Flexible clamping jaw

Abstract

The utility model relates to a flexible clamping jaw, which is characterized in that a channel is arranged in a flexible finger, the flow of the channel is increased by adopting a continuous curved surface design matched with a long circular section, a vent hole is arranged at the tail end of the channel, a plurality of knuckle sections are arranged outside the channel, a plurality of wave crests are arranged above the knuckle sections, a wave trough is arranged between the wave crests, and the flexible finger is a flexible finger. The side edge of the wave crest is provided with an embedding groove, an embedding hole is formed under the embedding groove, the side edge of a combined seat is provided with a group of groove holes and a group of through holes matched with the adjacent tail ends of the flexible fingers, and the flexible fingers are tightly connected with the combined seat by inserting bolts into the groove holes and the through holes; the horizontal fastener is configured by selecting the adjacent embedding holes in the two sides of the fingerboard, so that the deformation amount of the flexible finger during actuation is increased, and the purpose of more flexible control is achieved.

Description

Technical Field

[0001] The utility model relates to the field of flexible clamping claws, in particular to a flexible clamping claw. Background Art

[0002] The types of grippers commonly used in the industry are quite diverse, but they can be roughly divided into three types: tendon-driven, mechanically connected, and airbag types. Among them:

[0003] 1. Tendon-driven: Use tendon chords to transmit power to achieve complex force clamping actions. The advantages are large clamping force and moderately sensitive adjustment, so it is highly reliable. But its disadvantages are that it is quite expensive and the structural design is complex.

[0004] 2. Mechanical connection: Power is transmitted through mechanical mechanisms to complete the clamping action. The advantages are stable structure and high precision, but the disadvantage is relatively poor flexibility.

[0005] 3. Airbag type: The clamping action is achieved by expanding or contracting the airbag. The advantages are simple structure and lower cost than the above two. The disadvantages are limited clamping force and easy wear.

[0006] This case mainly aims to innovate the shortcomings of the existing airbag-type flexible clamps, and the utility model provides a flexible clamp with high clamping force and dexterity. The previous technology can refer to Chinese patent CN107233149B, a pneumatically controlled flexible upper limb prosthesis. It can be understood that this application mainly solves the related gas leakage defects by connecting the seat with a seal and a finger assembly made of 3D printed materials. In detail, its content mainly achieves the purpose of sealing and reducing gas leakage through the structural design of the conical connection in the structure of this case. However, since the application of the clamp usually requires long-term use, the durability of the structure made by 3D printing in actual application is still tested in terms of wear.

[0007] For example, Chinese patent CN107309897B discloses a flexible manipulator with a buffering function. In this application, reinforcing sheets are arranged at the valley bottom of the finger segments, and the related reinforcing rib body is provided to improve the compressive strength and life of the flexible fingers, thereby effectively improving the buffering and flexible controllability. In detail, the content mainly discloses that in this case, a plurality of reinforcing sheets are arranged at the valley bottom connected between the related finger segments, and the reinforcing sheets can improve the relevant compressive strength and life, thereby improving the buffering and flexible controllability. However, the reinforcing sheets are arranged at the flexible The bottom center of the manipulator and inside the valley of each finger segment can effectively enhance the limiting effect, making the deformation and expansion of the airbag at the crest more obvious and increasing the bending angle of the flexible manipulator. However, the reinforcing sheet is set inside the valley of each finger segment, which is a limitation in terms of the control of the total external deformation. Although the bending angle can be increased in appearance, the deformation and expansion of the airbag at the crest cannot directly push the next airbag to increase the total bending angle of the flexible manipulator. Therefore, this approach will reduce the thrust transmitted to the fingertips of the flexible manipulator.

[0008] The above is an explanation of the shortcomings of the airbag-type flexible clamp. Only by carrying out relevant innovations on the existing flexible clamp can the superiority of the flexible clamp be seen. Therefore, by combining and improving different advantages, it is possible to further create a flexible clamp with stronger clamping force and dexterity, which will be able to be competitive in the future when the processing process becomes more complex. Utility Model Content

[0009] The main purpose of the utility model is to provide a flexible clamping claw, wherein a flexible finger has a channel formed by a plurality of curved surfaces extending continuously inside, a vent hole is arranged at the end of the channel, the vent hole is connected to the end of the flexible finger, and the flexible finger has a plurality of finger segments on the outside, a wave crest is arranged above the finger segment, a wave trough is arranged between the wave crests, and an embedding groove is arranged at the side edge of the wave crest, and at least one embedding hole is also arranged on the finger plate below the embedding groove;

[0010] A combination seat, a group of slots are set on its side, and the slots cooperate with a group of through holes set near the end of the flexible finger. A group of pins are further provided for penetrating the slots and the through holes so that the flexible finger can be tightly connected to the combination seat; a reinforcement component, including: a vertical fastener and a horizontal fastener, the vertical fastener is arranged in the embedded groove, and the horizontal fastener can be arranged by selecting adjacent embedded holes on both sides of the fingerboard, so that the reinforcement component can limit the control of the total deformation and bending angle when the flexible finger is actuated. A vertical fastener can limit the expansion deformation of the crest, and a horizontal fastener can limit the expansion deformation at the fingerboard. Through the free expansion deformation of the trough and the limited expansion deformation at the crest and the fingerboard, the bending angle between the crests can be increased, so that the thrust of the air pressure transmitted to the fingertip of the flexible manipulator increases. Therefore, in addition to having an external fixing function, the reinforcement component can structurally change the angle of the total expansion deformation, thereby concentrating the air pressure transmitted to the fingertip of the flexible manipulator and improving the fingertip thrust.

