Negative pressure inner support flexible claw

Abstract

The application discloses a negative pressure inner support flexible claw, which comprises a connecting part made of elastic material, the connecting part comprises a driving cavity, a connecting port communicated with the driving cavity is arranged on the upper part of the connecting part, at least two flexible finger parts are connected below the connecting part, the driving cavity comprises a cavity bottom wall and a cavity side wall, a heel of the flexible finger part is connected with the cavity side wall, a deformable area is arranged on the cavity side wall, the thickness of the deformable area is less than that of the cavity bottom wall or the elastic modulus of the cavity side wall is less than that of the cavity bottom wall. The inner support flexible claw can realize the opening of the flexible finger part by using negative pressure and realize the negative pressure inner support clamping of an object.

Description

Technical Field

[0001] This invention relates to the field of flexible gripping technology, and more particularly to a negative pressure internal support flexible claw. Background Technology

[0002] In the field of industrial automation, the grasping action of robotic arms is mainly accomplished by rigid robotic grippers or vacuum suction cups. However, rigid robotic grippers are difficult to control in terms of force, making it hard to grasp soft and fragile objects without damage. Vacuum suction cups are difficult to handle rough surfaces or irregularly shaped objects with openings during transport. This limits the application scenarios of both. Flexible robotic fingers, using elastic materials, can grasp soft and fragile objects without damaging them. Currently, most flexible grippers are negative pressure grippers. For example, patent document CN202221765024.2 discloses another type of negative pressure flexible gripper. When connected to negative pressure, the flexible fingers of this gripper contract to clamp the object. Of course, when positive pressure is applied, the flexible gripper opens, which can achieve internal support to tighten some ring-shaped objects. However, since there may not be a positive pressure air supply system in the user's site, such as in some workshops that use vacuum suction cups, the workshop is already equipped with a negative pressure system. If these workshops need to flexibly clamp objects with holes or rings, the current flexible grippers are difficult to meet the requirements. In addition, when using positive pressure to open the object, positive pressure will be generated inside the flexible gripper. Therefore, the shape of the inner cavity of the flexible fingers has certain requirements. When positive pressure is applied, the internal drive chamber will expand and deform. At this time, the presence of sharp corners or slits in the inner cavity should be avoided as much as possible, because once the inner cavity expands and deforms, it is very likely to tear the sharp corners or slits, thereby affecting the service life of the flexible gripper. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a negative pressure internal support flexible claw, which can use negative pressure to open the flexible fingers and realize negative pressure internal support to clamp the object.

[0004] To solve the above-mentioned technical problems, the technical solution of the present invention is: a negative pressure internal support flexible claw, comprising a connecting part made of elastic material, the connecting part including a driving chamber, the upper part of the connecting part being provided with a connecting port communicating with the driving chamber, at least two flexible fingers being connected to the lower part of the connecting part, the driving chamber including a bottom wall and a side wall, the base of the flexible fingers being connected to the side wall, the side wall being provided with a deformable region, the thickness of the deformable region being less than the thickness of the bottom wall or the elastic modulus of the side wall being less than the elastic modulus of the bottom wall.

[0005] As a preferred embodiment, the inner side of the cavity sidewall is further provided with a plurality of inwardly protruding reinforcing blocks, each of which corresponds one-to-one with the finger heel position of the flexible finger. The upper end of the inner protruding reinforcing block is lower than the upper end of the cavity sidewall, and the area between the cavity sidewall and the upper end of the inner protruding reinforcing block forms the deformable area.

[0006] As a preferred embodiment, the inner surface of the convex reinforcing block is an inclined plane, with the lower end of the inclined plane being closer to the outer side than the upper end.

[0007] As a preferred embodiment, the cavity sidewall is provided with vertically extending directional deformation grooves in the area between adjacent inner convex reinforcing blocks. The directional deformation grooves are formed by outward indentation, and each directional deformation groove is symmetrically arranged or evenly distributed around the circumference.

[0008] As a preferred embodiment, the two side walls of the directional deformation groove are planar and intersecting.

[0009] As a preferred embodiment, the upper part of the connecting part is provided with an upper connecting plate, the connecting port is provided on the upper connecting plate, and a rigid support structure is provided between the upper connecting plate and the bottom wall of the cavity.

