Fin-structure-imitated flexible gripper

Abstract

The invention belongs to the technical field of flexible grippers, particularly relates to a fin-structure-imitated flexible gripper, and provides the following scheme aiming at the problem that in the prior art, a flexible gripper cannot easily grab a soft or approximately circular object: the fin-structure-imitated flexible gripper comprises a main mounting head fixed at the end part of a mechanical arm; a relatively fixed side barrel is fixed to the end, away from the mechanical arm, of the main mounting head, and a movable side barrel is hinged to the side, away from the main mounting head, of the relatively fixed side barrel and close to the top end. Bionic clamping mechanisms which are symmetrical to each other are arranged at the bottom ends, opposite to the fixed side barrel body and the movable side barrel body, of the movable side barrel body. According to the clamping device, hard objects with protruding edges and corners can be clamped during clamping, and when soft objects are clamped, the side claws on the two sides are connected with a cloth bag in a matched mode, so that the objects can be well surrounded by more than half of the objects, the objects can be smoothly wrapped, and the integrity of the objects cannot be damaged.

Description

Technical Field

[0001] The present invention relates to the technical field of flexible grippers, and in particular to a flexible gripper with a fish fin-like structure. Background Art

[0002] At present, most soft grippers still rely on the gripping force of the gripper to pick up objects. Compared with rigid grippers, soft grippers are flexible in contact with objects and are not easy to damage the grasped objects. In existing small production lines, small or fragile, soft products or foods can usually only be picked up by bionic octopus grippers or simple clamps.

[0003] After searching, we found that these flexible grippers only grasp a single target object by controlling the bending of multiple single rods. This not only has high requirements on the hardness and shape of the target object, but also objects that are too soft or close to round are not easy to grasp. Therefore, we propose a flexible gripper that can grasp soft objects. Summary of the invention

[0004] In view of the technical problem that the flexible gripper in the prior art is not easy to grasp soft or nearly round objects, the present invention adopts the following technical solution:

[0005] A flexible gripper imitating a fish fin structure comprises a main mounting head fixed to the end of a mechanical arm, a relatively fixed side barrel being fixed to the end of the main mounting head away from the mechanical arm, a movable side barrel being hinged near the top on the side of the relatively fixed side barrel away from the main mounting head; and mutually symmetrical bionic clamping mechanisms are arranged at the bottom ends of the relatively fixed side barrel and the movable side barrel, the bionic clamping mechanism comprises a middle finger inserted in the middle of the bottom end of the relatively fixed side barrel and capable of bending toward the middle, mutually symmetrical side claws are arranged on both sides of the middle finger, the side claws and the middle finger are bent synchronously in the same direction, and connecting cloth bags are fixed between the two sides of the middle finger and the corresponding side faces of the side claws; the overall length of the middle finger is greater than the length of the side claws on both sides.

[0006] A further configuration is that a hinge joint is provided between the side of the relatively fixed side barrel near the top and the side of the movable side barrel near the top, and the hinge joint includes a rod through hole opened at the bottom of the movable side barrel near the top, an L-shaped fixing rod extending to the center position of the hinge joint is welded and fixed in the rod through hole, a vertical mounting groove is opened in the middle of one end of the L-shaped fixing rod away from the movable side barrel, and a worm wheel disc 1 with a vertical disc surface is clamped and fixed in the mounting groove, and a shaft rod extending horizontally to the left and right is fixed in the middle of the worm wheel disc 1; a worm slot hole is opened at the bottom of the relatively fixed side barrel near the top, and the barrel of the relatively fixed side barrel Two symmetrical hinged ear plates are fixed on one side of the bottom close to the movable side barrel, and the shaft is rotatably connected between the two hinged ear plates; and the two hinged ear plates are respectively located on both sides of the worm slot hole; a motor seat is fixed on the side of the main mounting head at the top of the worm slot hole, and a reduction motor with the motor shaft facing downward is fixed on the motor seat, and a worm one is fixed to the top of the output shaft of the reduction motor through a coupling, and the worm one and the worm wheel one are meshed with each other; through the set hinge head and the reduction motor fixed on the main mounting head, when it is necessary to control the overall clamping force, it is only necessary to control the number of rotations of the reduction motor.

