CN217494310U

CN217494310U - Flexible soft blank mechanical claw

Info

Publication number: CN217494310U
Application number: CN202221010475.5U
Authority: CN
Inventors: 黄仕凰; 林科业; 刘汉旭; 黄浩涛; 曾梓建; 蔡燕敏; 温小静
Original assignee: Hanshan Normal University
Current assignee: Hanshan Normal University
Priority date: 2022-04-28
Filing date: 2022-04-28
Publication date: 2022-09-27
Anticipated expiration: 2032-04-28

Abstract

The utility model discloses a flexible soft embryo gripper, including base, motor, slide bar, linkage seat, a pair of clamping jaw, connecting rod, the motor with the slide bar all fixed set up in the base below, linkage seat slip cap is located on the slide bar, the linkage seat is provided with the nut cover, the output of motor be provided with nut cover complex lead screw, top one side of a pair of clamping jaw respectively with the both sides of linkage seat are rotated and are connected, the opposite side with the connecting rod end is rotated and is connected, the clamping jaw is including the body that is in the outside and being in inboard flexible clamp, flexible clamp with connect as an organic wholely through a plurality of horizontal flexible buffering strips between the body. Adopt the utility model discloses, can adapt to the clamp that gets in dysmorphism, the fragile work piece of softness to it is reliable to press from both sides stable in structure to get, and can be used to high accuracy pressure data detection.

Description

Flexible soft blank mechanical claw

Technical Field

The utility model relates to a press from both sides and get the device, especially relate to a flexible soft embryo gripper.

Background

In the prior art, the following mechanical claws are commonly used: the first is that the object can be grabbed only by the grabbing force which is constant in regulation and can be generated under the set moment, the grabbing force cannot be flexibly changed, and the ceramic soft blank is easy to deform and even crack and the like and is seriously damaged. The second type is that the shape of the electric mechanical clamping jaw is single, the contact surface and the stress point are fixed when clamping the object, and the problems of instability, incapability of grabbing, damage to the shape of the soft blank and the like caused by inconvenience in grabbing and carrying of the object with different shapes, especially the ceramic irregular soft blank, and inaccurate and incomplete pressure test data acquisition are solved. The third type is a pneumatic clamping jaw, and the pneumatic clamping jaw is clamped to be an impact process, so that impact can be generated, although the pneumatic clamping mechanism is high in mobility and good in adaptability to a special-shaped object and can wrap the object to increase the stress area, the speed and the force of the pneumatic clamping jaw are basically uncontrollable, and high-flexibility fine operation occasions cannot be used. The fourth method is a mechanical arm sucker, the vacuum sucker is contacted with an object, a vacuum device is started to suck, negative air pressure is generated, and therefore the object is firmly sucked, but the defects are that strict requirements are required on the air tightness of the object, and the soft blank is not suitable for being made of the material in the mode.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides a technical problem that will solve provides a flexible soft embryo gripper. Can be used for clamping soft blanks and special-shaped workpieces.

In order to solve the technical problem, the embodiment of the utility model provides a flexible soft embryo gripper, including base, motor, slide bar, linkage seat, a pair of clamping jaw, connecting rod, the motor with the slide bar all fixed set up in the base below, linkage seat slip cap is located on the slide bar, the linkage seat is provided with the nut cover, the output of motor be provided with nut cover complex lead screw, top one side of a pair of clamping jaw respectively with the both sides of linkage seat are rotated and are connected, the opposite side with the connecting rod end is rotated and is connected, the clamping jaw is including the body that is in the outside and being in inboard flexible clamp, flexible clamp with connect as an organic wholely through a plurality of horizontal flexible buffering strips between the body.

At least one flexible buffer framework is connected between the transverse flexible buffer strips.

The clamping jaw is fixedly arranged below the fixing seat, and two sides of the fixing seat are respectively connected with one side of the linkage seat and the tail end of the connecting rod in a rotating mode.

The fixed seat is rotatably connected with the linkage seat through a connecting rod.