[0010] As a preferred embodiment, the rigid support structure includes a support rod, the upper end of which is fixedly connected to the upper connecting plate, and the lower end of which is connected to the cavity bottom wall, or the lower end of the support rod is provided with a flat support structure that lies flat on the cavity bottom wall to support the cavity bottom wall.

[0011] As a preferred embodiment, when the lower end of the support rod is connected to the bottom wall of the cavity, the bottom wall of the cavity is provided with a positioning groove that matches the lower end of the support rod.

[0012] As a preferred embodiment, the support rod is located at the center of the upper connecting plate and corresponds to the connection port. The support rod is provided with an axial through hole communicating with the connection port. The support rod is also provided with a connecting hole that connects the drive chamber to the axial through hole.

[0013] As a preferred embodiment, the upper end of the base of the flexible finger is higher than the bottom wall of the cavity, and the flexible finger partially overlaps with the inner convex reinforcing block in the vertical direction.

[0014] After adopting the above technical solution, the effect of the present invention is as follows: The negative pressure internal support flexible claw includes a connecting part made of elastic material. The connecting part includes a driving chamber. The upper part of the connecting part is provided with a connection port communicating with the driving chamber. At least two flexible fingers are connected to the lower part of the connecting part. The driving chamber includes a bottom wall and a side wall. The base of the flexible fingers is connected to the side wall. The side wall has a deformable area. The thickness of the deformable area is less than the thickness of the bottom wall or the elastic modulus of the side wall is less than the elastic modulus of the bottom wall. Therefore, when the negative pressure internal support flexible claw is connected to a vacuum system, the vacuum system evacuates the driving chamber to generate negative pressure. The deformable area of ​​the side wall will preferentially deform and inwardly stretch. This deformable area of ​​the side wall will pull the base of the flexible fingers inward, thereby causing the lower end of the flexible fingers to open and achieve internal support. This negative pressure internal support flexible claw can be used to grip objects under negative pressure, making it very suitable for gripping perforated or ring-shaped objects.

[0015] Furthermore, since the inner side of the cavity sidewall is provided with several inwardly protruding reinforcing blocks, each of which corresponds one-to-one with the finger heel position of the flexible finger, and the upper end of the reinforcing block is lower than the upper end of the cavity sidewall, the area between the cavity sidewall and the upper end of the reinforcing block forms the deformable area. Therefore, under negative pressure, since the deformable area is located above the reinforcing blocks, the reinforcing blocks will be pulled inward and closer together by the deformable area. The reinforcing blocks can increase the tension between the cavity sidewall and the finger heel of the flexible finger, ensuring that the flexible finger can open at a larger angle and have a greater internal support force.

[0016] Furthermore, since the inner surface of the inner convex reinforcing block is an inclined plane, and the lower end of the inclined plane is closer to the outside than the upper end, the inclined plane will be subjected to a downward pulling force under negative pressure, thus further increasing the opening angle of the flexible finger.

[0017] Furthermore, since the cavity sidewall is provided with vertically extending directional deformation grooves in the area between adjacent inner convex reinforcing blocks, and these directional deformation grooves are formed by outward indentation, and each directional deformation groove is symmetrically arranged or evenly distributed around the circumference, when the easily deformable area deforms, the inner convex reinforcing blocks move closer together, and the same deformation will occur at each directional deformation groove. In this way, the opening angle of the flexible fingers is relatively consistent each time negative pressure is applied, thus ensuring that the object is always stable and reliable when it is internally supported and clamped.

[0018] Furthermore, since the two side walls of the directional deformation groove are planar and intersecting, when the inner convex reinforcing blocks approach each other, the two side walls of the directional deformation groove will also approach each other and produce creases at the intersection angle, thereby better controlling the directional deformation and making the opening angle of each flexible finger as consistent as possible during each internal support.

