A rigid-flexible coupling fixture based on a soft actuator bionic shrimp shell structure

Abstract

The present invention discloses a rigid-flexible coupling clamp based on a bionic shrimp shell structure of a soft actuator, comprising: a front connecting sleeve, a middle connecting sleeve is sleeved on the side surface of the front connecting sleeve, the side surfaces of the front connecting sleeve and the middle connecting sleeve are both fixedly connected with a positive limiting shaft, the surface of the middle connecting sleeve is fixedly connected with a reverse limiting shaft, the positive limiting shaft and the inner wall of the reverse limiting shaft are hinged, and the multiple structural components in the device are used to inflate the soft actuator through the pneumatic connector when grasping the workpiece. The soft actuator extends during the inflation process and bends under the restriction of the external connecting sleeve to grasp the object. The protective structure formed by the external sleeve is used to fully protect the flexible components in the structure, thereby realizing the ability of the equipment to perform rigid-flexible coupling clamping.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical clamps, and in particular to a rigid-flexible coupling clamp based on a soft actuator bionic shrimp shell structure. Background Art

[0002] A fixture is a device used to secure the workpiece during the mechanical manufacturing process, positioning it in the correct position for construction or inspection. It's also called a fixture. Broadly speaking, any device used to quickly, conveniently, and safely mount a workpiece in any process can be called a fixture. Examples include welding fixtures, inspection fixtures, assembly fixtures, and machine tool fixtures. Machine tool fixtures are the most common and are often simply referred to as fixtures. When machining a workpiece on a machine tool, the workpiece must be properly mounted (positioned) and clamped (clamped) before processing to ensure that the workpiece surface meets the technical requirements for dimensions, geometry, and relative positional accuracy with other surfaces as specified in the drawings. A fixture typically consists of a positioning element (to determine the correct position of the workpiece in the fixture), a clamping device, a tool guide element (to determine the relative position of the tool and workpiece or guide the tool's direction), an indexing device (which enables the workpiece to complete multiple machining stations in a single installation and can be divided into two types: rotary indexing devices and linear indexing devices), connecting elements, and a fixture base (fixture base).

[0003] According to their usage characteristics, fixtures can be divided into the following types: ① Universal fixtures: such as machine vises, chucks, suction cups, dividing heads and rotary tables, etc., which have great versatility and can better adapt to changes in processing procedures and processing objects. Their structures have been finalized, and their sizes and specifications have been serialized. Most of them have become a standard accessory for machine tools; ② Special fixtures: They are specially designed and manufactured for the clamping needs of a certain product part in a certain process. They serve a specific purpose and are highly targeted. They are generally designed by the product manufacturer itself. Commonly used are lathe fixtures, milling machine fixtures, drilling jigs (machine tool fixtures used to guide the tool to drill or ream holes on the workpiece), boring dies (machine tool fixtures used to guide the boring bar to bore holes on the workpiece) and accompanying fixtures (mobile fixtures used on combined machine tool automatic lines); ③ Adjustable fixtures: special fixtures that can replace or adjust components; ④ Combination fixtures: fixtures composed of standardized components of different shapes, specifications and uses, suitable for new product trials and single-piece, small-batch production and temporary tasks where products are frequently replaced.

[0004] However, existing processing equipment has the following shortcomings: Most existing clamps are divided into rigid clamps and flexible clamps. Rigid clamps, due to structural limitations, can only grasp a limited number of items and are prone to damage to delicate components. Flexible clamps, on the other hand, are prone to wear and tear due to the low strength of the materials used. Their complex structure also leads to high costs. For example, the mechanical clamp described in CN113059585B suffers from these issues.

