CN216328398U - Positive pressure driven miniature soft clamping jaw - Google Patents
Positive pressure driven miniature soft clamping jaw Download PDFInfo
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- CN216328398U CN216328398U CN202122893133.4U CN202122893133U CN216328398U CN 216328398 U CN216328398 U CN 216328398U CN 202122893133 U CN202122893133 U CN 202122893133U CN 216328398 U CN216328398 U CN 216328398U
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Abstract
The utility model discloses a positive pressure driven miniature soft clamping jaw, which comprises a fixed installation part and a soft clamping part, wherein the fixed installation part is hermetically connected with the soft clamping part, a hollow first channel is arranged in the fixed installation part, the soft clamping part comprises a connecting part, an expansion part and two clamping jaws matched for clamping, the connecting part, the expansion part and the two clamping jaws are integrally formed, the inside of the connecting part, the inside of the expansion part and the inside of the two clamping jaws are communicated, a rectangular-like inflation space is arranged inside the connecting part and the inside of the expansion part, a hollow second channel is arranged inside the connecting part, the second channel is communicated with a connecting port of the inflation space, the first channel is communicated with the second channel, the inflatable space comprises an X-direction edge and a Y-direction edge, the Y-direction edge is parallel to the vertical directions of the two clamping jaws, the side length of the Y-direction edge is larger than that of the X-direction edge, and the width of the connecting part in the horizontal direction is smaller than that of the X-direction edge. The utility model has simple structure, simple processing and manufacturing steps and low cost.
Description
Technical Field
The embodiment of the utility model relates to the field of soft robots, in particular to a positive-pressure-driven miniature soft clamping jaw.
Background
The soft clamping jaw developed based on the soft robot technology can realize lossless and coated grabbing, and is widely applied to a plurality of fields of fresh food, electronic 3C and the like. However, the size of the existing soft clamping jaw is large, and the existing soft clamping jaw cannot grab or accurately grab small-sized objects (millimeter level or even smaller level) such as needles, small-sized knots and the like. Also there are some miniature clamping jaws that snatch through the negative air pressure drive closure at present, but the atmospheric pressure scope that can adjust when the negative air pressure drive snatchs is less, and the dynamics that leads to when miniature clamping jaw snatchs can receive the restriction. And when the negative pressure driving grabbing strategy is used, a vacuumizing device must be additionally arranged in the controller, so that the cost is increased.
In summary, the problems in the prior art are that the miniature soft clamping jaw cannot grab small-sized objects and cannot grab the small-sized objects accurately, and the production cost of the miniature soft clamping jaw is increased due to the fact that a vacuum pumping device needs to be added to the miniature soft clamping jaw driven by negative pressure.
SUMMERY OF THE UTILITY MODEL
The utility model makes up the defects of the prior art and discloses a miniature soft clamping jaw driven by positive pressure. The less software clamping part of the whole size of appearance is adopted to this scheme to and malleation system aerifys the miniature software clamping jaw centre gripping small article of drive to aerifing the space, and the drive mode is simple, and the drive power wide range can accurately snatch the small article of multiple size and extensive weight scope, and does not use the vacuum valve, has reduced the cost of whole equipment. The utility model has simple structure, simple shape of the inflatable space, simple processing and manufacturing steps and low cost.
The utility model relates to a positive pressure driven miniature soft clamping jaw, which comprises a fixed mounting part and a soft clamping part, wherein the fixed mounting part is connected with the soft clamping part in a sealing way, a hollow first channel is arranged in the fixed mounting part, the soft clamping part comprises a connecting part, an expansion part and two clamping jaws which are matched and used for clamping, the connecting part, the expansion part and the two clamping jaws are integrally formed, the inside of the connecting part, the inside of the expansion part and the inside of the two clamping jaws are communicated, a rectangular inflation space is arranged inside the connecting part and the expansion part, a hollow second channel is arranged inside the connecting part and communicated with a connecting port of the inflation space, the first channel is communicated with the second channel, the inflation space comprises an X-direction edge and a Y-direction edge, and the Y-direction edge is parallel to the vertical directions of the two clamping jaws, the length of the side in the Y direction is larger than that of the side in the X direction, and the width of the connecting part in the horizontal direction is smaller than that of the side in the X direction.
