Comb tooth flexible clamping jaw
By designing the structure of comb-tooth flexible jaws, using elastic materials and negative pressure to drive the flexible fingers to get closer, the problem of insufficient clamping force when clamping small objects is solved, and effective for smaller objects is achieved Clamped.
Patent Information
- Application Number
- CN202323568621.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-26
- Publication Date
- 2024-12-27
- Estimated Expiration
- 2033-12-26
AI Technical Summary
The existing flexible jaws do not have enough clamping force when clamping small objects, and cannot effectively clamp objects with smaller volume but larger mass.
A comb-tooth flexible jaw is designed, and a connecting part made of elastic material is used, including a driving chamber and a flexible finger. The fingers of the flexible fingers are connected to the side wall of the cavity, and the thickness of the cavity bottom wall of the driving chamber is smaller than that of the The upper connecting plate is provided at the side wall of the cavity, the number of flexible fingers is at least three, and strip-shaped grooves are arranged along the length direction to make the fingertips form a comb-shaped shape and increase the clamping force.
By driving the flexible fingers to get closer by negative pressure, the strip-shaped groove becomes a gap, and the clamping force is enhanced, allowing smaller objects to be clamped, and clamping force and stability are improved through reinforcement connecting blocks and reinforcement rings.
Smart Images
Figure CN222244863U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of flexible clamping, in particular to a comb-tooth flexible clamping claw. Background Art
[0002] In the field of industrial automation, the grasping action at the end of the robot arm is mainly completed by rigid robot claws or vacuum suction cups. However, rigid robot claws are difficult to control the force, so it is difficult to achieve non-destructive grasping of soft and fragile objects. Vacuum suction cups are difficult to adapt to irregular objects with rough surfaces and holes during transportation. This leads to limitations in the application scenarios of both. Flexible robot fingers are made of elastic materials and can grasp soft and fragile objects without damaging the objects themselves.
[0003] The applicant's prior application for a utility model with publication number CN217915364U disclosed a negative pressure flexible clamp, which can flexibly grasp objects, and the number of fingers of the negative pressure flexible clamp can be two or more depending on the shape of the object, but this negative pressure flexible clamp has requirements on the size of the object. Since each finger of the flexible clamp has a certain width, when the fingers of the flexible clamp are in contact with each other during clamping, the flexible clamp cannot be brought closer, which is also the minimum object size that can be clamped by this flexible clamp. Of course, the width of the flexible fingers and the size of the entire flexible clamp can also be reduced, but the overall clamping force of the small-sized flexible clamp cannot be guaranteed, and the small-sized flexible clamp cannot clamp some objects with relatively small volume but relatively large mass. Utility Model Content
[0004] The technical problem to be solved by the utility model is to provide a comb-tooth flexible clamping claw, which can clamp smaller objects and adapt to different clamping requirements.
[0005] In order to solve the above technical problems, the technical solution of the utility model is: a comb-tooth flexible clamp, comprising a connecting part made of elastic material, the connecting part comprises a driving chamber, the upper part of the connecting part is provided with a mounting port communicating with the driving chamber, a flexible finger part is connected to the lower part of the connecting part, the driving chamber comprises a cavity bottom wall and a cavity side wall, the heel of the flexible finger part is connected to the cavity side wall, the thickness of the cavity bottom wall of the driving chamber is less than the thickness of the cavity side wall or the elastic modulus of the cavity bottom wall is less than the elastic modulus of the cavity side wall, an upper connecting plate is connected to the mounting port, the upper connecting plate blocks the driving chamber, a connecting port is provided on the upper connecting plate, the number of the flexible fingers is at least three, a plurality of strip grooves extending along the length direction of the flexible fingers are provided on the flexible fingers, the strip grooves penetrate the ends of the flexible fingers from the outside to the inside so that the fingertips of the flexible fingers form a comb-tooth shape.
[0006] As a preferred solution, a reinforcing connection block is provided between the flexible finger and the bottom of the cavity bottom wall.
