block, and the rigid-flexible composite soft finger is fixed by the outer fixing block and the inner fixing block. The rigid-flexible composite soft finger structurally comprises a limiting layer 11, an expansion layer 12 and a cavity chamber 13 enclosed by the limiting layer and the expansion layer. The limiting layer is divided into an upper limiting layer 111, an elastic sheet 112, a lower limiting layer 113 and friction increasing strips 114 (increasing friction); the expansion layer is divided into a 121 finger tip section, a 122 expansion section and a 123 fixing section. The hollow chamber comprises an expansion chamber 131, a communication chamber 132 and a fixed inner cavity 133. The expansion section consists of a plurality of expansion joints 1221 and expansion intervals 1222; the fixing section includes an outer fixing portion 1231 and a fixing edge 1232.
The outer fixing part 1231 of the rigid-flexible composite soft finger is matched with the fixing vertical face 212A on the outer main fixing block, the fixing edge 1232 of the rigid-flexible composite soft finger is matched with the clamping groove on the outer main fixing block, the fixing inner cavity 133 of the rigid-flexible composite soft finger is matched with the protrusion 31A, the outer fixing block 2A and the inner fixing block 3A are connected together through the bolt 5, and meanwhile the rigid-flexible composite soft finger is fixed.
The pneumatic joint 4 is mounted on the threaded through hole 34A of the inner fixing block 3A. The air vent 41 of the pneumatic connector is communicated with the thread through hole 34A of the inner fixed block and the hollow chamber 13 to control air pressure.
As shown in fig. 5, a rigid-flexible composite soft finger module, the rigid-flexible composite soft finger 1 has the following structure: an elastic sheet 112 is embedded in the limiting layer 11, the limiting layer is divided into an upper limiting layer 111 and a lower limiting layer 113, an expansion layer 12 is fixed on the upper surface of the upper limiting layer 111, the expansion layer 12 is sequentially provided with a solid fingertip section 121, an expansion section 122 and a fixing section 123 from left to right, the expansion section 122 is composed of a plurality of hollow expansion joints 1221 which are bulged upwards, the cross section of each expansion joint 1221 is conical, the fixing section 123 is composed of a front vertical plate and a rear vertical plate, an outer fixing part 1231 of the expansion layer 12 serving as a top plate and the upper limiting layer 111 serving as a bottom plate are enclosed to form a rectangular tube, and a fixing edge 1232 which extends outwards is arranged on the right end face of the rectangular tube; the inner cavity of the rectangular tube is communicated with the inner cavities of the expansion joints 1221; the elastic modulus of the limiting layer 11 with the elastic sheet 112 inside is larger than or equal to that of the expansion layer 12; the front and rear vertical plates of the outer main fixing block 21A are fixed on the bottom plate, the outer main fixing block 21A is coated and attached to the rectangular tube of the fixing section from bottom to top, and the outer auxiliary fixing block 22A is formed by welding a vertical plate on the right side of the top surface of the horizontal plate; the horizontal plate of the outer auxiliary fixing block 22A covers and is attached to the top plate of the rectangular tube, and is fixed on the end surfaces of the front and rear side vertical plates of the outer main fixing block 21A through 4 bolts 5, and the fixing edge on the rectangular tube is embedded into the clamping grooves of the outer main fixing block and the outer auxiliary fixing block; the inner fixing block 3A is formed by fixing a rectangular pipe bulge 31A on the left side surface of the vertical plate; the rectangular pipe bulge 31A of the inner fixing block 3A is inserted into the rectangular pipe on the fixing section 123 from right to left and forms sliding fit or tight fit with the rectangular pipe, the vertical plate of the inner fixing block 3A is fastened on the fixing edge 1232 through four bolts and forms air-tight fit with the fixing edge 1232, and the pneumatic connector 4 is screwed into the threaded through hole 34A on the vertical plate, also called the top plate, of the inner fixing block 3A from right to left and is communicated with the rectangular pipe inner cavity 133. An expansion gap 1222 is formed between two adjacent expansion joints 1221.