The utility model relates to a positive pressure driven miniature soft clamping jaw, which comprises a mounting plate, a connecting rod and a mounting head, wherein the mounting plate, the connecting rod and the mounting head are integrally formed, the head part of the mounting head is provided with a circle of sunken part, the sunken part is clamped into a connecting part and is in sealing connection with the connecting part through interference fit, the mounting plate is provided with a connecting nozzle communicated with a positive pressure system, and the connecting nozzle is communicated with a first channel.
According to the positive-pressure-driven miniature soft clamping jaw, the head part of the mounting head is a pagoda head, and the pagoda head extends into the connecting part and is connected with the connecting part in a sealing manner.
According to the positive-pressure-driven miniature soft clamping jaw, the head part of the mounting head is the barb head, and the barb head extends into the connecting part and is connected with the connecting part in a sealing manner.
The utility model relates to a positive pressure driven miniature soft clamping jaw, wherein a fixed mounting part is made of steel, alloy or resin.
The utility model relates to a positive pressure driven miniature soft clamping jaw, wherein a soft clamping part is made of silicon rubber or rubber.
Drawings
FIG. 1 is a schematic view of a positive pressure driven micro jaw configuration of the present invention;
FIG. 2 is a cross-sectional view of the fixed mounting portion of the present invention;
FIG. 3 is a cross-sectional view of the soft clip of the present invention.
Description of the figures
1. Mounting plate 2, connecting rod 3, mounting head 4, connecting part
5. Bulge 6, clamping jaw 7, first channel 8 and second channel
9. The air-filled space 10. Y-direction side 11. X-direction side
Detailed Description
The present invention will be described in further detail with reference to fig. 1 to 3 of the drawings.
The utility model relates to a positive pressure driven miniature soft clamping jaw, which refers to figures 1 to 3 and comprises a fixed mounting part and a soft clamping part, wherein the fixed mounting part is connected with the soft clamping part in a sealing way, a hollow first channel 7 is arranged in the fixed mounting part, the soft clamping part comprises a connecting part 4, an expansion part 5 and two clamping jaws 6 matched with each other for clamping, the connecting part 4, the expansion part 5 and the two clamping jaws 6 are integrally formed, the inside of the connecting part 4, the inside of the expansion part 5 and the inside of the two clamping jaws 6 are communicated, a rectangular-like inflation space 9 is arranged in the connecting part 4 and the inside of the expansion part 5, a hollow second channel 8 is arranged in the connecting part 4, the second channel 8 is communicated with a connecting port of the inflation space 9, the first channel 7 is communicated with the second channel 8, the inflation space 9 comprises an X-direction side 11 and a Y-direction side 10, the Y-direction side 10 is parallel to the vertical direction of the at least two clamping jaws 6, the side length of the Y-direction side 10 is larger than that of the X-direction side 11, and the width of the connecting part 4 in the horizontal direction is smaller than that of the X-direction side 11.
In the present embodiment, the air space 9 includes an X-direction side 11 and a Y-direction side 10, the side length of the Y-direction side 10 is larger than that of the X-direction side 11, and the width of the connecting portion in the X-axis horizontal direction is smaller than that of the X-direction side 11. The length of the side 10 in the Y direction is greater than that of the side 11 in the X direction, and generally, the length of the side 10 in the Y direction is a multiple of that of the side 11 in the X direction, and as the length of the side 10 in the Y direction is a different multiple of that of the side 11 in the X direction, the inflation space 9 is inflated, and the range of the driving force generated by the outward expansion of the side 10 in the Y direction is different. In this embodiment, i.e., the length of the Y-direction side 10 is 2.5 times the length of the X-direction side 11, the driving force generated by the air-filled space 9 ranges from 0.93N to 1.1N. When the positive pressure system inflates the inflation space 9, the inflation space 9 can generate large expansion in the Y-axis vertical direction of the X-direction side 11, the expansion of the X-direction side 11 in the Y-axis vertical direction is limited due to the limitation of the internal space communicated with the connection part 4 and the bulging part 5 in the Y-axis direction, and the expansion of the Y-direction side 10 in the X-axis direction inside the connection part 4 is limited because the width of the connection part 4 in the horizontal direction is smaller than the side length of the X-direction side 11, so that the Y-direction side 10 mainly expands inside the bulging part 5. In the Z-axis direction perpendicular to the Y-axis vertical direction and the X-axis horizontal direction, the planar area of the expanded portion 5 is small and cannot expand with the expansion of the inflation space 9. When the positive pressure system inflates air into the inflation space 9, the two clamping jaws 6 are tangent to the Y-direction edges 10 on the two sides of the inflation space 9, and the front ends of the two clamping jaws 6 are driven to be close along with the outward expansion of the Y-direction edges 10 in the X-axis horizontal direction, so that the purpose of grabbing articles is achieved.