[0007] As a preferred solution, the upper end of the strip-shaped groove extends to the lower end of the reinforced connecting block.
[0008] As a preferred solution, a hard reinforcement ring is provided at the installation opening of the upper part of the connecting part, the reinforcement ring is partially embedded in the upper part of the connecting part, the upper connecting plate is bonded or welded to the upper end of the reinforcement ring, and the upper connecting plate seals the reinforcement ring.
[0009] As a preferred solution, the reinforcement ring includes a reinforcement ring body, the lower end face of the reinforcement ring body is provided with a lower embedded ring portion embedded in the connecting portion, the connecting portion wraps the inner and outer annular surfaces of the lower embedded ring portion, and the portion where the connecting portion wraps the inner annular surface of the lower embedded ring portion is defined as an inner wrapping portion.
[0010] As a preferred solution, a plurality of anti-slip grooves are arranged on the inner ring surface of the lower embedded ring portion.
[0011] As a preferred solution, an upper mating ring portion or an upper mating groove is provided on the upper portion of the reinforcing ring body, and correspondingly, an upper mating groove or an upper mating ring portion mating with the upper mating ring portion or the upper mating groove is provided on the upper connecting plate.
[0012] As a preferred solution, an accommodating gap for accommodating the bonding medium is provided between the upper matching ring portion and the upper matching groove that match each other, and the accommodating gap is located outside the upper matching ring portion.
[0013] As a preferred solution, a plurality of positioning protrusions are provided on the groove wall of the upper mating groove or on the side wall of the upper mating ring portion, the positioning protrusions on the groove wall of the upper mating groove are positioned and matched with the side wall of the corresponding upper mating ring portion, and the positioning protrusions on the side wall of the upper mating ring portion are positioned and matched with the groove wall of the corresponding upper mating groove.
[0014] As a preferred solution, the upper connecting plate includes a connecting plate body and an upper flange edge, the lower end surface of the upper flange edge is provided with the upper matching groove or the upper matching ring portion, and the connecting plate body extends into the installation opening of the connecting portion.
[0015] After adopting the above technical scheme, the effect of the utility model is as follows: due to a comb-tooth flexible clamp, comprising a connecting part made of elastic material, the connecting part comprises a driving chamber, the upper part of the connecting part is provided with a mounting port communicating with the driving chamber, the lower part of the connecting part is connected with a flexible finger part, the driving chamber comprises a cavity bottom wall and a cavity side wall, the heel of the flexible finger part is connected with the cavity side wall, the thickness of the cavity bottom wall of the driving chamber is less than the thickness of the cavity side wall or the elastic modulus of the cavity bottom wall is less than the elastic modulus of the cavity side wall, the mounting port is connected with an upper connecting plate, the upper connecting plate blocks the driving chamber, the upper connecting plate is provided with a connecting port, the The number of flexible fingers is at least three, and the flexible fingers are provided with a plurality of strip grooves extending along the length direction of the flexible fingers. The strip grooves penetrate the ends of the flexible fingers from the outside to the inside so that the fingertips of the flexible fingers form a comb-tooth shape. Therefore, when the flexible clamp is in use, a negative pressure is driven to be generated inside the chamber. At this time, the bottom wall of the chamber will deform inward, thereby driving the flexible fingers to move closer. At this time, due to the presence of the strip grooves, the fingertips of the flexible fingers are formed into a comb-tooth shape. When the flexible fingers move closer to each other, they will squeeze and contact each other. At this time, the original strip grooves will become seams due to the squeezing, so that the comb-tooth-shaped fingertips of each flexible finger are more pointed, so that smaller objects can be clamped.
[0016] Furthermore, since a reinforcing connection block is provided between the flexible finger and the bottom of the cavity bottom wall, the reinforcing connection block can increase the clamping force of the flexible finger.