[0005] Therefore, we propose a rigid-flexible coupling fixture based on a soft actuator bionic shrimp shell structure to solve the above problems. Summary of the Invention

[0006] The purpose of the present invention is to provide a rigid-flexible coupling clamp based on the bionic shrimp shell structure of a soft actuator. Through the front connecting sleeve connected to the robotic arm, multiple structural components in the device are utilized. When grasping the workpiece, the soft actuator is inflated through the pneumatic connecting head. The soft actuator extends during the inflation process and bends under the restriction of the external connecting sleeve to grasp the object. The protective structure formed by the external sleeve is fully protected to fully protect the flexible components in the structure, thereby realizing the ability of the equipment to perform rigid-flexible coupling clamping to solve the problems existing in the above-mentioned background technology.

[0007] To achieve the above-mentioned object, the present invention provides the following technical solution: a rigid-flexible coupling fixture based on a soft actuator bionic shrimp shell structure, comprising: a front connecting sleeve, a middle connecting sleeve being sleeved on the side surface of the front connecting sleeve, a positive limit shaft being fixedly connected to the side surfaces of the front connecting sleeve and the middle connecting sleeve, a reverse limit shaft being fixedly connected to the surface of the middle connecting sleeve, the positive limit shaft being hinged to the inner wall of the reverse limit shaft, and a tail connecting sleeve being sleeved on the side surface of the middle connecting sleeve;

[0008] The side surface of the front connecting sleeve is provided with a stabilizing mechanism, and the side surface of the rear connecting sleeve is provided with a damping mechanism;

[0009] A pneumatic connector is inserted into the inner wall of the front connecting sleeve. The output end of the pneumatic connector is fixedly connected to an adapter, which is engaged with a limiting conduit at its output end. The output end of the limiting conduit is fixedly connected to a soft actuator. The side surface of the front connecting sleeve is bolted to a clamping claw base. Utilizing multiple structural components within the device, the soft actuator is inflated through the pneumatic connector when grasping a workpiece. During inflation, the soft actuator expands and bends within the constraints of the external connecting sleeve to grasp the object. The protective structure formed by the external sleeve fully protects the flexible components within the structure, enabling the device to achieve rigid-flexible coupling clamping capabilities.

[0010] Preferably, a reverse limiting shaft is fixedly connected to the side surface of the tail connecting sleeve, and there are two forward limiting shafts, which are symmetrically arranged with respect to the reverse limiting shaft. A limiting groove is provided on the inner wall of the tail connecting sleeve, and the soft actuator is engaged with the inner wall of the limiting groove. The connection portion between the front connecting sleeve and the middle connecting sleeve is arranged in an arc shape, and the connection portion between the tail connecting sleeve and the middle connecting sleeve is arranged in an arc shape. The tail connecting sleeve can be used to close the middle connecting sleeve and protect the tail end of the soft actuator at the same time. In this solution, the arc-shaped connection structure is hidden in the groove when the clamp is not bent, and extends when bent to prevent a gap from forming between the sleeves, thereby avoiding exposure of the internal soft actuator, thereby achieving the purpose of protecting the soft actuator.

[0011] Preferably, the pneumatic connector is arranged through the front connecting sleeve, and a fixing nut is threadedly connected to the surface of the pneumatic connector, and the fixing nut abuts against the side surface of the front connecting sleeve. The pneumatic connector can be used to inflate the soft actuator to drive the soft actuator to work.

[0012] Preferably, the pneumatic connector is connected to the inner wall of the connector, the connector is connected to the inner wall of the limiting tube, and the soft actuator is arranged through the middle connecting sleeve. The pneumatic connector and the limiting tube can be connected and assembled by connection, thereby guiding the air pressure into the soft actuator.

[0013] Preferably, the stabilizing mechanism includes a support frame, the support frame abuts against the side surface of the front connecting sleeve, the side surface of the support frame is fixedly connected with a bearing block, the side surface of the support frame is fixedly connected with a guide rail, and the side surface of the guide rail is fixedly connected with a threaded sleeve. The position of the bearing block can be fixed by using the support frame, and the position of the guide rail can be fixed with the cooperation of the bearing block.