[0011] Optionally, the curved surface mainly has a main cross-section and a primary cross-section of an oblong design, so as to increase the flow rate in the channel.

[0012] Optionally, the vertical fastener and the horizontal fastener can be installed selectively as required, so that the flexible finger can be more flexibly adjusted for application.

[0013] Optionally, the horizontal fastener can be configured with matching holes on the left and right sides of the flexible finger side edge to be spaced apart.

[0014] Optionally, the horizontal fastener is U-shaped.

[0015] Compared with the existing solutions, the inventor has designed the internal channel in an oblong shape, which can increase the air flow and thus enhance the clamping force. The related flexible fingers are arranged vertically and horizontally on the finger segments through reinforcing components, and the overall deformation can be controlled more flexibly by adjusting the number of installations and changing the position. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional diagram of the utility model.

[0017] Figure 2 It is an exploded schematic diagram of the utility model.

[0018] Figure 3 The utility model is based on Figure 1 AA cross-section diagram.

[0019] Figure 4 The utility model is based on Figure 3 BB cross-section diagram.

[0020] Figure 5 The utility model is based on Figure 3 CC cross-section diagram.

[0021] Figure 6 It is a schematic diagram comparing the CC cross-section and the circular cross-section of the utility model.

[0022] Figure 7 This is another usage configuration diagram of the strengthening component of the utility model.

[0023] Figure 8 Another two usage configuration diagrams of the strengthening assembly of the utility model are shown.

[0024] Fig. 9 Three other usage configuration diagrams of the strengthening assembly of the utility model.

[0025] Fig.10 4 are other usage configuration diagrams of the strengthening assembly of the present invention.

[0026] Fig.11 This is a schematic diagram of the clamping action of the positive pressure drive of the utility model.

[0027] Fig.12 This is a schematic diagram of the relaxation action performed by negative pressure drive of the utility model.

[0028] The following are marked in the figure:

[0029] 10...Flexible fingers

[0030] 11...Channel

[0031] 111...Surface

[0032] 1111...Main section

[0033] 1112...Secondary Section

[0034] 112...Ventilation hole

[0035] 113...Piercing

[0036] 12... finger segment

[0037] 121...peak

[0038] 1211...groove

[0039] 1212...Embedded hole

[0040] 122...Trough

[0041] 13...Fingerboard

[0042] 20...Combination seat

[0043] 21...Slot

[0044] 22...Latch

[0045] 30...Reinforced components

[0046] 31...Vertical fasteners

[0047] 32...Horizontal fastener

[0048] 40...Increased cross-sectional area DETAILED DESCRIPTION

[0049] Generally, according to the best feasible embodiment of the utility model, and in conjunction with the accompanying drawings Figures 1 to 12 After the detailed description, the understanding of the utility model is increased. The utility model is a flexible clamp, which includes: a flexible finger 10, a plurality of curved surfaces 111 continuously extending inside to form a channel 11, the curved surface 111 mainly adopts an oblong design in the utility model, and a vent 112 is provided at the end of the channel 11 to connect to the end of the flexible finger 10, the flexible finger 10 has a plurality of finger segments 12 on the outside, a crest 121 is provided above the finger segment 12, a trough 122 is provided between the crests 121 and the crests 121, and an embedding groove 1211 is provided at the side edge of the crest 121, and at least one embedding hole 1212 is also provided on the finger plate 13 below the embedding groove 1211, and the embedding hole 1212 here can be adjusted and set according to the actual production and manufacturing needs, but at least one embedding hole 1212 is required, but it is not limited to this.

[0050] A combination seat 20 has a group of slots 21 on its side, which cooperate with a group of through holes 113 set near the end of the flexible finger 10, and further provide a group of pins 22 for penetrating the slots 21 and the through holes 113, so that the flexible finger 10 can be tightly connected to the combination seat 20.

[0051] A group of reinforcing components 30 includes: a vertical fastener 31 and a horizontal fastener 32. The vertical fastener 31 is mainly used to be configured in the embedding groove 1211, and the horizontal fastener 32 is configured by selecting adjacent embedding holes 1212 on both sides, so that the reinforcing component 30 can limit the control of the total deformation and bending angle when the flexible finger 10 is actuated. The aforementioned horizontal fastener 32 is in a U-shaped design, and the limiting force provided when the flexible finger 10 is actuated can have the effect of increasing the total bending angle. The overall structure allows the external deformation of the flexible finger 10 at the trough 122 to be increased through the external reinforcing component 30, while the total deformation on the finger plate 13 is limited by a horizontal fastener 32. In appearance, it not only increases the bending angle of the finger plate 13, but also concentrates the air pressure to be transmitted to the fingertip of the flexible manipulator, thereby increasing the fingertip thrust.

