CN218984825U

CN218984825U - Flexible grabbing structure

Info

Publication number: CN218984825U
Application number: CN202222735426.4U
Authority: CN
Inventors: 陈泽进
Original assignee: Shengchen Automation Technology Dongguan Co ltd
Current assignee: Shengchen Automation Technology Dongguan Co ltd
Priority date: 2022-10-17
Filing date: 2022-10-17
Publication date: 2023-05-09
Anticipated expiration: 2032-10-17

Abstract

The utility model relates to the field of grabbing device design, in particular to a flexible grabbing structure. The flexible grabbing structure comprises an expansion device and a plurality of grabbing parts arranged on the expansion device; the plurality of gripping parts have a first working state in which the gripping parts are away from each other when the expansion device is expanded, and a second working state in which the gripping parts are close to each other when the expansion device is contracted. The flexible grabbing structure is simple and convenient in structure, short in industrial manufacturing period and suitable for industrial application, and meanwhile, the grabbing efficiency is high and the grabbing force is large through the arrangement of the expansion device and the grabbing parts.

Description

Flexible grabbing structure

Technical Field

The utility model relates to the field of grabbing device design, in particular to a flexible grabbing structure.

Background

In the field of industrial automation, the robot arm end gripping action is mainly performed by a rigid robot gripper. However, the rigid mechanical gripper is generally formed by connecting rigid connecting rods through rotary joints, and is driven by rigid devices such as a hydraulic cylinder and a motor, and each connecting rod realizes one degree of freedom, but has the advantages of high cost, complex structure, poor flexibility, low safety and weak environment adaptability.

For this reason, a technical means is needed to solve the above-mentioned drawbacks.

Disclosure of Invention

The utility model adopts the following technical scheme:

a flexible gripping structure comprising an expansion device and a plurality of gripping portions mounted to the expansion device; the plurality of gripping parts have a first working state in which the gripping parts are away from each other when the expansion device is expanded, and a second working state in which the gripping parts are close to each other when the expansion device is contracted.

Preferably, the expansion device is a balloon; and an air hole connected with an external inflation mechanism is arranged on the air bag.

Preferably, the balloon comprises a flattened portion; the grabbing parts are assembled and mounted on the flat part.

Preferably, the whole air bag is disc-shaped; the air hole is arranged at the upper part of the air bag; the flat part is the bottom of the air bag.

Preferably, a plurality of the gripping portions are installed at the bottom of the airbag, and the plurality of gripping portions are equally spaced from the center of the bottom of the airbag.

Preferably, the gripping part comprises a connecting piece arranged on the expansion device and a clamping piece connected with the connecting piece and used for clamping the product.

The flexible grabbing structure is simple and convenient in structure, short in industrial manufacturing period and suitable for industrial application, and meanwhile, the grabbing efficiency is high and the grabbing force is large through the arrangement of the expansion device and the grabbing parts.

Drawings

FIG. 1 is an overall schematic of a flexible gripping structure of the present utility model;

FIG. 2 is a front view of a flexible gripping structure of the present utility model;

fig. 3 is a bottom view of a flexible gripping structure of the present utility model.

Detailed Description

The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. 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 present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

Referring to fig. 1 to 3, a flexible gripping structure includes an expansion device 10 and a plurality of gripping portions 20 mounted to the expansion device 10; wherein the plurality of gripping portions 20 have a first operating condition in which they are spaced apart from each other when the expansion device 10 is expanded and a second operating condition in which they are brought together when the expansion device 10 is contracted. In the first operating state, the expansion device 10 expands under the action of the external mechanism, and the expansion device 10 deforms, so that the plurality of gripping portions 20 mounted on the expansion device 10 are far away from each other; in the second operating state, the expansion device 10 is contracted by the external mechanism, and the plurality of gripping portions 20 mounted on the expansion device 10 are separated from each other due to the deformation of the expansion device 10; specifically, in the first working state, since the plurality of gripping portions 20 are far away from each other, the product with the limiting groove can be gripped, that is, the gripping portions 20 are abutted against the side walls of the limiting groove, and the greater the expansion degree of the expansion device 10, the greater the gripping force. Specifically, in the second operating state, the plurality of gripping portions 20 are close to each other, so that the product can be gripped by the plurality of gripping portions 20 that are close to each other. Through first operating condition and second operating condition selection and switching to make this flexible structure of snatching can snatch different products according to actual conditions, the practicality is strong.

