CN210704869U - Pneumatic flexible multi-finger-deformation mechanical clamping jaw - Google Patents

Abstract

The utility model provides a pneumatic flexible multi-finger variant mechanical gripper, which is characterized in that: it comprises a mounting seat, a fixing claw mounting frame and at least two rotating claw mounting frames; the fixing claw mounting frame and each rotating claw mounting frame are respectively connected with a Pneumatic software finger; the fixing claw mounting frame is connected with the mounting seat; each rotating claw mounting frame is connected with the mounting seat through a rotary drive mechanism respectively, so as to realize that the rotating driving mechanism drives the rotating claw mounting frame to rotate, so as to connect with the rotating claw mounting frame The pneumatic software finger rotates to achieve position adjustment. The mechanical gripper can adjust the position of the fingers of the pneumatic software to form a variety of gripping forms, is suitable for grasping more types of objects, has good versatility, and can reduce the cost of use.

Description

A pneumatic flexible multi-finger variant mechanical gripper

technical field

The utility model relates to the technical field of mechanical grippers, in particular to a pneumatic flexible multi-finger modified mechanical gripper.

Background technique

With the continuous development and maturity of intelligent industries such as robotics, the proposal of "Industry 4.0", and the successive proposal and deepening of policies such as "Made in China 2025", profound changes have taken place in the manufacturing industry. Industrial robots have gradually replaced human labor. It extends to the logistics industry, the electronics industry, the food industry and the consumer sector, etc.

In automated production lines, as the end effector for robots to grasp and assemble, manipulators are particularly important. The application scenarios of traditional rigid manipulators are generally fixed, and the degree of stiffness matching with different objects is uneven; mainly because most of the materials are rigid objects, which are usually aimed at objects of specific size and shape; if complex actions are required, it is necessary to The number of drive shafts increases and the structure becomes more complex. Due to its complex structure, high cost, and complicated control algorithm, the application range of the dexterous manipulator is limited.

Therefore, in the case of more operational requirements, pneumatic soft fingers are gradually being promoted. They are formed by flexible materials under special technology, and can actively or passively change their shape and stiffness to achieve interactive work with different objects. More efficient, safe and convenient. For example, the Chinese utility model patent "A Pneumatic Multi-finger Flexible Gripper" (publication number: CN 207027549U) discloses a pneumatic multiple-finger flexible gripper, the actuator mainly includes three soft fingers and a finger base , through the air path to inflate or inhale the soft finger, under the characteristics of its flexible material, it can realize the adaptive grasp of objects of different shapes and sizes. However, in the existing pneumatic soft fingers, the finger base is fixed, and the pneumatic soft fingers cannot flexibly change positions according to the type of objects, thus limiting the types of objects grasped by the device.

Utility model content

The purpose of the utility model is to overcome the shortcomings and deficiencies in the prior art, and to provide an adjustable pneumatic software finger position to form a variety of clamping forms, suitable for grasping more types of objects, with good versatility, and can reduce the use of Cost pneumatic flexible multi-finger variant mechanical gripper.

In order to achieve the above purpose, the utility model is realized by the following technical solutions: a pneumatic flexible multi-finger modified mechanical gripper, which is characterized in that: it comprises a mounting seat, a fixing claw mounting frame and at least two rotating claw mounting frames; the fixing claw The installation frame and each rotating claw installation frame are respectively connected with pneumatic software fingers;

The fixing claw mounting frame is connected with the mounting seat; each rotating claw mounting frame is respectively connected with the mounting seat through a rotating driving mechanism, so that the rotating driving mechanism drives the rotating claw mounting frame to rotate, so that the pneumatic software fingers connected with the rotating claw mounting frame are connected. Rotate for position adjustment.

The working principle of the mechanical gripper of the utility model is as follows: the rotating drive mechanism drives each rotating claw mounting frame to rotate, so that the pneumatic software fingers connected with the rotating claw mounting frame are rotated to realize position adjustment; It is suitable for grabbing more types of objects, improving the versatility of the equipment and reducing the cost of use.

