Fluid-driven air bag type soft gripper

Abstract

The utility model discloses a fluid-driven air bag type soft gripper which comprises a gripper body and a sealing assembly which are matched with each other, a plurality of protruding edges are evenly distributed on the outer side wall of the gripper body, and an expansion cavity is formed in the gripper body. A connecting air hole is formed in the sealing assembly and communicates with the expansion cavity. By additionally arranging the ribs on the outer wall of the gripper main body, the frictional resistance between the gripper main body and a gripped object is increased, so that the stability and the safety in the gripping process are improved. And a plurality of ribs are additionally arranged on the inner wall of the expansion cavity, so that excessive expansion of the expansion cavity is avoided, the grabbing performance of the gripper is improved, and the service life of the gripper main body is prolonged. According to the sealing cover assembly, the through groove is additionally formed in the second sealing ring, so that the gripper body can be conveniently installed in the installation groove, the fixing block attached to the through groove is additionally arranged in the installation groove, the firmness of the contact position of the second sealing ring and the installation groove is improved, and therefore the sealing cover assembly is prevented from falling off.

Description

Technical Field

[0001] The utility model relates to the technical field of soft grippers, in particular to a fluid-driven airbag-type soft gripper. Background Art

[0002] The airbag gripper is a gentle and safe internal support gripper, which is mainly used to grab hole-shaped parts, such as nuts, sleeves and cups. The existing airbag gripper has the following defects when used:

[0003] 1. The friction resistance between the gripper and the inner wall of the object depends on the material properties of the gripper itself, and the firmness of the grip cannot be effectively guaranteed, so it lacks safety and stability;

[0004] 2. The gripper is prone to over-expansion when compressed air is introduced, causing the airbag to age and become damaged, thus reducing its service life;

[0005] 3. The sealing cover of the gripper generally adopts a snap-on design, that is, the sealing cover is snap-connected with the card block on the airbag gripper through the card slot. Since the airbag part of the gripper is made of flexible material and the contact area between the card block and the card slot is small, the firmness of the card connection between the gripper and the sealing cover is poor, and there is a risk of falling off. Utility Model Content

[0006] The utility model aims to provide a fluid-driven airbag-type soft gripper to solve the problem of stable gripping of hole-shaped parts.

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a fluid-driven airbag-type soft gripper, comprising a gripper body and a sealing assembly that cooperate with each other, the outer wall of the gripper body being evenly distributed with a plurality of ridges, an expansion cavity being provided in the gripper body; a connecting air hole being provided in the sealing assembly, and the connecting air hole being connected to the expansion cavity.

[0008] Compared with the prior art, the beneficial effects of the utility model are:

[0009] By adding multiple ridges to the outer wall of the gripper body, the friction resistance between the gripper body and the grasped object is increased, thereby improving the stability and safety of the grasping process. By adding multiple ribs to the inner wall of the expansion cavity, the expansion cavity is prevented from over-expanding, thereby increasing the gripping performance of the gripper and extending the service life of the gripper body.

[0010] The sealing cover assembly adds a through groove on the sealing ring to facilitate the gripper body to be installed in the installation groove. By adding a fixing block that fits the through groove in the installation groove, the firmness of the contact position between the sealing ring and the installation groove is increased, thereby preventing the sealing cover assembly from falling off. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the fluid-driven airbag-type soft gripper of the utility model.

[0012] Figure 2 It is a schematic diagram of the three-dimensional structure of the gripper body of the utility model.

[0013] Figure 3 It is a schematic diagram of the top view of the cross-section structure of the gripper body of the utility model.

[0014] Figure 4 It is a schematic diagram of the three-dimensional cutaway structure of the gripper body of the utility model.

[0015] Figure 5 It is a schematic diagram of the three-dimensional structure of the sealing cover assembly of the utility model.

[0016] 1. Grip body; 11. Raised ridge; 12. Expansion cavity; 13. Rib; 14. First through hole; 15. Mounting groove; 16. Fixing block; 17. Second through hole; 18. Sealing protrusion; 2. Sealing assembly; 21. Sealing cover; 22. Connecting air hole; 23. Annular groove; 24. Connecting shaft; 25. Sealing ring; 26. Through groove. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0018] See also Figure 1-5 The utility model provides a technical solution: a fluid-driven airbag-type soft gripper, comprising a gripper body 1 and a sealing component 2 that cooperate with each other, and the sealing component 2 is made of hard material. The cross-sections of the gripper body 1 and the sealing component 2 are both circular, corresponding to the circular inner hole of the component.

[0019] The outer wall of the gripper body 1 is evenly distributed with a number of ridges 11, which are used to increase the friction resistance with the inner wall of the hole. The cross-sectional shape of the ridges 11 is a right-angled trapezoid, which is designed to be less prone to damage. The thickness of the side wall of the gripper body 1 is 1 / 2 to 3 / 4 of the thickness of the ridges 11, which ensures the strength and stability of the two without being too thick to affect the overall elasticity and flexibility of the gripper. The ridges 11 are provided in at least three layers, and at least four are provided in each layer.

