Rigid-flexible combined grabbing equipment

Abstract

The invention provides rigid-flexible combined grabbing equipment, a clamping direction and a lateral direction perpendicular to the clamping direction are arranged on the rigid-flexible combined grabbing equipment, the grabbing equipment comprises rigid mechanical claws, the rigid mechanical claws comprise clamping claws which are oppositely arranged, clamping parts are arranged on the clamping claws, and the clamping parts are arranged on the clamping claws. The clamping parts on the clamping jaws move in the mode that the clamping parts get close to each other and get away from each other in the clamping direction, and the clamping jaws can be in driving connection through a driving device. According to the rigid-flexible combined grabbing equipment, the rigid mechanical claw is combined with the flexible sheet-shaped piece, the grabbing stability is guaranteed through the rigid part, the adaptability of the rigid-flexible combined grabbing equipment to different shapes and surfaces is enhanced through the flexible part, the operation precision of the rigid-flexible combined grabbing equipment is optimized, and the grabbing efficiency of the rigid-flexible combined grabbing equipment is improved. The flexible sheet-shaped piece can evenly disperse clamping force, and object damage caused by stress concentration of a traditional mechanical claw is effectively avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical claw grasping, and particularly to a rigid-flexible combined grasping device. Background Art

[0002] A mechanical claw is an automated device that mimics the actions of a human hand and is widely used in industrial automation, logistics, medical and other fields. With the progress of materials science, sensor technology and electronic technology, the performance of mechanical claws has been continuously improved. Modern mechanical claws can achieve automated operations through sensors and intelligent control systems.

[0003] However, the above-mentioned existing technologies have the following defects when in use:

[0004] When a mechanical claw is dealing with the task of grasping small or fragile objects, if misjudgment occurs during the operation process, a series of adverse consequences may be caused. If the clamping force of the mechanical claw is too small, the object may easily slip due to insufficient support and may pose a safety hazard to the surrounding environment or operators due to the accidental dropping of the object. On the contrary, if the clamping force of the mechanical claw is too large, the fragile object to be transferred is prone to damage under the large pressure.

[0005] Therefore, to solve the above problems, the present invention proposes a rigid-flexible combined grasping device that can accurately control the clamping force, can firmly grasp small or fragile objects, and can avoid damage to the objects. Summary of the Invention

[0006] To solve the problems existing in the above-mentioned prior art, the present invention provides a rigid-flexible combined grasping device.

[0007] According to an object of the present invention, the present invention provides a rigid-flexible combined grasping device. The rigid-flexible combined grasping device is provided with a clamping direction and a lateral direction perpendicular to the clamping direction. The grasping device includes:

[0008] A rigid mechanical claw, the rigid mechanical claw includes oppositely arranged jaws, a clamping portion is provided on the jaws, and the clamping portions on the jaws move in a manner of approaching and separating from each other along the clamping direction, and the jaws can be drivingly connected through a driving device;

[0009] A thermo-pneumatic unit, the thermo-pneumatic unit includes a temperature control member and a flexible sheet-like member. A receiving cavity filled with an active liquid is provided between the sheet-like member and the clamping portion. The sheet-like member is arranged to extend along the clamping direction when the size of the receiving cavity changes. The temperature control member is connected to the active liquid, and the temperature control member is arranged to adjust the temperature of the active liquid. The volume of the active liquid is arranged to change with its own temperature.

[0010] Preferably, the sheet member has at least two working states, namely an initial state and an expanded state. When the sheet member is in the initial state, any point on the outer side surface of the sheet member in the clamping direction is in the same plane. When the sheet member is in the expanded state, the outer side surface of the sheet member in the clamping direction gradually increases in the dimension extending in the clamping direction in a manner approaching the center of the lateral direction.

[0011] Preferably, the sheet member is the elastic sheet member, and in the lateral direction, the elasticity of the sheet member gradually decreases in a manner approaching the center of the sheet member.

[0012] Preferably, the temperature control member includes a thermoelectric cooler. The thermo-pneumatic unit further includes a fixed frame with an axis arranged along the clamping direction. The fixed frame is connected to the clamping portion. On both sides of the fixed frame in the clamping direction, the thermoelectric cooler and the sheet member are arranged at intervals. The thermoelectric cooler, the fixed frame and the sheet member enclose the accommodation cavity.