[0014] Preferably, the inner wall of the threaded sleeve is threadedly connected to an adjusting screw, the side surface of the threaded rod is fixedly connected to a knob, the inner wall of the guide rail is slidably connected to an assembly slider, and the side surface of the assembly slider is bolted to a clamping frame. The threaded sleeve can be used to constrain the position of the adjusting screw, thereby assisting the adjusting screw to limit the position of the assembly slider.

[0015] Preferably, the support frame is fixedly connected to the side surface of the fixing nut, the bearing block is symmetrically arranged with respect to the support frame, a circular hole is provided on the side surface of the guide rail, the threaded sleeve is connected to the circular hole, the adjusting screw is provided through the circular hole, a positioning groove is provided on the side surface of the assembly slider, the adjusting screw is rotatably connected to the inner wall of the positioning groove, the clamping frame is slidably connected to the inner wall of the guide rail, and the clamping frame can be used to clamp and limit the catheter assembled on the surface of the pneumatic connector to improve the firmness of the catheter.

[0016] Preferably, the damping mechanism includes a connecting buckle plate, which abuts against the side surface of the tail connecting sleeve, and the side surface of the connecting buckle plate is fixedly connected with a rubber buckle block, and the side surface of the connecting buckle plate is fixedly connected with a constraint frame, and the side surface of the connecting buckle plate is fixedly connected with a positioning buckle block. The rubber buckle block can increase the friction between the clamp and the workpiece to increase the clamping effect of the clamp.

[0017] Preferably, the side surface of the connecting buckle plate is fixedly connected with an arc-shaped buckle block, the side surface of the tail connecting sleeve is fixedly connected with a restraining block, the side surface of the restraining block is provided with a sliding groove, the restraining block is located on the inner wall of the sliding groove and is slidably connected to a limit pin, the side surface of the limit pin is fixedly connected with a reset spring, the restraining block can be used to guide the moving direction of the limit pin, and the position of the limit pin can be constrained with the cooperation of the reset spring.

[0018] Preferably, there are two restraining frames, and the two restraining frames are symmetrically arranged about the connecting buckle plate. The restraining frame abuts against the side surface of the tail connecting sleeve, the positioning buckle block abuts against the side surface of the tail connecting sleeve, the arc-shaped buckle block abuts against the arc surface of the tail connecting sleeve, the restraining block abuts against the inner wall of the restraining frame, the limit pin is set through the slide groove, the limit pin is plugged into the inner wall of the restraining frame, and the reset spring is fixedly connected to the inner wall of the slide groove. The restraining frame and the limit pin are used to limit the connecting buckle plate to the tail connecting sleeve and fix the position of the rubber block.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The present invention sets a front connecting sleeve. When the robot arm is working and clamping the workpiece, the robot arm drives the clamp to move to the outside of the workpiece. Then the clamp is controlled by the controller to deform and clamp the workpiece. During the clamping process, the external conduit guides the gas to the pneumatic connector. The pneumatic connector guides the gas to the limit conduit in cooperation with the connector. The limit conduit guides the gas to the soft actuator. The soft actuator gradually extends after being inflated. The soft actuator pushes the tail connecting sleeve. The tail connecting sleeve drives the middle connecting sleeve. The middle connecting sleeve bends under the restriction of the forward limit axis and the reverse limit axis, and cooperates with the tail connecting sleeve to clamp the workpiece. By setting up this application, the clamp can have both rigid and flexible characteristics, thereby avoiding the defects of a single rigid or flexible clamp and further improving the clamping effect and service life of the clamp.

[0021] 2. The present invention provides a stabilizing mechanism. After the external catheter is assembled, the knob is rotated clockwise, which rotates the adjusting screw, which gradually rotates into the threaded sleeve. Simultaneously, the adjusting screw pushes the assembly slider, which pushes the clamping frame, which is pushed and buckled onto the surface of the external catheter. The knob is then released, and the adjusting screw loses its drive. The adjusting screw is restrained by the threaded sleeve, and the assembly slider is restrained by the adjusting screw, which in turn fixes the position of the clamping frame, thus completing the external catheter's fixation. The provision of the stabilizing mechanism enhances the clamp's restraint on the external catheter, thereby reducing the probability of the external catheter loosening and further improving the firmness of the connection between the clamp and the external catheter.

