Flexible two-finger type telescopic clamp holder
Through flexible two-finger telescopic clamp, combined with motor drive and elastic coupling, the problems of traditional clamps with small stress area, large error and low accuracy are solved, and high accuracy and stability are achieved. It shows advantages in a variety of scenarios, especially in surgery and minimally invasive endoscopic surgery.
Patent Information
- Application Number
- CN202420621665.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-28
- Publication Date
- 2025-01-14
- Estimated Expiration
- 2034-03-28
AI Technical Summary
The traditional robot end mechanical clamping hand uses a single finger, which leads to small force area, strong pressure, easy to damage, and has large clamping errors for objects with smaller diameters. The motor accuracy requirements are high and the speed is difficult to control. It exists in accuracy. Control areas such as surgical instrument clamping, surgical assisted clamping, and micro-space operation.
Design a flexible two-finger telescopic clamp, which increases stability and achieves independent control through the transmission method of the motor driving the driving rod. It adopts a two-finger structure and a folded linear curved surface clamping claw, and a flexible layer is attached to the surface. Combined with motor drive and elastic coupling, improve the accuracy and stability of the clamp.
Effectively improve the accuracy and stability of the clamping device, increase the clamping area, reduce damage to the surface of the clamped object, and adapt to the needs of a variety of scenarios, especially in surgical instruments and minimally invasive endoscopic surgery.
Smart Images
Figure CN222345607U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robots, in particular to a flexible two-finger telescopic gripper. Background Art
[0002] The traditional robot end-end mechanical gripper adopts a single-finger type, with a small force area, high pressure, and easy to damage the clamped object; the surface of the traditional gripper is in rigid contact with the clamped object, and the clamping error is large for objects with small diameters, and the rigid surface is easy to damage the clamped object; the existing gripper drives the connecting rod to rotate through the motor to realize the opening and closing of the gripper, which has a certain motion error, requires high accuracy of the motor, and is difficult to control the speed. In the field of precision control such as surgical instrument clamping, surgical auxiliary clamping, and operations in small spaces, the existing gripper has certain disadvantages.
[0003] Therefore, how to provide a flexible two-finger telescopic gripper has become a technical problem that technical personnel in this field urgently need to solve. Utility Model Content
[0004] The purpose of the utility model is to address the gaps in existing test equipment and to provide a flexible two-finger telescopic clamp, which increases stability while achieving autonomous control through the transmission method of a motor-driven driving rod, effectively improving the scope of use and clamping effect, and can effectively improve the accuracy and stability of the clamp.
[0005] To achieve the above-mentioned purpose, the utility model provides a flexible two-finger telescopic clamp, comprising: a motor, an elastic coupling, a drive rod, a moving part, a connecting device, a clamping claw connecting member and a clamping claw; the output end of the motor is transmission-connected to the drive rod through an elastic coupling, and the end of the drive rod away from the elastic coupling is threadedly connected to the moving part; the connecting device is sleeved on the elastic coupling, the two clamping claw connecting members are symmetrically arranged, and one end of the clamping claw connecting member is hinged to the moving part, and the other end is slidably connected to the connecting device and hinged to the connecting device, and the clamping claw is fixedly mounted on the clamping claw connecting member.
[0006] Furthermore, the connecting device includes a cylindrical sleeve and a connector. The cylindrical sleeve is connected to the elastic coupling, is sleeved on the driving rod and is rotatably connected to the driving rod, and the connector is sleeved on the outside of the cylindrical sleeve.
[0007] Furthermore, a countersunk cylinder is inserted into the clamping claw connecting piece, a sliding groove adapted to the countersunk cylinder is provided on the connector, and a spring washer is arranged between the countersunk cylinder and the clamping claw connecting piece.
[0008] Furthermore, it also includes a threaded cover, and the end of the driving rod is cross-shaped and matched with the threaded cover.
[0009] Furthermore, the clamping claw is fixedly mounted to the clamping claw connecting piece by means of a round head bolt, and a shoulder ring and an open washer are provided between the round head bolt and the clamping claw connecting piece.
[0010] Furthermore, the two clamping claws are overall in a two-finger structure.
[0011] Furthermore, the clamping claw is a folded-line curved surface structure, and a flexible layer is attached to the surface of the clamping claw.
[0012] Furthermore, a motor protection cover is installed on the outside of the motor.
[0013] The beneficial effects of the utility model are:
[0014] (1) Compared with the traditional clamp, the utility model increases stability and realizes autonomous control through the transmission method of the motor-driven driving rod, effectively improves the scope of use and clamping effect, and can effectively improve the accuracy and stability of the clamp.
[0015] (2) The clamping part adopts a two-finger structure to increase the contact area between the clamp and the clamped object, improve the clamping stability and clamping effect. At the same time, the finger size of the clamp can be adjusted by driving the driving rod or the appropriate finger-type clamping claw can be replaced to meet the needs of more scenarios.