As shown in figure 6, the rigid-flexible composite four-finger gripper is provided. The integrated fixing plate 6 is formed by connecting a square plate between a left distance plate and a right distance plate which have the same shape; a pair of rigid-flexible composite soft finger modules is arranged on the left distance plate of the integrated fixing plate 6: two rigid-flexible composite soft finger modules are inserted into the mounting adjusting grooves 61 of the rectangular openings on the left distance plate from top to bottom, the top plates of the inner fixing blocks 3A of the two rigid-flexible composite soft finger modules are movably fixed in the two inverted T-shaped notches 62 on the two long edges of the left distance plate through bolts, and the two limiting layers 11 of the two rigid-flexible composite soft finger modules are positioned on the inner sides and opposite to each other; and another pair of rigid-flexible composite soft finger modules is arranged on the right distance plate of the integrated fixing plate 6 in the same way. The square of the integrated fixing plate 6 is provided with a plurality of mounting holes 63 for mechanical arm connection. Four rigid-flexible composite soft finger modules shown in embodiment 1 are fixed on the integrated fixing plate 6 for combined use. The width of the outer fixing block 21A is matched in the installation adjusting groove 61 of the integrated fixing plate, and the bolt passes through the installation hole 33A of the fixing block for being installed with the integrated fixing plate and is fixed with the bolt adjusting groove 62 of the integrated fixing plate. The integrated fixing plate is further provided with mounting holes 63 to facilitate the connection of the embodiment 2 with other devices.
The number of the rigid-flexible composite soft finger modules can be 2 to more; the integrated fixing plate 6 shown in the figure is only an illustration, and can also be in a shape of a corresponding two-finger shape, a three-finger triangle, a four-finger rectangle, and the like. Thereby forming a rigid-flexible composite mechanical claw with two fingers, three fingers and the like.
A 32B bolt hole, a 33B mounting hole and a rigid-flexible composite integrated two-finger gripper as shown in figures 7 to 9. The device mainly comprises two rigid and flexible composite soft fingers 1, an outer fixing block 2B and an inner fixing block 3B, wherein the inner fixing block is connected with a pneumatic connector 4.
The outer fixing blocks comprise an outer main fixing block 21B and two outer auxiliary fixing blocks 22B, and the two rigid-flexible composite soft fingers 1 are fixed together by using bolts together with the inner fixing blocks 3B. An air confluence channel 34B is arranged in the inner fixed block 3B, and one end of the pneumatic joint 34B is connected together.
The fingers may be arranged at a 90 degree angle as in figures 7 to 8, or may be arranged at other angles or parallel as in figure 9. A 90 degree arrangement is only one preferred way.
As shown in fig. 7, the rigid-flexible composite soft finger integrated two-finger mechanical gripper comprises a rigid-flexible composite soft finger 1, and the structure thereof is as follows: an elastic sheet 112 is embedded in the limiting layer 11, the limiting layer is divided into an upper limiting layer 111 and a lower limiting layer 113, an expansion layer 12 is fixed on the upper surface of the upper limiting layer 111, the expansion layer 12 is sequentially provided with a solid fingertip section 121, an expansion layer 122 and a fixing section 123 from left to right, the expansion section 122 is composed of a plurality of hollow expansion joints 1221 which are bulged upwards, the cross section of each expansion joint 1221 is conical, the fixing section 123 is composed of a front vertical plate and a rear vertical plate, an outer fixing part 1231 of the expansion layer 12 serving as a top plate and the upper limiting layer 111 serving as a bottom plate are enclosed to form a rectangular tube, and a fixing edge 1232 which extends outwards is arranged on the right end face of the rectangular tube; the inner cavity 133 of the rectangular tube is communicated with the inner cavities of the expansion joints 1221; the elastic modulus of the restriction layer 11 of the elastic sheet 112 is equal to or greater than the elastic modulus of the expansion layer 12; the two rigid-flexible composite soft fingers 1 are arranged at an included angle of less than or equal to 90 degrees, and the limiting layers of the two are positioned at the inner side of the included angle; the second outer main fixing block 21B is wrapped on the two outer fixing parts 1231 of the two rigid-flexible composite soft fingers 1 from the inner side of the included angle to the outer three sides, the two fixing edges 1232 are respectively embedded into the clamping grooves of the second outer main fixing block 21B and the second outer auxiliary fixing block 22B, and the two second outer auxiliary fixing blocks 22B are respectively fixed on the openings of the second outer main fixing block 21B through bolts 5 and are attached to the top surfaces of the outer fixing parts 1231 of the two rigid-flexible composite soft fingers 1; two rectangular pipe bulges on the second inner fixing block 3B are respectively inserted into the rectangular pipes of the fixing sections 123 of the two rigid-flexible composite soft fingers 1 and form sliding fit or tight fit with the rectangular pipes, the pneumatic connector 4 is screwed in the threaded hole of the second inner fixing block 3B, and the threaded hole is communicated with the inner cavities of the two rigid-flexible composite soft fingers 1 through the gas confluence channel 34B.
