CN218504560U

CN218504560U - Novel flexible tongs

Info

Publication number: CN218504560U
Application number: CN202222459256.1U
Authority: CN
Inventors: 乐恢榕; 陈宏伟; 杜润鸣; 陈新
Original assignee: Tsinghua University; Foshan Longshen Robot Co Ltd
Current assignee: Tsinghua University; Foshan Longshen Robot Co Ltd
Priority date: 2022-09-16
Filing date: 2022-09-16
Publication date: 2023-02-21
Anticipated expiration: 2032-09-16

Abstract

The utility model relates to a manipulator field provides a novel flexible tongs, include: the device comprises a driving device, a driving gear, a first base, a second base, two flexible clamping jaws, a first cover body and a second cover body; one end of the first base is provided with a first rack which is meshed with the driving gear; one end of the second base is provided with a second rack which is meshed with the driving gear; the two flexible clamping jaws are respectively arranged on the first base and the second base; the driving gear is arranged on an output shaft of the driving device and is suitable for driving the first rack and the second rack to enable the two flexible clamping jaws to move relatively; the first cover body and the second cover body can be matched with each other, and the first rack, the second rack, the driving gear and the driving device are formed in an inner space formed after the first cover body and the second cover body are matched. The utility model provides a novel flexible tongs can adapt to the object of the different forms of many specifications, can improve the stability of snatching the object to longer life has.

Description

Novel flexible tongs

Technical Field

The utility model relates to a manipulator field especially relates to a novel flexible tongs.

Background

With the widespread use of robotics, many platforms introduce robotic services, such as unmanned self-service coffee vending kiosks and the like, which require the use of a mechanical gripper to grasp a coffee cup. Most of the mechanical grippers adopted at present can only grip objects with fixed structures due to structural limitations, have poor adaptability and cannot adapt to objects with multiple specifications and different shapes. However, in an actual use scenario, the specifications and shapes of objects to be grabbed are different, which results in limitation of the use of the mechanical gripper. In addition, the weight of the common mechanical gripper is large at present, the burden of the mechanical arm is increased, the loss is increased, and the service life is short. Therefore, the demand for developing a mechanical gripper with low loss and good adaptability is increasingly urgent.

SUMMERY OF THE UTILITY MODEL

The utility model provides a tongs for solve among the correlation technique defect that mechanical tongs adaptability is poor and the loss is big, the life-span is short, realize snatching multiple object steadily under the lower condition of loss.

The utility model provides a novel flexible tongs, include: the device comprises a driving device, a driving gear, a first base, a second base, two flexible clamping jaws, a first cover body and a second cover body;

a first rack is arranged at one end of the first base and meshed with the driving gear;

a second rack is arranged at one end of the second base and meshed with the driving gear;

the two flexible clamping jaws are respectively arranged on the first base and the second base;

the driving gear is arranged on an output shaft of the driving device and is suitable for driving the first rack and the second rack to enable the two flexible clamping jaws to move relatively;

the first cover body and the second cover body can be matched with each other, and the first rack, the second rack, the driving gear and the driving device are formed in an inner space formed after the first cover body and the second cover body are matched.

According to the utility model provides a gripper, the first rack and the second rack are arranged in parallel;

the first rack and the second rack are located in different planes in a direction perpendicular to the end faces of the teeth of the drive gear.

According to the utility model provides a gripper, the first base is connected with the first cover body and the second cover body in a guiding way;

the second base is connected with the first cover body and the second cover body in a guiding mode.

According to the utility model provides a pair of tongs, the side that flexible clamping jaw is relative is provided with anti-skidding structure.

According to the utility model provides a gripper, the flexible clamping jaw is made of at least one of 3D printing flexible TPU material and flexible TPE material;

the first base and the second base are both made of 3D printing carbon fiber composite materials;

the driving gear, the first cover body and the second cover body are made of 3D printing engineering plastics.

According to the utility model provides a pair of tongs still includes the foil gage, the foil gage set up in the side that flexible clamping jaw is relative at least one and with the drive arrangement electricity is connected.

According to the utility model provides a pair of tongs still includes the fixing base, the fixing base install in first lid and/or the second lid, drive arrangement install in the fixing base.