[0016] (3) The clamping claw adopts a zigzag curved surface structure, which can adapt to the clamped object with a larger curvature by adjusting the slope and curvature of the zigzag line. In addition, the flexible layer attached to its surface can ensure flexible contact between the clamper and the surface of the clamped object, reducing damage to the surface of the clamped object. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 It is a schematic diagram of the structure of the utility model;
[0018] Figure 2 This is a schematic diagram of the structure of the utility model without the motor protection cover;
[0019] Figure 3 It is a bottom view of the utility model;
[0020] Figure 4 This is a schematic diagram of the installation structure of the elastic coupling of the utility model;
[0021] Figure 5 It is a schematic diagram of the installation structure of the clamping claw of the utility model.
[0022] Among them, in the figure:
[0023] 1-motor protection cover, 2-cylindrical sleeve, 3-connector, 4-driving rod, 5-clamping claw, 6-moving part, 7-connecting device, 8-motor, 9-cross slot countersunk screw, 10-elastic coupling, 11-threaded cover, 12-countersunk cylinder, 13-spring washer, 14-round head bolt, 15-clamping claw connector, 16-shoulder ring, 17-open washer. DETAILED DESCRIPTION
[0024] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.
[0026] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.
[0027] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.
[0028] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0029] At present, traditional clamps generally have problems such as damage to the surface of the clamped object, low precision, and poor controllability. In response to the above problems, the utility model adopts a screw transmission instead of the original connecting rod transmission through motor drive, which increases the stability of the clamp while achieving autonomous control, effectively improving the scope of use and clamping effect; the finger-type part adopts a two-finger structure instead of the original single-finger structure, increasing the contact area between the clamp and the clamped object, improving the clamping stability, especially for the cylindrical clamping effect of medical surgical instruments; a broken line curved surface structure is used to replace the existing clamp plane structure, and the broken line slope and arc are adjusted to adapt to the clamped object with a larger curvature. In addition, the flexible layer attached to its surface can ensure flexible contact between the clamp and the surface of the clamped object, reducing damage to the surface of the clamped object. The size of the clamp's finger type can be adjusted by thread on the finger and the appropriate finger type can be replaced to suit more occasions. The setting of the cylindrical sleeve can reduce the wear of the elastic coupling and connector, and the fixed position reduces the error.
[0030] like Figure 1-5 As shown, the utility model provides a flexible two-finger telescopic clamp, comprising: a motor 8, an elastic coupling 10, a drive rod 4, a moving part 6, a connecting device 7, a clamping claw connecting member 15 and a clamping claw 5; the output end of the motor 8 is transmission-connected with the drive rod 4 through the elastic coupling 10, and can transmit the torque and torque of the motor 8, and the end of the drive rod 4 away from the elastic coupling 10 is threadedly connected with the moving part 6; the connecting device 7 is sleeved on the elastic coupling 10, and the two clamping claw connecting members 15 are symmetrically arranged, and one end of the clamping claw connecting member 15 is hinged to the moving part 6, and the other end is slidably connected to the connecting device 7 and hinged to the connecting device 7, and the clamping claw 5 is fixedly installed on the clamping claw connecting member 15, and the linear motion of the moving part 6 can be converted into the rotational motion of the finger claw connecting member through the shaft hole cooperation, thereby driving the opening and closing of the clamping claw 5. The motor 8 is generally a servo motor 8 or a stepper motor 8. The servo motor 8 can realize precise speed control and smooth transmission, and the stepper motor 8 has good performance. The moving part 6 is driven by a threaded manner, and the power is transmitted smoothly and accurately.
[0031] The connecting device 7 includes a cylindrical sleeve 2 and a connector 3 . The cylindrical sleeve 2 is connected to the elastic coupling 10 , and is sleeved on the driving rod 4 and rotatably connected to the driving rod 4 . The connector 3 is sleeved on the outside of the cylindrical sleeve 2 .
[0032] Furthermore, a countersunk cylinder 12 is inserted into the clamping claw connector 15, a sliding groove adapted to the countersunk cylinder 12 is provided on the connector 3, and a spring washer 13 is provided between the countersunk cylinder 12 and the clamping claw connector 15. The provision of the spring washer 13 can reduce the friction between the two contact surfaces of the countersunk cylinder 12 and the clamping claw connector 15, making the contact more firm and stable.
[0033] The utility model further comprises a threaded cover 11 , and the end of the driving rod 4 is cross-shaped and matched with the threaded cover 11 .
[0034] Furthermore, the clamping claw 5 is fixedly mounted with the clamping claw connector 15 by means of a round head bolt 14, and a shoulder ring 16 and an open washer 17 are provided between the round head bolt 14 and the clamping claw connector 15. The shoulder ring 16 can ensure stable and reliable contact, and the open washer 17 can share the connector pressure and reduce wear.