[0019] Furthermore, since an upper connecting plate is provided on the upper part of the connecting part, and the connecting port is located on the upper connecting plate, a rigid support structure is provided between the upper connecting plate and the bottom wall of the cavity. This rigid support structure can effectively support the bottom wall of the cavity, preventing the bottom wall of the cavity from deforming inward and causing the flexible fingers to contract. This allows the flexible fingers to open at a greater angle under the same negative pressure. At the same time, the rigid support structure can also better support the flexible fingers and the bottom wall of the cavity, preventing the flexible claw from swaying left and right when clamped under negative pressure.

[0020] Furthermore, the rigid support structure includes a support rod, the upper end of which is fixedly connected to the upper connecting plate, and the lower end of which is connected to the cavity bottom wall, or the lower end of which is provided with a flat support structure that lies flat on the cavity bottom wall to support it. When the lower end of the support rod is connected to the cavity bottom wall, the cavity bottom wall is provided with a positioning groove that matches the lower end of the support rod. This positioning groove allows for better connection and installation of the support rod. The support rod can be fixed to the cavity bottom wall by embedding or by subsequent adhesive bonding. If a flat support structure is used, it can be bonded to the cavity bottom wall or directly supported on it.

[0021] Furthermore, since the support rod is located at the center of the upper connecting plate and corresponds to the connection port, and the support rod is provided with an axial through hole communicating with the connection port, and the support rod is also provided with a connecting hole communicating with the drive chamber and the axial through hole, the support rod is located at the center of the upper connecting plate and also at the center of symmetry of each flexible finger. Therefore, the support rod can better support the bottom wall of the cavity and further ensure that each flexible finger has the same internal support angle.

[0022] Furthermore, since the upper end of the base of the flexible finger is higher than the bottom wall of the cavity, the flexible finger and the inner convex reinforcing block partially overlap in the vertical direction. Thus, the base of the flexible finger is located within the area of ​​the inner convex reinforcing block. Therefore, when negative pressure is drawn from the driving chamber of the flexible claw, the inner convex reinforcing block will move inward due to the deformation of the easily deformable area. At this time, the base of the flexible finger is not only closer to the easily deformable area, but is also more easily pulled by the inner convex reinforcing block. This results in a larger opening angle for the flexible finger and a greater pulling force from the inner convex reinforcing block. Attached Figure Description

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] Figure 1 This is a perspective view of Embodiment 1 of the present invention;

[0025] Figure 2 This is a front view of Embodiment 1 of the present invention;

[0026] Figure 3 yes Figure 2 Sectional view at AA;

[0027] Figure 4 is Figure 2 The left view;

[0028] Figure 5 is a cross-sectional view of Figure 4 at point BB;

[0029] Figure 6 This is a front view of Embodiment 2 of the present invention;

[0030] Figure 7 yes Figure 6 Sectional view at CC;

[0031] In the attached diagram: 1. Connecting part; 2. Upper connecting plate; 3. Connecting port; 4. Flexible finger; 41. Finger heel; 42. Reinforcing insert; 5. Driving chamber; 51. Cavity sidewall; 52. Cavity bottom wall; 53. Inner convex reinforcing block; 531. Inclined plane; 54. Easily deformable area; 55. Positioning groove; 56. Directional deformation groove; 6. Support rod; 61. Axial through hole; 62. Connecting hole; 63. Flat support plate. Detailed Implementation

[0032] The present invention will be further described in detail below through specific embodiments. Example 1

[0033] like Figure 1 As shown in Figure 5, a negative pressure internal support flexible claw includes a connecting part 1 made of elastic material. In this embodiment, the flexible material can be silicone.

[0034] The connecting part 1 includes a driving chamber 5. The upper part of the connecting part 1 is provided with a connecting port 3 that communicates with the driving chamber 5. The connecting port 3 is used to connect to an external vacuum system to evacuate the driving chamber 5.

[0035] At least two flexible fingers 4 are connected to the lower part of the connecting part 1. In this embodiment, there are three flexible fingers 4 evenly distributed around the circumference. Reinforcing inserts 42 can be provided inside the flexible fingers 4 to increase their strength. The connecting part 1 is also cylindrical. Of course, there can be two or four flexible fingers, and the shape of the connecting part 1 can also be other shapes, such as rectangles.