[0013] Preferably, the temperature control member further includes a heat conducting member. The heat conducting member is connected to the thermoelectric cooler and is immersed in the active liquid.

[0014] Preferably, in the clamping direction, the outer side surface of the sheet member in the clamping direction is located outside the outer side surface of the fixed frame in the clamping direction.

[0015] Preferably, the mechanical claw further includes a positioning plate, a transmission rod and a connecting rod. Opposite transmission surfaces and driving surfaces are provided on the positioning plate. One end of the transmission rod is movably connected to the transmission surface of the positioning plate through a rotating pair. The other end of the transmission rod is connected to one end of the clamping jaw through a rotating pair. The other end of the clamping jaw is provided with the clamping portion. One end of the connecting rod is connected to the transmission surface of the positioning plate through a rotating pair. The other end of the connecting rod is connected to the middle part in the length direction of the clamping jaw through a rotating pair. The positioning plate, the transmission rod, the connecting rod and the clamping jaw enclose a transmission mechanism in a parallelogram structure that can move along the clamping direction.

[0016] Preferably, the driving device is installed on the driving surface of the positioning plate, and the rotating pair connecting the clamping jaw and the positioning plate is drivingly connected through the driving device.

[0017] Preferably, the number of the clamping jaws is two. The two clamping jaws are respectively a left clamping jaw and a right clamping jaw. One end of the transmission rod corresponding to the right clamping jaw, which is connected to the positioning plate, is provided with a driving gear. One end of the transmission rod corresponding to the left clamping jaw, which is connected to the positioning plate, is provided with a driven gear. The driven gear and the driving gear are meshed with each other. The driving device is provided with an output end which is drivingly connected to the driving gear.

[0018] Preferably, all components included in the rigid-flexible combined grasping device are detachably connected.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] By combining the rigid mechanical claws with the flexible sheet-like parts, the rigid part of the rigid-flexible combined grasping device ensures the stability of grasping, and the flexible part enhances the adaptability of the rigid-flexible combined grasping device to different shapes and surfaces, optimizing the operation precision of the rigid-flexible combined grasping device. Among them, the flexible sheet-like parts can evenly disperse the clamping force, effectively avoiding the damage of objects caused by stress concentration of traditional mechanical claws.

[0021] The present invention will be further described below in conjunction with the accompanying drawings and embodiments. Description of the Drawings

[0022] Figure 1 is an overall schematic diagram of a rigid-flexible combined grasping device according to the present invention;

[0023] Figure 2 is a schematic diagram of a driving device in a rigid-flexible combined grasping device according to the present invention;

[0024] Figure 3 is a connection schematic diagram of clamping jaws and a thermal pneumatic unit in a rigid-flexible combined grasping device according to the present invention;

[0025] Figure 4 is a schematic diagram of the expansion of active liquid in a rigid-flexible combined grasping device according to the present invention;

[0026] Figure 5 is a schematic diagram of clamping jaws in a rigid-flexible combined grasping device according to the present invention. Detailed Embodiments

[0027] The following description is used to elaborate the present invention in detail so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and other obvious variations can be conceived by those skilled in the art. The basic principles defined in the following description can be applied to other embodiments, variants, improvements, equivalent solutions, and other technical solutions that do not depart from the spirit and scope of the present invention.

[0028] Please refer to Figures 1-5 , the present invention provides a technical solution: a rigid-flexible grasping device, on which a clamping direction a and a lateral direction perpendicular to the clamping direction a are provided, and the grasping device includes:

[0029] A rigid mechanical claw 100, the rigid mechanical claw 100 includes oppositely arranged clamping jaws 101, a clamping portion 1011 is provided on the clamping jaw 101, and the clamping portions 1011 on the clamping jaws 101 move in a manner of approaching and separating from each other along the clamping direction a, and the clamping jaw 101 is drivingly connected through a driving device 102;

[0030] A thermoelectric pneumatic unit 200, the thermoelectric pneumatic unit 200 includes a temperature control member 201 and a flexible sheet member 202, a receiving cavity filled with an active liquid 203 is provided between the sheet member 202 and the clamping portion 1011, and the sheet member 202 is arranged to extend along the clamping direction a when the size of the receiving cavity changes, the temperature control member 201 is connected to the active liquid 203, the temperature control member 201 is arranged to adjust the temperature of the active liquid 203, and the volume of the active liquid 203 is arranged to change following its own temperature.