[0022] 3. The present invention sets a damping mechanism. When assembling the equipment, the positioning buckle block and the arc buckle block are aligned with the tail connecting sleeve, pushing the connecting buckle plate. The connecting buckle plate pushes the constraint frame, the constraint frame squeezes the limit pin, the limit pin squeezes the reset spring, the limit pin loses the constraint of the reset spring and slides into the slide groove. The constraint frame loses the constraint of the limit pin. At the same time, the connecting buckle plate is buckled to the surface of the tail connecting sleeve. Then the limit pin loses the pressure of the constraint frame. The reset spring loses the pressure of the limit pin and rebounds. The limit pin is pushed to reset and inserted into the constraint frame, and cooperates with the constraint frame to fix the position of the connecting buckle plate. Subsequently, when the fixture clamps the workpiece, the rubber block can enhance the damping force between the fixture and the workpiece. By setting the damping mechanism, the friction coefficient between the fixture and the workpiece is increased, thereby reducing the probability of shaking of the workpiece during the clamping process and further improving the stability of the fixture during clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a stereoscopic diagram of the main structure of a rigid-flexible coupling fixture based on a soft actuator bionic shrimp shell structure according to the present invention;

[0024] Figure 2 The present invention is a rigid-flexible coupling fixture based on a soft actuator bionic shrimp shell structure. Figure 1 A magnified stereoscopic view of the structure at center A;

[0025] Figure 3 This is an enlarged perspective view of the bottom-up structure of a rigid-flexible coupling fixture based on a soft actuator bionic shrimp shell structure according to the present invention;

[0026] Figure 4 This is an enlarged sectional perspective view of part of the structure of a rigid-flexible coupling fixture based on a soft actuator bionic shrimp shell structure according to the present invention;

[0027] Figure 5 The present invention is a rigid-flexible coupling fixture based on a soft actuator bionic shrimp shell structure. Figure 4 A magnified stereoscopic view of the structure at point B in the middle;

[0028] Figure 6The present invention is a rigid-flexible coupling fixture based on a soft actuator bionic shrimp shell structure. Figure 4 Enlarged stereoscopic view of the structure at C in the middle;

[0029] Figure 7 This is an enlarged stereoscopic view of the stabilizing mechanism structure in a rigid-flexible coupling fixture based on a soft actuator bionic shrimp shell structure according to the present invention;

[0030] Figure 8 The present invention is a rigid-flexible coupling fixture based on a soft actuator bionic shrimp shell structure. Figure 7 The enlarged stereogram of the structure at D in the middle;

[0031] Figure 9 This is an enlarged stereoscopic view of the damping mechanism structure in a rigid-flexible coupling fixture based on a soft actuator bionic shrimp shell structure according to the present invention;

[0032] Figure 10 This is a structural schematic diagram of the present invention based on a soft actuator bionic shrimp shell structure grasping.

[0033] In the figure: 1. Front connecting sleeve; 2. Forward limit shaft; 3. Middle connecting sleeve; 4. Reverse limit shaft; 5. Tail connecting sleeve; 6. Pneumatic connector; 7. Fixing nut; 8. Connector; 9. Limit guide tube; 10. Soft actuator; 11. Gripper base; 12. Stabilizing mechanism; 121. Support frame; 122. Load-bearing block; 123. Guide rail; 124. Threaded sleeve; 125. Adjusting screw; 126. Knob; 127. Assembly slider; 128. Clamping frame; 13. Damping mechanism; 131. Connecting buckle plate; 132. Rubber block; 133. Constraint frame; 134. Positioning buckle block; 135. Arc buckle block; 136. Constraint block; 137. Limit pin; 138. Return spring. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0035] See also Figure 1-10As shown, the present invention provides a technical solution: a rigid-flexible coupling clamp based on a soft actuator bionic shrimp shell structure, comprising: a front connecting sleeve 1, the side surface of the front connecting sleeve 1 is sleeved with a middle connecting sleeve 3, the side surfaces of the front connecting sleeve 1 and the middle connecting sleeve 3 are fixedly connected with a forward limiting shaft 2, the surface of the middle connecting sleeve 3 is fixedly connected with a reverse limiting shaft 4, the inner walls of the forward limiting shaft 2 and the reverse limiting shaft 4 are hinged, the side surface of the middle connecting sleeve 3 is sleeved with a tail connecting sleeve, the side surface of the front connecting sleeve 1 is provided with a stabilizing mechanism 12, and the side surface of the tail connecting sleeve 5 is provided with a damping mechanism 13.

