A flexible gripper with a fish fin-like structure

Abstract

The present invention belongs to the technical field of flexible grippers, in particular to a flexible gripper with a fish fin-like structure. Aiming at the problem that it is not easy for flexible grippers in the prior art to grasp soft or nearly circular objects, the following solutions are proposed. It includes a main mounting head fixed at the end of a robotic arm. One end of the main mounting head away from the robotic arm is fixed with a relatively fixed side barrel. One side of the relatively fixed side barrel away from the main mounting head near the top is hinged with a movable side barrel. And symmetrical bionic clamping mechanisms are arranged at the bottom ends of the relatively fixed side barrel and the movable side barrel. The present invention can not only clamp angular and protruding hard objects during clamping, but also when clamping soft objects, the side claws on both sides cooperate with a connecting cloth bag to well surround most of the object, so that the object can be smoothly scooped up without damaging the integrity of the object.

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] Currently, most soft grippers still rely on the clamping force of the gripper on the object to pick up the object. Compared with rigid grippers, the contact of soft grippers with objects is flexible and not easy to damage the grasped object. In existing small production lines, smaller, more brittle or softer products or foods usually can only be achieved by using bionic octopus grippers or simple jigs.

[0003] After retrieval, these flexible grippers only grasp a single target object by controlling the bending of multiple single rods. This not only has relatively high requirements for the hardness and shape of the target object, but also soft or nearly circular objects are not easy to be grasped. Therefore, we propose a flexible gripper that can grasp soft objects. Summary of the Invention

[0004] Aiming at the technical problem that it is not easy for flexible grippers in the prior art to grasp soft or nearly circular objects, the present invention adopts the following technical solutions:

[0005] A flexible gripper with a fish fin-like structure, including a main mounting head fixed at the end of a robotic arm. A relatively fixed side barrel is fixed at one end of the main mounting head away from the robotic arm, and a movable side barrel is hinged near the top on one side of the relatively fixed side barrel away from the main mounting head. And bionic clamping mechanisms are symmetrically arranged at the bottoms of the relatively fixed side barrel and the movable side barrel. The bionic clamping mechanism includes a middle finger inserted in the middle of the bottom of the relatively fixed side barrel and capable of bending towards the middle. Symmetric side claws are respectively arranged on both sides of the middle finger. The side claws and the middle finger bend synchronously and in the same direction, and connecting cloth bags are fixed between both sides of the middle finger and the side surfaces of the corresponding side claws. The overall length of the middle finger is greater than the lengths of the side claws on both sides.

[0006] Further settings are as follows. There is a hinge joint between the side of the relatively fixed side barrel near the top and the side of the movable side barrel near the top. The hinge joint includes a rod through-hole opened near the top of the bottom of the movable side barrel. A vertically extending L-shaped fixing rod is welded and fixed in the rod through-hole and extends towards the center position of the hinge joint. A vertical installation groove is opened in the middle of the end of the L-shaped fixing rod away from the movable side barrel. A worm wheel disk one with a vertical disk surface is clamped and fixed in the installation groove. A horizontally extending shaft rod is fixed in the middle of the worm wheel disk one. A worm groove hole is opened near the top of the bottom of the relatively fixed side barrel. Two symmetrically arranged hinge ear plates are fixed on the side of the bottom of the relatively fixed side barrel near the movable side barrel. The shaft rod is rotatably connected between the two hinge ear plates. The two hinge ear plates are respectively located on both sides of the worm groove hole. A motor seat is fixed on the side of the main installation head at the top of the worm groove hole. A reduction motor with a downward motor shaft is fixed on the motor seat. The top of the output shaft of the reduction motor is fixed with a worm one through a coupling. The worm one meshes with the worm wheel disk one. By setting the hinge joint and the reduction motor fixed on the main installation head, when it is necessary to control the overall clamping force, only the number of rotation turns of the reduction motor needs to be controlled.