Preferably, there are two rotating claw mounting brackets; the two rotating claw mounting brackets are hinged with the mounting seat at the same hinge; the rotation driving mechanism includes a linear motion driver connected to the mounting seat, and a linkage;

The linear motion driver is connected with the linkage, so that the linear motion driver drives the linkage to move; the two rotating claw mounting brackets are respectively rotatably connected with the linkage, and the two connection points are located on both sides of the motion axis; the motion axis refers to The axis of motion passing through the hinge point and parallel to the driving direction of the linear motion drive.

The linear motion driver drives the linkage to move, and the linkage drives the two rotating claw mounting brackets to rotate towards each other around the hinge through the connection point to achieve closeness, or rotate back around the hinge to achieve separation; therefore, the rotating claw The three pneumatic software fingers connected by the mounting frame and the fixed claw mounting frame can form a side-by-side gripping state or a wrapping gripping state; in the wrapping gripping state, the pneumatic software fingers connected by the two rotating claw mounting frames can also be adjusted. Go to different positions to form a wrap-type clamping form with various angles. The mechanical gripper of the utility model can realize the transformation of the two gripping form schemes, expands the range of grasping objects, and is safer, more convenient and more efficient. The rotary drive mechanism is simple and ingenious, and can effectively make the two rotary claw mounting brackets rotate around the hinge joint to realize the position adjustment of the pneumatic software fingers.

Preferably, the linear motion driver refers to a cylinder; the piston rod of the cylinder is connected with the linkage.

Preferably, the two rotating claw mounting brackets are respectively provided with rotating holes; the linkage member is provided with an elongated guide hole along the direction of the movement axis; the mounting base is connected with a connecting piece; the connecting piece passes through the rotating claw mounting bracket The hole and the elongated guide hole of the linkage connect the rotating claw mounting bracket, the linkage and the mounting seat together.

Preferably, the fixing claw mounting bracket is provided with a mounting groove; the two rotating claw mounting brackets are respectively attached to the upper and lower bottom surfaces of the linkage and are rotatably connected with the upper and lower bottom surfaces of the linkage; the two rotating claw mounting brackets are connected to the linkage The joints of the two rotating claw mounts and the linkage are positioned through the groove walls on both sides of the mounting slot; the fixing claw mounts and the linkage are positioned with each other; The fixed claw mounting bracket, the rotating claw mounting bracket, the linkage and the mounting seat are connected together through the fixed claw mounting bracket, the rotating hole of the rotating claw mounting bracket and the elongated guide hole of the linkage. The advantage of this design is that the fixed claw mounting bracket, the rotating claw mounting bracket, the linkage and the mounting seat can be firmly and reliably connected together, thereby simplifying the structure of the rotary drive mechanism.

Preferably, the connection between the rotating claw mounting bracket and the linkage is achieved by embedding a boss into the linkage mounting hole.

Preferably, the linkage member is a cam member; the rotating claw mounting frame is provided with a guide position matching the movement track of the edge of the cam member. The setting of the cam piece can convert the linear driving action of the linear motion driver on the cam piece into the pushing action of the cam piece on the rotating claw mounting frame; the rotating claw mounting frame is not only driven by the connection point with the cam piece, but also by the cam piece The driving force can better convert the linear motion of the linear motion driver into the rotation of the rotating claw mounting frame.

Preferably, the pneumatic soft fingers are respectively connected with the fixed claw mounting bracket and the rotating claw mounting bracket in an adjustable manner. The advantage of this setting is that the distance of each pneumatic software finger can be adjusted according to the size and type of the object to be grasped, so that the mechanical gripper can better match various objects and further improve the versatility of the mechanical gripper.

Preferably, the fixing claw mounting bracket and the rotating claw mounting bracket are respectively provided with elongated installation holes, and the pneumatic software fingers are adjustably arranged in the elongated installation holes.

Preferably, the mounting base is provided with an external mounting hole for connecting with an external device.

Compared with the prior art, the utility model has the following advantages and beneficial effects:

1. The mechanical gripper of the utility model can adjust the position of the pneumatic software fingers to form a variety of clamping forms, which is suitable for grasping more types of objects, has good versatility, can reduce the cost of use, and is safer, more convenient, and more efficient;

2. The rotary drive mechanism of the mechanical gripper of the present utility model is simple and ingenious, which can effectively make the two rotating jaw mounts rotate around the hinge joint, and realize the position adjustment of the pneumatic software fingers;

3. The mechanical gripper of the utility model can adjust the distance of each pneumatic software finger according to the size and type of the grasped object, so that the mechanical gripper can better match various objects, and further improves the versatility of the mechanical gripper .

