Flexible self-adaptive clamping jaw

Abstract

The invention provides a flexible self-adaptive clamping jaw. The flexible self-adaptive clamping jaw comprises under-driven knuckles, self-adaptive knuckles and a hand base. The two self-adaptive knuckles are oppositely installed on the hand base, the under-driven knuckles are rotationally connected with the self-adaptive knuckles, and when the hand base is impacted, the under-driven knuckles are bent to protect fingertips from being impacted and damaged by external force; when the self-adaptive knuckles are pressed, the clamping object is wrapped; the hand base is used for driving the two self-adaptive knuckles to be opened and closed. The flexible clamping jaw has the capacity of adapting to different object shapes, has the large advantage when grabbing small objects, is used for achieving accurate grabbing and stable movement of small, fragile and special-shaped workpieces and the like, can reduce article loss, enables feeding of a production line to be smooth, and can be applied to the fresh food industry.

Description

Technical Field

[0001] The present invention relates to the technical field of flexible grippers, and in particular to a flexible adaptive gripper. Background Art

[0002] In recent years, the design principle of flexible grippers is based on the characteristics of flexible materials, and they adapt to different workpiece shapes and sizes through elastic deformation and plastic deformation, which are used to achieve precise grasping and stable movement of small, fragile, and irregular workpieces, reduce item loss, make the feeding on the production line smooth, and can be applied to the fresh food industry.

[0003] Compared with traditional mechanical grippers that are prone to grasping failures due to structural limitations when grasping different objects, flexible grippers have the ability to adapt to different object shapes and also have great advantages when grasping small objects. Summary of the Invention

[0004] The purpose of the present invention is to provide a flexible adaptive gripper that can achieve precise grasping and stable movement of small, fragile, and irregular workpieces, reduce item loss, make the feeding on the production line smooth, and can be applied to the fresh food industry.

[0005] The present invention provides a flexible adaptive gripper, which includes an underactuated phalanx, an adaptive phalanx, and a hand base; two of the adaptive phalanges are relatively installed on the hand base, the underactuated phalanx is rotatably connected to the adaptive phalanx, and when being impacted, the underactuated phalanx bends to protect the fingertip from being damaged by external impact; when the adaptive phalanx is under pressure, it wraps the object to be grasped; the hand base is used to drive the two adaptive phalanges to open and close.

[0006] Further, the adaptive phalanx includes a connecting adaptive phalanx and a clamping adaptive phalanx, the connecting adaptive phalanx is rotatably connected to the underactuated phalanx, the clamping adaptive phalanx is installed on the hand base, and the connecting adaptive phalanx and the clamping adaptive phalanx are fixedly connected.

[0007] Further, the underactuated phalanx and the connecting adaptive phalanx are connected by a connecting shaft, and a compression spring is arranged on the connecting shaft.

[0008] Further, the length of the connecting adaptive phalanx is shorter than that of the clamping adaptive phalanx.

[0009] Further, the connecting adaptive phalanx and the clamping adaptive phalanx are integrally formed.

[0010] Further, the underactuated phalanx includes a first metal bracket.

[0011] Further, the clamping adaptive finger joint includes a second metal bracket and a flexible material. The second metal bracket is L-shaped, and the flexible material is coated on the finger belly side of the second metal bracket.

[0012] Further, the cross-section of the clamping adaptive finger joint is trapezoidal, and the area of the clamping adaptive finger joint gradually increases in the direction from the underactuated finger joint to the hand base.

[0013] Further, the hand base includes an upper cover, a rear shell, a motor, a transmission mechanism, and an arm connector; the upper cover is adaptively installed with the rear shell, the motor is located inside the space formed after the upper cover and the rear shell are installed, the transmission mechanism is respectively connected to the motor and the clamping adaptive finger joint, and the arm connector is used to connect with the arm.