[0007] A further configuration is that a rectangular notch matching the reduction motor is opened near the top of the circumferential outer wall of the relatively fixed side barrel, and the relatively fixed side barrel and the movable side barrel have the same size and opposite openings; a flat cut surface is reserved on the side of the relatively fixed side barrel and the movable side barrel away from the main mounting head, and a rectangular plug hole is opened in the middle of the two flat cut surfaces, and symmetrical strip movable holes are reserved on both sides of the rectangular plug hole; a fixed frame block is fixed to the inner wall of the relatively fixed side barrel and the movable side barrel at the rectangular plug hole; the middle finger is fixed in the fixed frame block through the corresponding rectangular plug hole; the two side claws are inserted in the corresponding strip movable holes; the size and shape of the middle finger and the side claw are the same, and the middle finger includes a metal slot rod fixed in the fixed frame block, and two symmetrical folding connecting plates are fixed at one end of the groove bottom of the metal slot rod away from the fixed frame block, and the same reset metal rod is fixed at one end of the two folding connecting plates away from the metal slot rod, and the reset metal rod is made of a material with good toughness; and the length of the reset metal rod in the side claws on both sides is less than the length of the reset metal rod of the middle finger.

[0008] A further configuration is that a rubber sleeve is fixedly connected to the side of the reset metal rod of the middle finger close to the object to be clamped, and a plurality of V-shaped buffer grooves are reserved on the side of the rubber sleeve away from the reset metal rod, and a connecting cloth bag is fixed to the side of the rubber sleeve, and two soft buckle plates are fixed to the end of the rubber sleeve on the middle finger away from the metal groove rod, and the two soft buckle plates are respectively fixed on both sides of the rubber sleeve; when grasping, a digging state can be formed, and then the target object can be quickly taken out and effectively grasped; a silicone sleeve is fixed to the side of the rubber sleeve away from the reset metal rod, and the cross-section of the silicone sleeve is a U-shaped structure, and the length of the silicone sleeve is equal to the distance between two adjacent V-shaped buffer grooves; the protection effect on the object can be improved to prevent cracks from being pressed out at the contact point between the surface of the object and the middle finger.

[0009] A further configuration is that a plug-in slot matching the width of the reset metal rod is opened on the back side of the end of the rubber sleeve away from the metal slot rod, and a rope hole is opened through the rubber sleeve in the length direction, and a steel wire pull line is slidably connected in the rope hole, one end of the steel wire pull line is fixed to the end of the reset metal rod away from the folded connecting plate; a wire pulling mechanism is arranged at the other end of the steel wire pull line; a through hole is opened at the bottom of the V-shaped buffer groove of the rubber sleeve; and a round rod is fixed near the through hole of the reset metal rod, and a limit pull ring sleeved on the steel wire pull line is fixed at the end of the round rod away from the reset metal rod.

[0010] A further configuration is that the connecting cloth bag is made of elastic cloth with good toughness, and a plurality of staggered anti-skid contacts are fixed on opposite sides of the connecting cloth bag on the movable side barrel and the relatively fixed side barrel; this can not only improve the anti-skid effect on the target object, but also improve the wrapping effect on the device.

[0011] A further arrangement is that a wire pulling mechanism is provided on the interior of the movable side barrel and the relatively fixed side barrel near the fixed frame block, and the wire pulling mechanism includes an axial rod rotating frame fixed on both sides of the fixed frame block, and the same rope winding rod is rotatably connected between the two axial rod rotating frames, and the two ends of the rope winding rod are respectively sleeved with mutually symmetrical anti-slip wheels, and the steel wire pulling wire is correspondingly wound in the same direction at the middle part and both ends of the rope winding rod; the circumferential outer wall of the rope winding rod is also sleeved with a worm wheel disk 2, and the inner walls of the movable side barrel and the relatively fixed side barrel are provided with servo motors, and the top end of the output shaft of the servo motor is fixed with a worm sleeve meshing with the worm wheel disk 2; by controlling the rotation of the servo motor, the three steel wire pulling wires can be driven to be pulled simultaneously.

[0012] A further configuration is that a transparent cover plate 1 and a transparent cover plate 2 are respectively fixed at the openings of the movable side barrel and the relatively fixed side barrel, and fixed piers are fixed to the bottoms of the movable side barrel and the relatively fixed side barrel near the strip movable holes, the bottom ends of the two fixed piers are rotatably connected with short shafts, the middle of the short shafts are sleeved with half worm gears 2, and the other ends of the short shafts are rotatably sleeved with shaft rod fixing seats, which are correspondingly fixed to the inner surfaces of the transparent cover plate 1 and the transparent cover plate 2; a slot 1 is opened on the circumferential outer wall of the half worm gear 2, and a metal slot rod is fixedly clamped in the slot 1; the internal operation status can be clearly seen, and when it is necessary to control the side claws to separate or close, it is only necessary to rotate the two half worm gears 2 in the opposite direction.