[0031] This rigid-flexible grasping device combines the rigid mechanical claw 100 with the flexible sheet member 202. The rigid part ensures the stability of grasping, while the flexible part enhances the adaptability of the rigid-flexible grasping device to different shapes and surfaces;

[0032] During use, the clamping jaws 101 are driven by the driving device 102 to move the clamping portions 1011 to a position close to the article. Further, the thermoelectric pneumatic unit 200 is activated. The temperature control member 201 adjusts the temperature of the active liquid 203. The driving force generated by the volume change of the active liquid 203 changes the size of the receiving cavity extending in the clamping direction a, and further adjusts the magnitude of the clamping force applied by the sheet member 202 to the object, realizing stable clamping and releasing of the object, and optimizing the operation accuracy of the rigid-flexible grasping device.

[0033] In addition, through the above design, this rigid-flexible grasping device can achieve precise, efficient, automated control and operation flexibility. In a complex production environment, whether dealing with objects of different shapes or sizes, the rigid-flexible grasping device can quickly respond and accurately execute instructions, thus greatly improving production efficiency and operation success rate;

[0034] During the clamping process, the flexible sheet-like member 202 can evenly disperse the clamping force, effectively avoiding damage to the object caused by stress concentration in traditional mechanical claws. This not only improves the clamping stability but also greatly enhances the adaptability of the rigid-flexible grasping device to small or fragile objects. In practical applications, the rigid-flexible grasping device can easily handle objects of various shapes and materials, ensuring the integrity and safety of the object during clamping and transportation.

[0035] See Figure 4 , the sheet-like member 202 has at least two working states, namely the initial state and the expanded state. When the sheet-like member 202 is in the initial state, any point on the outer side surface of the sheet-like member 202 in the clamping direction a is in the same plane. When the sheet-like member 202 is in the expanded state, the outer side surface of the sheet-like member 202 in the clamping direction a has a dimension extending in the clamping direction a that gradually increases in a manner approaching the center of the lateral direction. Further, the sheet-like member 202 is the elastic sheet-like member 202. Optionally, in the lateral direction, the elasticity of the sheet-like member 202 gradually decreases in a manner approaching the center of the sheet-like member 202. In this embodiment, the sheet-like member 202 is a film-like structure made of silicone material. By using a silicone film, the rigid-flexible grasping device made by the thermoelectric pneumatic unit 200 can avoid exerting excessive pressure on the object during the clamping process, ensuring a smoother clamping process. Especially when dealing with fragile objects, it can effectively prevent damage to the object.

[0036] See Figure 3 , the temperature control member 201 includes a Peltier element 2011. The thermoelectric pneumatic unit 200 further includes a fixing frame 204. The axis of the fixing frame 204 is arranged along the clamping direction a. The fixing frame 204 is connected to the clamping portion 1011. On both sides of the fixing frame 204 in the clamping direction a, the Peltier element 2011 and the sheet-like member 202 are respectively arranged. The Peltier element 2011 and the sheet-like member 202 are arranged at intervals in the clamping direction a. The Peltier element 2011, the fixing frame 204, and the sheet-like member 202 enclose the accommodation cavity. In this embodiment, the fixing frame 204 is rectangular, and the Peltier element 2011 is a semiconductor Peltier element 2011. The heat generated by the semiconductor Peltier element 2011 changes the expansion volume of the active liquid 203 by adjusting the magnitude of the temperature difference, causing the active liquid 203 to vaporize and generate a driving force to achieve stable clamping and release of the object by the sheet-like member 202. This design method ensures that the device can flexibly meet the clamping requirements of objects of different specifications. It should be noted that the Peltier element 2011 generates a temperature difference at both ends through the Peltier effect.

[0037] That is, the flexible thermoelectric pneumatic unit is prepared from a temperature control member 201 of thermoelectric material, an active liquid 203, and a silica gel film. By controlling the current and utilizing the thermoelectric conversion performance of the thermoelectric material, the heat transfer to the active liquid in the silica gel film is controlled, so that the active liquid 203 is converted between gaseous and gaseous states, realizing the inflation and contraction of the flexible sheet 202.

