WO2019033678A1 - 一种新型柔性夹头及其柔性夹具和柔性夹持笔 - Google Patents

一种新型柔性夹头及其柔性夹具和柔性夹持笔 Download PDF

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Publication number
WO2019033678A1
WO2019033678A1 PCT/CN2017/118851 CN2017118851W WO2019033678A1 WO 2019033678 A1 WO2019033678 A1 WO 2019033678A1 CN 2017118851 W CN2017118851 W CN 2017118851W WO 2019033678 A1 WO2019033678 A1 WO 2019033678A1
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WO
WIPO (PCT)
Prior art keywords
wall
flexible
pen
finger
piston
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PCT/CN2017/118851
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English (en)
French (fr)
Inventor
张帆
Original Assignee
苏州柔触机器人科技有限公司
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Filing date
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Application filed by 苏州柔触机器人科技有限公司 filed Critical 苏州柔触机器人科技有限公司
Priority to EP17894663.8A priority Critical patent/EP3670116B1/en
Priority to KR1020207007300A priority patent/KR102283612B1/ko
Priority to JP2020509000A priority patent/JP6976532B2/ja
Priority to US16/064,445 priority patent/US10543602B2/en
Publication of WO2019033678A1 publication Critical patent/WO2019033678A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B9/00—Hand-held gripping tools other than those covered by group B25B7/00
    • B25B9/02—Hand-held gripping tools other than those covered by group B25B7/00 without sliding or pivotal connections, e.g. tweezers, onepiece tongs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0023—Gripper surfaces directly activated by a fluid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B43—WRITING OR DRAWING IMPLEMENTS; BUREAU ACCESSORIES
    • B43K—IMPLEMENTS FOR WRITING OR DRAWING
    • B43K23/00—Holders or connectors for writing implements; Means for protecting the writing-points
    • B43K23/008—Holders comprising finger grips
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B43—WRITING OR DRAWING IMPLEMENTS; BUREAU ACCESSORIES
    • B43K—IMPLEMENTS FOR WRITING OR DRAWING
    • B43K5/00—Pens with ink reservoirs in holders, e.g. fountain-pens
    • B43K5/005—Pen barrels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B43—WRITING OR DRAWING IMPLEMENTS; BUREAU ACCESSORIES
    • B43K—IMPLEMENTS FOR WRITING OR DRAWING
    • B43K5/00—Pens with ink reservoirs in holders, e.g. fountain-pens
    • B43K5/02—Ink reservoirs
    • B43K5/06—Ink reservoirs with movable pistons for withdrawing ink from an ink-receptacle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B43—WRITING OR DRAWING IMPLEMENTS; BUREAU ACCESSORIES
    • B43K—IMPLEMENTS FOR WRITING OR DRAWING
    • B43K5/00—Pens with ink reservoirs in holders, e.g. fountain-pens
    • B43K5/18—Arrangements for feeding the ink to the nibs

Definitions

  • the present invention relates to a flexible collet made of an elastic material, and to a flexible jig and a flexible gripping pen using the flexible collet.
  • the flexible mechanical finger uses an elastic material to enable the grasping of soft, fragile objects without causing damage to the object itself.
  • the current flexible finger includes a fingertip, a knuckle, and the tail of the knuckle is provided as a tapered air inlet nozzle, and the tapered air inlet is provided with a flange structure. And this flexible mechanical finger is still not suitable for holding tiny items, such as jewelry.
  • the current use of flexible finger clamping is not suitable for household use, and it is necessary to provide an additional positive and negative pressure gas source for driving, which is inconvenient to use.
  • a first technical problem to be solved by the present invention is to provide a novel flexible collet suitable for holding small items.
  • a second technical problem to be solved by the present invention is to provide a flexible jig using a novel flexible collet which can be applied to the holding of small items.
  • a third technical problem to be solved by the present invention is to provide a flexible clamping pen using a novel flexible collet, which is suitable for household use, can hold small items, is convenient to use, and does not require an external air source. .