[0014] Further, the transmission mechanism includes a gear, a gear-motor connector, a track, a slider, a rack connector, and a rack. The gear is sleeved on the output shaft of the motor, and the gear-motor connector is arranged between the gear and the motor for supporting the gear; the track is arranged between the gear and the gear-motor connector, and there are two tracks; the slider is installed on the track, and the rack connector is installed on the top of the slider, and the rack is connected to the track through the rack connector and the slider; a finger installation position is provided on the rack for installing the adaptive finger joint, and the gear meshes with the rack.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: The flexible gripper of the present invention has the ability to adapt to different object shapes, and it also has great advantages when grasping small objects, which is used to achieve precise grasping and stable movement of small, fragile, and irregular workpieces, can reduce item loss, make the feeding on the production line smooth, and can be applied to the fresh food industry. Description of the Drawings

[0016] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0017] Figure 1 It is the front view structural schematic diagram of the flexible adaptive gripper according to the embodiment of the present invention;

[0018] Figure 2 It is the assembly schematic diagram of the underactuated finger joint and the adaptive finger joint according to the embodiment of the present invention;

[0019] Figure 3 Explosion structure schematic diagram of the flexible adaptive gripper according to an embodiment of the present invention.

[0020] Description of reference numerals:

[0021] 1: Underactuated knuckle; 2: Adaptive knuckle; 21: Connecting adaptive knuckle; 22: Gripping adaptive knuckle; 3: Hand base; 4: Connecting shaft; 5: First metal bracket; 6: Second metal bracket; 7: Upper cover; 8: Rear shell; 9: Motor; 10: Arm connecting piece; 11: Gear; 12: Gear-motor connecting piece; 13: Track; 14: Slide block; 15: Rack connecting seat; 16: Rack. Detailed implementation manners

[0022] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0023] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0024] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined. In addition, the terms "mounted", "connected" and "connected" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0025] As Figures 1 to 3As shown in the figure, the present invention provides a flexible adaptive gripper, which includes an underactuated finger joint 1, an adaptive finger joint 2 and a hand base 3. Two of the adaptive finger joints 2 are oppositely installed on the hand base 3. The underactuated finger joint 1 is rotatably connected to the adaptive finger joint 2. When being impacted, the underactuated finger joint 1 bends to protect the fingertip from being damaged by external impact. When the adaptive finger joint 2 is under pressure, it wraps the object to be grasped. The hand base 3 is used to drive the two adaptive finger joints 2 to open and close. The two adaptive finger joints 2 can approach each other or move away from each other so as to grasp and release objects.

[0026] In some preferred embodiments, the adaptive finger joint 2 includes a connecting adaptive finger joint 21 and a grasping adaptive finger joint 22. The connecting adaptive finger joint 21 is rotatably connected to the underactuated finger joint 1. The grasping adaptive finger joint 22 is installed on the hand base 3. The connecting adaptive finger joint 21 and the grasping adaptive finger joint 22 are fixedly connected. In order to increase the overall strength of the gripper, the connecting adaptive finger joint 21 and the grasping adaptive finger joint 22 are integrally formed. The length of the connecting adaptive finger joint 21 is shorter than that of the grasping adaptive finger joint 22.

[0027] In some preferred embodiments, the underactuated finger joint 1 and the connecting adaptive finger joint 21 are connected by a connecting shaft 4. A compression spring is provided on the connecting shaft 4 to ensure that the underactuated finger joint 1 remains in its original position when not under force.

[0028] In some preferred embodiments, the underactuated finger joint 1 includes a first metal bracket 5 to ensure that the finger has a certain flexibility and rigidity when grasping an object. The grasping adaptive finger joint 22 includes a second metal bracket 6 and a flexible material. The second metal bracket 6 is L-shaped. The flexible material is coated on the finger belly side of the second metal bracket 6. When the grasping adaptive finger joint 22 is under pressure, the flexible material will deform to wrap the object to be grasped. This flexible material is preferably a soft glue, and other materials can also be used to ensure that the finger has a certain compressibility when grasping an object.

[0029] In some preferred embodiments, the cross-section of the grasping adaptive finger joint 22 is trapezoidal, and the area of the grasping adaptive finger joint 22 gradually increases in the direction from the underactuated finger joint 1 to the hand base 3.

[0030] In some preferred embodiments, the hand base 3 includes an upper cover 7, a rear shell 8, a motor 9, a transmission mechanism and an arm connector 10. The upper cover 7 and the rear shell 8 are adaptively installed. The motor 9 is located inside the space formed after the upper cover 7 and the rear shell 8 are installed. The transmission mechanism is respectively connected to the motor 9 and the grasping adaptive finger joint 22. The arm connector 10 is used to connect with the arm.