The utility model provides a pair of tongs through set up flexible clamping jaw on first base and second base respectively, first base one end is equipped with first rack, and second base one end is equipped with the second rack for drive gear is when driving first rack and second rack relative motion, and two flexible clamping jaw relative motion can press from both sides tight object from this. Meanwhile, the flexible clamping jaw has a certain elastic deformation amount and can be well attached to the surface of an object when the object is grabbed, so that the flexible clamping jaw can adapt to objects of various specifications and different forms, and the stability of grabbing the object is improved. In addition, the flexible clamping jaw has smaller weight, and the first base and the second base have small load, so the flexible clamping jaw has longer service life.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the following briefly introduces the drawings required for the embodiments or the prior art descriptions, and obviously, the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a front view of the gripper provided by the embodiment of the present invention with the first cover hidden;

fig. 2 is a right side view of the gripper according to the embodiment of the present invention after the first cover is hidden;

fig. 3 is a schematic structural view of the gripper according to the embodiment of the present invention after the first cover is hidden;

fig. 4 is a schematic structural diagram of a gripper provided by an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a fixing seat and a second cover of the gripper according to the embodiment of the present invention.

Reference numerals:

100: a drive gear; 101: a flexible jaw; 102: a first base; 103: a second base; 104: a first rack; 105: a second rack; 106: a first cover body; 107: a second cover body; 109: a fixed seat.

Detailed Description

To make the objects, technical solutions and advantages of the present invention clearer, the drawings of the present invention are combined to clearly and completely describe the technical solutions of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without making creative efforts belong to the protection scope of the present invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the embodiments of the present invention can be understood in specific cases by those skilled in the art.

In embodiments of the invention, unless expressly stated or limited otherwise, a first feature may be "on" or "under" a second feature such that the first and second features are in direct contact, or the first and second features are in indirect contact via an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or may simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

As shown in fig. 1 to 3, the present embodiment discloses a gripper comprising a driving gear 100, a first base 102, a second base 103 and two flexible jaws 101; wherein the driving gear 100 is connected to an output shaft of the driving device; a first rack 104 is arranged at one end of the first base 102, a second rack 105 is arranged at one end of the second base 103, and the first rack 104 and the second rack 105 are both meshed with the driving gear 100; the two flexible clamping jaws 101 are respectively arranged on a first base 102 and a second base 103; the drive gear 100 is adapted to bring the first rack 104 and the second rack 105 to move the two flexible jaws 101 relative to each other.

According to the embodiment of the utility model provides a tongs, through set up flexible clamping jaw 101 on first base 102 and second base 103 respectively, first base 102 one end is equipped with first rack 104, and second base 103 one end is equipped with second rack 105 for drive gear 100 is when driving first rack 104 and second rack 105 relative motion, and two flexible clamping jaw 101 relative motion can press from both sides tight object from this. Meanwhile, the flexible clamping jaw 101 has a certain elastic deformation amount and can be well attached to the surface of an object when the object is grabbed, so that the flexible clamping jaw can adapt to objects with various specifications and different forms, and the stability of grabbing the object is improved. In addition, the flexible clamping jaw 101 has a smaller weight, and the first base 102 and the second base 103 have a smaller load, so the flexible clamping jaw has a longer service life.

With continued reference to fig. 1-3, a drive gear 100 is coupled to an output shaft of the drive device for moving a first rack 104 and a second rack 105. It will be appreciated that the drive gear 100 may be arranged in different ways: one driving gear 100 may be engaged with the first rack 104 and the second rack 105 at the same time, or two coaxial driving gears 100 may be engaged with the first rack 104 and the second rack 105, respectively. In summary, the driving means provides power for the rotation of the driving gear 100, which in turn causes the relative movement of the first and

second racks

104 and 105.

In the embodiment of the utility model provides an in, JGY370 single output shaft direct current gear motor can be chooseed for use to drive arrangement. The single motor is used for controlling, the clamping force can be simply and conveniently adjusted in the grabbing process, the overall structure is simplified, and the grabbing process is stable.

As shown in fig. 1 to 3, a first rack 104 is disposed at one end of the first base 102, a second rack 105 is disposed at one end of the second base 103, and the first rack 104 and the second rack 105 are both engaged with the driving gear 100. It will be appreciated that the first and

second racks

104, 105 are located on different sides of the drive gear 100 for relative movement purposes. The first rack 104 and the second rack 105 are disposed in parallel on both sides of the driving gear 100, so that the racks on both sides move by the same distance when the driving gear 100 rotates. As shown in fig. 3, the first rack 104 and the second rack 105 are located in different planes in a direction perpendicular to the tooth end surface of the drive gear 100 so that the movements of the two racks do not interfere with each other.

Referring to fig. 1 to 4, the grip further includes a first cover 106 and a second cover 107 connected to each other, and the first base 102 is connected to the first cover 106 and the second cover 107 in a guiding manner; the second base 103 is connected to the first cover 106 and the second cover 107 in a guiding manner. It is understood that the guiding connection may be implemented by a guide rail, a guide groove, and the like, and is not limited in particular. Through the arrangement, the first cover 106 and the second cover 107 can perform linear limiting and supporting functions on the movement of the first base 102 and the second base 103, and the stability of the whole structure is improved.