The tail end of the connecting rod is fixedly provided with a rotating connecting seat, and one side of the fixing seat is rotatably connected with the rotating connecting seat.

Wherein, the clamping jaw is triangular or polygonal.

Implement the embodiment of the utility model provides a, following beneficial effect has:

first, self-adaptation ability is strong, and the shape of other like product clamping jaws is single, can not accomplish to change shape adaptation dysmorphism object, and laminating that can not be better snatchs, can arouse to snatch and carry inconvenient and can cause the unstability, snatch not up and destroy soft embryo shape, the utility model discloses adapt to many shapes, many specifications, soft material can be to the laminating of irregular camber self-adaptation, better snatching fragile object.

And secondly, the structure is stable, a screw rod is formed by a screw and a nut sleeve to lift, the stable operation of clamping and loosening of the flexible gripper is controlled, and the soft blank can be better grabbed and pressure data can be better acquired. The structure science is stable, and spiral lift control structure compacts more makes and connects between each module of spare part inseparably, other mechanical clamping jaw products of the same type, and the structure is loose, unstable, can only be used for simple object to snatch, is unfavorable for detecting high accuracy pressure data.

Drawings

Fig. 1 is a schematic perspective view of embodiment 1 of the present invention;

fig. 2 is a schematic front view of embodiment 1 of the present invention;

fig. 3 is a schematic front view of embodiment 2 of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings.

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the illustrated examples are only used for explaining the present invention, but not for limiting the scope of the present invention. The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become more fully apparent from the following description and appended claims. It should be noted that the drawings are in simplified form and are not to precise scale, and are provided for convenience and clarity in order to facilitate the description of the embodiments of the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Example 1:

such as the structure schematic diagrams shown in fig. 1 and fig. 2.

The utility model discloses a flexible soft embryo gripper, including base 1, motor 2, slide bar 3, linkage seat 4, a pair of clamping jaw 5, connecting rod 6.

The motor 2 and the slide bar 3 are fixedly arranged below the base 1, the slide bars 3 are in a pair, the linkage seat 4 is provided with a nut sleeve 41, the output end of the motor 2 is provided with a screw rod 21 matched with the nut sleeve 41, one side of the top of the pair of clamping jaws 5 is respectively connected with two sides of the linkage seat 4 in a rotating mode, and the other side of the top of the pair of clamping jaws 5 is connected with the tail end of the connecting rod in a rotating mode, so that the linkage seat 4 can be stably lifted under the matching of the motor 2, the screw rod 21 and the nut sleeve 41.

The top of the clamping jaw 5 is fixedly arranged below the fixed seat 51, the connecting rod 42 is rotatably connected between the fixed seat 51 and the linkage seat 4, in the embodiment, the number of the connecting rods 6 is 4, the connecting rods are respectively arranged on two sides of the linkage seat 4,

the tail ends of the two connecting rods on the same side are fixedly provided with a rotary connecting seat 61, one end of the fixed seat 51 is rotatably connected with the connecting seat 61, and the other end of the fixed seat is rotatably connected with the connecting rod 42.

The motor 2 drives the screw rod to rotate, so that the linkage seat 4 ascends or descends along the slide rod 3, one end of the fixed seat 51 fixed by the clamping jaw 5 is driven by the connecting rod 42 and the linkage seat 4, and the other end of the fixed seat rotates along the connecting seat 61, thereby achieving the purpose of opening and closing the clamping jaw 5.

As shown in fig. 2, the clamping jaw 5 includes a body 52 at the outer side and a flexible clamp body 53 at the inner side, and the flexible clamp body 53 and the body 52 are connected into a whole through a plurality of transverse flexible buffer strips 54.

The flexible clamp 53 and the main body 52 are formed by co-molding materials with different flexibility, or the main body 52 is made of memory metal, and a sleeve made of the same material as the flexible clamp 53 is sleeved on the main body, and further connected with the flexible clamp 53 into a whole, such as a silicone material, and a plurality of transverse flexible buffer strips 54 are connected between the sleeve and the flexible clamp 53.