Description of drawings

Fig. 1 is the structural representation under the wrapping-type clamping form of the mechanical gripper of the present utility model;

Fig. 2 is the structural schematic diagram of the utility model under the parallel clamping mode of the mechanical gripper;

Fig. 3 is the exploded view of the utility model mechanical gripper;

4 is an exploded view of the fixed claw mounting bracket, the rotating claw mounting bracket and the linkage in the mechanical gripper of the present utility model;

Fig. 5 is the clamping schematic diagram under the wrapping-type clamping form of the mechanical clamping jaw of the present invention;

Fig. 6 is the schematic diagram of the outer support under the wrapping-type clamping form of the mechanical gripper of the present invention;

7 is a schematic view of clamping under the parallel clamping mode of the mechanical clamping jaws of the present invention;

8 is a schematic diagram of the external support under the parallel clamping form of the mechanical jaws of the present invention;

Among them, 1 is a pneumatic software finger, 2 is a fixed claw mounting bracket, 21 is a mounting groove, 3 is a rotating claw mounting bracket, 31 is a turning hole, 32 is a boss, 33 is a guide position, 4 is a linkage, and 41 is a long Shape guide hole, 42 is a linkage mounting hole, 5 is a cylinder, 6 is a cylinder support, 7 is a fitting piece, 8 is a mounting seat, and 9 is a connecting piece.

Detailed ways

The present utility model will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Example 1

In this embodiment, a pneumatic flexible multi-finger variant mechanical gripper has a structure as shown in FIGS. 1 to 4 , including a mounting seat 8 , a fixed claw mounting frame 2 and two rotating claw mounting frames 3 ; the fixed claw mounting frame 2 and the Each rotating claw mounting frame 3 is respectively connected with a pneumatic software finger 1 .

The mounting base 8 is provided with external mounting holes for connection with external equipment. The fixing claw mounting frame 2 is connected with the mounting base 8 ; each rotating claw mounting frame 3 is respectively connected with the mounting base 8 through a rotation driving mechanism. Specifically, the two rotating claw mounting brackets 3 are hinged with the mounting base 8 at the same hinge; the rotational driving mechanism includes a linear motion driver connected to the mounting base 8 and a linkage 4 .

The linear motion drive can use the existing technology, such as the cylinder 5 . The linear motion driver is connected with the linkage member 4 to realize that the linear motion driver drives the linkage member 4 to move.

The fixing claw mounting frame 2 is provided with a mounting groove 21; the two rotating claw mounting frames 3 are respectively fitted to the upper and lower bottom surfaces of the linkage member 4 and are embedded into the linkage mounting holes through the bosses 32 between the upper and lower bottom surfaces of the linkage member 4 The rotatable connection is realized in 42; the connection between the two rotating claw mounting brackets 3 and the linkage 4 is embedded in the installation slot 21, and the connection between the two rotating claw mounting brackets 3 and the linkage 4 passes through the groove walls on both sides of the mounting slot 21. achieve positioning. The fixing claw mounting frame 2 and the linkage member 4 are positioned relative to each other.

The two rotating claw mounting brackets 3 are respectively provided with rotating holes 31 ; the linkage member 4 is provided with an elongated guide hole 41 along the direction of the movement axis; the mounting base 8 is connected with a connecting member 9 . Through the connecting piece 9 passing through the fixing claw mounting bracket 2 , the rotating hole 31 of the rotating claw mounting bracket 3 and the long guide hole 41 of the linkage 4 , the fixed claw mounting bracket 2 , the rotating claw mounting bracket 3 , the linking piece 4 and the The seats 8 are coupled together. The advantage of this design is that the fixed claw mounting frame 2, the rotating claw mounting frame 3, the linkage 4 and the mounting seat 8 can be connected together stably and reliably, simplifying the structure of the rotary drive mechanism.