The flexible grabbing structure is simple and convenient in structure, short in industrial manufacturing period and suitable for industrial application, and meanwhile, the grabbing efficiency is high and the grabbing force is large through the arrangement of the expansion device 10 and the grabbing part 20.

Further, the inflation device 10 is a balloon. The airbag is provided with an air hole 30 for connection to an external inflation mechanism.

Specifically, in the first working state, the external inflation mechanism inflates the air bag through the air hole 30, so that the air bag is inflated, and the plurality of grabbing parts 20 connected with the air bag are far away from each other due to the inflation deformation of the air bag; in the second working state, the external inflation mechanism pumps air from the air bag through the air hole 30 so as to enable the air bag to shrink, and then a plurality of grabbing parts 20 connected with the air bag are close to each other due to shrinkage deformation of the air bag. Specifically, in this embodiment, the material of the air bag is PA66.

Further, the balloon comprises a flattened portion 101; the plurality of grasping portions 20 are attached to the flat portion 101 in a gathered manner. Specifically, in a normal state, since the gripping portions 20 are assembled and mounted on the flat portion 101 of the airbag, when the airbag is inflated under the action of the external inflation mechanism, the flat portion 101 of the airbag is deformed along with the inflation deformation of the airbag, and further, the gripping portions 20 are far away from each other due to outward protrusion of the flat portion 101 during inflation; when the external inflation mechanism performs evacuation, the flat portion 101 gradually returns to the shape so that the respective grasping portions 20 are brought close to each other through the arrangement of the flat portion 101, so that the grasping portions 20 can be moved away from each other as the airbag expands and brought close to each other as the airbag contracts.

Further, the whole air bag is disc-shaped; the air hole 30 is installed at the upper portion of the air bag; the flat portion 101 is the bottom of the airbag. Specifically, the plurality of gripping portions 20 are installed at the bottom of the airbag, and the plurality of gripping portions 20 are equally spaced from the center of the bottom of the airbag. Since the plurality of grasping portions 20 are at the same distance from the bottom center of the airbag so that the radian of movement of each grasping portion 20 is the same when the airbag is inflated or contracted, the stability of the structure when grasping the product is improved.

Further, the gripping portion 20 includes a connector 201 mounted to the expansion device 10, and a clamping member 202 connected to the connector 201 for clamping the product. Specifically, in the present embodiment, the connector 201 is mounted to the flat portion 101 of the airbag. Further, the clamping member 202 is normally perpendicular to the flat portion 101 so that it clamps the object when the balloon is inflated or deflated.

The flexible grabbing structure is simple and convenient in structure, short in industrial manufacturing period and suitable for industrial application, and meanwhile, grabbing efficiency is high and grabbing force is large through the arrangement of the expansion device 10 and the grabbing parts 20.

The foregoing examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

Claims

1. A flexible structure of snatching which characterized in that: the flexible grabbing structure comprises an expansion device and a plurality of grabbing parts arranged on the expansion device; the plurality of gripping parts have a first working state in which the gripping parts are away from each other when the expansion device is expanded, and a second working state in which the gripping parts are close to each other when the expansion device is contracted.

2. A flexible gripping structure according to claim 1, characterized in that: the expansion device is an air bag; and an air hole connected with an external inflation mechanism is arranged on the air bag.

3. A flexible gripping structure according to claim 2, characterized in that: the air bag comprises a flat part; the grabbing parts are assembled and mounted on the flat part.

4. A flexible gripping structure according to claim 3, characterised in that: the whole air bag is disc-shaped; the air hole is arranged at the upper part of the air bag; the flat part is the bottom of the air bag.

5. A flexible gripping structure according to claim 4, wherein: the plurality of grabbing parts are arranged at the bottom of the air bag, and the plurality of grabbing parts are the same in center distance from the bottom of the air bag.

6. A flexible gripping structure according to claim 1, characterized in that: the grabbing part comprises a connecting piece arranged on the expansion device and a clamping piece connected with the connecting piece and used for clamping a product.