As shown in fig. 9, an integrated parallel two-finger gripper with rigid and flexible composite soft fingers, the rigid and flexible composite soft fingers 1 have the following structure: an elastic sheet 112 is embedded in the limiting layer 11, the limiting layer is divided into an upper limiting layer 111 and a lower limiting layer 113, an expansion layer 12 is fixed on the upper surface of the upper limiting layer 111, the expansion layer 12 is sequentially provided with a solid fingertip section 121, an expansion section 122 and a fixing section 123 from left to right, the expansion section 122 is composed of a plurality of hollow expansion joints 1221 which are bulged upwards, the cross section of each expansion joint 1221 is conical, the fixing section 123 is composed of a front vertical plate and a rear vertical plate, an outer fixing part 1231 of the expansion layer 12 serving as a top plate and the upper limiting layer 111 serving as a bottom plate are enclosed to form a rectangular tube, and a fixing edge 1232 which extends outwards is arranged on the right end face of the rectangular tube; the inner cavity 133 of the rectangular tube is communicated with the inner cavities of the expansion joints 1221; the elastic modulus of the limiting layer 11 with the elastic sheet 112 inside is larger than or equal to that of the expansion layer 12; the two rigid and flexible composite soft fingers 1 are arranged in parallel, and the limiting layers of the two are positioned at the inner sides; two plate-type third outer main fixing blocks 21B ' are respectively attached to front and rear side vertical plates of two fixing sections of the two rigid-flexible composite soft fingers 1, two plate-type third outer auxiliary fixing blocks 22B ' are respectively attached to top plates and bottom plates of the two fixing sections of the two rigid-flexible composite soft fingers 1 and are fixed with the two third outer main fixing blocks 21B ' through bolts, and the fixing edge 1232 of the outer fixing part 1231 is embedded into the clamping grooves on the two outer main fixing blocks and the two outer auxiliary fixing blocks, the two rectangular tube protrusions on the bottom surface of the top plate of the third inner fixing block 3B' are respectively inserted into the rectangular tubes of the two outer fixing parts, and forms a sliding fit or a tight fit with the third inner fixing block, the top plate of the third inner fixing block is fixed on the two fixing edges through four bolts, and form the air-tight fit with it, the screwed hole on the roof side of the third inner fixed block has pneumatic connector 4 screwed on, the screwed hole is communicated with the inner chamber of two hard and soft compound soft fingers 1 through the gas confluence channel.
An outer main fixed block 21B (plate) is attached to two front side vertical plates of two fixed sections of two rigid-flexible composite soft fingers 1, and the other outer main fixed block is attached to two rear side vertical plates of two fixed sections of two rigid-flexible composite soft fingers 1.
One outer auxiliary fixing block 22B (plate) is attached to two top plates of two fixing sections of two rigid-flexible composite soft fingers 1, and the other outer auxiliary fixing block is attached to two bottom plates of two fixing sections of two rigid-flexible composite soft fingers 1.
The contact surfaces of the adjacent outer main and outer auxiliary fixing blocks are connected by bolts.
The above-mentioned embodiments are only descriptions of the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and all modifications and changes made by the technical solution of the present invention should fall within the protection scope defined by the claims of the present invention on the basis of not departing from the spirit of the present invention.