In the present embodiment, the flexible clip 53 is a soft contact surface.

In order to stably and reliably clamp the flexible clamping body 53, at least one flexible buffer framework 55 is connected between the plurality of transverse flexible buffer strips 54, in the embodiment, one flexible buffer framework 55 is preferably arranged, and in other embodiments, 2 or 3 flexible buffer frameworks 55 can be arranged, and the interval from outside to inside is gradually increased, so that the interior of the flexible buffer framework 55 has good flexibility, the flexible buffer framework 55 with the relatively dense outer side provides more powerful clamping performance, and the problem that the workpiece cannot be effectively clamped due to the use of the flexible clamping body 53 with the inner side having the soft performance can be avoided.

In the embodiment, the flexible clamp body 53 and the body 52 form a triangular shape, so that the upper part of the clamp body has better buffering clamping performance, the workpiece is protected, damage to the workpiece caused by excessive clamping force is avoided, the shape of the workpiece can be matched, and an encircling shape suitable for the shape of the workpiece is formed.

The utility model can detect high-precision pressure data, analyze data and establish a model database through the motor, and provide useful data for further design system; and the intelligent pressure control system capable of testing different angles at different positions is developed.

Example 2:

the flexible clamp body 53 and the body 52 form a polygonal shape, the flexible buffer strip 54 between the two is arranged downwards in an inclined manner, the effect of more flexible deformation is favorably provided, the flexible buffer strip 54 is arranged from top to bottom in a gradually shortened manner, the bottom edge 52b of the clamping jaw 5 forming the polygonal shape and the body 52 of the outer side edge are made of the same material, so that an L-shaped encircling space is formed, the flexible buffer strip 54 of the flexible clamp body 53 is positioned in the encircling space, the effect of flexible clamping is provided for a workpiece, and the flexible clamp has the advantage of effectively preventing the workpiece from accidentally falling off

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way; the present invention can be smoothly implemented by those skilled in the art according to the drawings and the above description; however, those skilled in the art should understand that changes, modifications and variations made by the above-described technology can be made without departing from the scope of the present invention, and all such changes, modifications and variations are equivalent embodiments of the present invention; meanwhile, any changes, modifications, evolutions, etc. of the above embodiments, which are equivalent to the actual techniques of the present invention, still belong to the protection scope of the technical solution of the present invention.

Claims

1. The utility model provides a flexible soft embryo gripper, its characterized in that, includes base, motor, slide bar, linkage seat, a pair of clamping jaw, connecting rod, the motor all with the slide bar fixed set up in the base below, linkage seat slip cap is located on the slide bar, the linkage seat is provided with the nut cover, the output of motor be provided with nut cover complex lead screw, top one side of a pair of clamping jaw respectively with the both sides of linkage seat are rotated and are connected, the opposite side with the connecting rod end is rotated and is connected, the clamping jaw is including the body that is in the outside and be in inboard flexible clamp, flexible clamp with connect as an organic wholely through a plurality of horizontal flexible buffering strips between the body.

2. The flexible soft embryo gripper of claim 1, wherein at least one flexible buffer backbone is connected between the plurality of transverse flexible buffer bars.

3. The flexible soft embryo gripper as claimed in claim 2, wherein the top of the gripper jaw is fixedly disposed under a fixed seat, and two sides of the fixed seat are respectively rotatably connected to one side of the linkage seat and the end of the connecting rod.

4. The flexible soft embryo gripper of claim 3, wherein the fixed base is rotatably connected to the linkage base by a link.

5. The flexible soft embryo gripper as claimed in claim 4, wherein a rotary connecting seat is fixedly arranged at the end of the connecting rod, and one side of the fixed seat is rotatably connected with the rotary connecting seat.

6. The flexible soft embryo gripper of any one of claims 1-5, wherein the gripping jaw is triangular or polygonal.