[0031] In some preferred embodiments, the transmission mechanism includes a gear 11, a gear-motor connecting member 12, a track 13, a slider 14, a rack connecting seat 15, and a rack 16. The gear 11 is sleeved on the output shaft of the motor 9. The gear-motor connecting member 12 is disposed between the gear 11 and the motor 9 and is used to support the gear 11. The track 13 is disposed between the gear 11 and the gear-motor connecting member 12, and there are two tracks 13. The slider 14 is mounted on the track 13, and the rack connecting seat 15 is mounted on the top of the slider 14. The rack 16 is connected to the track 13 through the rack connecting seat 15 and the slider 14. A finger mounting position is provided on the rack 16 for mounting the adaptive finger joint 2, and the gear 11 meshes with the rack 16.

[0032] The working principle of the present invention is as follows: The motor 9 drives the gear 11 to rotate, and the gear 11 drives the rack 16 engaged therewith to move, so that the adaptive finger joint 2 mounted on the rack 16 moves. The two adaptive finger joints 2 can approach each other or move away from each other for clamping and releasing items.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flexible adaptive gripper, characterized in that: The invention comprises an underactuated finger joint (1), an adaptive finger joint (2) and a hand base (3); two adaptive finger joints (2) are relatively mounted on the hand base (3); the underactuated finger joint (1) is rotatably connected to the adaptive finger joint (2); when impacted, the underactuated finger joint (1) bends to protect the fingertip from damage caused by external impact; when the adaptive finger joint (2) is subjected to pressure, it covers the clamped object; the hand base (3) is used to drive the two adaptive finger joints (2) to open and close.

2. The flexible adaptive gripper according to claim 1, characterized in that: The adaptive knuckle (2) comprises a connecting adaptive knuckle (21) and a gripping adaptive knuckle (22), wherein the connecting adaptive knuckle (21) is rotationally connected to the under-driven knuckle (1), and the gripping adaptive knuckle (22) is mounted on the hand base (3), and the connecting adaptive knuckle (21) and the gripping adaptive knuckle (22) are fixedly connected.

3. The flexible adaptive gripper according to claim 2, characterized in that: The underdriven finger joint (1) is connected to the connection adaptive finger joint (21) via a connection shaft (4), and a compression spring is provided on the connection shaft (4).

4. The flexible adaptive gripper according to claim 2, characterized in that: The length of the connecting adaptive finger joint (21) is shorter than the length of the clamping adaptive finger joint (22).

5. The flexible adaptive gripper according to claim 2, characterized in that: The connecting adaptive finger joint (21) and the clamping adaptive finger joint (22) are integrally formed.

6. The flexible adaptive gripper according to claim 2, characterized in that: The underdriven knuckle (1) comprises a first metal bracket (5).

7. The flexible adaptive gripper according to claim 2, characterized in that: The gripping adaptive finger joint (22) comprises a second metal bracket (6) and a flexible material, the second metal bracket (6) is L-shaped, and the flexible material is coated on the finger web side of the second metal bracket (6).

8. The flexible adaptive gripper according to claim 2, characterized in that: The cross section of the gripping adaptive knuckle (22) is trapezoidal, and the area of ​​the gripping adaptive knuckle (22) gradually increases in the direction from the underdriven knuckle (1) to the hand base (3).

9. The flexible adaptive gripper according to claim 2, characterized in that: The hand base (3) comprises an upper cover (7), a rear shell (8), a motor (9), a transmission mechanism and an arm connecting piece (10); the upper cover (7) and the rear shell (8) are adapted to be installed, the motor (9) is located inside a space formed after the upper cover (7) and the rear shell (8) are installed, the transmission mechanism is respectively connected to the motor (9) and the gripping adaptive knuckle (22), and the arm connecting piece (10) is used to be connected to the arm.

10. The flexible adaptive gripper according to claim 9, characterized in that: The transmission mechanism comprises a gear (11), a gear motor connector (12), a track (13), a slider (14), a rack connector (15) and a rack (16); the gear (11) is sleeved on the output shaft of the motor (9); the gear motor connector (12) is arranged between the gear (11) and the motor (9) for supporting the gear (11); the track (13) is arranged between the gear (11) and the gear motor connector (12), and the track (13) is provided with two tracks; the slider (14) is installed on the track (13), and the rack connector (15) is installed on the top of the slider (14); the rack (16) is connected to the track (13) through the rack connector (15) and the slider (14); a finger installation position is provided on the rack (16) for installing the adaptive finger joint (2); the gear (11) is meshed with the rack (16).

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