[0013] A further configuration is that a tensioning mechanism for controlling the opening of the two side claws is provided inside the movable side barrel and the relatively fixed side barrel, and the tensioning mechanism includes a U-shaped double-rod frame fixed to the bottom of the movable side barrel and located between the two fixed piers, and two mutually symmetrical transmission rods are rotatably connected to the U-shaped double-rod frame, and a worm and a driven gear are respectively fixed at both ends of the transmission rod, and the two worms are respectively left-handed worm and right-handed worm; the same anti-torsion rack rod is slidably connected between the two fixed piers, and the anti-torsion rack rod is simultaneously connected to the two The driven gears are meshed with each other, and a hexagonal hole is opened on the side of one of the fixed piers, and a double nut is embedded in the hexagonal hole. An adjusting screw meshing with the anti-twist rack rod is threaded in the double nut, and a thin neck is provided at one end of the adjusting screw close to the middle of the anti-twist rack rod, and a rotating sleeve is rotatably connected to the thin neck, and the rotating sleeve is welded and fixed to the outer wall of the anti-twist rack rod; by means of the anti-twist rack rod and the adjusting screw for controlling the advancement of the anti-twist rack rod, when it is necessary to control the opening and closing degree of the two side claws, it is only necessary to rotate the adjusting screw.

[0014] A further configuration is that adjustment holes are provided at the ends of the adjustment screws on the sides of the movable side barrel and the relatively fixed side barrel; the opening and closing degree of the two side claws can be adjusted manually from the outside, and then the tightness of the connected cloth bag can be adjusted.

[0015] The beneficial effects of the present invention are:

[0016] 1. By providing a bendable middle finger and side claws, and cooperating with a connecting cloth bag for connecting the side claws and the middle finger, not only can hard objects with protruding edges be clamped when clamping, but also when clamping soft objects, the side claws on both sides cooperate with the connecting cloth bag to surround most of the object well, so that the object can be picked up smoothly without destroying the integrity of the object.

[0017] 2. By setting reset metal rods of different lengths, when clamping soft objects, the bending amplitude of the side claws on both sides can be controlled to be greater than the bending amplitude of the middle finger. With the connection bag used to connect the two, most of the object can be wrapped, thereby forming a flexible clamp.

[0018] 3. Through the set steel wire pulling line and pulling line mechanism, when the target object needs to be grabbed, it is only necessary to control the pulling line mechanism to pull the steel wire pulling lines in the middle finger and the side claws at the same time to bend the rubber sleeve inward, that is, the target object in the middle, and then cooperate with the connecting cloth bag to grab it. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of a flexible gripper imitating a fish fin structure proposed by the present invention;

[0020] Figure 2 A side view of a flexible gripper with a fish fin-like structure proposed by the present invention;

[0021] Figure 3 A schematic diagram of the structure of a movable side barrel in a flexible gripper with a fish fin-like structure proposed by the present invention;

[0022] Figure 4 This is a schematic diagram of the overall structure of a hinge joint in a flexible gripper with a fish fin-like structure proposed by the present invention;

[0023] Figure 5 A schematic diagram of the exploded structure of a hinge joint in a flexible gripper with a fish fin-like structure proposed by the present invention;

[0024] Figure 6 A schematic diagram of the structure of a steel wire pull line of a flexible gripper with a fish fin-like structure proposed by the present invention;

[0025] Figure 7 This is a schematic structural diagram of a middle finger of a flexible gripper with a fish fin-like structure proposed by the present invention after bending;

[0026] Figure 8 A flexible gripper imitating a fish fin structure proposed by the present invention Figure 1 A schematic diagram of the enlarged structure at A in the middle;

[0027] Fig. 9 This is a schematic diagram of the overall structure of a tensioning mechanism in a flexible gripper with a fish fin-like structure proposed by the present invention;

[0028] Fig.10 This is a schematic diagram of the overall structure of a wire pulling mechanism in a flexible gripper with a fish fin-like structure proposed by the present invention;

[0029] Fig.11A schematic diagram of the explosion structure of a rubber sleeve and a connecting cloth bag in a flexible gripper with a fish fin-like structure proposed by the present invention;

[0030] Fig.12 This is a schematic diagram of the exploded structure of a rubber sleeve and a silicone ferrule in a flexible gripper with a fish fin-like structure proposed by the present invention.