  • a novel flexible collet comprising a clamping portion and a connecting portion made of an elastic material, the clamping portion comprising at least two mating portions for mutual cooperation a fingertip is formed, a finger joint is formed between each fingertip, and a finger cavity is disposed inside each fingertip, and the connecting portion includes a communication cavity, and the communication cavity communicates with each finger cavity,
  • the connecting portion is provided with a communication port communicating with the communication chamber, the fingertip includes an inner wall close to the finger joint and an outer wall away from the finger joint, the inner wall has a thickness smaller than the thickness of the outer wall or the elastic modulus of the inner wall is smaller than the elasticity of the outer wall Modulus.
  • the tip cavity wall of the finger cavity near the tip end of the finger tip is disposed to be inclined from the outside to the inside, and the inner end of the tip cavity wall is closer to the tip end of the finger than the outer end.
  • the communication chamber is provided with an inner card slot for engaging with the connection nozzle.
  • the outside of the connecting portion is provided with a card edge.
  • the number of the fingertips is two to four, and the shape of each fingertip is the same.
  • the effect of the present invention is that since the flexible collet includes a clamping portion and a connecting portion made of an elastic material, the clamping portion includes at least two fingertips that cooperate with each other for clamping. Finger joints are formed between each fingertip, and a finger cavity is disposed inside each fingertip, and the connecting portion includes a communication chamber, and the communication chamber communicates with each finger cavity, and the connection portion is provided with a communication port communicating with the chamber, the fingertip including an inner wall adjacent to the finger joint and an outer wall away from the finger joint, the inner wall having a thickness smaller than a thickness of the outer wall or an elastic modulus of the inner wall being smaller than an elastic modulus of the outer wall, and therefore, inflating
  • the driving medium gas or liquid
  • the technical solution of the present invention is: a novel flexible jig using the above flexible collet, the new flexible jig further comprising a fixing seat, and the fixing seat is provided with a positive and negative pressure system
  • the connecting mouth of the collet is fixed to the connecting mouth.
  • the fixing base is an elastically stretchable fixing base
  • the fixing base comprises a flange seat and a telescopic rod elastically slidingly mounted on the flange seat, and the connecting nozzle is mounted on the telescopic rod Ends.
  • the lower end of the telescopic rod is mounted with a card holder, and the outer portion of the connecting portion of the flexible collet is provided with a card edge, and the card holder is provided with a card slot that is engaged with the card.
  • the effect of the present invention is that since the flexible jig uses the above-described flexible collet, it has all the functions and effects of the flexible collet.
  • the fixing seat has an elastic stretching function, so that the elastic buffering effect can be achieved during the clamping process, and the clamping action is more accurate.
  • the technical solution of the present invention is: a novel flexible clamping pen using the above flexible collet, the flexible clamping pen includes a pen sleeve and a refill, and the pen sleeve is axially slidably mounted a piston that divides the inner cavity of the pen case into a front chamber and a rear chamber, a front end of the refill is connected to the piston, a tail plug of the pen holder is fixed with a tail plug, and the refill penetrates the tail plug
  • the front end of the pen holder is provided with a connecting mouth communicating with the front chamber, the communication port of the flexible collet is fixed to the connecting mouth of the pen holder, a spring is arranged between the piston and the pen sleeve, and the spring applies a backward to the piston Elasticity.
  • the refill and the piston are integrally formed, and the tail plug is inserted into the tail of the pen sleeve, and the tail plug is provided with a sealing ring.
  • the effect of the invention is that the flexible clamping pen uses the above-mentioned flexible collet, thus having all the functions and effects of the flexible collet, and at the same time, the flexible clamping pen does not need a positive and negative pressure air source. It is only necessary to manually press the refill to compress the gas in the front chamber into the flexible collet, thereby achieving the inflation action. After the refill is released, the cavity of the front chamber becomes larger due to the elastic force of the spring, so that the flexibility The gas in the chuck enters the front chamber to complete the pumping.
  • the flexible holding pen can be used at home, and the structure is simple and compact.
  • FIG. 1 is a perspective view of a flexible collet including four fingertips according to Embodiment 1 of the present invention
  • Figure 2 is a plan view of a flexible collet comprising four fingertips according to Embodiment 1 of the present invention
  • Figure 3 is a cross-sectional view of Figure 2 at A-A;
  • Figure 4 is a perspective view of a flexible collet comprising two fingertips according to Embodiment 1 of the present invention
  • Figure 5 is a front elevational view of a flexible collet comprising four fingertips in accordance with an embodiment of the present invention
  • Figure 6 is a cross-sectional view of Figure 5 at B-B;
  • Figure 7 is a front elevational view of a flexible jig including two fingertips according to Embodiment 2 of the present invention.