Claims (9)
1. The utility model provides a compound soft finger module of hard and soft which characterized in that, hard and soft compound soft finger (1) structure is: an elastic sheet (112) is embedded in the limiting layer (11), the limiting layer is divided into an upper limiting layer (111) and a lower limiting layer (113), an expansion layer (12) is fixed on the upper surface of the upper limiting layer (111), the expansion layer (12) is sequentially provided with a solid pointed section (121), an expansion section (122) and a fixed section (123) from left to right, the expansion section (122) is composed of a plurality of hollow expansion joints (1221) which are bulged upwards, the cross section of each expansion joint (1221) is conical, the fixed section (123) is composed of a front vertical plate and a rear vertical plate, an outer fixed part (1231) of the expansion layer (12) which is used as a top plate and the upper limiting layer (111) which is used as a bottom plate are enclosed to form a rectangular tube, and a fixed edge (1232) which extends outwards is arranged on the right end face of the rectangular tube; the inner cavity of the rectangular tube is communicated with the inner cavities of the plurality of expansion joints (1221); the elastic modulus of the limiting layer (11) with the elastic thin sheet (112) inside is larger than or equal to that of the expansion layer (12); the front side vertical plate and the rear side vertical plate of the outer main fixing block (21A) are fixed on the bottom plate to form the assembly, the outer main fixing block (21A) is coated and attached to the rectangular tube of the fixing section from bottom to top, and the outer auxiliary fixing block (22A) is formed by fixing the vertical plate on the right side of the top surface of the horizontal plate; the horizontal plate of the outer auxiliary fixing block (22A) covers and is attached to the top plate of the rectangular tube, and is fixed on the end faces of the front and rear side vertical plates of the outer main fixing block (21A) through 4 bolts (5), and the fixing edge on the rectangular tube is embedded into the clamping grooves of the outer main fixing block and the outer auxiliary fixing block; the inner fixing block (3A) is formed by fixing a rectangular pipe bulge (31A) on the left side surface of the vertical plate; the rectangular pipe bulge (31A) of the inner fixing block (3A) is inserted into the rectangular pipe on the fixing section (123) from right to left and forms sliding fit or tight fit with the rectangular pipe, the vertical plate of the inner fixing block (3A) is fastened on the fixing edge (1232) through four bolts and forms air-tight fit with the fixing edge, and the pneumatic connector (4) is screwed into the threaded through hole (34A) on the vertical plate, namely the top plate, of the inner fixing block (3A) from right to left and is communicated with the inner cavity of the rectangular pipe.
2. The rigid-flexible composite soft finger module according to claim 1, wherein the elastic sheet (112) is made of steel sheet or copper sheet or PVC sheet or polyamide plastic sheet.
3. The rigid-flexible composite soft finger module as claimed in claim 1, wherein the width of the fixing portion (1121) on the elastic sheet (112) is the same as or slightly smaller than that of the limiting layer (11); the width of the non-fixed part (1122) on the elastic sheet is smaller than that of the non-fixed part of the limiting layer (11); the elastic sheet is provided with a plurality of hollowed-out structures (1123).
4. A rigid-flexible composite soft finger module as claimed in claim 1, wherein the expansion layer (12) and the restriction layer (11) are both silicone rubber; and a plurality of friction increasing strips (114) are uniformly distributed on the bottom surface of the non-fixed part of the lower limiting layer (113).