[0038] See Figure 4 , the temperature control member 201 further includes a heat conduction member 2012, the heat conduction member 2012 is connected to the refrigeration sheet 2011, and the heat conduction member 2012 is immersed in the active liquid 203. Further, the heat conduction member 2012 is a heat conduction member 2012 made of copper, and the heat conduction member 2012 is in a spiral filament structure to increase the heat conduction efficiency of the heat conduction member 2012 to the temperature on the refrigeration sheet 2011.

[0039] Further, in the clamping direction a, in the initial state, the outer side surface of the sheet 202 in the clamping direction a is located outside the outer side surface of the fixed frame 204 in the clamping direction a. So that during the process of clamping an object, the sheet 202 located outside the clamping direction a can contact the object prior to the rigid fixed frame 204 to avoid damaging the object.

[0040] In this embodiment, see Figure 1 , the mechanical claw 100 further includes a positioning plate 103, a transmission rod 104, and a connecting rod 105. The positioning plate 103 is provided with an opposite transmission surface and a driving surface. One end of the transmission rod 104 is movably connected to the transmission surface of the positioning plate 103 through a rotating pair, and the other end of the transmission rod 104 is connected to one end in the length direction of the claw 101 through a rotating pair. The other end in the length direction of the claw 101 is provided with the clamping portion 1011. One end in the length direction of the connecting rod 105 is connected to the transmission surface of the positioning plate 103 through a rotating pair, and the other end in the length direction of the connecting rod 105 is connected to the middle in the length direction of the claw 101 through a rotating pair. The positioning plate 103, the transmission rod 104, the connecting rod 105, and the claw 101 enclose a transmission mechanism in a parallelogram structure that can move along the clamping direction a. The parallelogram transmission mechanism has better stability to ensure that the clamping portion 1011 can stably move in the clamping direction a under the action of the driving device 102, thereby realizing stable clamping of the object;

[0041] The driving device 102 is installed on the driving surface of the positioning plate 103. For one of the transmission rods 104 corresponding to the clamping jaws 101, the rotating pair connecting it to the positioning plate 103 is drivingly connected through the driving device 102. Specifically, the transmission rod 104 and the positioning plate 103 are connected by a rotating shaft, and the end of the rotating shaft extends to one side of the driving surface of the top plate and is connected to the output end of the driving device 102. More specifically, see Figure 2 , a metal steering wheel 1021 is connected to the side of the output end of the driving device 102 facing the transmission surface, and the steering wheel 1021 and the rotating shaft are detachably connected through a fastener 300.

[0042] Further, continue to see Figure 1 , in this embodiment, the number of the clamping jaws 101 is two. The two clamping jaws 101 are a left clamping jaw 101a and a right clamping jaw 101b respectively. For the transmission rod 104 corresponding to the right clamping jaw 101b, a driving gear 1041 is arranged at one end connected to the positioning plate 103. The axis of the driving gear 1041 coincides with the axis of the rotating pair between the transmission rod 104 and the positioning plate 103. For the transmission rod 104 corresponding to the left clamping jaw 101a, a driven gear 1042 is arranged at one end connected to the positioning plate 103. The driven gear 1042 and the driving gear 1041 are meshed with each other. One output end is arranged on the driving device 102, and the output end is drivingly connected to the driving gear 1041. Through the above design, when only one output end is set, the clamping and releasing operations of the clamping part 1011 on the clamping jaw 101 can be controlled through the transmission between the driving gear 1041 and the driven gear 1042, reducing material waste and optimizing energy consumption, improving the transmission efficiency, effectively improving the energy utilization rate, meeting the standards of modern green production, reducing the operation cost of the equipment and prolonging the service life of the equipment. It should be noted that the number of the clamping jaws 101 is multiple. In other embodiments, the number of the clamping jaws 101 can be three or five.

[0043] In this embodiment, all the components included in the rigid-flexible grasping device are detachably connected. By modularizing the components, modular assembly between the components can be realized, which is convenient for quick replacement and adjustment, can be adjusted according to different production requirements, quickly adapts to the diverse specifications of objects, and improves the adaptability of the rigid-flexible grasping device and the flexibility of the production line.