[0035] Furthermore, the two clamping claws 5 are in a two-finger structure as a whole. The clamping claws 5 are a broken line curved surface structure, which can effectively fit the surface of the clamped object, improve the clamping efficiency and clamping capacity, and the surface of the clamping claws 5 is attached with a flexible layer, which can reduce the damage of the finger claws to the surface of the clamped object. By designing the clamping claws 5, objects of different diameters can be grasped to ensure the grasping efficiency.
[0036] Furthermore, a motor protection cover 1 is installed on the outside of the motor 8, and the motor protection cover 1 is connected to the elastic coupling 10 through a cross recessed countersunk screw 9. The motor protection cover 1 is used to protect the motor 8 to prevent the motor 8 of the clamp from being damaged due to collision.
[0037] Compared with the traditional clamp, the utility model increases stability and realizes autonomous control through the transmission mode of the motor-driven driving rod, effectively improves the scope of use and the clamping effect, and can effectively improve the accuracy and stability of the clamp. The clamping part of the utility model adopts a two-finger structure to increase the contact area between the clamp and the clamped object, improve the clamping stability and clamping effect, and at the same time, the finger size of the clamp can be adjusted by driving the driving rod or the appropriate finger-type clamping claw can be replaced to meet the needs of more scenarios. The clamping claw uses a broken line curved surface structure, and the slope and curvature of the broken line are adjusted to adapt to the clamped object with a large curvature. In addition, the flexible layer attached to its surface can ensure flexible contact between the clamp and the surface of the clamped object, reducing damage to the surface of the clamped object. The flexible two-finger telescopic clamp will play a huge role in the clamping of surgical instruments, precise control, surgical assistance, and the clamping of small objects. It has significant advantages in clamping blood vessels in a narrow space, and is suitable for minimally invasive endoscopic surgery and meets the requirements of high-difficulty surgery in delicate parts with rich tissue structures.
[0038] The working principle of this utility model:
[0039] According to the shape and size of the clamped object, a suitable clamping claw is selected, and a rotational motion is generated by controlling the motor, which is transmitted to the driving rod through the output shaft, driving the driving rod to rotate. The driving rod and the moving part generate a threaded transmission, causing the moving part to generate a linear motion along the direction of the driving rod. By cooperating with the countersunk cylinder and the shaft hole of the clamping claw connecting part, the clamping claw connecting part generates a rotational motion, thereby causing the end of the clamping claw to generate an opening and closing action. The speed regulation of the motor can realize rapid speed regulation and positioning of the clamp.
[0040] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any minor modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.
Claims
1. A flexible two-finger telescopic gripper, characterized in that: include: A motor, an elastic coupling, a driving rod, a moving part, a connecting device, a clamping claw connecting part and a clamping claw; the output end of the motor is transmission-connected to the driving rod through an elastic coupling, and the end of the driving rod away from the elastic coupling is threadedly connected to the moving part; the connecting device is connected to the housing of the elastic coupling and is rotationally connected to the driving rod; the two clamping claw connecting parts are symmetrically arranged, and one end of the clamping claw connecting part is hinged to the moving part, and the other end is slidably connected to the connecting device and hinged to the connecting device, and the clamping claw is fixedly mounted on the clamping claw connecting part.
2. A flexible two-finger telescopic gripper as claimed in claim 1, characterized in that: The connecting device comprises a cylindrical sleeve and a connector. The cylindrical sleeve is connected to the elastic coupling and is sleeved on the driving rod and rotatably connected to the driving rod. The connector is sleeved on the outer side of the cylindrical sleeve.
3. A flexible two-finger telescopic gripper as claimed in claim 2, characterized in that: A countersunk cylinder is inserted into the clamping claw connecting piece, a sliding groove adapted to the countersunk cylinder is provided on the connector, and a spring washer is arranged between the countersunk cylinder and the clamping claw connecting piece.
4. A flexible two-finger telescopic gripper as claimed in claim 3, characterized in that: It also includes a threaded cover, and the end of the driving rod is cross-shaped and matched with the threaded cover.
5. A flexible two-finger telescopic gripper as claimed in claim 4, characterized in that: The clamping claw is fixedly installed with the clamping claw connecting piece through a round head bolt, and a shoulder ring and an open washer are arranged between the round head bolt and the clamping claw connecting piece.
6. A flexible two-finger telescopic gripper as claimed in claim 5, characterized in that: The two clamping claws are in a two-finger structure as a whole.
7. A flexible two-finger telescopic gripper as claimed in claim 6, characterized in that: The clamping claw is a broken line curved surface structure, and a flexible layer is attached to the surface of the clamping claw.
8. A flexible two-finger telescopic gripper as claimed in claim 1, characterized in that: A motor protection cover is installed on the outside of the motor.