[0017] Furthermore, since a hard reinforcement ring is provided at the mounting opening at the upper part of the connecting part, the reinforcement ring is partially embedded in the upper part of the connecting part, the upper connecting plate is bonded or welded to the upper end of the reinforcement ring, and the upper connecting plate seals the reinforcement ring, the reinforcement ring includes a reinforcement ring body, the lower end face of the reinforcement ring body is provided with a lower embedded ring part embedded in the connecting part, the connecting part wraps the inner and outer ring surfaces of the lower embedded ring part, and the part where the connecting part wraps the inner ring surface of the lower embedded ring part is defined as the inner wrapping part, when the reinforcement ring is injection molded with the connecting part, the lower embedded ring part can be more conveniently wrapped by the connecting part, and a plurality of anti-slip grooves are provided on the inner ring surface of the lower embedded ring part, and the anti-slip grooves can further improve the bonding force between the connecting part and the lower embedded ring part.
[0018] Since the upper part of the reinforcing ring body is provided with an upper mating ring portion or an upper mating groove, correspondingly, the upper connecting plate is provided with an upper mating groove or an upper mating ring portion that cooperates with the upper mating ring portion or the upper mating groove. In this way, the cooperation of the upper mating groove and the upper mating ring portion can facilitate accurate positioning and cooperation of the two, and also better facilitate the bonding or welding between the reinforcing ring body and the upper connecting plate.
[0019] Furthermore, since an accommodating gap for accommodating the bonding medium is provided between the upper mating ring portion and the upper mating groove that cooperate with each other, and the accommodating gap is located on the outer side of the upper mating ring portion, the accommodating gap can facilitate the inflow of the bonding medium during gluing or welding. When glue is used for bonding, the accommodating gap accommodates the glue, and when welding is used, the accommodating gap accommodates the melt during welding. When the bonding medium enters the accommodating gap, it can fill the accommodating gap, thereby further fixing the upper mating ring portion and the upper mating groove, thereby enhancing the fixing effect.
[0020] Furthermore, since a plurality of positioning protrusions are arranged on the groove wall of the upper mating groove or on the side wall of the upper mating ring portion, the positioning protrusions on the groove wall of the upper mating groove are positioned and matched with the side wall of the corresponding upper mating ring portion, and the positioning protrusions on the side wall of the upper mating ring portion are positioned and matched with the groove wall of the corresponding upper mating groove, the positioning protrusions can be used to better position the connecting plate and the reinforcement ring when assembling, thereby avoiding shaking during bonding or welding. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] The utility model is further described below in conjunction with the accompanying drawings and embodiments.
[0022] Figure 1 It is a structural schematic diagram of an embodiment of the utility model;
[0023] Figure 2 yes Figure 1 A top view of
[0024] Figure 3 yes Figure 2 Section view along AA;
[0025] Figure 4 It is a structural schematic diagram of a reinforcing ring in an embodiment of the utility model;
[0026] Figure 5 yes Figure 4 The main view of
[0027] Figure 6 yes Figure 5 Sectional view along BB;
[0028] Figure 7 This is a schematic diagram of the structure of the upper connecting plate in the embodiment of the utility model;
[0029] In the attached drawings: 1. Connecting part; 2. Driving chamber; 3. Flexible finger; 4. Reinforcing ring; 41. Reinforcing ring body; 42. Lower embedded ring; 43. Anti-slip groove; 5. Upper connecting plate; 51. Connecting plate body; 52. Upper flange edge; 53. Reinforcing rib; 6. Connecting port; 7. Strip groove; 8. Reinforced connecting block. DETAILED DESCRIPTION
[0030] The present invention is further described in detail below through specific embodiments.