[0007] Further settings are as follows. A rectangular notch adapted to the reduction motor is opened on the outer circumferential wall of the relatively fixed side barrel near the top. 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 installation head. A rectangular jack is opened in the middle of the two flat cut surfaces. Symmetrically arranged strip-shaped movable holes are reserved on both sides of the rectangular jack. Fixed frame blocks are fixed on the inner walls of the relatively fixed side barrel and the movable side barrel at the rectangular jack. The middle finger passes through the corresponding rectangular jack and is fixed in the fixed frame block. Two side claws are inserted into the corresponding strip-shaped movable holes. The middle finger and the side claws have the same size, dimension and shape. The middle finger includes a metal groove rod fixed in the fixed frame block. Two symmetrically arranged folded connecting patch plates are fixed at the end of the bottom of the metal groove rod away from the fixed frame block. The same reset metal rod is fixed at the ends of the two folded connecting patch plates away from the metal groove rod. 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] Further settings are as follows. A rubber sleeve is fixedly clamped on 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. The connecting cloth bag is fixed on the side of the rubber sleeve. At the end of the rubber sleeve on the middle finger away from the metal groove rod, two soft buckles are fixed, and the two soft buckles 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. Silicone sleeves are fixedly clamped on the side of the rubber sleeve away from the reset metal rod. The cross-section of the silicone sleeve is in 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, and cracks can be prevented from being pressed out at the contact area between the surface of the object and the middle finger.

[0009] Further settings are as follows. On the back of the end of the rubber sleeve away from the metal groove rod, a plugging groove opening adapted to the width of the reset metal rod is opened. A through rope hole is opened in the length direction of the rubber sleeve, and a steel wire pull wire is slidably connected in the rope hole. One end of the steel wire pull wire is fixed at the end of the reset metal rod away from the folded connecting patch board. A pull wire mechanism is arranged at the other end of the steel wire pull wire. Through holes I are opened at the bottoms of the V-shaped buffer grooves of the rubber sleeve. Round rods are fixed near the through holes I on the reset metal rod, and limiting pull rings sleeved on the steel wire pull wires are fixed at the ends of the round rods away from the reset metal rod.

[0010] Further settings are as follows. The connecting cloth bag is made of elastic cloth with good toughness, and a plurality of staggered anti-slip synapses are fixed on the opposite sides of the connecting cloth bags on the movable side barrel and the relatively fixed side barrel. It can not only improve the anti-slip effect on the target object, but also improve the wrapping effect on the device.

[0011] Further settings are as follows. Pull wire mechanisms are arranged inside the movable side barrel and the relatively fixed side barrel near the fixed frame block. The pull wire mechanism includes shaft rod turntables fixed on both sides of the fixed frame block. The same winding rope rod is rotatably connected between the two shaft rod turntables. Anti-slip wheels that are symmetric to each other are respectively sleeved at both ends of the winding rope rod. The corresponding steel wire pull wires are wound around the middle and both ends of the winding rope rod in the same direction. A second worm gear disc is also sleeved on the circumferential outer wall of the winding rope rod. Servo motors are arranged on the inner walls of the movable side barrel and the relatively fixed side barrel. A worm gear sleeve meshing with the second worm gear disc is fixed at the top of the output shaft of the servo motor. By controlling the rotation of the servo motor, the three steel wire pull wires can be driven to pull at the same time.

[0012] Further settings are as follows. Transparent cover plates I and II are respectively fixed at the openings of the movable side barrel and the relatively fixed side barrel. Fixed piers are fixed at the bottoms of the movable side barrel and the relatively fixed side barrel near the strip-shaped movable holes. Short shafts are rotatably connected to the bottoms of the two fixed piers. Semi-worms II are sleeved in the middle of the short shafts. Shaft rod fixing seats are rotatably sleeved at the other ends of the short shafts, and the shaft rod fixing seats are correspondingly fixed on the inner surfaces of the transparent cover plates I and II. Slots I are formed in the circumferential outer walls of the semi-worms II, and the metal groove rod is fixedly clamped in the slots I. The internal operation conditions can be clearly seen. When it is necessary to control the separation or closing of the side claws, only the two semi-worms II need to be rotated in the reverse direction.