[0036] according to Figure 1-10 As shown, a pneumatic connector 6 is inserted into the inner wall of the front connecting sleeve 1. A fixing nut 7 is threadedly connected to the surface of the pneumatic connector 6. A connector 8 is fixedly connected to the output end of the pneumatic connector 6. The output end of the connector 8 is clamped to a limit guide tube 9. The output end of the limit guide tube 9 is fixedly connected to a soft actuator 10. A clamping claw base 11 is bolted to the side surface of the front connecting sleeve 1. Utilizing the multiple structural components in the device, when grasping a workpiece, the soft actuator 10 is inflated through the pneumatic connector 6. During the inflation process, the soft actuator 10 extends and bends under the restraint of the external connecting sleeve to grasp the object. The protective structure formed by the external sleeve fully protects the flexible components in the structure, realizing the device's ability to perform rigid-flexible coupling clamping.

[0037] according to Figure 1-5 As shown, the side surface of the tail connecting sleeve 5 is fixedly connected to a reverse limit shaft 4, and there are two forward limit shafts 2. The two forward limit shafts 2 are arranged symmetrically about the reverse limit shaft 4. The inner wall of the tail connecting sleeve 5 is provided with a limit groove, and the soft actuator 10 is engaged with the inner wall of the limit groove. The connection between the front connecting sleeve 1 and the middle connecting sleeve 3 is arranged in an arc shape, and the connection between the tail connecting sleeve and the middle connecting sleeve is also arranged in an arc shape to avoid the formation of gaps during rigid-flexible coupling. The tail connecting sleeve 5 can be used to close the middle connecting sleeve 3 and protect the tail end of the soft actuator 10 at the same time. In this solution, the arc-shaped connection structure is hidden in the groove when the clamp is not bent, and extends when bent to prevent the formation of gaps between the sleeves and avoid exposing the internal soft actuator, thereby achieving the purpose of protecting the soft actuator.

[0038] according to Figure 1-5 As shown, the pneumatic connector 6 is set through the front connecting sleeve 1, and the fixing nut 7 is in contact with the side surface of the front connecting sleeve 1. The pneumatic connector 6 can be used to inflate the soft actuator 10 to drive the soft actuator 10 to work.

[0039] according to Figure 1-5As shown, the pneumatic connector 6 is connected to the inner wall of the connector 8, the connector 8 is connected to the inner wall of the limiting tube 9, and the soft actuator 10 is arranged through the middle connecting sleeve 3. The pneumatic connector 6 and the limiting tube 9 can be connected and assembled by connection, thereby guiding the air pressure into the soft actuator 10.

[0040] according to Figure 6-7 As shown, the stabilizing mechanism 12 includes a support frame 121, which abuts against the side surface of the front connecting sleeve 1, and the side surface of the support frame 121 is fixedly connected with a bearing block 122, and the side surface of the support frame 121 is fixedly connected with a guide rail 123, and the side surface of the guide rail 123 is fixedly connected with a threaded sleeve 124. The support frame 121 can be used to fix the position of the bearing block 122, and at the same time, the position of the guide rail 123 can be fixed with the cooperation of the bearing block 122.

