CN217915364U

CN217915364U - Negative pressure flexible clamping jaw

Info

Publication number: CN217915364U
Application number: CN202221765024.2U
Authority: CN
Inventors: 张帆; 沈科
Original assignee: Suzhou Rorobot Technology Co ltd
Current assignee: Suzhou Rorobot Technology Co ltd
Priority date: 2022-07-07
Filing date: 2022-07-07
Publication date: 2022-11-29
Anticipated expiration: 2032-07-07

Abstract

The utility model discloses a flexible clamping jaw of negative pressure, include clamping part and connecting portion made by elastic material, the clamping part includes that at least two mutually support and are used for the finger portion of centre gripping, connecting portion include the drive cavity, be provided with on the connecting portion with the communicating intercommunication mouth of drive cavity, the drive cavity includes chamber diapire and chamber lateral wall, the chamber diapire is in between each finger portion and arches to the fingertip direction, the chamber lateral wall is connected with the finger of each finger portion, the thickness of chamber diapire is less than the thickness of chamber lateral wall or the elastic modulus of chamber diapire and is less than the elastic modulus of chamber lateral wall, all is connected with the pulling force boss that is used for strengthening pulling force between the lateral wall of every finger portion and the chamber bottom wall. The clamping jaw has larger clamping force to meet the clamping of the object with larger size.

Description

Negative pressure flexible clamping jaw

Technical Field

The utility model relates to a flexible clamping jaw of negative pressure belongs to flexible fixture technical field.

Background

In the field of industrial automation, the grabbing action at the tail end of the mechanical arm is mainly completed by a rigid mechanical claw or a vacuum chuck. However, the rigid mechanical paw is difficult to control the force, so that soft and fragile objects are difficult to be grabbed without damage. The vacuum chuck is difficult to adapt to the irregular object with rough surface and holes in the carrying process. This results in limitations for both application scenarios. The flexible mechanical finger is made of elastic materials, so that the soft and fragile object can be grabbed without damaging the object. The applicant has filed a patent with patent number CN201721042513.4 at 2017.08.18 for a utility model with a novel flexible chuck and flexible clamp and flexible clamping pen, which describes a flexible chuck in the patent, including clamping part and connecting portion made of elastic material, the clamping part includes that at least two mutually support the fingertip that is used for the centre gripping, has formed the dactylotheca between each fingertip, and the inside of every fingertip all is provided with the finger chamber, connecting portion are including the intercommunication cavity, and this intercommunication cavity all communicates with each finger chamber, be provided with on the connecting portion with the communicating intercommunication mouth of intercommunication cavity, the fingertip is including the inner wall that is close to the dactylotheca and the outer wall of keeping away from the dactylotheca, the thickness of inner wall is less than the thickness of outer wall or the elastic modulus of inner wall is less than the elastic modulus of outer wall. The flexible chuck with the structure can be suitable for clamping small articles, in the working process of the flexible chuck, the fingertips are opened through positive pressure driving, during air suction, driving media in the finger cavities and the communicating cavities are drawn out from the communicating openings, and the bending deformation amount of the inner walls is larger than that of the outer walls, so that the closing of the fingertips is realized, the flexible chuck can clamp small articles, and the surfaces of the articles are not damaged. However, the flexible collet cannot clamp some articles with larger size, and certainly, the size of the flexible collet can be increased, but the length of the fingertips is increased after the size of the flexible collet is increased, the clamping area between the fingertips is also increased, so that the clamping force is smaller by the deformation of the fingertips when the negative pressure clamping is performed, and the collet is made of an elastic material, so that the strength of the collet itself is not high, which limits the clamping force of the collet, and therefore, the flexible collet in the background art is not suitable for clamping large-sized articles even if the size of the collet is increased.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that: a negative pressure flexible jaw is provided that has a greater gripping force to satisfy gripping of larger size articles.

In order to solve the technical problem, the technical scheme of the utility model is that: the utility model provides a flexible clamping jaw of negative pressure, includes clamping part and connecting portion made by elastic material, the clamping part includes that at least two mutually support and are used for the finger portion of centre gripping, connecting portion include the drive chamber, be provided with on the connecting portion with the communicating intercommunication mouth of drive chamber, the drive chamber includes chamber diapire and chamber lateral wall, the chamber diapire is in between each finger portion and arches to the fingertip direction, the chamber lateral wall is connected with the finger of each finger portion, the thickness of chamber diapire is less than the thickness of chamber lateral wall or the elastic modulus of chamber diapire and is less than the elastic modulus of chamber lateral wall, all is connected with the pulling force boss that is used for strengthening pulling force between the lateral wall of every finger portion and the chamber bottom wall.