[0020] The gripper body 1 is provided with an expansion chamber 12, which is ventilated and expanded, so that the gripper is deformed during operation and grabs parts from the hole of the target object. The sealing component 2 is provided with a connecting air hole 22, and the connecting air hole 22 is connected to the expansion chamber 12, and the inflation device ventilates the expansion chamber 12 through the connecting air hole 22.

[0021] The inner wall of the expansion cavity 12 is evenly distributed with a plurality of ribs 13 , and the ribs 13 are evenly distributed at intervals of 20 to 30 degrees. The ribs 13 can prevent the expansion cavity 12 from over-expanding.

[0022] The sealing assembly 2 includes a sealing cover 21, a connecting shaft 24 and a sealing ring 25 which are connected to each other, and the three are integrally formed, and the connecting air hole 22 penetrates the sealing cover 21, the connecting shaft 24 and the sealing ring 25. The first channel 14, the mounting groove 15 and the second through hole 17 are provided in the gripper body 1, and the sealing ring 25 is placed in the mounting groove 15, and the connecting shaft 24 is placed in the second through hole 17, and the first channel 14 serves to connect the expansion chamber 12 and the connecting air hole 22.

[0023] An annular groove 23 is formed on the inner side of the sealing cover 21, and the gripper body 1 cooperates with the annular groove 23 through the annular sealing protrusion 18. A through groove 26 is formed on the sealing ring 25 in the circumferential direction, and the gripper body 1 cooperates with the through groove 26 through the fixing block 16. The provision of the sealing protrusion 18 and the fixing block 16 increases the connection stability between the gripper body 1 and the sealing assembly 2.

[0024] Working principle: The sealing component 2 is installed on the gripper body 1, and compressed gas is introduced into the gripper body 1 through the sealing component 2, so that the gripper body 1 expands, so as to grasp the hole-shaped target object.

[0025] Specifically, the sealing ring 25 is installed into the installation groove 15 through the second through hole 17, and the fixing block 16 is against the through groove 26. At this time, the connecting shaft 24 is sleeved in the second through hole 17, and the annular sealing protrusion 18 is sleeved in the groove 23. Gas is injected through the connecting air hole 22 on the sealing cover 21. The gas enters the expansion chamber 12 through the connecting shaft 24 and the first through hole 14, so that the expansion chamber 12 expands outward, so that the convex ridge 11 fits the inner wall of the hole-like object, thereby grabbing the hole-like object. After deflation, the expansion chamber 12 is reset under the action of its own elasticity, so that the convex ridge 11 is separated from the inner wall of the hole-like object, thereby releasing the hole-like object.

[0026] The ribs 13 are used to prevent the expansion chamber 12 from over-expanding, the through grooves 26 can better fix the sealing ring 25 in the mounting groove 15, and the fixing block 16 abuts against the outer side of the through grooves 26, which can effectively increase the friction resistance of the contact part and improve the anti-slip effect.

[0027] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0028] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A fluid-driven airbag-type soft gripper, characterized in that: It comprises a gripper body (1) and a sealing assembly (2) that cooperate with each other, the outer wall of the gripper body (1) is evenly distributed with a plurality of ridges (11), and an expansion cavity (12) is provided inside the gripper body (1); A connecting air hole (22) is provided in the sealing component (2), and the connecting air hole (22) is connected to the expansion chamber (12).

2. The fluid-driven airbag-type soft gripper according to claim 1, characterized in that: The cross-sections of the gripper body (1) and the sealing assembly (2) are both circular.

3. The fluid-driven airbag-type soft gripper according to claim 1, characterized in that: The cross-sectional shape of the convex ridge (11) is a right-angled trapezoid.

4. The fluid-driven airbag-type soft gripper according to claim 1, characterized in that: The inner wall of the expansion chamber (12) is evenly distributed with a plurality of ribs (13).

5. The fluid-driven airbag-type soft gripper according to claim 4, characterized in that: The ribs (13) are evenly distributed at intervals of 20 to 30 degrees.

6. The fluid-driven airbag-type soft gripper according to claim 1, characterized in that: The sealing assembly (2) comprises a sealing cover (21), a connecting shaft (24) and a sealing ring (25) which are connected to each other, and the connecting air hole (22) penetrates the sealing cover (21), the connecting shaft (24) and the sealing ring (25); the gripper body (1) is provided with a first channel (14), a mounting groove (15) and a second through hole (17), and the sealing ring (25) is placed in the mounting groove (15), and the connecting shaft (24) is placed in the second through hole (17).

7. The fluid-driven airbag-type soft gripper according to claim 6, characterized in that: An annular groove (23) is provided on the inner side of the sealing cover (21), and the gripper body (1) cooperates with the annular groove (23) via an annular sealing protrusion (18).

8. The fluid-driven airbag-type soft gripper according to claim 6, characterized in that: The sealing ring (25) is provided with a through groove (26) in the circumferential direction, and the gripper body (1) cooperates with the through groove (26) via a fixing block (16).

9. The fluid-driven airbag-type soft gripper according to claim 1, characterized in that: The thickness of the side wall of the gripper body (1) is 1 / 2 to 3 / 4 of the thickness of the ridge (11).

10. The fluid-driven airbag-type soft gripper according to claim 4, characterized in that: The convex ridges (11) are arranged in at least three layers, and each layer has at least four convex ridges.

Images