[0031] In the figure: 1, main mounting head; 2, reduction motor; 3, worm wheel disc 1; 4, movable side barrel; 401, rod perforation; 5, transparent cover plate 1; 6, servo motor; 7, middle finger; 8, side claw; 9, soft buckle plate; 10, connecting bag; 11, anti-skid synapse; 12, relatively fixed side barrel; 121, worm slot; 122, rectangular notch; 13, adjustment screw; 131, adjustment through hole; 14, transparent cover plate 2; 15, hinged ear plate; 16, L-shaped fixing rod; 17, tightening mechanism; 171, fixing pier column; 172, U-shaped double rod frame; 173, driven gear; 17 4. Anti-twist rack rod; 175. Shaft fixing seat; 176. Half worm gear 2; 18. Fixed frame block; 19. Wire pulling mechanism; 191. Shaft rotating frame; 192. Worm gear 2; 193. Rope winding rod; 194. Anti-slip wheel; 20. Bar movable hole; 21. Shaft; 22. Rectangular plug hole; 23. Worm gear 1; 24. Metal groove rod; 25. Reset metal rod; 26. Silicone ferrule; 27. Rubber sleeve; 2701. V-shaped buffer groove; 2702. Through hole 1; 2703. Plug-in notch; 28. Folding connecting plate; 29. ​​Steel wire pull; 30. Limit pull ring. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0033] In this embodiment, refer to Figure 1-12A flexible gripper imitating a fish fin structure comprises a main mounting head 1 fixed at the end of a mechanical arm, the mechanical arm is a multi-degree-of-freedom mechanical arm, a relatively fixed side barrel 12 is fixed to the end of the main mounting head 1 away from the mechanical arm, i.e., the movable end, and a movable side barrel 4 is hinged near the top of the relatively fixed side barrel 12 away from the main mounting head 1; mutually symmetrical bionic clamping mechanisms are arranged at the bottom ends of the relatively fixed side barrel 12 and the movable side barrel 4, and the bionic clamping mechanisms include a middle finger 7 inserted in the middle of the bottom end of the relatively fixed side barrel 12 and capable of bending toward the middle, and mutually symmetrical side claws 8 are arranged on both sides of the middle finger 7, and the side claws 8 and the movable side barrels are hinged near the top. The middle finger 7 is bent synchronously in the same direction, and connecting cloth bags 10 are fixed between the two sides of the middle finger 7 and the corresponding side claws 8; the overall length of the middle finger 7 is greater than the length of the side claws 8 on both sides. By providing the bendable middle finger 7 and side claws 8, and cooperating with the connecting cloth bag 10 for connecting the side claws 8 and the middle finger 7, not only can hard objects with protruding edges and corners be clamped when clamping, but also when clamping soft objects, the side claws 8 on both sides cooperate with the connecting cloth bag 10 to surround most of the object well, so that the object can be smoothly picked up without destroying the integrity of the object.

[0034] Reference Figure 2 , Figure 4 , Figure 5 A hinge joint is provided between the side of the relatively fixed side barrel 12 near the top and the side of the movable side barrel 4 near the top, and the hinge joint includes a rod through hole 401 opened at the bottom of the movable side barrel 4 near the top, an L-shaped fixing rod 16 extending to the center of the hinge joint is welded and fixed in the rod through hole 401, a vertical mounting groove is opened in the middle of one end of the L-shaped fixing rod 16 away from the movable side barrel 4, and a worm wheel disc 3 with a vertical disk surface is clamped and fixed in the mounting groove, and a shaft rod 21 extending horizontally to the left and right is fixed in the middle of the worm wheel disc 3; a worm slot hole 121 is opened at the bottom of the relatively fixed side barrel 12 near the top, and a worm wheel slot hole 121 is opened at the bottom of the relatively fixed side barrel 12 near the movable Two symmetrical hinged ear plates 15 are fixed on one side of the side barrel 4, and the shaft 21 is rotatably connected between the two hinged ear plates 15; and the two hinged ear plates 15 are respectively located on both sides of the worm slot hole 121; a motor seat is fixed on the side of the main mounting head 1 at the top of the worm slot hole 121, and a reduction motor 2 with the motor shaft facing downward is fixed on the motor seat, and a worm 23 is fixed to the top of the output shaft of the reduction motor 2 through a coupling, and the worm 23 is meshed with the worm wheel 3; through the set hinge head and the reduction motor 2 fixed on the main mounting head 1, when it is necessary to control the overall clamping force, it is only necessary to control the number of rotations of the reduction motor 2.