[0013] Further settings are as follows. Tightening mechanisms for controlling the opening degrees of the two side claws are arranged inside the movable side barrel and the relatively fixed side barrel. The tightening mechanism includes a U-shaped double-rod frame fixed to the bottom of the movable side barrel and located between the two fixed piers. Two symmetrically arranged transmission rods are respectively rotatably connected to the U-shaped double-rod frame. Worms and driven gears are respectively fixed at the two ends of the transmission rods. The two worms are respectively a left-handed worm and a right-handed worm. The same anti-twist rack bar is slidably connected between the two fixed piers, and the anti-twist rack bar meshes with the two driven gears at the same time. A hexagonal hole is formed in the side surface 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 bar is screwed in the double nut. A thin neck is arranged at one end of the adjusting screw close to the middle of the anti-twist rack bar, and a rotating socket is rotatably connected at the thin neck. The rotating socket is welded and fixed to the outer wall of the anti-twist rack bar. By setting the anti-twist rack bar and the adjusting screw for controlling the advancement of the anti-twist rack bar, when it is necessary to control the change of the opening degrees of the two side claws, only the adjusting screw needs to be rotated.

[0014] Further settings are as follows. Adjusting through holes are formed in the sides of the movable side barrel and the relatively fixed side barrel at the ends of the adjusting screws. The opening degrees of the two side claws can be manually adjusted from the outside, and then the tightening degree of the connecting cloth bag can be adjusted.

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

[0016] 1. By setting the bendable middle finger and side claws, and cooperating with the connecting cloth bag for connecting the side claws and the middle finger, not only can the angularly protruding hard objects be clamped during clamping, but also when clamping soft objects, the two side claws cooperate with the connecting cloth bag to well surround most of the object, so that the object can be smoothly scooped up without damaging the integrity of the object.

[0017] 2. By setting reset metal rods of different lengths, when clamping a soft object, the bending amplitude of the side claws on both sides can be controlled to be greater than that of the middle finger. With the connecting cloth bag used to connect the two, most of the object can be wrapped, and then a flexible clamping can be formed on it.

[0018] 3. By setting the steel wire pull wire and the pull wire mechanism, when the target object needs to be grabbed, only need to control the pull wire mechanism to pull the steel wire pull wires in the middle finger and the side claws at the same time, then the rubber sleeve can be bent inward to the target object in the middle, and then cooperate with the connecting cloth bag to grab it. Description of the Drawings

[0019] Figure 1 It is a schematic diagram of the overall structure of a flexible gripper with a fish fin-like structure proposed by the present invention;

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

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

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

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

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

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

[0026] Figure 8 It is a flexible gripper with a fish fin-like structure proposed by the present invention Figure 1 The enlarged structure diagram at A in;

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

[0028] Figure 10 It is a schematic diagram of the overall structure of the pull wire mechanism in a flexible gripper with a fish fin-like structure proposed by the present invention;

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

[0030] Figure 12 Explosion structure schematic diagram of rubber sleeve and silica gel sleeve 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, first worm wheel disc; 4, movable side barrel; 401, rod perforation; 5, first transparent cover plate; 6, servo motor; 7, middle finger; 8, side claw; 9, soft buckling plate; 10, connecting cloth bag; 11, anti-slip synaptic; 12, relatively fixed side barrel; 121, worm groove hole; 122, rectangular notch; 13, adjusting screw; 131, adjusting through hole; 14, second transparent cover plate; 15, hinged ear plate; 16, L-shaped fixing rod; 17, tensioning mechanism; 171, fixed pier column; 172, U-shaped double rod frame; 173, driven gear; 174, anti-torsion rack bar; 175, shaft rod fixing seat; 176, second half worm wheel; 18, fixed frame block; 19, wire pulling mechanism; 191, shaft rod rotating frame; 192, second worm wheel disc; 193, rope winding rod; 194, anti-detachment wheel; 20, strip-shaped movable hole; 21, shaft rod; 22, rectangular jack; 23, first worm; 24, metal groove rod; 25, reset metal rod; 26, silica gel sleeve; 27, rubber sleeve; 2701, V-shaped buffer groove; 2702, first through hole; 2703, insertion slot opening; 28, folded connecting patch plate; 29, steel wire pulling wire; 30, limit pull ring. Specific embodiments