[0031] like Figure 1-7 As shown, a comb-tooth flexible clamp comprises a connecting portion 1 made of elastic material, the connecting portion 1 comprises a driving chamber 2, an installation port communicating with the driving chamber 2 is arranged on the upper portion of the connecting portion 1, a flexible finger portion 3 is connected to the lower portion of the connecting portion 1, the driving chamber 2 comprises a cavity bottom wall and a cavity side wall, the finger heel of the flexible finger portion 3 is connected to the cavity side wall, the thickness of the cavity bottom wall of the driving chamber 2 is less than the thickness of the cavity side wall or the elastic modulus of the cavity bottom wall is less than the elastic modulus of the cavity side wall, an upper connecting plate 5 is connected to the installation port, the upper connecting plate 5 blocks the driving chamber 2, a connecting port 6 is arranged on the upper connecting plate 5, the number of the flexible fingers 3 is at least three, and the flexible fingers 3 are provided with a plurality of strip grooves 7 extending along the length direction of the flexible fingers 3, the strip grooves 7 penetrate the ends of the flexible fingers 3 from the outside to the inside so that the fingertips of the flexible fingers 3 form a comb-tooth shape.
[0032] In this embodiment, a hard reinforcement ring 4 is provided at the installation opening of the upper part of the connecting part 1, and the reinforcement ring 4 is partially embedded in the upper part of the connecting part 1. The upper connecting plate 5 is bonded or welded to the upper end of the reinforcement ring 4, and the upper connecting plate 5 blocks the reinforcement ring 4. The reinforcement ring 4 includes a reinforcement ring body 41, and the lower end face of the reinforcement ring body 41 is provided with a lower embedded ring part 42 embedded in the connecting part 1. The connecting part 1 wraps the inner and outer annular surfaces of the lower embedded ring part 42, and the part where the connecting part 1 wraps the inner annular surface of the lower embedded ring part 42 is defined as the inner wrapped part, and a plurality of anti-slip grooves 43 are provided on the inner annular surface of the lower embedded ring part 42. An upper mating ring portion or an upper mating groove is provided on the upper part, and correspondingly, an upper mating groove or an upper mating ring portion mating with the upper mating ring portion or the upper mating groove is provided on the upper connecting plate 5, and an accommodating gap for accommodating the bonding medium is provided between the upper mating ring portion and the upper mating groove that cooperate with each other, and the accommodating gap is located on the outer side of the upper mating ring portion. It can be seen that the above has multiple combinations: an upper mating ring portion is provided on the upper part of the reinforcing ring body 41, and an upper mating groove mating with the upper mating ring portion is provided on the upper connecting plate 5; an upper mating groove is provided on the upper part of the reinforcing ring body 41, and correspondingly, an upper mating ring portion mating with the upper mating groove is provided on the upper connecting plate 5.
[0033] A plurality of positioning protrusions are arranged on the groove wall of the upper mating groove or on the side wall of the upper mating ring portion. The positioning protrusions on the groove wall of the upper mating groove are positioned and matched with the side wall of the corresponding upper mating ring portion, and the positioning protrusions on the side wall of the upper mating ring portion are positioned and matched with the groove wall of the corresponding upper mating groove. The above-mentioned positioning protrusions can be flexibly arranged according to needs.
[0034] The upper connecting plate 5 includes a connecting plate body 51 and an upper flange 52. The upper matching groove or upper matching ring is arranged on the lower end surface of the upper flange 52. The connecting plate body 51 extends into the installation opening of the connecting part 1. Figure 7 It can be seen that the bottom of the upper connecting plate of this embodiment is also provided with a plurality of reinforcing ribs 53, and the reinforcing ribs 53 are fixedly connected to the inside of the connecting plate body 51. Of course, the arrangement of the reinforcing ribs 53 can be changed accordingly according to one's own needs.
[0035] In this embodiment, a reinforcing connection block 8 is provided between the flexible finger 3 and the bottom of the cavity bottom wall, and the upper end of the strip groove 7 extends to the lower end of the reinforcing connection block 8 .
[0036] When in use, negative pressure is generated inside the driving chamber 2, and the bottom wall of the chamber will deform inward, thereby driving the flexible fingers 3 to move closer. At this time, due to the presence of the strip grooves 7, the fingertips of the flexible fingers 3 are comb-shaped. When the flexible fingers 3 move closer to each other, they will be squeezed and contacted with each other. At this time, the original strip grooves 7 will become seams due to the squeezing, so that the comb-shaped fingertips of each flexible finger 3 are more pointed, so that smaller objects can be clamped.