[0035] Reference Figure 3 , Figure 6 , Figure 7 , Figure 8, a rectangular notch 122 adapted to the reduction motor 2 is opened near the top of the circumferential outer wall of the relatively fixed side barrel 12, and the relatively fixed side barrel 12 and the movable side barrel 4 have the same size and opposite openings; a flat section is reserved on the side of the relatively fixed side barrel 12 and the movable side barrel 4 away from the main mounting head 1, and a rectangular plug hole 22 is opened in the middle of the two flat sections, and symmetrical strip movable holes 20 are reserved on both sides of the rectangular plug hole 22; a fixed frame block 18 is fixed to the inner wall of the relatively fixed side barrel 12 and the movable side barrel 4 at the rectangular plug hole 22; the middle finger 7 passes through the corresponding rectangular plug hole 22 and is fixed in the fixed frame block 18; the two side claws 8 are inserted in the corresponding strip movable holes 20; the size and shape of the middle finger 7 and the side claws 8 are the same, and The middle finger 7 includes a metal slot rod 24 fixed in the fixed frame block 18, and two symmetrical folding connecting plates 28 are fixed to the end of the slot bottom of the metal slot rod 24 away from the fixed frame block 18, and the same reset metal rod 25 is fixed to the end of the two folding connecting plates 28 away from the metal slot rod 24, and the reset metal rod 25 is made of a material with good toughness; and the length of the reset metal rod 25 in the side claws 8 on both sides is less than the length of the reset metal rod 25 of the middle finger 7; by setting the reset metal rods 25 of different lengths, when clamping soft objects, the bending amplitude of the side claws 8 on both sides can be controlled to be greater than the bending amplitude of the middle finger 7, and the connection bag 10 used to connect the two can be used to wrap most of the object, and then form a flexible clamping for it.

[0036] Reference Figure 8-Figure 12 The side of the reset metal rod 25 of the middle finger 7 close to the object to be clamped is fixedly connected with a rubber sleeve 27, and a plurality of V-shaped buffer grooves 2701 are reserved on the side of the rubber sleeve 27 away from the reset metal rod 25. The connecting cloth bag 10 is fixed to the side of the rubber sleeve 27. The end of the rubber sleeve 27 on the middle finger 7 away from the metal groove rod 24 is fixed with two soft buckle plates 9, and the two soft buckle plates 9 are respectively fixed on both sides of the rubber sleeve 27; by setting the soft buckle plates 9 on both sides of the tip of the rubber sleeve 27, it can be grasped during the grasping process. When the rubber sleeve 27 is in the state of excavation, the target object can be quickly taken out and effectively grasped; a silicone sleeve 26 is fixedly connected to the side of the rubber sleeve 27 away from the reset metal rod 25, and the cross-section of the silicone sleeve 26 is a U-shaped structure, and the length of the silicone sleeve 26 is equal to the distance between two adjacent V-shaped buffer grooves 2701; by providing the silicone sleeve 26 connected to the surface of the rubber sleeve 27, the protection effect of the object can be improved to prevent the surface of the object from being pressed into cracks at the contact point between the middle finger 7 and the middle finger 7.

[0037] Reference Figure 10-12The back of the end of the rubber sleeve 27 away from the metal slot rod 24 is provided with a plug-in slot 2703 that matches the width of the reset metal rod 25, and a rope hole is provided in the length direction of the rubber sleeve 27, and a steel wire 29 is slidably connected in the rope hole, one end of the steel wire 29 is fixed to the end of the reset metal rod 25 away from the folded connecting plate 28; the other end of the steel wire 29 is provided with a wire pulling mechanism 19; the bottom of the V-shaped buffer groove 2701 of the rubber sleeve 27 is provided with a through hole 2703. 02; and a round rod is fixed to the reset metal rod 25 near the through hole 2702, and a limit pull ring 30 sleeved on the steel wire pull line 29 is fixed to the end of the round rod away from the reset metal rod 25; through the set steel wire pull line 29 and the pull line mechanism 19, when it is necessary to grab the target object, it is only necessary to control the pull line mechanism 19 to simultaneously pull the steel wire pull line 29 in the middle finger 7 and the side claw 8 to bend the rubber sleeve 27 inward, that is, the middle target object, and then cooperate with the connecting cloth bag 10 to grab it.

[0038] In the present invention, the connecting cloth bag 10 is made of elastic cloth with good toughness, and a plurality of staggered anti-skid synapses 11 are fixed on opposite sides of the connecting cloth bag 10 on the movable side barrel 4 and the relatively fixed side barrel 12; by setting the anti-skid synapses 11 and the elastic connecting cloth bag 10, not only the anti-skid effect on the target object can be improved, but also the wrapping effect on the device can be improved.

[0039] Reference Figure 3 , Figure 7 and Fig.10 A wire pulling mechanism 19 is provided on the inner part of the movable side barrel 4 and the relatively fixed side barrel 12 near the fixed frame block 18, and the wire pulling mechanism 19 includes an axial rod rotating frame 191 fixed on both sides of the fixed frame block 18, and the same rope winding rod 193 is rotatably connected between the two axial rod rotating frames 191, and the two ends of the rope winding rod 193 are respectively sleeved with mutually symmetrical anti-slip wheels 194, and the steel wire pulling wire 29 is correspondingly wound in the same direction at the middle and both ends of the rope winding rod 193; the circumferential outer wall of the rope winding rod 193 is also sleeved with a worm wheel disk 192, and the inner wall of the movable side barrel 4 and the relatively fixed side barrel 12 are both provided with a servo motor 6, and the top end of the output shaft of the servo motor 6 is fixed with a worm sleeve meshing with the worm wheel disk 192; by controlling the rotation of the servo motor 6, the three steel wire pulling wires 29 can be driven to be pulled simultaneously.