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

[0033] In this embodiment, refer to Figures 1-12, A flexible gripper with a fish fin structure imitation, comprising a main mounting head 1 fixed to the end of a robotic arm. The robotic arm is a multi-degree-of-freedom robotic arm. The end of the main mounting head 1 away from the robotic arm, i.e., the movable end, is fixed with a relatively fixed side barrel 12. On the side of the relatively fixed side barrel 12 away from the main mounting head 1 and near the top, a movable side barrel 4 is hinged; at the bottom ends of the relatively fixed side barrel 12 and the movable side barrel 4, there are symmetrically arranged bionic clamping mechanisms. The bionic clamping mechanism includes a middle finger 7 inserted in the middle of the bottom end of the relatively fixed side barrel 12 and capable of bending towards the middle. On both sides of the middle finger 7, there are symmetrically arranged side claws 8. The side claws 8 and the middle finger 7 bend synchronously and in the same direction. Between the two sides of the middle finger 7 and the side surfaces of the corresponding side claws 8, connecting cloth bags 10 are fixed; the overall length of the middle finger 7 is greater than the lengths of the side claws 8 on both sides. By setting the bendable middle finger 7 and side claws 8, and cooperating with the connecting cloth bags 10 for connecting the side claws 8 and the middle finger 7, not only can it clamp angular and protruding hard objects during clamping, but also when clamping soft objects, the side claws 8 on both sides cooperate with the connecting cloth bags 10 to well surround most of the object, so that the object can be smoothly scooped up without damaging the integrity of the object.

[0034] Refer to Figure 2 , Figure 4 , Figure 5 , 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, there is a hinge joint, and the hinge joint includes a rod through-hole 401 opened near the top of the bottom of the movable side barrel 4. In the rod through-hole 401, an L-shaped fixing rod 16 extending towards the center of the hinge joint is welded and fixed. In the middle of the end of the L-shaped fixing rod 16 away from the movable side barrel 4, a vertical mounting groove is opened, and in the mounting groove, a worm wheel disk 3 with a vertical disk surface is clamped and fixed. In the middle of the worm wheel disk 3, a horizontally extending left and right shaft rod 21 is fixed; a worm groove hole 121 is opened near the top of the bottom of the relatively fixed side barrel 12, and on the side of the bottom of the relatively fixed side barrel 12 near the movable side barrel 4, two symmetrically arranged hinge ear plates 15 are fixed. The shaft rod 21 is rotatably connected between the two hinge ear plates 15; and the two hinge ear plates 15 are respectively located on both sides of the worm groove hole 121; on the side of the main mounting head 1 at the top of the worm groove hole 121, a motor seat is fixed, and on the motor seat, a reduction motor 2 with a downward motor shaft is fixed. The top end of the output shaft of the reduction motor 2 is fixed with a worm 23 through a coupling, and the worm 23 meshes with the worm wheel disk 3; by setting the hinge joint and the reduction motor 2 fixed on the main mounting head 1, when it is necessary to control the overall clamping force, only the number of rotation turns of the reduction motor 2 needs to be controlled.

[0035] Refer to 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 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 rectangular jacks 22 are opened in the middle of the two flat cut surfaces. Strip-shaped movable holes 20 symmetrical to each other are reserved on both sides of the rectangular jack 22; fixed frame blocks 18 are fixed on the inner walls of the relatively fixed side barrel 12 and the movable side barrel 4 at the positions of the rectangular jacks 22; the middle finger 7 passes through the corresponding rectangular jack 22 and is fixed in the fixed frame block 18; the two side claws 8 are inserted into the corresponding strip-shaped movable holes 20; the middle finger 7 and the side claws 8 have the same size and shape, and the middle finger 7 includes a metal groove rod 24 fixed in the fixed frame block 18. At one end of the groove bottom of the metal groove rod 24 away from the fixed frame block 18, two symmetrical folded connecting plates 28 are fixed. The same reset metal rod 25 is fixed at one end of the two folded connecting plates 28 away from the metal groove rod 24. 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 reset metal rods 25 with different lengths, when clamping a soft object, the bending amplitude of the two side claws 8 can be controlled to be greater than that of the middle finger 7. Cooperating with the connecting cloth bag 10 used to connect the two, most of the object can be wrapped, and then a flexible clamping can be formed on it.