  • Figure 8 is a cross-sectional view of Figure 8 at C-C;
  • Figure 9 is a front elevational view showing the state in which the flexible jig of the second embodiment of the present invention is opened.
  • Figure 10 is a front elevational view showing a flexible jig with a card holder according to Embodiment 2 of the present invention.
  • Figure 11 is a front elevational view of a flexible gripping pen according to a third embodiment of the present invention.
  • Figure 12 is a cross-sectional view of Figure 11 at D-D;
  • a novel flexible collet includes a holding portion 1 made of an elastic material and a connecting portion 2, which may be made of silicone rubber.
  • the clamping portion 1 comprises at least two finger tips 11 that cooperate with each other for clamping.
  • the number of the finger tips 11 is two to four, and each finger tip 11 has the same shape.
  • Finger joints 12 are formed between the finger tips 11 , and a finger cavity 13 is disposed inside each finger tip 11 , and the connecting portion 2 includes a communication chamber 21 , and the communication chamber 21 communicates with each finger cavity 13 .
  • the connecting portion 2 is provided with a communication port 23 communicating with the communication chamber 21, the fingertip 11 includes an inner wall 14 adjacent to the finger seam 12 and an outer wall 15 away from the finger seam 12, the inner wall 14 having a thickness smaller than the outer wall 15 The thickness or the elastic modulus of the inner wall 14 is smaller than the elastic modulus of the outer wall 15.
  • the thickness of the outer wall 15 of the inner wall 14 is such that the deformation of the inner wall 14 is greater than the deformation of the outer wall 15, so that the inner wall 14 bulges to open the fingertip 11; of course, if the inner wall 14 and the outer wall The thickness of 15 is uniform, so that it is only necessary to make the elastic modulus of the inner wall 14 smaller than the elastic modulus of the outer wall 15, and it is also possible that the deformation amount of the inner wall 14 is larger than the deformation amount of the outer wall 15.
  • the tip cavity wall 16 of the finger cavity 13 near the tip end of the fingertip 11 is disposed to be inclined from the outside to the inside, and the inner end of the tip cavity wall 16 is closer to the tip end of the fingertip 11 than the outer end. As shown in Figures 3 and 6, this configuration allows the length of the inner wall 14 to be longer, so that the amount of deformation can be larger and the angle of opening can be larger.
  • the communication chamber 21 is provided with an inner card slot 9122 for engaging with the connection nozzle 6.
  • the inner card slot 9122 can be adapted to the connector 6 as in FIG. Of course, if there is no inner card slot 9122, it can also be adapted to the connector 6 as shown in FIG. 10, and the connector 6 in FIGS. 8 and 10 is a conventional airway connection mode, and the connector set is fixed to the connector 6 It is relatively strong.
  • the outside of the connecting portion 2 is provided with a card edge 24, and the connecting portion 2 can be further separated by the card edge 24.
  • the chuck in this embodiment can be driven by a liquid or gaseous medium.
  • a gaseous medium when inflated, the gas enters the communication chamber 21 from the communication port 23 and is distributed into the finger cavity 13, because the flexible chuck is The elastic material is made, and the inner wall 14 has a thickness smaller than the thickness of the outer wall 15 or the elastic modulus of the inner wall 14 is smaller than the elastic modulus of the outer wall 15, and therefore, the deformation amount of the inner wall 14 is larger than the deformation amount of the outer wall 15, and the inner wall 14 bulges each
  • the fingertip 11 is opened; when the air is pumped, the driving medium in the finger cavity 13 and the communication chamber 21 is extracted from the communication port 23, and the bending deformation amount of the inner wall 14 is larger than the deformation amount of the outer wall 15, and the inner wall 14 is recessed to realize the fingertip 11 Closing, so that the flexible collet can complete the clamping of the tiny items without causing damage to the surface of the article.