5. The integrated four-finger mechanical paw is characterized in that a rigid-flexible composite soft finger (1) is structurally characterized in that: an elastic sheet (112) is embedded in the limiting layer (11), the limiting layer is divided into an upper limiting layer (111) and a lower limiting layer (113), an expansion layer (12) is fixed on the upper surface of the upper limiting layer (111), the expansion layer (12) is sequentially provided with a solid pointed section (121), an expansion section (122) and a fixed section (123) from left to right, the expansion section (122) is composed of a plurality of hollow expansion joints (1221) which are bulged upwards, the cross section of each expansion joint (1221) is conical, the fixed section (123) is composed of a front vertical plate and a rear vertical plate, an outer fixed part (1231) of the expansion layer (12) which is used as a top plate and the upper limiting layer (111) which is used as a bottom plate are enclosed to form a rectangular tube, and a fixed edge (1232) which extends outwards is arranged on the right end face of the rectangular tube; the inner cavity of the rectangular tube is communicated with the inner cavities of the plurality of expansion joints (1221); the elastic modulus of the limiting layer (11) with the elastic thin sheet (112) inside is larger than or equal to that of the expansion layer (12); the integrated fixing plate (6) is formed by connecting a square plate between a left rectangular plate and a right rectangular plate which have the same shape; a pair of rigid-flexible composite soft finger modules is arranged on the left rectangular plate of the integrated fixing plate (6): the two rigid-flexible composite soft finger modules are inserted into a mounting and adjusting groove (61) with a rectangular opening on the left rectangular plate from top to bottom, top plates of inner fixing blocks (3A) of the two rigid-flexible composite soft finger modules are movably fixed in two inverted T-shaped notches (62) on two long edges of the left rectangular plate through bolts, and two limiting layers (11) of the two rigid-flexible composite soft finger modules are positioned on the inner sides and opposite to each other; and another pair of rigid-flexible composite soft finger modules is arranged on the right rectangular plate of the integrated fixing plate (6) in the same way.
6. The integrated four-finger gripper according to claim 5, wherein the square plate of the integrated fixed plate (6) is provided with a plurality of mounting holes (63) for mechanical arm connection.
7. The integrated two-finger mechanical gripper is characterized in that a rigid-flexible composite soft finger (1) has a structure as follows: an elastic sheet (112) is embedded in the limiting layer (11), the limiting layer is divided into an upper limiting layer (111) and a lower limiting layer (113), an expansion layer (12) is fixed on the upper surface of the upper limiting layer (111), the expansion layer (12) is sequentially provided with a solid pointed section (121), an expansion section (122) and a fixed section (123) from left to right, the expansion section (122) is composed of a plurality of hollow expansion joints (1221) which are bulged upwards, the cross section of each expansion joint (1221) is conical, the fixed section (123) is composed of a front vertical plate and a rear vertical plate, an outer fixed part (1231) of the expansion layer (12) which is used as a top plate and the upper limiting layer (111) which is used as a bottom plate are enclosed to form a rectangular tube, and a fixed edge (1232) which extends outwards is arranged on the right end face of the rectangular tube; the inner cavity of the rectangular tube is communicated with the inner cavities of the plurality of expansion joints (1221); the elastic modulus of the limiting layer (11) with the elastic thin sheet (112) inside is larger than or equal to that of the expansion layer (12);
the two rigid and flexible composite soft fingers (1) are arranged at an included angle of less than or equal to 90 degrees, and the limiting layers of the two are positioned at the inner side of the included angle; the second outer main fixing block (21B) is wrapped on two outer fixing parts (1231) of the two rigid-flexible composite soft fingers (1) from the inner side of the included angle to the outer three sides, the two fixing edges (1232) are respectively embedded into clamping grooves of the second outer main fixing block (21B) and the second outer auxiliary fixing block (22B), and the two second outer auxiliary fixing blocks (22B) are respectively fixed on openings of the second outer main fixing block (21B) through bolts (5) and are attached to the top surfaces of the outer fixing parts (1231) of the two rigid-flexible composite soft fingers (1); two rectangular pipe bulges on the second inner fixing block (3B) are respectively inserted into the rectangular pipes of the fixing sections (123) of the two rigid-flexible composite soft fingers (1) and form sliding fit or tight fit with the rectangular pipes, the pneumatic connector (4) is screwed in a threaded hole of the second inner fixing block (3B), and the threaded hole is communicated with the inner cavities of the two rigid-flexible composite soft fingers (1) through the gas confluence channel (34B).
8. The integrated two-finger gripper according to claim 7, wherein the two rigid and flexible composite fingers (1) are arranged at an angle of 90 °.