[0036] Refer to Figures 8-12 , a rubber sleeve 27 is fixedly clamped on 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 on the side of the rubber sleeve 27. Two soft buckles 9 are fixed at one end of the rubber sleeve 27 on the middle finger 7 away from the metal groove rod 24, and the two soft buckles 9 are respectively fixed on both sides of the rubber sleeve 27; by setting the soft buckles 9 on both sides of the tip of the rubber sleeve 27, a digging state can be formed when grasping, and then the target object can be quickly taken out and an effective grasp can be formed; on the side of the rubber sleeve 27 away from the reset metal rod 25, a silica gel sleeve 26 is fixedly clamped, and the cross section of the silica gel sleeve 26 is in a U-shaped structure, and the length of the silica gel sleeve 26 is equal to the distance between two adjacent V-shaped buffer grooves 2701; by setting the silica gel sleeve 26 clamped on the surface of the rubber sleeve 27, the protection effect on the object can be improved, and the surface of the object in contact with the middle finger 7 can be prevented from being pressed out of cracks.

[0037] Refer to Figures 10-12, on the back of the end of the rubber sleeve 27 away from the metal groove rod 24, there is a plugging groove opening 2703 adapted to the width of the reset metal rod 25. And a through rope hole is opened in the length direction of the rubber sleeve 27, and a steel wire pull wire 29 is slidably connected in the rope hole. One end of the steel wire pull wire 29 is fixed to the end of the reset metal rod 25 away from the folded connection patch 28; the other end of the steel wire pull wire 29 is provided with a pull wire mechanism 19; through holes one 2702 are opened at the bottom of the V-shaped buffer grooves 2701 of the rubber sleeve 27; and round rods are fixed near the through holes one 2702 of the reset metal rod 25, and limit pull rings 30 sleeved on the steel wire pull wire 29 are fixed to the ends of the round rods away from the reset metal rod 25. By arranging the steel wire pull wire 29 and the pull wire mechanism 19, when it is necessary to grab a target object, only need to control the pull wire mechanism 19 to simultaneously pull the steel wire pull wires 29 in the middle finger 7 and the side claw 8, then the rubber sleeve 27 can be bent inward to the target object in the middle, 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 anti-slip synaptic protrusions 11 distributed alternately are fixed on the opposite sides of the connecting cloth bags 10 on the movable side barrel 4 and the relatively fixed side barrel 12; by arranging the anti-slip synaptic protrusions 11 and the elastic connecting cloth bag 10, not only can the anti-slip effect on the target object be improved, but also the wrapping effect on the device can be improved.

[0039] Refer to Figure 3 、 Figure 7 and Figure 10 , on the inner sides of the movable side barrel 4 and the relatively fixed side barrel 12 close to the fixed frame block 18, pull wire mechanisms 19 are provided. And the pull wire mechanism 19 includes shaft rod turntables 191 fixed on both sides of the fixed frame block 18. The same winding rope rod 193 is rotatably connected between the two shaft rod turntables 191. Anti-slip wheels 194 symmetric to each other are sleeved at both ends of the winding rope rod 193. The corresponding same-direction steel wire pull wires 29 are wound around the middle part and both ends of the winding rope rod 193; a worm gear disk two 192 is also sleeved on the circumferential outer wall of the winding rope rod 193, and servo motors 6 are arranged on the inner walls of the movable side barrel 4 and the relatively fixed side barrel 12. The top of the output shaft of the servo motor 6 is fixed with a worm gear sleeve meshing with the worm gear disk two 192; by controlling the rotation of the servo motor 6, the three steel wire pull wires 29 can be simultaneously pulled.