[0037] The above-described embodiments are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Various modifications and alterations to the technical solution of the present invention, without departing from the design spirit of the present invention, should fall within the scope of protection defined in the claims of the present invention.
Claims
1. A comb-tooth flexible clamp, comprising a connecting portion made of elastic material, the connecting portion comprising a driving chamber, the upper portion of the connecting portion is provided with a mounting port communicating with the driving chamber, the lower portion of the connecting portion is connected with a flexible finger portion, the driving chamber comprises a cavity bottom wall and a cavity side wall, the finger heel of the flexible finger portion is connected to the cavity side wall, the thickness of the cavity bottom wall of the driving chamber is less than the thickness of the cavity side wall or the elastic modulus of the cavity bottom wall is less than the elastic modulus of the cavity side wall, characterized in that: An upper connecting plate is connected to the installation port, and the upper connecting plate blocks the driving chamber. A connecting port is provided on the upper connecting plate. The number of the flexible fingers is at least three, and the flexible fingers are provided with a plurality of strip grooves extending along the length direction of the flexible fingers. The strip grooves penetrate the ends of the flexible fingers from the outside to the inside so that the fingertips of the flexible fingers form a comb-tooth shape.
2. A comb-tooth flexible clamp as claimed in claim 1, characterized in that: A reinforcing connection block is arranged between the flexible finger and the bottom of the cavity bottom wall.
3. A comb-tooth flexible clamp as claimed in claim 2, characterized in that: The upper end of the strip-shaped groove extends to the lower end of the reinforced connecting block.
4. A comb-tooth flexible clamp according to any one of claims 1 to 3, characterized in that: A hard reinforcement ring is arranged at the installation opening of the upper part of the connection part, the reinforcement ring is partially embedded in the upper part of the connection part, the upper connection plate is bonded or welded to the upper end of the reinforcement ring, and the upper connection plate seals the reinforcement ring.
5. A comb-tooth flexible clamp as claimed in claim 4, characterized in that: The reinforcement ring includes a reinforcement ring body, the lower end face of the reinforcement ring body is provided with a lower embedded ring portion embedded in the connecting portion, the connecting portion wraps the inner and outer ring surfaces of the lower embedded ring portion, and the portion where the connecting portion wraps the inner ring surface of the lower embedded ring portion is defined as an inner wrapped portion.
6. A comb-tooth flexible clamp as claimed in claim 5, characterized in that: The inner ring surface of the lower embedded ring portion is provided with a plurality of anti-slip grooves.
7. A comb-tooth flexible clamp as claimed in claim 6, characterized in that: The upper part of the reinforcing ring body is provided with an upper matching ring portion or an upper matching groove, and correspondingly, the upper connecting plate is provided with an upper matching groove or an upper matching ring portion matching with the upper matching ring portion or the upper matching groove.
8. A comb-tooth flexible clamp as claimed in claim 7, characterized in that: An accommodating gap for accommodating the bonding medium is arranged between the upper matching ring portion and the upper matching groove that match each other, and the accommodating gap is located outside the upper matching ring portion.
9. A comb-tooth flexible clamp as claimed in claim 8, characterized in that: A plurality of positioning protrusions are arranged on the groove wall of the upper mating groove or on the side wall of the upper mating ring portion. The positioning protrusions on the groove wall of the upper mating groove are positioned and matched with the side wall of the corresponding upper mating ring portion, and the positioning protrusions on the side wall of the upper mating ring portion are positioned and matched with the groove wall of the corresponding upper mating groove.
10. A comb-tooth flexible clamp as claimed in claim 9, characterized in that: The upper connecting plate comprises a connecting plate body and an upper flange edge, the lower end surface of the upper flange edge is provided with the upper matching groove or the upper matching ring portion, and the connecting plate body extends into the installation opening of the connecting portion.