  • This embodiment discloses a novel flexible jig that uses the flexible collet of Embodiment 1, as shown in FIGS. 7 to 10, the new flexible jig further includes a fixing base, and the fixing seat is provided with A connecting nozzle 6 communicating with the positive and negative pressure system, the communication port 23 of the collet is fixed to the connecting nozzle 6.
  • the positive and negative pressure system is a commonly used system, and the air pump is used for pumping or inflating.
  • the fixing base is an elastically stretchable fixing base, and the fixing base comprises a flange seat 3 and a telescopic rod 4 elastically slidingly mounted on the flange seat 3, and the connecting nozzle 6 is mounted on the end of the telescopic rod 4 .
  • the flexible clamp may not have an elastic cushioning function.
  • the fixing base includes a flange seat 3 , and the flange seat 3 is fixed with a guiding sleeve 5 , and the telescopic rod 4 is slidably mounted in the guiding sleeve 5 , and the telescopic rod 4 is A buffer spring is pre-compressed with the guide sleeve 5, and one end of the telescopic rod 4 is mounted with a connecting sleeve 7, on which the connecting nozzle 6 and the air inlet nozzle 8 are mounted, and the flexible collet is mounted on the connecting nozzle 6 on.
  • the lower end of the telescopic rod 4 is mounted with a card holder 9, and the outer portion of the connecting portion 2 of the flexible collet is provided with a card edge 24, and the card holder 9 is provided with a card edge 24
  • the mating card slot 91 is such that after the flexible collet is set on the connecting nozzle 6, the card edge 24 is located in the card slot 91 and is further placed and dropped.
  • the working principle of this embodiment is that the flexible clamp is driven by the feeding mechanism, the flexible clamp is driven to move axially, the system is inflated to open the flexible clamp, the article is placed on the table, and then the flexible chuck first contacts the table and then stops. Then, the air is sucked, and the flexible collet is closed at this time, and the telescopic rod 4 is forced to contract under the reaction force of the table top, so that the flexible collet is closed, and the flexible collet is closed to hold the article.
  • This embodiment discloses a novel flexible clamping pen 10 using the flexible collet of Embodiment 1, which includes a pen holder 101 and a refill 102, and a piston 104 is axially slidably mounted in the pen holder 101.
  • the piston 104 divides the inner cavity of the pen holder 101 into a front chamber 106 and a rear chamber 107.
  • the front end of the refill 102 is connected to the piston 104, and the tail portion of the pen holder 101 is fixed with a tail plug 103.
  • the front end of the pen holder 101 is provided with a connecting nozzle 6 communicating with the front chamber 106, and the communication port 23 of the flexible collet is fixed to the connecting mouth 6 of the pen holder 101, the piston A spring 105 is disposed between the 104 and the pen holder 101, and the spring 105 applies a rearward resilient force to the piston 104.
  • the refill 102 and the piston 104 are integrally formed, and the piston 104 is provided with a sealing ring for separating the front chamber 106 and the rear chamber 107, and the tail plug 103 is inserted into the tail of the pen holder 101.
  • a sealing ring is disposed on the tail plug 103.
  • the flexible clamping pen 10 is cleverly structured and uses a manual method to clamp small items, which is very suitable for home use.
  • the air pump mentioned in this embodiment belongs to the prior art, and its structure is clear.
  • the vacuum component is disclosed in detail in the SMC training material of the third edition of the modern practical pneumatic technology published by the Machinery Industry Press on August 1, 2008.
  • the gas circuit and program control indicate that the gas path structure in this embodiment is also a prior art and is clear.