[0040] Reference Figure 1 , Fig. 9, a transparent cover plate 1 5 and a transparent cover plate 2 14 are fixed to the openings of the movable side barrel 4 and the relatively fixed side barrel 12 respectively, and a fixed pier 171 is fixed to the bottom of the movable side barrel 4 and the relatively fixed side barrel 12 near the strip movable hole 20, the bottom ends of the two fixed piers 171 are rotatably connected with a short shaft, the middle of the short shaft is sleeved with a half worm gear 2 176, and the other end of the short shaft is rotatably sleeved with a shaft rod fixing seat 175, and the shaft rod fixing seat 175 is correspondingly fixed on the inner surface of the transparent cover plate 1 5 and the transparent cover plate 2 14; a slot 1 is opened on the circumferential outer wall of the half worm gear 2 176, and a metal slot rod 24 is fixedly clamped in the slot 1; through the transparent cover plate 1 5 and the transparent cover plate 2 14, the internal operation status can be clearly seen, and when it is necessary to control the side claws 8 to open or close, it is only necessary to rotate the two half worm gears 2 176 in the opposite direction.

[0041] Reference Fig. 9 The movable side barrel 4 and the relatively fixed side barrel 12 are both provided with a tensioning mechanism 17 for controlling the opening of the two side claws 8, and the tensioning mechanism 17 includes a U-shaped double-rod frame 172 fixed to the bottom of the movable side barrel 4 and located between the two fixed piers 171, and two mutually symmetrical transmission rods are rotatably connected to the U-shaped double-rod frame 172, and a worm and a driven gear 173 are respectively fixed at both ends of the transmission rod, and the two worms are respectively left-handed worm and right-handed worm; the same anti-twist rack rod 174 is slidably connected between the two fixed piers 171, and the anti-twist rack rod 174 is simultaneously connected to the two driven gears 17 3 mesh with each other, a hexagonal hole is opened on the side of one of the fixed piers 171, and a double nut is embedded in the hexagonal hole, and an adjusting screw 13 meshing with the anti-twist rack rod 174 is threaded in the double nut, and a thin neck is provided at one end of the adjusting screw 13 close to the middle of the anti-twist rack rod 174, and a rotating sleeve is rotatably connected at the thin neck, and the rotating sleeve is welded and fixed to the outer wall of the anti-twist rack rod 174; through the anti-twist rack rod 174 and the adjusting screw 13 used to control the advancement of the anti-twist rack rod 174, when it is necessary to control the opening and closing degree of the two side claws 8, it is only necessary to rotate the adjusting screw 13.

[0042] Reference Figure 4 , Fig. 9 The movable side barrel 4 and the side barrel 12 relatively fixed thereon are provided with adjustment holes 131 at the ends of the adjustment screw 13; through the provided adjustment holes 131, the opening and closing degrees of the two side claws 8 can be manually adjusted from the outside, and then the tightness of the connecting cloth bag 10 can be adjusted.

[0043] Working principle: When the device is in use, first fix the main mounting head 1 of the device to the movable end of the manipulator, and then control the manipulator to move the middle finger 7 relative to the end of the fixed side barrel 12 to extend to the bottom of the target object to be clamped, so that the middle finger 7 under the movable side barrel 4 is located above the target object to be clamped, forming a posture of hugging and clamping; then control the servo motor 6 in the wire pulling mechanism 19 to start, at this time the rope winding rod 193 rotates, and then winds three steel wire pulling lines 29 to form the middle finger 7 and the side claws 8 into a shape bent toward the middle, and then clamp the object in the middle; at the same time, in conjunction with the connecting cloth bag 10 used to connect the side claws 8 and the middle finger 7, not only can it clamp hard objects with protruding edges and corners when clamping, but also when clamping soft objects, the side claws 8 on both sides cooperate with the connecting cloth bag 10 to surround most of the object well, so that the object can be smoothly picked up without destroying the integrity of the object.