[0041] according to Figure 6-7 As shown, the inner wall of the threaded sleeve 124 is threadedly connected to an adjusting screw 125, the side surface of the threaded rod is fixedly connected to a knob 126, the inner wall of the guide rail 123 is slidably connected to an assembly slider 127, and the side surface of the assembly slider 127 is bolted to a clamping frame 128. The threaded sleeve 124 can be used to constrain the position of the adjusting screw 125, thereby assisting the adjusting screw 125 to limit the position of the assembly slider 127.

[0042] according to Figure 6-7 As shown, the support frame 121 is fixedly connected to the side surface of the fixing nut 7, the bearing block 122 is symmetrically arranged about the support frame 121, a circular hole is provided on the side surface of the guide rail 123, the threaded sleeve 124 is connected to the circular hole, the adjusting screw 125 is set through the circular hole, and a positioning groove is provided on the side surface of the assembly slider 127. The adjusting screw 125 is rotatably connected to the inner wall of the positioning groove, and the clamping frame 128 is slidably connected to the inner wall of the guide rail 123. The clamping frame 128 can be used to clamp and limit the catheter assembled on the surface of the pneumatic connector 6 to improve the firmness of the catheter.

[0043] according to Figure 8 As shown, the damping mechanism 13 includes a connecting buckle plate 131, which abuts against the side surface of the tail connecting sleeve 5, and the side surface of the connecting buckle plate 131 is fixedly connected with a rubber buckle 132, and the side surface of the connecting buckle plate 131 is fixedly connected with a restraining frame 133, and the side surface of the connecting buckle plate 131 is fixedly connected with a positioning buckle 134. The rubber buckle 132 can increase the friction between the clamp and the workpiece to increase the clamping effect of the clamp.

[0044] according to Figure 8As shown, the side surface of the connecting buckle plate 131 is fixedly connected with an arc-shaped buckle block 135, and the side surface of the tail connecting sleeve 5 is fixedly connected with a restraining block 136. A sliding groove is provided on the side surface of the restraining block 136. The restraining block 136 is located on the inner wall of the sliding groove and is slidably connected with a limit pin 137. The side surface of the limit pin 137 is fixedly connected with a reset spring 138. The restraining block 136 can be used to guide the moving direction of the limit pin 137, and at the same time, the position of the limit pin 137 can be constrained with the cooperation of the reset spring 138.

[0045] according to Figure 8 As shown, there are two restraining frames 133, and the two restraining frames 133 are symmetrically arranged about the connecting buckle plate 131. The restraining frames 133 abut against the side surface of the tail connecting sleeve 5, the positioning buckle block 134 abuts against the side surface of the tail connecting sleeve 5, the arc buckle block 135 abuts against the arc surface of the tail connecting sleeve 5, the restraining block 136 abuts against the inner wall of the restraining frame 133, and the limit pin 137 is set through the slide groove. The limit pin 137 is plugged into the inner wall of the restraining frame 133, and the reset spring 138 is fixedly connected to the inner wall of the slide groove. The restraining frame 133 and the limit pin 137 are used to limit the connecting buckle plate 131 to the tail connecting sleeve 5 and fix the position of the rubber buckle 132.

[0046] The effect achieved by the entire mechanism is as follows: when the robotic arm is working and clamping the workpiece, the robotic arm drives the clamp to move to the outside of the workpiece, and then the clamp is controlled by the controller to deform and clamp the workpiece. During the clamping process, the external conduit guides the gas to the pneumatic connector 6, and the pneumatic connector 6 guides the gas to the limiting conduit 9 in cooperation with the connector 8. The limiting conduit 9 guides the gas to the soft actuator 10. The soft actuator 10 gradually extends after being inflated. The soft actuator 10 pushes the tail connecting sleeve 5, and the tail connecting sleeve 5 drives the middle connecting sleeve 3. The middle connecting sleeve 3 bends under the restriction of the forward limiting axis 2 and the reverse limiting axis 4, and cooperates with the tail connecting sleeve 5 to clamp the workpiece. By setting up this application, the clamp can have both rigid and flexible characteristics, thereby avoiding the defects of a single rigid or flexible clamp, and further improving the clamping effect and service life of the clamp;