[0052] like Figure 3 to Figure 5 As shown, the BB section and the CC section can be seen, and the BB section is the section of the finger segment 12, and the CC section is the connecting part in the middle of the finger segment 12. In both sections, a main section 1111 and a secondary section 1112 with an oblong design can be seen, which can effectively increase the air flow rate in the channel 11; Figure 6 As shown in the figure, the CC section can be seen, as well as the relevant structural section of a commercially available product with similar air flow but a circular internal channel design. By comparing the two sections, it can be seen that the same Figure 6 The increased cross-sectional area 40 indicated by the filled black pattern shows that the flow rate of the oblong design is significantly greater than that of the circular design. The main section 1111 of the oblong design of the utility model is close to the circular diameter at the oblong minor axis, but the oblong major axis divided by the circular diameter is increased to 1.5 to 2 times. In addition to the significantly larger flow rate, the position of the oblong trough 122 away from the finger plate 13 where the primary section 1112 can be seen will also be about 1.2 to 1.4 times higher than the trough of the circular design, so that the free expansion deformation of the oblong trough 122 pushes the wave crest 121 with a force multiplied by the increased distance of the trough 122 from the finger plate 13, resulting in the torque of the finger plate 13 being increased to 1.5 to 2 times, thereby achieving the effect of more than doubling the total bending angle of the tip of the flexible finger 10.

[0053] For example Figure 7 to Figure 10 As shown, it mainly utilizes the vertical fastener 31 and the horizontal fastener 32 in the reinforcing component 30 through different installation methods, so as to allow the flexible finger 10 to have a larger adjustment range to cope with more flexible practical applications; and the actual operation method is to select one of the vertical fastener 31 and the horizontal fastener 32 to be installed as needed, or to use the horizontal fastener 32 to change the side edge of the flexible finger 10 on the fingerboard 13 to the left and right respectively with the embedded holes 1212 to be arranged at intervals; Figure 11-12 As shown, it can be seen that even after the strengthening assembly 30 is installed, the clamping action can be performed by positive pressure driving. Fig.11 Or use negative pressure to drive relaxation movements Fig.12 , it is possible to maintain the expansion of its deformation, so that the controllability of the utility model can also be guaranteed to a certain extent.

[0054] In summary, the utility model adopts an oblong design for the internal channel of the flexible finger to increase the relative airflow, and limits the control of the total deformation and bending angle of the flexible finger when it is actuated by strengthening the components, and then adjusts the vertical or horizontal fasteners by different configuration means. In addition to improving the deformation of the external structure of the finger, it can further increase the sensitive controllability of the flexible finger, so that the flexible finger can have a wider adjustment range to cope with practical applications with better flexibility.

Claims

1. A flexible clamping claw, characterized in that: The invention comprises: a flexible finger (10), wherein a channel (11) is formed by continuous extension of a plurality of curved surfaces (111) inside the flexible finger (10), a vent hole (112) is arranged at the end of the channel (11) and connected to the end of the flexible finger (10), the flexible finger (10) has a plurality of finger segments (12) outside, a wave crest (121) is arranged above the finger segment (12), a wave trough (122) is arranged between the wave crests (121), an embedding groove (1211) is arranged at the side edge of the wave crest (121), and at least one embedding hole (1212) is arranged on a finger plate (13) below the embedding groove (1211); and a combination seat (20), wherein a group of slots (1212) are arranged on the side edge of the combination seat (20). 21), the slot (21) cooperates with a group of through holes (113) arranged near the end of the flexible finger (10), and further provides a group of pins (22) for penetrating the slot (21) and the through hole (113), so that the flexible finger (10) can be tightly connected to the combination seat (20); a strengthening component (30), including: a vertical fastener (31) and a horizontal fastener (32), the vertical fastener (31) is arranged in the embedded groove (1211), and the horizontal fastener (32) is arranged through the adjacent embedded holes (1212) selected on both sides of the finger plate (13), so that the strengthening component (30) can limit the control of the total deformation and bending angle of the flexible finger (10) when it is actuated.

2. The flexible clamp according to claim 1, characterized in that: The curved surface (111) mainly presents a main cross section (1111) and a secondary cross section (1112) of an oblong design, and is used to increase the flow rate in the channel (11).

3. The flexible clamp according to claim 1, characterized in that: The vertical fastener (31) and the horizontal fastener (32) can be selectively installed as required, so that the flexible finger (10) can be more flexibly adjusted for use.

4. The flexible clamp according to claim 1, characterized in that: The horizontal fastener (32) can be arranged at intervals on the side edge of the flexible finger (10) with the left and right sides respectively matching the embedded holes (1212).

5. The flexible clamp according to claim 1, characterized in that: The horizontal fastener (32) is U-shaped.

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