Abstract

一种新型柔性夹头，包括由弹性材料制成的夹持部（1）和连接部（2），夹持部（1）包括至少两个相互配合用于夹持的指尖（11），各指尖（11）之间形成了指缝（12），每个指尖（11）的内部均设置有指腔（13），连接部（2）包括连通腔室（21），该连通腔室（21）与各指腔（13）均连通，连接部（2）上设置有与连通腔室（21）相通的连通口（23），指尖（11）包括靠近指缝（12）的内壁（14）和远离指缝（12）的外壁（15），内壁（14）的厚度小于外壁（15）的厚度或者内壁（14）的弹性模量小于外壁（15）的弹性模量。该柔性夹头适合夹持微小物品。使用该柔性夹头的柔性夹具和柔性夹持笔，同样具有上述优点。

Description

一种新型柔性夹头及其柔性夹具和柔性夹持笔 技术领域
本发明涉及一种由弹性材料制成的柔性夹头，同时还涉及一种使用该柔性夹头的柔性夹具和柔性夹持笔。
背景技术
在工业自动化领域，机械臂末端抓取动作主要由刚性机械手爪或真空吸盘完成。但刚性机械手爪，由于力度难以控制，很难对柔软、脆弱物体实现无损抓取。真空吸盘在搬运过程中难以适应表面粗糙、开孔的异形物体。这导致两者应用场景均存在局限性。
柔性机械手指采用弹性材料，能够实现对柔软、脆弱物体的抓取而不会对物体本身产生损伤。目前的柔性手指包括指尖、指节，指节的尾部设置为锥形的进气嘴，锥形进气嘴设置有法兰沿结构。而这种柔性机械手指还是无法适合夹持微小的物品，例如，珠宝。另外目前使用柔性手指夹持不太适合家用，需要额外提供正负压气源来驱动，使用不方便。
发明内容
本发明所要解决的第一个技术问题是：提供一种新型柔性夹头，该柔性夹头适合夹持微小物品。
本发明所要解决的第二个技术问题是：提供一种使用了新型柔性夹头的柔性夹具，该柔性夹具可以应用于微小物品的夹持。
本发明所要解决的第三个技术问题是：提供一种使用了新型柔性夹头的柔性夹持笔，该柔性夹持笔可适合家用，可夹持微小物品，使用方便，无需外置气源。
为解决上述第一个技术问题，本发明的技术方案是：一种新型柔性夹头，包括由弹性材料制成的夹持部和连接部，所述夹持部包括至少两个相互配合用于夹持的指尖，各指尖之间形成了指缝，每个指尖的内部 均设置有指腔，所述连接部包括连通腔室，该连通腔室与各指腔均连通，所述连接部上设置有与连通腔室相通的连通口，所述指尖包括靠近指缝的内壁和远离指缝的外壁，所述内壁的厚度小于外壁的厚度或者内壁的弹性模量小于外壁的弹性模量。
作为一种优选的方案，所述指腔靠近指尖尖端的尖端腔壁由外至内设置成倾斜状，该尖端腔壁的内侧端与外侧端相比更靠近指尖尖端。
作为一种优选的方案，所述连通腔室上设置有用于与连接嘴卡接的内卡槽。
作为一种优选的方案，所述连接部的外部设置有卡沿。
作为一种优选的方案，所述指尖的数量为两至四个，且每个指尖的形状均相同。采用了上述技术方案后，本发明的效果是：
采用了上述技术方案后，本发明的效果是：由于柔性夹头包括由弹性材料制成的夹持部和连接部，所述夹持部包括至少两个相互配合用于夹持的指尖，各指尖之间形成了指缝，每个指尖的内部均设置有指腔，所述连接部包括连通腔室，该连通腔室与各指腔均连通，所述连接部上设置有与连通腔室相通的连通口，所述指尖包括靠近指缝的内壁和远离指缝的外壁，所述内壁的厚度小于外壁的厚度或者内壁的弹性模量小于外壁的弹性模量，因此，充气时，驱动介质(气体或者液体)从连通口进入到连通腔室内再进入到指腔内，由于夹头是弹性材料制成，并且内壁的厚度小于外壁的厚度或者内壁的弹性模量小于外壁的弹性模量，因此，内壁的变形量大于外壁的变形量，内壁鼓起使各指尖张开；抽气时，指腔和连通腔室内的驱动介质从连通口被抽出，同样内壁的弯曲变形量大于外壁的变形量，从而实现指尖闭合，这样该柔性夹头就可以完成微小物品的夹持，并且不对物品表面造成损伤。