[0047] At the same time, by setting up the stabilizing mechanism 12, after completing the assembly of the external catheter, the knob 126 is rotated clockwise, and the knob 126 rotates the adjusting screw 125, which gradually rotates into the threaded sleeve 124. At the same time, the adjusting screw 125 pushes the assembly slider 127, and the assembly slider 127 pushes the clamping frame 128. The clamping frame 128 is pushed and buckled onto the surface of the external catheter. Then, the knob 126 is loosened, and the adjusting screw 125 loses the drive of the knob 126. The adjusting screw 125 is restricted by the threaded sleeve 124, and the assembly slider 127 is restricted by the adjusting screw 125, and the position of the clamping frame 128 is fixed, and the fixing operation of the external catheter is completed. By setting up the stabilizing mechanism 12, the restraint of the clamp on the external catheter is improved, thereby reducing the probability of loosening of the external catheter and further improving the firmness of the connection between the clamp and the external catheter.

[0048] In addition, by setting the damping mechanism 13, when assembling the equipment, the positioning buckle block 134 and the arc buckle block 135 are aligned with the tail connecting sleeve 5, the connecting buckle plate 131 is pushed, the connecting buckle plate 131 pushes the constraint frame 133, the constraint frame 133 squeezes the limit pin 137, the limit pin 137 squeezes the return spring 138, the limit pin 137 loses the constraint of the return spring 138 and slides into the slide groove, the constraint frame 133 loses the restriction of the limit pin 137, and at the same time the connecting buckle plate 131 is buckled to the surface of the tail connecting sleeve 5, and then the limit pin 137 loses the constraint of the return spring 138. The pressure of the restraint frame 133 causes the reset spring 138 to rebound without the pressure of the limit pin 137, and the limit pin 137 is pushed back and inserted into the restraint frame 133, and cooperates with the restraint frame 133 to fix the position of the connecting buckle plate 131. Subsequently, when the clamp clamps the workpiece, the rubber block 132 can enhance the damping force between the clamp and the workpiece. By setting the damping mechanism 13, the friction coefficient between the clamp and the workpiece is increased, thereby reducing the probability of shaking of the workpiece during the clamping process, and further improving the stability of the clamp during clamping.

[0049] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A rigid-flexible coupling fixture based on a soft actuator biomimetic shrimp shell structure, characterized by: include: A front connecting sleeve (1), the side surface of the front connecting sleeve (1) is sleeved with a middle connecting sleeve (3), the side surfaces of the front connecting sleeve (1) and the middle connecting sleeve (3) are fixedly connected with a forward limiting shaft (2), the surface of the middle connecting sleeve (3) is fixedly connected with a reverse limiting shaft (4), the inner walls of the forward limiting shaft (2) and the reverse limiting shaft (4) are hinged, and the side surface of the middle connecting sleeve (3) is sleeved with a tail connecting sleeve (5); The side surface of the front connecting sleeve (1) is provided with a stabilizing mechanism (12), and the side surface of the rear connecting sleeve (5) is provided with a damping mechanism (13); The inner wall of the front connecting sleeve (1) is provided with a pneumatic connector (6), the output end of the pneumatic connector (6) is fixedly connected to a connector (8), the output end of the connector (8) is clamped to a limiting conduit (9), the output end of the limiting conduit (9) is fixedly connected to a soft actuator (10), and the side surface of the front connecting sleeve (1) is bolted to a clamping claw base (11); The surface of the pneumatic connecting head (6) is threadedly connected to a fixing nut (7), and the stabilizing mechanism (12) includes a support frame (121), the support frame (121) is in contact with the side surface of the front connecting sleeve (1), the side surface of the support frame (121) is fixedly connected to a bearing block (122), the side surface of the support frame (121) is fixedly connected to a guide rail (123), and the side surface of the guide rail (123) is fixedly connected to a threaded sleeve (124).