[0044] Specifically, the driving device 102 is detachably mounted on the driving surface of the positioning plate 103 by means of a fastener 300. Optionally, the fastener 300 is a screw and a nut. More specifically, the driving device 102 is provided with bolt holes on both sides of the output shaft of the driving device 102 in the radial direction. The number of bolt holes on each side is two. The positioning plate 103 is provided with bolt holes. The bolt holes on the positioning plate 103 correspond to the bolt holes on the driving device 102 one by one. The screws can be inserted into the corresponding bolt holes and fixed with nuts to realize the assembly between the positioning plate 103 and the driving device 102.

[0045] See also Figure 3 and 5 The clamping portion 1011 of the clamping jaw 101 is provided with grooves on two opposite sides in the lateral direction, and the fixing frame 204 is snap-connected to the inner side of the grooves;

[0046] An L-shaped limiting plate 106 is installed on a side of the positioning plate 103 away from the clamping jaw 101 .

[0047] Through the above design, the rigid-flexible gripping device has a simple structure and is easy to manufacture, which can reduce costs and improve competitiveness. Its structure is simple, mainly composed of key components such as gears, connecting rods 105, cooling plates 2011 and silicone membranes, which are easy to process and assemble. This design not only reduces manufacturing costs, but also helps to improve production efficiency, making the mechanical claw 100 more competitive in the market. At the same time, the modular design of the mechanical claw 100 makes each component have good interchangeability and versatility, which is easy to repair and replace. This not only extends the service life of the mechanical claw 100, but also reduces the maintenance cost of the user.

[0048] Furthermore, the rigid-flexible grasping device can perform multi-directional movements, including up and down lifting, left and right rotation, and horizontal clamping, to meet different clamping requirements. The rigid-flexible grasping device can easily cope with various complex clamping tasks, such as grasping fragile objects, clamping small objects, etc.

[0049] In summary, the rigid-flexible gripping device is multifunctional and can achieve high-precision operation. One of the core components of the rigid-flexible gripping device of the present invention is the thermoelectric pneumatic unit 200. The flexible part of the thermoelectric pneumatic unit 200 can well adapt to the material, size and shape of the workpiece. The expansion range of the flexible part at the claw tip of the rigid-flexible gripping device is adjusted by the temperature difference change, ensuring that sufficient clamping force can be provided during the gripping process without causing damage to the precision workpiece. At the same time, the pneumatic drive ensures efficient response speed and gripping ability, which is particularly suitable for automated operation in high-speed production lines.

[0050] Reduce manual intervention and improve automation efficiency. In the present invention, the flexible part of the thermo-pneumatic unit 200 can pick up an object through gas expansion without manual intervention. At the same time, the thermo-pneumatic unit 200 can quickly complete grasping and releasing under high-precision requirements, greatly improving the efficiency and stability of the overall operation;

[0051] Precise grasping and control to ensure product quality and stability. The thermo-pneumatic unit 200 can adjust the grasping force and position of the gripper 101 in real time through precise temperature control and force control capabilities, ensuring the stability and protection from damage of the workpiece during handling.

[0052] The embodiments described above are only used to illustrate the technical idea and features of the present invention. The purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. The scope of the patent adoption of the present invention cannot be limited only by these embodiments. That is, any equivalent changes or modifications made according to the spirit disclosed in the present invention still fall within the scope of the patent of the present invention.

Claims

1. A rigid-flexible gripping device, wherein the rigid-flexible gripping device is provided with a clamping direction (a) and a lateral direction perpendicular to the clamping direction (a), characterized in that: The grabbing device comprises: A rigid mechanical claw (100), the rigid mechanical claw (100) comprising relatively arranged clamping jaws (101), the clamping jaws (101) being provided with clamping portions (1011), the clamping portions (1011) on the clamping jaws (101) being movable in a manner of approaching and moving away from each other along the clamping direction (a), and the clamping jaws (101) being driveably connected by a driving device (102); A thermoelectric pneumatic unit (200), the thermoelectric pneumatic unit (200) comprising a temperature control member (201) and a flexible sheet member (202), a receiving cavity filled with an active liquid (203) being arranged between the sheet member (202) and the clamping portion (1011), the sheet member (202) being arranged to extend along a clamping direction (a) when the size of the receiving cavity changes, the temperature control member (201) being connected to the active liquid (203), the temperature control member (201) being arranged to adjust the temperature of the active liquid (203), and the volume of the active liquid (203) being arranged to change in accordance with its own temperature.