[0044] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A flexible gripper with a fish fin-like structure, comprising a main mounting head (1) fixed to the end of a mechanical arm, wherein a relatively fixed side barrel (12) is fixed to the end of the main mounting head (1) away from the mechanical arm, characterized in that: A movable side barrel (4) is hingedly connected to a side of the relatively fixed side barrel (12) away from the main mounting head (1) near the top; and mutually symmetrical bionic clamping mechanisms are provided at the bottom ends of the relatively fixed side barrel (12) and the movable side barrel (4), the bionic clamping mechanism comprising a middle finger (7) inserted in the middle of the bottom end of the relatively fixed side barrel (12) and capable of bending toward the middle, and mutually symmetrical side claws (8) are respectively provided on both sides of the middle finger (7), the side claws (8) and the middle finger (7) are synchronously bent in the same direction, and connecting cloth bags (10) are fixed between the two sides of the middle finger (7) and the corresponding side faces of the side claws (8); the overall length of the middle finger (7) is greater than the length of the side claws (8) on both sides.

2. The flexible gripper imitating a fish fin structure according to claim 1, characterized in that: A hinge joint is provided between the side surface of the relatively fixed side barrel (12) near the top and the side surface of the movable side barrel (4) near the top, and the hinge joint comprises a rod through hole (401) provided at the bottom of the movable side barrel (4) near the top, an L-shaped fixing rod (16) extending toward the center of the hinge joint is welded and fixed in the rod through hole (401), a vertical mounting groove is provided in the middle of one end of the L-shaped fixing rod (16) away from the movable side barrel (4), and a worm wheel disc 1 (3) with a vertical surface is clamped and fixed in the mounting groove, and a shaft rod (21) extending horizontally to the left and right is fixed in the middle of the worm wheel disc 1 (3); the bottom of the relatively fixed side barrel (12) near the top is provided with a rod through hole (401) ... A worm slot hole (121) is provided, and two mutually symmetrical hinged ear plates (15) are fixed on one side of the barrel bottom near the movable side barrel (4) relative to the fixed side barrel (12), and the shaft (21) is rotatably connected between the two hinged ear plates (15); and the two hinged ear plates (15) are respectively located on both sides of the worm slot hole (121); a motor seat is fixed on the side of the main mounting head (1) at the top end of the worm slot hole (121), and a reduction motor (2) with the motor shaft facing downward is fixed on the motor seat, and a worm (23) is fixed on the top end of the output shaft of the reduction motor (2) through a coupling, and the worm (23) and the worm wheel (3) are meshed with each other.

3. The flexible gripper imitating a fish fin structure according to claim 1, characterized in that: A rectangular notch (122) adapted to the reduction motor (2) is formed near the top of the circumferential outer wall of the relatively fixed side barrel (12), and the relatively fixed side barrel (12) and the movable side barrel (4) have the same size and opposite openings; a flat cut surface is reserved on the side of the relatively fixed side barrel (12) and the movable side barrel (4) away from the main mounting head (1), and a rectangular plug hole (22) is formed in the middle of the two flat cut surfaces, and symmetrical strip-shaped movable holes (20) are reserved on both sides of the rectangular plug hole (22); a fixed frame block (18) is fixed to the inner wall of the relatively fixed side barrel (12) and the movable side barrel (4) at the rectangular plug hole (22); the middle finger (7) passes through the corresponding rectangular plug hole (22) and is fixed to the fixed frame The middle finger (7) and the side claws (8) are of the same size and shape, and the middle finger (7) comprises a metal slot rod (24) fixed in the fixed frame block (18), and two symmetrical folding connecting plates (28) are fixed at one end of the slot bottom of the metal slot rod (24) away from the fixed frame block (18), and the same reset metal rod (25) is fixed at one end of the two folding connecting plates (28) away from the metal slot rod (24), and the reset metal rod (25) is made of a material with good toughness; and the length of the reset metal rod (25) in the side claws (8) on both sides is shorter than the length of the reset metal rod (25) of the middle finger (7).

4. The flexible gripper imitating a fish fin structure according to claim 3, characterized in that: A rubber sleeve (27) is fixedly connected to the side of the reset metal rod (25) of the middle finger (7) close to the object to be clamped, and a plurality of V-shaped buffer grooves (2701) are reserved on the side of the rubber sleeve (27) away from the reset metal rod (25). The connecting cloth bag (10) is fixed to the side of the rubber sleeve (27). Two soft buckle plates (9) are fixed to the end of the rubber sleeve (27) on the middle finger (7) away from the metal groove rod (24), and the two soft buckle plates (9) are respectively fixed to the two sides of the rubber sleeve (27); a silicone sleeve (26) is fixedly connected to the side of the rubber sleeve (27) away from the reset metal rod (25), and the cross section of the silicone sleeve (26) is a U-shaped structure, and the length of the silicone sleeve (26) is equal to the distance between two adjacent V-shaped buffer grooves (2701).