Set up hollow first passageway 7 in the fixed mounting portion, connecting portion 4 is inside to be set up hollow second passageway 8, second passageway 8 communicates with each other with plenum space 9's connector, first passageway 7 communicates with each other with second passageway 8, and plenum space 9's malleation plenum channel has been constituteed to above structure.
In this embodiment, the software clamping part includes connecting portion 4, the portion of swelling 5 and two clamping jaws 6 that cooperate and be used for the centre gripping, connecting portion 4, the portion of swelling 5 and two clamping jaws 6 integrated into one piece, inside connecting portion 4, the portion of swelling 5 inside and two clamping jaws 6 inside all communicate, the inside of connecting portion 4 and the inside of the portion of swelling 5 set up the plenum space 9 of type rectangle, it provides the space to aerify inflation space 9 for the plenum space 9 provides to go up the structure, also provides the space for the closed of two clamping jaws 6 front ends of plenum space 9 drive.
Referring to fig. 1 to 3, the fixed mounting portion includes a mounting plate 1, a connecting rod 2, and a mounting head 3, the mounting plate 1, the connecting rod 2, and the mounting head 3 are integrally formed, a head of the mounting head 3 is provided with a recess, the recess is clamped in the connecting portion 4 and is hermetically connected with the connecting portion 4 through interference fit, the mounting plate 1 is provided with a connecting nozzle communicated with a positive pressure system, and the connecting nozzle is communicated with the first channel 7.
The above structure defines the fixed mounting part, which is the connecting mechanism of the device and the mechanical arm or other mechanisms. The mounting panel 1 of upper-most end can be connected with arm or other mechanisms, sets up the connection mouth with the malleation system intercommunication on the mounting panel 1, and the malleation system is aerifyd inflatable space 9 through connecting the mouth. The link 2 serves to connect the mounting plate 1 and the mounting head 3. The mounting head 3 is used for being connected with the soft clamping part in a sealing mode. In this embodiment, the head of the mounting head 3 is provided with a head recess, and the recess is clamped into the connecting part 4 and is in sealing connection with the connecting part 4 through interference fit. The sealing connection between the mounting head 3 and the connecting part 4 can ensure the air tightness of the soft clamping part.
Referring to fig. 1 to 3, the fixing and mounting portion is made of steel, alloy, or resin. The fixed mounting part is made of metal materials such as steel and alloy, and can also be made of materials which can ensure the strength of the resin support printed by 3D printing. In this embodiment, the fixed mounting portion is made of a resin material and is obtained by 3D printing.
Referring to fig. 1 to 3, the soft clamping portion is made of silicon rubber or rubber. The front ends of the clamping jaws 6 are closed inwards to grab the tiny objects under the driving of the air inflation space 9. The material from which the two jaws 6 are made is therefore an elastic material. Because the soft clamping part comprises the connecting part 4, the bulging part 5 and the two clamping jaws 6 matched for clamping, and the connecting part 4, the bulging part 5 and the two clamping jaws 6 are integrally formed, the soft clamping part also needs to be made of elastic materials. In this embodiment, the soft clamping portion is silicon rubber.
Example 2
The same technical features in this embodiment as those in embodiment 1 are not described again, and the different features in this embodiment from those in embodiment 1 are: in this embodiment, the head of the mounting head 3 is a pagoda head, and the pagoda head extends into the connecting part 4 and is connected with the connecting part 4 in a sealing manner. In this embodiment, the soft clamping portion is made of rubber, and the solid mounting portion is made of alloy.