The working principle of the mechanical gripper of the utility model is as follows: the linear motion driver drives the linkage member 4 to move, and the linkage member 4 drives the two rotating claw mounting frames 3 through the connecting point to rotate towards each other around the hinge to achieve closeness, or to move back around the hinge. Therefore, the three pneumatic soft fingers 1 connected with the rotating claw mounting frame 3 and the fixed claw mounting frame 2 can form a side-by-side clamping state or a wrap-type clamping state; in the wrap-type clamping state, the two The pneumatic software fingers 1 connected to the rotating claw mounting brackets 3 can also be adjusted to different positions to form a wrap-type clamping form with various angles.

The mechanical gripper of the utility model can realize the transformation of the two gripping form schemes, expand the range of grasping objects, reduce the use cost, and be safer, more convenient and more efficient. The rotary drive mechanism is simple and ingenious, and can effectively make the two rotary claw mounting brackets 3 rotate around the hinge joint to realize the position adjustment of the pneumatic software finger 1 .

The linkage member 4 is a cam member; the rotating claw mounting frame 3 is provided with a guide position 33 matching the movement track of the edge of the cam member. The setting of the cam piece can convert the linear driving action of the linear motion driver on the cam piece into the pushing action of the cam piece on the rotating claw mounting frame 3; The driving force of the cam member can better convert the linear motion of the linear motion driver into the rotation of the rotating claw mounting frame 3 .

The pneumatic software fingers 1 are respectively connected with the fixed claw mounting bracket 2 and the rotating claw mounting bracket 3 in an adjustable manner. In this embodiment, the fixing claw mounting frame 2 and the rotating claw mounting frame 3 are respectively provided with elongated installation holes, and the pneumatic software fingers 1 are adjustably arranged in the elongated installation holes. The advantage of this setting is that the distance of each pneumatic software finger 1 can be adjusted according to the size and type of the object to be grasped, so that the mechanical gripper can better match various objects and further improve the versatility of the mechanical gripper.

The structure and working principle of the pneumatic soft finger can adopt the existing technology.

When the shape of the object to be grasped can be stably grasped when the mechanical gripper is in a state where the three pneumatic soft fingers are evenly arranged, the mechanical gripper adopts the wrapping gripping state, and the cylinder 5 is not activated. Then, the positive pressure is input to the pneumatic software finger 1 through the trachea interface under the pneumatic circuit; the back side of the pneumatic software finger 1 is easy to stretch because of the high-stretch elastic material, and the inner side is a low-stretch constraint material, so the pneumatic software finger 1 bends inward , as shown in Figure 5, to grasp the object. When the grasped object needs to be put down, the negative pressure is input, the air bag is contracted, and the backside of the pneumatic soft finger 1 is squeezed and stretched outward, as shown in Figure 6, to realize the release of the object.

When the shape of the object to be grasped is not suitable for the wrap-type clamping and the side-by-side clamping can better realize the clamping of the object, the cylinder 5 is activated. Further, the linkage 4 connected with the cylinder 5 moves linearly with the cylinder, and the linkage 4 makes the two rotating claw mounting frames 3 close together, so that the pneumatic software fingers 1 form a parallel clamping state. Input positive pressure to the pneumatic software finger 1 to grasp the corresponding object, as shown in Figure 7; input negative pressure, release the grasped object, as shown in Figure 8.

For books, notebook batteries, keyboards and other rectangular objects or objects with two approximately parallel planes, it is preferred to use side-by-side clamping; for cylindrical objects such as water cups and moon cakes and some irregular objects, wrap-type clamping is preferred; for string type Fruits, string-shaped fruits with long length and irregular distribution, are preferably clamped by wrapping; string-shaped fruits with short length and regular inverted cone shape are preferably clamped side-by-side.

Embodiment 2

This embodiment is a pneumatic flexible multi-finger modified mechanical gripper, which is different from the first embodiment in that: in this embodiment, there are at least two or more rotating jaw mounting brackets, such as two, three, four, or even more . Each rotating claw mounting frame is respectively connected with the mounting seat through a rotating driving mechanism, so that the rotating driving mechanism drives the rotating claw mounting frame to rotate, so that the pneumatic software fingers connected with the rotating claw mounting frame can rotate to realize position adjustment. The rotary drive mechanism can adopt the existing technology, such as an electric turntable and the like.