As a preferred scheme, connecting portion still include the chamber roof, the intercommunication mouth set up in on the chamber roof, be provided with on chamber roof or the chamber diapire and prevent that the chamber diapire after the deformation from blockking up the stifled structure of intercommunication mouth, prevent that stifled structure is located the drive chamber indoor.

As a preferred scheme, prevent stifled structure including the embedding or bond prevent stifled cover on the chamber roof, prevent stifled cover lead to chamber and intercommunication mouth UNICOM, prevent being provided with on stifled cover's the lateral wall and drive the cavity with prevent the supplementary through-hole of stifled cover's logical chamber intercommunication.

Preferably, the drive chamber is further provided with an extension chamber extending towards the heel of each finger.

Preferably, the upper end of the cavity side wall is provided with a reinforcing part, the reinforcing part extends towards the center to form a furled shape, the upper end of the cavity side wall is bonded with the cavity top wall or integrally formed with the cavity top wall, and the lower part of the reinforcing part is further provided with a functional surface for changing the pressure direction to enable the pressure to face obliquely upwards.

As a preferable scheme, a transition curved surface is arranged on the outer side of the cavity side wall in the area of the adjacent finger heel, and the lower end of the transition curved surface is closer to the center of the flexible clamping jaw than the upper end of the transition curved surface.

Preferably, the inner side surfaces of the fingers are also provided with friction-increasing roughness.

After the technical scheme is adopted, the utility model discloses an effect is: because the negative pressure flexible clamping jaw comprises the clamping part and the connecting part which are made of elastic materials, the clamping part comprises at least two finger parts which are matched with each other and used for clamping, the connecting part comprises a driving cavity, the connecting part is provided with a communicating port communicated with the driving cavity, the driving cavity comprises a cavity bottom wall and a cavity side wall, the cavity bottom wall is positioned between the finger parts and arched towards the fingertip direction, the cavity side wall is connected with the finger heel of each finger part, the thickness of the cavity bottom wall is smaller than that of the cavity side wall or the elastic modulus of the cavity bottom wall is smaller than that of the cavity side wall, and a tension reinforcing block used for reinforcing the pulling force is connected between the side wall of each finger part and the cavity bottom wall, therefore, the communicating port of the flexible clamping jaw is directly connected with a negative pressure system during use, articles are firstly positioned in an area between the finger parts during clamping and then vacuumized in the driving cavity, because the chamber is driven to deform under the action of negative pressure, the thickness of the cavity bottom wall is smaller than that of the cavity side wall or the elastic modulus of the cavity bottom wall is smaller than that of the cavity side wall, the cavity bottom wall can move towards the top, the deformation of the cavity bottom wall is larger than that of the cavity side wall, the deformation of the cavity bottom wall can pull the finger parts to approach each other to clamp articles, the pulling force generated by the deformation of the cavity bottom wall can be better transmitted to the finger parts due to the existence of the pulling force reinforcing block, so that the pulling force is increased, the clamping force is increased, meanwhile, the cavity bottom wall is positioned between the finger parts and arched towards the fingertip direction, the stroke of the cavity bottom wall moving towards the top in a negative pressure state can be larger, the deformation is larger, the mutual approaching degree of the finger parts during clamping is larger, the clamping force is increased, and the deformation stroke of the cavity bottom wall is increased, the height dimension of the driving cavity can be smaller, so that the deformation of the cavity side wall can be smaller, the situation that the clamping force is reduced due to the fact that the clamping force is released because the cavity side wall deforms is avoided, and after the structure is adopted, the negative pressure flexible clamping jaw can provide larger clamping force so as to clamp larger and heavier objects.

And the connecting part also comprises a cavity top wall, the communicating port is arranged on the cavity top wall, an anti-blocking structure for preventing the deformed cavity bottom wall from blocking the communicating port is arranged on the cavity top wall or the cavity bottom wall, and the anti-blocking structure is positioned in the driving cavity, so that the anti-blocking structure can prevent the cavity bottom wall from deforming under negative pressure to block the communicating port, thereby ensuring that negative pressure is continuously provided for the driving cavity and ensuring that the clamping force of the flexible clamping jaw is stable.