Example 3
The same technical features in this embodiment as those in embodiment 1 are not described again, and the features of this embodiment different from those in embodiments 1 and 2 are: in this embodiment, the head of the mounting head 3 is a barb head, the barb head extends into the connecting portion 4 and is connected with the connecting portion 4 in a sealing manner, and in this embodiment, the solid mounting portion is made of steel.
The above description is only for the purpose of illustrating a few embodiments of the present invention, and should not be taken as limiting the scope of the present invention, in which all equivalent changes, modifications, or equivalent scaling-up or down, etc. made in accordance with the spirit of the present invention should be considered as falling within the scope of the present invention.
Claims (6)
1. The utility model provides a miniature software clamping jaw of malleation driven which characterized in that: including fixed mounting department and software clamping part, fixed mounting department with software clamping part sealing connection, set up hollow first passageway (7) in the fixed mounting department, the software clamping part includes: connecting portion (4), the portion of swelling (5) and two clamping jaws (6) that cooperate and be used for the centre gripping, connecting portion (4), the portion of swelling (5) and two clamping jaws (6) integrated into one piece, inside connecting portion (4), the portion of swelling (5) inside and two the inside intercommunication of clamping jaws (6), the inside of connecting portion (4) with the inside of the portion of swelling (5) sets up the plenum space (9) of type rectangle, inside hollow second passageway (8) that sets up of connecting portion (4), second passageway (8) communicate with each other with the connector of plenum space (9), first passageway (7) communicates with each other with second passageway (8), plenum space (9) include X direction limit (11) and Y direction limit (10), Y direction limit (10) and two the vertical direction of clamping jaws (6) is parallel to each other, the length of the Y-direction side (10) is greater than that of the X-direction side (11), and the width of the connecting part (4) in the horizontal direction is less than that of the X-direction side (11).
2. The positive pressure driven miniature soft body jaw of claim 1, wherein: the utility model discloses a fixed mounting portion, including mounting panel (1), connecting rod (2) and installation head (3), mounting panel (1) connecting rod (2) with installation head (3) integrated into one piece, installation head (3) head sets up the depressed part, the depressed part card is gone into in connecting portion (4), through interference fit, with connecting portion (4) sealing connection, set up the connection mouth with malleation system intercommunication on mounting panel (1), connect the mouth with first passageway (7) intercommunication.
3. The positive pressure driven miniature soft body jaw of claim 2, wherein: the head of the mounting head (3) is a pagoda head, and the pagoda head extends into the connecting part (4) and is connected with the connecting part (4) in a sealing way.
4. The positive pressure driven miniature soft body jaw of claim 2, wherein: the head part of the mounting head (3) is a barb head, and the barb head extends into the connecting part (4) and is connected with the connecting part (4) in a sealing way.
5. The positive pressure driven miniature soft body jaw of claim 1, wherein: the fixed mounting part is made of steel, alloy or resin.
6. The positive pressure driven miniature soft body jaw of claim 1, wherein: the soft clamping part is made of silicon rubber or rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122893133.4U CN216328398U (en) | 2021-11-19 | 2021-11-19 | Positive pressure driven miniature soft clamping jaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122893133.4U CN216328398U (en) | 2021-11-19 | 2021-11-19 | Positive pressure driven miniature soft clamping jaw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216328398U true CN216328398U (en) | 2022-04-19 |
Family
ID=81152028
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122893133.4U Active CN216328398U (en) | 2021-11-19 | 2021-11-19 | Positive pressure driven miniature soft clamping jaw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216328398U (en) |
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2021
- 2021-11-19 CN CN202122893133.4U patent/CN216328398U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 102,600 Building 12, Yard 109, Jinghai 3rd Road, Daxing Economic and Technological Development Zone, Beijing (Yizhuang Cluster, High end Industrial Zone, Beijing Pilot Free Trade Zone) Patentee after: Beijing Software Robot Technology Co.,Ltd. Address before: 101111 building 12, yard 109, jinghaisan Road, Tongzhou Economic and Technological Development Zone, Beijing (Yizhuang group, high end industrial area, Beijing Pilot Free Trade Zone) Patentee before: BEIJING SOFT ROBOT TECH Co.,Ltd. |