2. A rigid-flexible gripping device according to claim 1, characterized in that: The sheet-like member (202) has at least two working states, namely an initial state and an expanded state. When the sheet-like member (202) is in the initial state, any point on the outer side surface of the sheet-like member (202) in the clamping direction (a) is in the same plane. When the sheet-like member (202) is in the expanded state, the outer side surface of the sheet-like member (202) in the clamping direction (a) has a dimension extending in the clamping direction (a) that gradually increases in a manner close to the center of the lateral direction.

3. A rigid-flexible gripping device according to claim 2, characterized in that: The sheet-like member (202) is an elastic sheet-like member (202), and in the lateral direction, the elasticity of the sheet-like member (202) gradually decreases toward the center of the sheet-like member (202).

4. A rigid-flexible gripping device according to claim 1, characterized in that: The temperature control component (201) comprises a cooling fin (2011), and the thermo-electric pneumatic unit (200) further comprises a fixing frame (204) whose axis is arranged along the clamping direction (a), the fixing frame (204) and the clamping portion (1011) are connected, and the cooling fin (2011) and the sheet-like component (202) are respectively arranged on both sides of the fixing frame (204) in the clamping direction (a), and the cooling fin (2011), the fixing frame (204) and the sheet-like component (202) are arranged at intervals from each other, and the accommodating cavity is surrounded by the cooling fin (2011), the fixing frame (204) and the sheet-like component (202).

5. A rigid-flexible gripping device according to claim 4, characterized in that: The temperature control component (201) further comprises a temperature conducting component (2012), wherein the temperature conducting component (2012) is connected to the refrigeration plate (2011), and the temperature conducting component (2012) is immersed in the active liquid (203).

6. A rigid-flexible gripping device according to claim 1, characterized in that: In the clamping direction (a), the outer side surface of the sheet-like member (202) in the clamping direction (a) is located outside the outer side surface of the fixing frame (204) in the clamping direction (a).

7. A rigid-flexible gripping device according to claim 1, characterized in that: The mechanical claw (100) also includes a positioning plate (103), a transmission rod (104) and a connecting rod (105); the positioning plate (103) is provided with a relative transmission surface and a driving surface; one end of the transmission rod (104) is movably connected to the transmission surface of the positioning plate (103) through a rotating pair; the other end of the transmission rod (104) is connected to one end of the clamping jaw (101) through a rotating pair; the other end of the clamping jaw (101) is provided with the clamping portion (1011); one end of the connecting rod (105) is connected to the transmission surface of the positioning plate (103) through a rotating pair; the other end of the connecting rod (105) is connected to the middle part of the clamping jaw (101) in the length direction through a rotating pair; the positioning plate (103), the transmission rod (104), the connecting rod (105) and the clamping jaw (101) form a transmission mechanism with a parallelogram structure that can move along the clamping direction (a).

8. A rigid-flexible gripping device according to claim 7, characterized in that: The driving device (102) is installed on the driving surface of the positioning plate (103), and the revolving pair connecting the clamping jaw (101) and the positioning plate (103) is driven and connected through the driving device (102).

9. A rigid-flexible gripping device according to claim 7, characterized in that: There are two clamping jaws (101), the two clamping jaws (101) are respectively a left clamping jaw (101a) and a right clamping jaw (101b); the transmission rod (104) corresponding to the right clamping jaw (101b) is provided with a driving gear (1041) at one end thereof connected to the positioning plate (103); the transmission rod (104) corresponding to the left clamping jaw (101a) is provided with a driven gear (1042) at one end thereof connected to the positioning plate (103); the driven gear (1042) and the driving gear (1041) are meshed with each other, and the driving device (102) is provided with an output end drivingly connected to the driving gear (1041).

10. A rigid-flexible gripping device according to claim 1, characterized in that: The various components of the rigid-flexible grasping device are all detachably connected.

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