9. The utility model provides an integrated parallel two finger mechanical gripper which characterized in that, just gentle compound soft finger (1) structure is: an elastic sheet (112) is embedded in the limiting layer (11), the limiting layer is divided into an upper limiting layer (111) and a lower limiting layer (113), an expansion layer (12) is fixed on the upper surface of the upper limiting layer (111), the expansion layer (12) is sequentially provided with a solid pointed section (121), an expansion section (122) and a fixed section (123) from left to right, the expansion section (122) is composed of a plurality of hollow expansion joints (1221) which are bulged upwards, the cross section of each expansion joint (1221) is conical, the fixed section (123) is composed of a front vertical plate and a rear vertical plate, an outer fixed part (1231) of the expansion layer (12) which is used as a top plate and the upper limiting layer (111) which is used as a bottom plate are enclosed to form a rectangular tube, and a fixed edge (1232) which extends outwards is arranged on the right end face of the rectangular tube; the inner cavity of the rectangular tube is communicated with the inner cavities of the plurality of expansion joints (1221); the elastic modulus of the limiting layer (11) with the elastic thin sheet (112) inside is larger than or equal to that of the expansion layer (12);
the two rigid and flexible composite soft fingers (1) are arranged in parallel, and the limiting layers of the two are positioned at the inner sides; two plate-type third outer main fixing blocks (21B ') are respectively attached to front and rear side vertical plates of two fixing sections of the two rigid-flexible composite soft fingers (1), two plate-type third outer auxiliary fixing blocks (22B') are respectively attached to top plates and bottom plates of the two fixing sections of the two rigid-flexible composite soft fingers (1) and are fixed with the two third outer main fixing blocks (21B ') through bolts, fixing edges (1232) of the outer fixing parts (1231) are embedded into clamping grooves on the two outer main fixing blocks and the two outer auxiliary fixing blocks, two rectangular pipe bulges at the bottom surface of a top plate of a third inner fixing block (3B') are respectively inserted into rectangular pipes of the two outer fixing parts and form sliding fit or tight fit with the rectangular pipes, the top plate of the third inner fixing block is fixed on the two fixing edges through four bolts and forms air-tight fit with the rectangular pipes, and a pneumatic connector (4) is screwed on a threaded hole on the side surface of the top plate of the third inner fixing block, the threaded hole is communicated with the inner cavities of the two rigid-flexible composite soft fingers (1) through a gas confluence channel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921239626.2U CN210704868U (en) | 2019-08-02 | 2019-08-02 | Rigid-flexible composite soft finger module and mechanical gripper integrated with same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921239626.2U CN210704868U (en) | 2019-08-02 | 2019-08-02 | Rigid-flexible composite soft finger module and mechanical gripper integrated with same |
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| Publication Number | Publication Date |
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| CN210704868U true CN210704868U (en) | 2020-06-09 |
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| CN201921239626.2U Withdrawn - After Issue CN210704868U (en) | 2019-08-02 | 2019-08-02 | Rigid-flexible composite soft finger module and mechanical gripper integrated with same |
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| CN (1) | CN210704868U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110405800A (en) * | 2019-08-02 | 2019-11-05 | 成都易爪机器人科技有限公司 | A kind of combination of rigidity and flexibility mechanical paw |
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2019
- 2019-08-02 CN CN201921239626.2U patent/CN210704868U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110405800A (en) * | 2019-08-02 | 2019-11-05 | 成都易爪机器人科技有限公司 | A kind of combination of rigidity and flexibility mechanical paw |
| CN110405800B (en) * | 2019-08-02 | 2024-02-06 | 成都易爪机器人科技有限公司 | Rigid-flexible composite mechanical gripper |
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Effective date of registration: 20220704 Address after: 523000 Room 201, building 5, No. 1, Gongye Beisi Road, Songshanhu Park, Dongguan City, Guangdong Province Patentee after: Dongguan Yizhuo Robot Technology Co.,Ltd. Address before: 610065 room 3, 19th floor, building 2, No. 568, Jindong Road, Jinjiang District, Chengdu, Sichuan Province -0731 (self number) Patentee before: Chengdu Yizhao Robot Technology Co.,Ltd. |
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