[0040] Refer to Figure 1 、 Figure 9, at the openings of the movable side barrel 4 and the relatively fixed side barrel 12, a transparent cover plate one 5 and a transparent cover plate two 14 are respectively fixed. And at the bottom of the movable side barrel 4 and the relatively fixed side barrel 12 near the strip-shaped movable hole 20, fixed piers 171 are both fixed. The bottom ends of the two fixed piers 171 are both rotatably connected to short shafts. Semi-worm wheels two 176 are sleeved in the middle of the short shafts. The other ends of the short shafts are rotatably sleeved with shaft rod fixing seats 175. The shaft rod fixing seats 175 are correspondingly fixed on the inner surfaces of the transparent cover plate one 5 and the transparent cover plate two 14; a slot one is opened on the circumferential outer wall of the semi-worm wheel two 176, and the metal groove rod 24 is fixedly clamped in the slot one; through the provided transparent cover plate one 5 and transparent cover plate two 14, the internal operation condition can be clearly seen. And when it is necessary to control the separation or closing of the side claws 8, just reversely rotate the two semi-worm wheels two 176.

[0041] Refer to Figure 9 , inside the movable side barrel 4 and the relatively fixed side barrel 12, a tensioning mechanism 17 for controlling the opening degree of the two side claws 8 is arranged. And the tensioning mechanism 17 includes a U-shaped double rod frame 172 fixed at the bottom of the movable side barrel 4 and located between the two fixed piers 171. Two symmetrically arranged transmission rods are respectively rotatably connected to the U-shaped double rod frame 172. A worm and a driven gear 173 are respectively fixed at the two ends of the transmission rod. The two worms are respectively a left-handed worm and a right-handed worm; a torsion-proof rack bar 174 is slidably connected between the two fixed piers 171. And the torsion-proof rack bar 174 is simultaneously meshed with the two driven gears 173. A hexagonal hole is opened on the side surface of one of the fixed piers 171. And a double nut is embedded in the hexagonal hole. An adjusting screw 13 meshed with the torsion-proof rack bar 174 is screwed in the double nut. One end of the adjusting screw 13 close to the middle of the torsion-proof rack bar 174 is provided with a thin neck. And a rotating socket piece is rotatably connected at the thin neck. The rotating socket piece is welded and fixed on the outer wall of the torsion-proof rack bar 174; through the provided torsion-proof rack bar 174 and the adjusting screw 13 for controlling the advancement of the torsion-proof rack bar 174, when it is necessary to control the change of the opening and closing degree of the two side claws 8, just rotate the adjusting screw 13.

[0042] Refer to Figure 4 , Figure 9 , adjusting through holes 131 are opened on the sides of the movable side barrel 4 and the relatively fixed side barrel 12 at the end of the adjusting screw 13; through the provided adjusting through holes 131, the opening and closing degree of the two side claws 8 can be manually adjusted from the outside, and then the tensioning degree of the connecting cloth bag 10 can be adjusted.

[0043] Working principle: When this device is in use, first fix the main mounting head 1 of this device to the movable end of the manipulator, and then control the manipulator to move the middle finger 7 at the end of the relatively fixed side barrel 12 towards the object to be clamped below, so that the middle finger 7 below the movable side barrel 4 is located above the object to be clamped, forming a posture of about to surround and clamp; 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 cables 29 to form a shape in which the middle finger 7 and the side claws 8 bend towards the middle, and then clamp the object in the middle; at the same time, the connecting cloth bag 10 used to connect the side claws 8 and the middle finger 7 can not only clamp hard things with protruding edges and corners during clamping, but also when clamping soft objects, the two side claws 8 cooperate with the connecting cloth bag 10 to well surround most of the object, so that the object can be smoothly scooped up without damaging the integrity of the object.

[0044] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A flexible gripper imitating a fish fin 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 claws (8); the overall length of the middle finger (7) is greater than the length of the side claws (8) on both sides; 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); 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); 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).

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: 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).

4. The flexible gripper imitating a fish fin structure according to claim 1, 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).

5. The flexible gripper imitating a fish fin structure according to claim 1, 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.

6. The flexible gripper imitating a fish fin structure according to claim 5, 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).

7. The flexible gripper imitating a fish fin structure according to claim 6, 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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