The rest of the structure of this embodiment is the same as that of the first embodiment.

The above-mentioned embodiments are preferred embodiments of the present utility model, but the embodiments of the present utility model are not limited by the above-mentioned embodiments, and any other changes, modifications, and substitutions made without departing from the spirit and principle of the present utility model , combination and simplification, all should be equivalent replacement methods, which are all included in the protection scope of the present invention.

Claims (10)

1. A pneumatic flexible multi-finger variant mechanical gripper, characterized in that: it comprises a mounting seat, a fixed claw mounting frame and at least two rotating claw mounting frames; the fixed claw mounting frame and each rotating claw mounting frame are respectively connected with pneumatic software fingers ; The fixing claw mounting frame is connected with the mounting seat; each rotating claw mounting frame is respectively connected with the mounting seat through a rotating driving mechanism, so that the rotating driving mechanism drives the rotating claw mounting frame to rotate, so that the pneumatic software fingers connected with the rotating claw mounting frame are connected. Rotate for position adjustment. 2 . The pneumatic flexible multi-finger variant mechanical gripper according to claim 1 , wherein the number of said rotating claw mounting brackets is two; the two rotating claw mounting brackets are hinged with the mounting seat at the same hinge; The driving mechanism includes a linear motion driver connected to the mounting seat, and a linkage; The linear motion driver is connected with the linkage, so that the linear motion driver drives the linkage to move; the two rotating claw mounting brackets are respectively rotatably connected with the linkage, and the two connection points are located on both sides of the motion axis; the motion axis refers to The axis of motion passing through the hinge point and parallel to the driving direction of the linear motion drive. 3 . The pneumatic flexible multi-finger variant mechanical gripper according to claim 2 , wherein the linear motion driver is an air cylinder; the piston rod of the air cylinder is connected with the linkage. 4 . 4 . The pneumatic flexible multi-finger modified mechanical gripper according to claim 2 , wherein the two rotating claw mounting brackets are respectively provided with rotating holes; the linkage member is provided with elongated guide holes along the movement axis direction; The mounting base is connected with a connecting piece; the rotating claw mounting frame, the linking piece and the mounting base are connected together through the connecting piece passing through the rotating hole of the rotating claw mounting frame and the long guide hole of the linking piece. 5. The pneumatic flexible multi-finger modified mechanical gripper according to claim 4, characterized in that: the fixing claw mounting bracket is provided with a mounting groove; The upper and lower bottom surfaces of the linkage are rotatably connected; the connection between the two rotating claw mounting brackets and the linkage is embedded in the installation groove, and the connection between the two rotating claw mounting brackets and the linkage is positioned through the groove walls on both sides of the installation groove. ; The fixing claw mounting frame and the linkage are positioned with each other; the fixed claw mounting frame and the rotating claw are installed through the connecting piece through the fixed claw mounting frame, the rotating hole of the rotating claw mounting frame and the long guide hole of the linking member. The frame, the linkage and the mount are connected together. 6 . The pneumatic flexible multi-finger modified mechanical gripper according to claim 5 , wherein the connection between the rotating claw mounting frame and the linkage is realized by embedding a boss into the linkage mounting hole. 7 . 7 . The pneumatic flexible multi-finger modified mechanical gripper according to claim 5 , wherein the linkage member is a cam member; and the rotating claw mounting frame is provided with a guide position that matches the movement trajectory of the edge of the cam member. 8 . 8 . The pneumatic flexible multi-finger variant mechanical gripper according to claim 1 , wherein the pneumatic soft fingers are respectively connected with the fixed claw mounting frame and the rotating claw mounting frame in an adjustable manner. 9 . 9 . The pneumatic flexible multi-finger variant mechanical gripper according to claim 8 , wherein the fixed claw mounting bracket and the rotating claw mounting bracket are respectively provided with elongated mounting holes, and the pneumatic software fingers are adjustable to be arranged on the long mounting holes. 10 . shaped mounting holes. 10 . The pneumatic flexible multi-finger modified mechanical gripper according to claim 1 , wherein the mounting seat is provided with an external mounting hole for connecting with an external device. 11 .

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