为解决上述第二个技术问题，本发明的技术方案是：一种使用上述 柔性夹头的新型柔性夹具，该新型柔性夹具还包括固定座，所述固定座上设置有与正负压系统连通的连接嘴，所述夹头的连通口套装固定于连接嘴上。
作为一种优选的方案，所述固定座为可弹性伸缩的固定座，所述固定座包括法兰座和弹性伸缩滑动安装有法兰座上的伸缩杆，所述连接嘴安装于伸缩杆的端部。
作为一种优选的方案，所述伸缩杆的下端安装有卡座，所述柔性夹头的连接部的外部设置有卡沿，所述卡座上设置有与卡沿卡嵌配合的卡槽。
采用了上述技术方案后，本发明的效果是：由于该柔性夹具使用了上述的柔性夹头，因此具有柔性夹头的所有功能和效果。另外，固定座具有弹性伸缩功能，从而可以在夹持过程中起到弹性缓冲的效果，使夹持动作更加准确。
为解决上述第三个技术问题，本发明的技术方案是：一种使用上述柔性夹头的新型柔性夹持笔，该柔性夹持笔包括笔套和笔芯，所述笔套内轴向滑动安装有活塞，所述活塞将笔套内腔分隔成前腔室和后腔室，所述笔芯的前端与活塞连接，所述笔套的尾部固定有尾塞，所述笔芯贯穿所述尾塞，所述笔套的前端设置有与前腔室相通的连接嘴，所述柔性夹头的连通口套装固定于笔套的连接嘴上，所述活塞和笔套之间设置弹簧，所述弹簧对活塞施加向后的弹力。
作为一种优选的方案，所述笔芯和活塞为一体成型，所述尾塞插装于笔套的尾部，尾塞上设置有密封圈。
采用了上述技术方案后，本发明的效果是：该柔性夹持笔使用了上述的柔性夹头，因此具备柔性夹头所有的功能和效果，同时，该柔性夹持笔无需正负压气源，只需要手动按下笔芯就能够使前腔室的气体压缩 进柔性夹头内，从而实现充气动作，松开笔芯后，由于弹簧的弹力，使前腔室的空腔变大，这样柔性夹头内的气体进入前腔室内，完成抽气，该柔性夹持笔可以家用，结构简单，小巧。
附图说明
下面结合附图和实施例对本发明进一步说明。
图1是本发明实施例1包含四个指尖的柔性夹头的立体图；
图2是本发明实施例1包含四个指尖的柔性夹头的俯视图；
图3是图2在A-A处的剖视图；
图4是本发明实施例1包含两个指尖的柔性夹头的立体图；
图5是本发明实施例1包含四个指尖的柔性夹头的主视图；
图6是图5在B-B处的剖视图；
图7是本发明实施例2包含两个指尖的柔性夹具的主视图；
图8是图8在C-C处的剖视图；
图9是本发明实施例2的柔性夹具张开状态的主视图；
图10是本发明实施例2的带卡座的柔性夹具的主视图；
图11是本发明实施例3的柔性夹持笔的主视图；
图12是图11在D-D处的剖视图；
附图中：1.夹持部；11.指尖；12.指缝；13.指腔；14.内壁；15.外壁；16.尖端腔壁；2.连接部；21.连通腔室；22.内卡槽；23.连通口；24.卡沿；3.法兰座；4.伸缩杆；5.导向套5；6.连接嘴；7.连接套；8.进气嘴；9.卡座；91.卡槽；10.夹持笔；101.笔套；102.笔芯；103.尾塞；104.活塞；105.弹簧；106：前腔室；107.后腔室。
具体实施方式
下面通过具体实施例对本发明作进一步的详细描述。
实施例1
如图1至图6所示，一种新型柔性夹头，包括由弹性材料制成的夹持部1和连接部2，该弹性材料可以采用硅橡胶制成。
所述夹持部1包括至少两个相互配合用于夹持的指尖11，优选的所述指尖11的数量为两至四个，且每个指尖11的形状均相同。各指尖11之间形成了指缝12，每个指尖11的内部均设置有指腔13，所述连接部2包括连通腔室21，该连通腔室21与各指腔13均连通，所述连接部2上设置有与连通腔室21相通的连通口23，所述指尖11包括靠近指缝12的内壁14和远离指缝12的外壁15，所述内壁14的厚度小于外壁15的厚度或者内壁14的弹性模量小于外壁15的弹性模量。此处可以有两种方案，其中内壁14的厚度外壁15的厚度，那么内壁14的变形量比外壁15变形量大，从而内壁14鼓起使指尖11张开；当然，若内壁14和外壁15的厚度一致，那么只需要使内壁14的弹性模量小于外壁15的弹性模量，同样可以是内壁14的变形量大于外壁15的变形量。