2. The rigid-flexible coupling fixture based on the soft actuator bionic shrimp shell structure according to claim 1, characterized in that: A reverse limiting shaft (4) is fixedly connected to the side surface of the tail connecting sleeve (5), the number of the forward limiting shafts (2) is two, and the two forward limiting shafts (2) are arranged symmetrically with respect to the reverse limiting shaft (4). A limiting groove is provided on the inner wall of the tail connecting sleeve (5), and the soft actuator (10) is engaged with the inner wall of the limiting groove.

3. The rigid-flexible coupling fixture based on the soft actuator bionic shrimp shell structure according to claim 1, characterized in that: The pneumatic connector (6) is arranged to pass through the front connecting sleeve (1), and a fixing nut (7) is threadedly connected to the surface of the pneumatic connector (6), and the fixing nut (7) is in contact with the side surface of the front connecting sleeve (1).

4. The rigid-flexible coupling fixture based on the soft actuator bionic shrimp shell structure according to claim 1, characterized in that: The pneumatic connector (6) is connected to the inner wall of the adapter (8), the adapter (8) is connected to the inner wall of the limiting conduit (9), and the soft actuator (10) is arranged to pass through the middle connecting sleeve (3).

5. The rigid-flexible coupling fixture based on the soft actuator bionic shrimp shell structure according to claim 1, characterized in that: The inner wall of the threaded sleeve (124) is threadedly connected to an adjusting screw (125), the side surface of the threaded sleeve (124) is fixedly connected to a knob (126), the inner wall of the guide rail (123) is slidably connected to an assembly slider (127), and the side surface of the assembly slider (127) is bolted to a clamping frame (128).

6. The rigid-flexible coupling fixture based on the soft actuator bionic shrimp shell structure according to claim 5, characterized in that: The support frame (121) is fixedly connected to the side surface of the fixing nut (7), the bearing block (122) is symmetrically arranged with respect to the support frame (121), a circular hole is provided on the side surface of the guide rail (123), the threaded sleeve (124) is connected to the circular hole, the adjusting screw (125) is arranged through the circular hole, a positioning groove is provided on the side surface of the assembly slider (127), the adjusting screw (125) is rotatably connected to the inner wall of the positioning groove, and the clamping frame (128) is slidably connected to the inner wall of the guide rail (123).

7. The rigid-flexible coupling fixture based on the soft actuator bionic shrimp shell structure according to claim 1, characterized in that: The damping mechanism (13) comprises a connecting buckle plate (131), the connecting buckle plate (131) abuts against the side surface of the tail connecting sleeve (5), the side surface of the connecting buckle plate (131) is fixedly connected to a rubber buckle block (132), the side surface of the connecting buckle plate (131) is fixedly connected to a restraining frame (133), and the side surface of the connecting buckle plate (131) is fixedly connected to a positioning buckle block (134).

8. The rigid-flexible coupling fixture based on the soft actuator bionic shrimp shell structure according to claim 7, characterized in that: The side surface of the connecting buckle plate (131) is fixedly connected with an arc buckle block (135), the side surface of the tail connecting sleeve (5) is fixedly connected with a restraining block (136), the side surface of the restraining block (136) is provided with a sliding groove, the restraining block (136) is located on the inner wall of the sliding groove and is slidably connected to a limiting pin (137), and the side surface of the limiting pin (137) is fixedly connected with a reset spring (138).

9. The rigid-flexible coupling fixture based on the soft actuator bionic shrimp shell structure according to claim 8, characterized in that: The number of the restraining frames (133) is two, and the two restraining frames (133) are symmetrically arranged with respect to the connecting buckle plate (131). The restraining frames (133) are in contact with the side surface of the tail connecting sleeve (5), the positioning buckle block (134) is in contact with the side surface of the tail connecting sleeve (5), the arc buckle block (135) is in contact with the arc surface of the tail connecting sleeve (5), the restraining block (136) is in contact with the inner wall of the restraining frame (133), the limiting pin (137) is arranged through the slide groove, the limiting pin (137) is plugged into the inner wall of the restraining frame (133), and the reset spring (138) is fixedly connected to the inner wall of the slide groove.

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