5. The flexible gripper imitating a fish fin structure according to claim 4, characterized in that: The back side of the end of the rubber sleeve (27) away from the metal slot rod (24) is provided with a plug-in slot (2703) matching the width of the reset metal rod (25), and a rope hole is provided in the length direction of the rubber sleeve (27), and a steel wire (29) is slidably connected in the rope hole, one end of the steel wire (29) is fixed to the end of the reset metal rod (25) away from the folded connecting plate (28); the other end of the steel wire (29) is provided with a wire pulling mechanism (19); the bottom of the V-shaped buffer groove (2701) of the rubber sleeve (27) is provided with a through hole 1 (2702); and a round rod is fixed near the through hole 1 (2702) of the reset metal rod (25), and a limit pull ring (30) sleeved on the steel wire (29) is fixed to the end of the round rod away from the reset metal rod (25).

6. The flexible gripper imitating a fish fin structure according to claim 1, characterized in that: The connecting cloth bag (10) is made of elastic cloth with good toughness, and a plurality of staggered anti-slip synapses (11) are fixed on opposite sides of the connecting cloth bag (10) on the movable side barrel (4) and the relatively fixed side barrel (12).

7. The flexible gripper imitating a fish fin structure according to claim 4, characterized in that: A wire pulling mechanism (19) is provided on the inside of the movable side barrel (4) and the relatively fixed side barrel (12) near the fixed frame block (18), and the wire pulling mechanism (19) includes an axial rod rotating frame (191) fixed on both sides of the fixed frame block (18), and a same rope winding rod (193) is rotatably connected between the two axial rod rotating frames (191), and the two ends of the rope winding rod (193) are respectively sleeved with mutually symmetrical anti-slip wheels (194), and the steel wire pulling wire (29) is correspondingly wound in the same direction at the middle part and both ends of the rope winding rod (193); the circumferential outer wall of the rope winding rod (193) is also sleeved with a worm wheel disc 2 (192), and the inner walls of the movable side barrel (4) and the relatively fixed side barrel (12) are both provided with a servo motor (6), and the top end of the output shaft of the servo motor (6) is fixed with a worm sleeve that meshes with the worm wheel disc 2 (192).

8. The flexible gripper imitating a fish fin structure according to claim 3, characterized in that: A transparent cover plate 1 (5) and a transparent cover plate 2 (14) are fixed to the openings of the movable side barrel (4) and the relatively fixed side barrel (12), respectively. A fixed pier (171) is fixed to the bottom of the movable side barrel (4) and the relatively fixed side barrel (12) near the strip movable hole (20). The bottom ends of the two fixed piers (171) are rotatably connected to a short shaft. A half worm gear 2 (176) is sleeved in the middle of the short shaft. The other ends of the short shaft are rotatably sleeved to a shaft rod fixing seat (175). The shaft rod fixing seat (175) is fixed to the inner surfaces of the transparent cover plate 1 (5) and the transparent cover plate 2 (14) respectively. A slot 1 is opened on the circumferential outer wall of the half worm gear 2 (176), and a metal slot rod (24) is fixedly engaged in the slot 1.

9. The flexible gripper imitating a fish fin structure according to claim 8, characterized in that: The movable side barrel (4) and the relatively fixed side barrel (12) are both provided with a tensioning mechanism (17) for controlling the opening of the two side claws (8), and the tensioning mechanism (17) comprises a U-shaped double-rod frame (172) fixed to the bottom of the movable side barrel (4) and located between the two fixed piers (171), and two mutually symmetrical transmission rods are rotatably connected to the U-shaped double-rod frame (172), and a worm and a driven gear (173) are respectively fixed at both ends of the transmission rod, and the two worms are respectively a left-handed worm and a right-handed worm; between the two fixed piers (171) The same anti-twist rack rod (174) is slidably connected, and the anti-twist rack rod (174) is meshed with two driven gears (173) at the same time. A hexagonal hole is opened on the side of one of the fixed piers (171), and a double nut is embedded in the hexagonal hole. An adjusting screw (13) meshing with the anti-twist rack rod (174) is threaded in the double nut. A thin neck is provided at one end of the adjusting screw (13) close to the middle of the anti-twist rack rod (174), and a rotating sleeve is rotatably connected to the thin neck. The rotating sleeve is welded and fixed to the outer wall of the anti-twist rack rod (174).

10. The flexible gripper imitating a fish fin structure according to claim 9, characterized in that: The movable side barrel (4) and the side barrel (12) relative to the fixed side barrel (12) are both provided with adjustment through holes (131) at the ends of the adjustment screw rod (13).

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