所述指腔13靠近指尖11尖端的尖端腔壁16由外至内设置成倾斜状，该尖端腔壁16的内侧端与外侧端相比更靠近指尖11尖端。如图3和图6所示，这种结构可以使内壁14的长度更长，这样变形量可以更大，张开的角度可以更大。
所述连通腔室21上设置有用于与连接嘴6卡接的内卡槽9122。该内卡槽9122可以适合如图8中的连接嘴6。当然，若是没有内卡槽9122，也可以适合如图10中的连接嘴6，而图8和图10中的连接嘴6均为目前常规的气路连接方式，连接口套装固定在连接嘴6上比较牢固。
当然，所述连接部2的外部设置有卡沿24，利用卡沿24可以进一步放置连接部2脱落。
本实施例中的夹头可以采用液态或者气态介质作为驱动，以气态介质为例，充气时，气体从连通口23进入到连通腔室21内再分布到指腔 13内，由于柔性夹头是弹性材料制成，并且内壁14的厚度小于外壁15的厚度或者内壁14的弹性模量小于外壁15的弹性模量，因此，内壁14的变形量大于外壁15的变形量，内壁14鼓起使各指尖11张开；抽气时，指腔13和连通腔室21内的驱动介质从连通口23被抽出，同样内壁14的弯曲变形量大于外壁15的变形量，内壁14凹陷实现指尖11闭合，这样该柔性夹头就可以完成微小物品的夹持，并且不对物品表面造成损伤。
实施例2
本实施例公开了一种新型柔性夹具，该柔性夹具使用了实施例1中的柔性夹头，如图7至图10所示，该新型柔性夹具还包括固定座，所述固定座上设置有与正负压系统连通的连接嘴6，所述夹头的连通口23套装固定于连接嘴6上。该正负压系统为目前常用的系统，采用气泵实现抽气或者充气。
所述固定座为可弹性伸缩的固定座，所述固定座包括法兰座3和弹性伸缩滑动安装有法兰座3上的伸缩杆4，所述连接嘴6安装于伸缩杆4的端部。当然，该柔性夹具也可以不具备弹性缓冲功能。
如图7至图9所示，所述固定座包括法兰座3，所述法兰座3上固定有导向套5，所述伸缩杆4滑动安装于导向套5内，所述伸缩杆4和导向套5之间预压有缓冲弹簧，所述伸缩杆4的一端安装有连接套7，所述连接套7上安装了连接嘴6和进气嘴8，柔性夹头安装于连接嘴6上。
如图10所示，所述伸缩杆4的下端安装有卡座9，所述柔性夹头的连接部2的外部设置有卡沿24，所述卡座9上设置有与卡沿24卡嵌配合的卡槽91，这样柔性夹头套装在连接嘴6上后，卡沿24位于卡槽91内，进一步放置脱落。
该实施例的工作原理是：将该柔性夹具由进给机构上，柔性夹具被带动轴向移动，系统充气使柔性夹具张开，物品放置在桌面上，然后柔性夹头先接触到桌面后停止，然后抽气，此时柔性夹头闭合，并在桌面的反作用力下迫使伸缩杆4收缩，这样方便柔性夹头闭合，柔性夹头闭合即可夹持物品。
实施例3
本实施例公开了一种使用实施例1中的柔性夹头的新型柔性夹持笔10，该柔性夹持笔10包括笔套101和笔芯102，所述笔套101内轴向滑动安装有活塞104，所述活塞104将笔套101内腔分隔成前腔室106和后腔室107，所述笔芯102的前端与活塞104连接，所述笔套101的尾部固定有尾塞103，所述笔芯102贯穿所述尾塞103，所述笔套101的前端设置有与前腔室106相通的连接嘴6，所述柔性夹头的连通口23套装固定于笔套101的连接嘴6上，所述活塞104和笔套101之间设置弹簧105，所述弹簧105对活塞104施加向后的弹力。本实施例中，所述笔芯102和活塞104为一体成型，活塞104上设置密封圈，用来分隔前腔室106和后腔室107，所述尾塞103插装于笔套101的尾部，尾塞103上设置有密封圈。