[0036] The driving chamber 5 includes a bottom wall 52 and a side wall 51. The base 41 of the flexible finger 4 is connected to the side wall 51. A deformable region 54 is provided on the side wall 51. The thickness of the deformable region 54 is less than the thickness of the bottom wall 52, or the elastic modulus of the side wall 51 is less than the elastic modulus of the bottom wall 52. Since the deformable region 54 is on the side wall 51, the deformation of the deformable region 54 on the side wall 51 is greater than the deformation of the bottom wall 52 when negative pressure is applied. Thus, the flexible finger 4 will open due to the negative pressure, achieving negative pressure internal support and clamping of the object.

[0037] like Figure 3 As shown in Figure 5, the inner side of the cavity sidewall 51 is also provided with several inwardly protruding reinforcing blocks 53. Each inwardly protruding reinforcing block 53 corresponds one-to-one with the finger base 41 of the flexible finger 4. The upper end of each inwardly protruding reinforcing block 53 is lower than the upper end of the cavity sidewall 51. The area between the upper ends of the cavity sidewall 51 and the inwardly protruding reinforcing blocks 53 forms the deformable region 54. When negative pressure is applied, the deformable region 54 deforms inwards, while the inwardly protruding reinforcing blocks do not deform inwards but are pulled together by a pulling force. This further pulls the flexible finger 4, ultimately causing the flexible finger 4 to open with a greater opening force. Preferably, in this embodiment, the upper end of the finger base 41 of the flexible finger 4 is higher than the cavity bottom wall 52, and the flexible finger 4 partially overlaps the inwardly protruding reinforcing blocks 53 in the vertical direction. This brings the upper end of the flexible finger 4 closer to the deformable region 54, resulting in a larger opening angle for the flexible finger 4.

[0038] The inner surface of the inner convex reinforcing block is an inclined plane 531. The lower end of the inclined plane 531 is closer to the outside than the upper end. Due to the presence of the inclined plane 531, the inner convex reinforcing block is subjected to a pulling force biased towards the flexible finger 4, making the opening angle larger.

[0039] The cavity sidewall 51 is provided with vertically extending directional deformation grooves 56 in the area between adjacent inner convex reinforcing blocks 53. The directional deformation grooves 56 are formed by outward indentation. Each directional deformation groove 56 is symmetrically arranged or evenly distributed around the circumference. When there are two flexible fingers 4 and the connecting part 1 is not cylindrical, the directional deformation grooves 56 can be arranged symmetrically. When the connecting part 1 is cylindrical or the flexible fingers 4 are evenly distributed around the circumference, the directional deformation grooves 56 are evenly distributed around the circumference. This arrangement makes the flexible fingers 4 more evenly stressed when negative pressure is applied. When the easily deformable area 54 is concave inward, the presence of the directional deformation grooves 56 makes it easier for the inner convex reinforcing blocks 53 to move inward. This also ensures that the deformation part and amount of the cavity sidewall 51 are as consistent as possible each time negative pressure is applied, so that the outward deformation angle of the flexible fingers 4 is always consistent.

[0040] In this embodiment, it is further preferred that the two side walls of the directional deformation groove 56 are planar and intersect. In this way, the intersection angle of the groove walls of the directional deformation groove 56 will form a certain crease area during vacuuming, thereby facilitating the deformation of the easily deformable area 54 of the cavity sidewall 51.

[0041] In this embodiment, an upper connecting plate 2 is provided on the upper part of the connecting part 1. The upper connecting plate 2 is made of rigid material. The connecting port 3 is provided on the upper connecting plate 2. A rigid support structure is provided between the upper connecting plate 2 and the cavity bottom wall 52.