And because the anti-blocking structure comprises an anti-blocking sleeve embedded or bonded on the top wall of the cavity, the through cavity of the anti-blocking sleeve is communicated with the communication port, and the side wall of the anti-blocking sleeve is provided with an auxiliary through hole for communicating the driving cavity with the through cavity of the anti-blocking sleeve.

And because the driving chamber is also provided with an extension chamber extending towards the heels of each finger part, the extension chamber can provide larger deformation amount when the finger parts are deformed and bent, and the bending angle of the finger parts is increased, thereby further improving the clamping force.

The upper end of the cavity side wall is provided with the reinforcing part, the reinforcing part extends towards the center to form a furled shape, the upper end of the cavity side wall is bonded with the cavity top wall or integrally formed, the lower part of the reinforcing part is also provided with a functional surface used for changing the pressure direction to enable the pressure to face the obliquely upper side, so that the negative pressure flexible clamping jaw can also be suitable for positive pressure, when the driving cavity is driven to be in positive pressure, the finger parts can be opened, and accordingly larger-sized articles can be clamped conveniently, in a positive pressure state, the joint area of the upper end of the cavity side wall and the cavity top wall is easy to crack and damage, due to the existence of the reinforcing part, the bonding force or the tear resistance between the cavity side wall and the cavity top wall can be increased, meanwhile, due to the existence of the functional surface, the pressure direction of air pressure acting on the functional surface is changed, the original direct acting on the cavity side wall is changed into acting on the reinforcing part, the pressure can be jointly borne by the cavity side wall and the cavity top wall, the strength is improved, the stress of material deformation in the positive pressure can be effectively released, and the service life is prolonged.

And because the transition curved surface is arranged in the area of the adjacent finger heel on the outer side of the cavity side wall, the lower end of the transition curved surface is closer to the center of the flexible clamping jaw than the upper end of the transition curved surface, the deformation resistance of the finger heel is smaller when the finger portion is subjected to bending deformation due to the transition curved surface, and thus the clamping force of the finger heel is larger under the same negative pressure condition.

And because the inner side surfaces of the finger parts are also provided with rough structures for increasing friction, the friction force can be increased when articles are clamped, and the articles can be better clamped.

Drawings

The present invention will be further explained with reference to the drawings and examples.

FIG. 1 is a perspective view of a two-finger flexible jaw according to an embodiment of the present invention;

fig. 2 is a top view of an embodiment of the invention;

FIG. 3 isbase:Sub>A cross-sectional view at A-A of FIG. 2;

FIG. 4 isbase:Sub>A perspective cross-sectional view at A-A of FIG. 2;

FIG. 5 is a perspective view of a four-finger flexible jaw in accordance with an embodiment of the present invention;

figure 6 is a cross-sectional view of a four-finger flexible jaw in accordance with an embodiment of the present invention;

in the drawings: 1. a clamping portion; 101. a finger portion; 2. a connecting portion; 201. a drive chamber; 202. a cavity bottom wall; 203. a cavity sidewall; 204. a reinforcement section; 205. a functional surface; 206. a communication port; 207. an extension chamber; 208. a transition curved surface; 209. a chamber top wall; 3. a tension reinforcement block; 4. a coarse structure; 5. an anti-blocking sleeve; 501. and (5) auxiliary through holes.

Detailed Description

The present invention will be described in further detail with reference to the following examples.

As shown in fig. 1 to 6, a negative pressure flexible clamping jaw comprises a clamping part 1 and a connecting part 2 which are made of elastic materials, wherein the elastic materials can be made of silicon rubber, the clamping part 1 comprises at least two fingers 101 which are mutually matched for clamping, the number of the fingers 101 can be optimized according to the volume of the clamping jaw and the shape of an article, and the number of the fingers 101 is optimized to be two to five. The inner side of the finger 101 is also provided with a friction-increasing roughness 4. This coarse texture 4 can be the rough surface, also can be a plurality of recess, and better convenience snatchs article like this.

The connecting portion 2 includes a driving chamber 201, and a communication port 206 is disposed on the connecting portion 2 and communicates with the driving chamber 201, the communication port is used for installing an air nozzle and communicates with a negative pressure system through the air nozzle, and the negative pressure system may be a vacuum generator or other negative pressure device capable of generating negative pressure.