In the embodiment of the present invention, the first base 102 and the second base 103 are made of carbon fiber composite material with excellent mechanical properties. It should be noted that, the above materials belong to the existing materials, and the first base 102 and the second base 103 are both realized by a 3D printing technology, so that the complex structure can be quickly formed integrally, and a good environmental protection effect is achieved. And, because of the self-lubricity of the carbon fiber composite material, the resistance of the device during operation is small, thereby increasing the service life. In addition, the carbon fiber composite material has the characteristic of light weight, and the weight of the whole device can be reduced.

Referring to fig. 1 to 4, two flexible clamping jaws 101 are respectively arranged on a first base 102 and a second base 103. It will be appreciated that the two flexible jaws 101 are positioned opposite to each other to function as a gripper for gripping objects. In fig. 3 to 4, it can be seen that in order to increase the friction between the flexible clamping jaw 101 and the object and avoid the object from slipping off due to the smooth surface of the object when grabbing the object, an anti-slip structure is provided on the opposite side of the flexible clamping jaw 101. The anti-slip structure may be a concave-convex pattern, wherein the specific arrangement mode and the setting angle of the concave-convex pattern are not specifically limited as long as the above-mentioned effects can be achieved.

The embodiment of the utility model provides an in, flexible clamping jaw 101's appearance design has adopted bionical method, and the shape of duckbilled has been referred to the appearance, can strengthen the bearing at the in-process of snatching, compares more beautifully with current clamping jaw simultaneously.

In one embodiment, the gripper further comprises a strain gauge disposed on at least one of the opposing sides of the flexible jaw 101 and electrically connected to the drive means. It will be appreciated that strain gauges are used to detect the clamping force on the flexible clamping jaw 101. When the driving device is started, the driving gear 100 drives the first rack 104 and the second rack 105 and the first base 102 and the second base 103 to make the flexible clamping jaw 101 move relatively so as to clamp the object. And when the clamping force detected by the strain gauge reaches a set value, controlling the driving device to stop running. By such an arrangement, damage to the flexible clamping jaw 101 or an object, which may be caused by excessive deformation of the flexible clamping jaw 101, can be avoided, and the driving device can also be protected.

In an embodiment of the present invention, the flexible clamping jaw 101 is made of at least one of a flexible TPU material, a flexible TPE material, which have good ductility. It should be noted that above-mentioned material belongs to current material, and flexible clamping jaw 101 is realized through 3D printing technique, and the integrated molding complex structure that can be fast has better environmental protection effect.

Referring to fig. 3 to 4, the first rack 104, the second rack 105, the driving gear 100, and the driving device are formed in an inner space where the first cover 106 and the second cover 107 are engaged. It can be understood that, after the first cover 106 and the second cover 107 are engaged, the foreign objects can be prevented from entering the inner space, so as to protect the above structure, and the appearance of the hand grip can be more concise. In addition, when the gripper is applied to a robot arm, the first cover 106 and the second cover 107 may also be used to connect other structures.

In the embodiment of the present invention, the driving gear 100, the first cover 106 and the second cover 107 are made of engineering plastics. It should be noted that, the above materials belong to the existing materials, and the driving gear 100, the first cover 106 and the second cover 107 are all realized by a 3D printing technology, so that a complex structure can be quickly formed in an integrated manner, and a good environmental protection effect is achieved.

Referring to fig. 1 to 5, the gripper further includes a fixing base 109, the fixing base 109 is mounted on the first cover 106 and/or the second cover 107, and the driving device is mounted on the fixing base 109. It can be understood that the fixing seat 109 plays a role in fixing, supporting and limiting the position of the driving device, thereby ensuring the stable operation of the transmission mechanism.

In conclusion, in the embodiment of the present invention, the total weight of the gripper 319 g (including the motor) achieves a better weight reduction effect compared with the existing gripper, thereby providing a longer service life.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. The utility model provides a novel flexible tongs which characterized in that includes:

the device comprises a driving device, a driving gear, a first base, a second base, two flexible clamping jaws, a first cover body and a second cover body;

2. The gripper of claim 1, wherein the first rack is disposed parallel to the second rack;

3. The grip of claim 1 wherein the first base is in guiding engagement with the first cover and the second cover;

4. The grip of claim 1 wherein the opposing sides of the flexible jaw are provided with anti-slip structures.

5. The grip of any one of claims 1 to 4, wherein the two flexible jaws, the first base, the second base, the drive gear, and the first and second covers are all integrally formed by 3D printing.

6. The gripper of claim 1, further comprising a strain gauge disposed on at least one of the opposing sides of the flexible jaw and electrically connected to the drive device.

7. The hand grip of claim 1, further comprising a fixing base, wherein the fixing base is mounted to the first cover and/or the second cover, and the driving device is mounted to the fixing base.