[0042] The rigid support structure includes a support rod 6, the upper end of which is fixedly connected to the upper connecting plate 2, and the lower end of which is connected to the cavity bottom wall 52. The support rod 6 and the upper connecting plate 2 can be integrally formed or detachably connected, for example, by a threaded connection. The cavity bottom wall 52 has a positioning groove 55 that matches the lower end of the support rod 6. The support rod 6 is located at the center of the upper connecting plate 2 and corresponds to the connection port 3. The support rod 6 has an axial through hole 61 communicating with the connection port 3, and also a connecting hole 62 connecting the drive chamber 5 to the axial through hole 61. The support rod 6 is supported at the center of the upper connecting plate 2, which is also the center of the flexible claw. This ensures a consistent deformation effect on each flexible finger 4, preventing uneven deformation due to the support rod 6. This allows the flexible claw to better achieve internal clamping. Example 2

[0043] The structure in this embodiment is basically the same as that in Embodiment 1, such as... Figure 6 and Figure 7 As shown, in this embodiment, the base of the flexible finger 4 is directly connected to the lower part of the cavity sidewall 51. At the same time, the lower end of the support rod 6 is provided with a flat support structure that is laid flat on the cavity bottom wall 52 to support the cavity bottom wall 52. In this embodiment, the flat support structure is used to support the cavity bottom wall 52 and prevent the cavity bottom wall 52 from deforming, so that the flexible finger 4 is only subjected to the tensile force of the easily deformable area 54 of the cavity sidewall 41 and opens outward. In this embodiment, the flat support structure can be a flat support plate 63, and the flat support plate 63 preferably supports the entire cavity bottom wall 52.

[0044] The above-described embodiments are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Any modifications and alterations made to the technical solutions of the present invention without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.

Claims

1. A negative pressure internal support flexible claw, comprising a connecting part made of elastic material, the connecting part including a driving chamber, the upper part of the connecting part having a connection port communicating with the driving chamber, at least two flexible fingers connected to the lower part of the connecting part, the driving chamber including a bottom wall and a side wall, the base of the flexible fingers being connected to the side wall, characterized in that: The cavity side wall is provided with a deformable area, the thickness of the deformable area is less than the thickness of the cavity bottom wall or the elastic modulus of the cavity side wall is less than the elastic modulus of the cavity bottom wall, the upper part of the connecting part is provided with an upper connecting plate, the connecting port is arranged on the upper connecting plate, and a hard support structure is arranged between the upper connecting plate and the cavity bottom wall.

2. A negative pressure inner support flexible claw as claimed in claim 1, wherein: The hard support structure comprises a support rod, the upper end of the support rod is fixedly connected to the upper connecting plate, and the lower end of the support rod is connected to the cavity bottom wall or the lower end of the support rod is provided with a flat support structure which is laid on the cavity bottom wall to support the cavity bottom wall.

3. A negative pressure inner support flexible claw as claimed in claim 2, wherein: When the lower end of the support rod is connected to the cavity bottom wall, the cavity bottom wall is provided with a positioning groove matched with the lower end of the support rod.

4. A negative pressure inner support flexible claw as claimed in claim 3, wherein: The support rod is located at the center of the upper connecting plate and corresponds to the connecting port, the support rod is provided with an axial through hole which is in communication with the connecting port, and the support rod is further provided with a communication hole which is in communication with the driving chamber and the axial through hole.

5. A negative pressure inner support flexible claw as claimed in claim 1, wherein: The inner side of the cavity side wall is further provided with a plurality of inwardly protruding inner protruding reinforcing blocks, the inner protruding reinforcing blocks correspond to the heel positions of the flexible fingers one by one, the upper end of the inner protruding reinforcing block is lower than the upper end of the cavity side wall, and the area between the cavity side wall and the upper end of the inner protruding reinforcing block forms the deformable area.

6. A negative pressure inner support flexible claw as claimed in claim 5, wherein: The inner surface of the inner protruding reinforcing block is an inclined plane, and the lower end of the inclined plane is closer to the outer side than the upper end.

7. A negative pressure inner support flexible claw as claimed in claim 5, wherein: The area between the adjacent inner protruding reinforcing blocks on the cavity side wall is provided with a downwardly and upwardly extending directional deformation groove, the directional deformation groove is outwardly recessed, each directional deformation groove is symmetrically arranged or circumferentially distributed.

8. A negative pressure inner support flexible claw as claimed in claim 7, characterized in that: The two side groove walls of the directional deformation groove are planes and intersect.

9. A negative pressure inner support flexible claw as claimed in claim 8, wherein: The upper end of the heel of the flexible finger is higher than the cavity bottom wall, and the flexible finger partially overlaps with the inner protruding reinforcing block in the upward and downward direction.

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