The driving chamber 201 comprises a chamber bottom wall 202 and a chamber side wall 203, the chamber bottom wall 202 is located between the finger parts 101 and arched towards the finger tip direction, the chamber side wall 203 is connected with the finger heel of each finger part 101, the thickness of the chamber bottom wall 202 is smaller than that of the chamber side wall 203 or the elastic modulus of the chamber bottom wall 202 is smaller than that of the chamber side wall 203, therefore, when the driving chamber 201 is vacuumized, the chamber bottom wall 202 is easier to deform, so that the deformation of the chamber bottom wall 202 drives the finger parts 101 to bend, a tension reinforcing block 3 for reinforcing the pulling force is connected between the side wall of each finger part 101 and the chamber bottom wall 202,

connecting portion 2 still includes chamber roof 209, the intercommunication mouth 206 set up in on the chamber roof 209, be provided with on the chamber roof 209 and prevent that the chamber bottom wall 202 after the deformation from blockking up the anti-blocking structure of intercommunication mouth 206, prevent that the anti-blocking structure is located drive chamber 201. Certainly, the negative pressure flexible chuck in this embodiment may not include the top wall 209 of the cavity, but the upper portion of the connecting portion 2 is directly provided with the communicating port 206 for directly inserting the air inlet connector, so as to complete the connection of the flexible clamping jaw, and in this embodiment, it is preferable that the connecting portion 2 further includes a top wall 209 of the cavity, of course, the communicating port 206 may not be provided on the top wall 209 of the cavity, for example, the communicating port may be provided on the side wall of the connecting portion 2, at this time, the top wall 209 of the cavity completely covers the upper portion of the connecting portion 2, and the anti-blocking structure may not be provided on the top wall 209 of the cavity but on the bottom wall 202 of the cavity, at this time, the bottom wall 202 of the cavity moves upward when the negative pressure deforms, and the blocking of the communicating port 206 can also be avoided by the anti-blocking structure.

In this embodiment, the anti-blocking structure includes an anti-blocking sleeve 5 embedded or bonded on the cavity top wall 209, a through cavity of the anti-blocking sleeve 5 is communicated with the communication port 206, and an auxiliary through hole 501 for communicating the driving cavity 201 and the through cavity of the anti-blocking sleeve 5 is arranged on the side wall of the anti-blocking sleeve 5. The auxiliary through hole 501 may be a complete through hole or a notch, and in this embodiment, preferably, a notch is formed in the side wall of the end of the anti-blocking sleeve 5, and the notch forms the auxiliary through hole 501, so that the communicating opening 206 is not blocked when the cavity bottom wall 202 deforms and contacts with the end of the anti-blocking sleeve 5, and the auxiliary through hole 501 is always in an open state, thereby ensuring stable clamping force of the flexible clamping jaw.

The driving chamber 201 is further provided with an extension chamber 207 extending towards the heel of each finger 101, and the extension chamber 207 can provide a larger deformation amount when the finger 101 is deformed and bent, and increase the bending angle of the finger 101, thereby further improving the clamping force. The length of the extension chamber 207 can be set according to practical situations, but the length of the extension chamber 207 is not long enough to ensure that the extension chamber 207 extends to the heel of the finger part 101, the heel is actually bent and deformed after the finger part 101 is pulled, and the extension chamber 207 can better facilitate the bending of the heel and increase the bending angle.

The upper end of the cavity side wall 203 is provided with a reinforcing part 204, the reinforcing part 204 extends towards the center to form a furled shape, the upper end of the cavity side wall 203 is bonded with the cavity top wall 209 or is integrally formed, the lower part of the reinforcing part 204 is further provided with a functional surface 205 used for changing the pressure direction to enable the pressure to face obliquely upwards, and the included angle between the functional surface 205 and the extending direction of the finger part 101 is larger than 90 degrees. In this embodiment, the extending direction of the finger portion 101 is the up-down direction of fig. 3, so the negative pressure flexible clamping jaw may also be suitable for positive pressure, when the cavity side wall 203 is not provided with the reinforcing portion 204, the cavity side wall 203 is directly connected with the cavity top wall 209, when the driving cavity 201 is energized with positive pressure, the finger portion 101 may be opened to facilitate clamping of articles with larger volume, and under the positive pressure state, the stress around the joint where the upper end of the cavity side wall 203 joins with the cavity top wall 209 is very large, and due to the existence of the reinforcing portion 204, the bonding area between the cavity side wall 203 and the cavity top wall 209 may be increased, so as to increase the bonding force or strength, and due to the existence of the functional surface 205, the pressure direction of the air pressure acting on the functional surface 205 is changed, the direction of the pressure is perpendicular to the functional surface 205, so that the pressure is changed and is jointly borne by the cavity side wall 203 and the cavity top wall 209, so as to improve the strength, the stress of material deformation during positive pressure release can be effectively, and prolong the service life, and reduce the occurrence of tearing as much as possible. Of course, the functional surface 205 is not necessarily a plane but may be a curved surface, and the pressure direction at the time of positive pressure may be changed to improve the tear resistance.