该柔性夹持笔10结构巧妙，采用手动的方式实现微小物品的夹持，非常适合家用。
本实施例中提到的气泵属于现有技术，其结构清楚明了，2008年08月01日由机械工业出版社出版的现代实用气动技术第3版SMC培训教材中就详细的公开了真空元件、气体回路和程序控制，表明了本实施例中的气路结构也是现有的技术，清楚明了。
以上所述实施例仅是对本发明的优选实施方式的描述，不作为对本发明范围的限定，在不脱离本发明设计精神的基础上，对本发明技术方 案作出的各种变形和改造，均应落入本发明的权利要求书确定的保护范围内。

Claims (10)

  1. 一种新型柔性夹头，其特征在于：包括由弹性材料制成的夹持部(1)和连接部(2)，所述夹持部(1)包括至少两个相互配合用于夹持的指尖(11)，各指尖(11)之间形成了指缝(12)，每个指尖(11)的内部均设置有指腔(13)，所述连接部(2)包括连通腔室(21)，该连通腔室(21)与各指腔(13)均连通，所述连接部(2)上设置有与连通腔室(21)相通的连通口(23)，所述指尖(11)包括靠近指缝(12)的内壁(14)和远离指缝(12)的外壁(15)，所述内壁(14)的厚度小于外壁(15)的厚度或者内壁(14)的弹性模量小于外壁(15)的弹性模量。
  2. 如权利要求1所述的一种新型柔性夹头，其特征在于：所述指腔(13)靠近指尖(11)尖端的尖端腔壁(16)由外至内设置成倾斜状，该尖端腔壁(16)的内侧端与外侧端相比更靠近指尖(11)尖端。
  3. 如权利要求2所述的一种新型柔性夹头，其特征在于：所述连通腔室(21)上设置有用于与连接嘴(6)卡接的内卡槽(91)(22)。
  4. 如权利要求1至3任一项所述的一种新型柔性夹头，其特征在于：所述连接部(2)的外部设置有卡沿(24)。
  5. 如权利要求4所述的一种新型柔性夹头，其特征在于：所述指尖(11)的数量为两至四个，且每个指尖(11)的形状均相同。
  6. 一种使用权利要求1中的柔性夹头的新型柔性夹具，其特征在于：该新型柔性夹具还包括固定座，所述固定座上设置有与正负压系统连通的连接嘴(6)，所述夹头的连通口(23)套装固定于连接嘴(6)上。
  7. 如权利要求6所述的新型柔性夹具，其特征在于：所述固定座为可弹性伸缩的固定座，所述固定座包括法兰座(3)和弹性伸缩滑动安装有法兰座(3)上的伸缩杆(4)，所述连接嘴(6)安装于伸缩杆(4)的端部。
  8. 如权利要求7所述的新型柔性夹具，其特征在于：所述伸缩杆(4)的下端安装有卡座(9)，所述柔性夹头的连接部(2)的外部设置有卡沿(24)，所述卡座(9)上设置有与卡沿(24)卡嵌配合的卡槽(91)。
  9. 一种使用权利要求1中的柔性夹头的新型柔性夹持笔，其特征在于：该柔性夹持笔(10)包括笔套(101)和笔芯(102)，所述笔套(101)内轴向滑动安装有活塞(104)，所述活塞(104)将笔套(101)内腔分隔成前腔室(106)和后腔室(107)，所述笔芯(102)的前端与活塞(104)连接，所述笔套(101)的尾部固定有尾塞(103)，所述笔芯(102)贯穿所述尾塞(103)，所述笔套(101)的前端设置有与前腔室(106)相通的连接嘴(6)，所述柔性夹头的连通口(23)套装固定于笔套(101)的连接嘴(6)上，所述活塞(104)和笔套(101)之间设置弹簧(105)，所述弹簧(105)对活塞(104)施加向后的弹力。
  10. 如权利要求9所述的新型柔性夹持笔，其特征在于：所述笔芯(102)和活塞(104)为一体成型，所述尾塞(103)插装于笔套(101)的尾部，尾塞(103)上设置有密封圈。
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