And the area of the outer side of the cavity side wall 203, which is positioned at the adjacent heel, is provided with a transition curved surface 208, and the lower end of the transition curved surface 208 is closer to the center of the flexible clamping jaw than the upper end. As shown in fig. 1 and 5, the lower end of the transition curved surface 208 is connected to the chamber bottom wall 202 (the lower end of the flexible clamping jaw is the lower end of the product in the laying state of fig. 1 or 5), and the upper end of the transition curved surface 208 is gradually connected to the chamber side wall 203, so that when the finger part 101 is bent and deformed, the chamber side wall 203 is squeezed in the area adjacent to the heel, the squeezing can hinder the deformation of the heel, and due to the existence of the transition curved surface 208, the deformable space between the heels can be enlarged, the deformation resistance is reduced, and thus the clamping force of the heel under the same negative pressure condition can be increased.

The above-mentioned embodiments are merely descriptions of the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and various modifications and alterations made to the technical solution of the present invention without departing from the spirit of the present invention are intended to fall within the scope of the present invention defined by the claims.

Claims

1. The utility model provides a flexible clamping jaw of negative pressure, includes clamping part (1) and connecting portion (2) made by elastic material, clamping part (1) includes that at least two mutually support and are used for finger portion (101) of centre gripping, connecting portion (2) include drive chamber (201), be provided with on connecting portion (2) with drive chamber (201) communicating intercommunication mouth (206), its characterized in that: the drive chamber (201) comprises a chamber bottom wall (202) and a chamber side wall (203), the chamber bottom wall (202) is located between the finger parts (101) and arched towards the finger tip direction, the chamber side wall (203) is connected with the finger heels of the finger parts (101), the thickness of the chamber bottom wall (202) is smaller than that of the chamber side wall (203) or the elastic modulus of the chamber bottom wall (202) is smaller than that of the chamber side wall (203), and a tension reinforcing block (3) used for reinforcing the pulling force is connected between the side wall of each finger part (101) and the chamber bottom wall (202).

2. A negative pressure flexible jaw as claimed in claim 1, wherein: connecting portion (2) still include chamber roof (209), intercommunication mouth (206) set up in on chamber roof (209), be provided with on chamber roof (209) or chamber bottom wall (202) and prevent that the chamber bottom wall (202) after the deformation from blockking up the anti-blocking structure of intercommunication mouth (206), anti-blocking structure is located drive chamber (201).

3. A negative pressure flexible jaw as claimed in claim 2, wherein: prevent stifled structure including embedding or bonding prevent stifled cover (5) on chamber roof (209), prevent leading to chamber and intercommunication mouth (206) UNICOM of stifled cover (5), prevent being provided with on the lateral wall of stifled cover (5) and drive chamber (201) and prevent supplementary through-hole (501) of the chamber intercommunication that leads to of stifled cover (5).

4. A negative pressure flexible jaw as claimed in claim 1, wherein: the drive chamber (201) is further provided with an extension chamber (207) extending towards the heel of each finger (101).

5. A negative pressure flexible jaw as claimed in claim 2, wherein: the upper end of the cavity side wall (203) is provided with a reinforcing part (204), the reinforcing part (204) extends towards the center to form a furled shape, the upper end of the cavity side wall (203) is bonded with a cavity top wall (209) or integrally formed, and the lower part of the reinforcing part (204) is also provided with a functional surface (205) for changing the pressure direction to enable the pressure to face the obliquely upward direction.

6. A negative pressure flexible jaw as claimed in claim 5, wherein: the area of the outer side of the cavity side wall (203) located at the adjacent finger heel is provided with a transitional curved surface (208), and the lower end of the transitional curved surface (208) is closer to the center of the flexible clamping jaw than the upper end.

7. A negative pressure flexible jaw as claimed in claim 6, wherein: the inner side surfaces of the finger parts (101) are also provided with rough structures (4) for increasing friction.