Robot flexible clamping jaw

Abstract

The utility model discloses a robot flexible clamping jaw which comprises a parallel clamping jaw body and four flexible finger jaws, the four flexible finger jaws are symmetrically, reversely and movably installed on the two sides of two sliding clamping blocks in the parallel clamping jaw body respectively through two distance adjusting mechanisms, and each distance adjusting mechanism comprises a positive and negative tooth two-way screw. The positive and negative tooth two-way screws are rotationally connected with the sliding clamping block, and the four flexible claw fingers are installed on the two sides of the two positive and negative tooth two-way screws in a threaded mode correspondingly. According to the flexible clamping jaw of the robot, the two fixing blocks on the two sides can be driven to move reversely along the guide rods by screwing the forward and reverse thread two-way screw forwards and backwards, so that the two parallel clamping jaws on the two sides of the distance adjusting mechanism are far away from each other or close to each other, and compared with a traditional parallel type four-jaw flexible clamping jaw, the flexible clamping jaw of the robot can clamp objects of more sizes.

Description

Technical Field

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

[0002] In recent years, the design principle of flexible grippers is based on the characteristics of flexible materials. They adapt to different shapes and sizes of workpieces through elastic deformation and plastic deformation. They are used to achieve precise grasping and stable movement of small, fragile, and special-shaped workpieces, reduce item loss, and make production line loading smooth. They are also used in the fresh food industry.

[0003] As is known to all, the four jaws of the parallel four-jaw flexible clamp in the prior art are fixedly mounted on multiple sliding clamping blocks in the matching parallel clamp or other driving device according to the shape and size of the required clamped objects. The position of the clamp installation cannot be adjusted later according to the size of the object, so that the parallel four-jaw flexible clamp can clamp fewer types of objects. Utility Model Content

[0004] The utility model aims to solve the problem that the types of articles that can be clamped by the parallel four-claw flexible clamp in the prior art are relatively few, and proposes a robot flexible clamp.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A robot flexible gripper comprises a parallel gripper and four flexible fingers, wherein the four flexible fingers are symmetrically moved in opposite directions and installed on both sides of two sliding clamping blocks in the parallel gripper through two distance adjustment mechanisms, wherein the distance adjustment mechanism comprises a forward and reverse bidirectional screw, wherein the forward and reverse bidirectional screw is rotationally connected to the sliding clamping block, and the four flexible fingers are threadedly installed on both sides of the two forward and reverse bidirectional screws.

[0007] Preferably, the flexible finger claw includes a fixed block, a splint and a silicone block, the threaded hole in the fixed block is threadedly connected to the positive and negative bidirectional screw, the lower end of the fixed block is rotatably installed on the top end of the splint through a rotating shaft, a fan-shaped limiting groove is provided on the lower surface of the top end of the splint, two rubber springs are provided in the fan-shaped limiting groove, a connecting block is fixedly installed between the two rubber springs, the connecting block is fixedly installed on the lower end of the rotating shaft, the silicone block is fixedly installed on the inner end face of the splint, and a plurality of corrugated grooves are provided on the clamping end face of the silicone block.

[0008] Preferably, a clamping force adjustment mechanism is installed on the dorsal end face of one of the flexible claws, and the clamping force adjustment mechanism includes a telescopic tube, a thrust spring, a folding plate, an insulating box, a static contact one, a static contact two and a moving contact. The telescopic tube slides through the silicone block, and the head end of the telescopic tube is telescopically installed in the clamping plate, and the thrust spring is arranged between the telescopic tube and the folding plate.

[0009] Preferably, a telescopic rod is coaxially fixedly installed in the telescopic cylinder, the telescopic rod slides through the folding plate, the folding plate and the clamping plate are fixedly connected, the folding plate and the insulating box are fixedly connected, the static contact 1 and the static contact 2 are fixedly connected via an arch plate, one side of the arch plate is rotatably connected with a screw, the screw and the insulating box are threadedly connected, a knob is fixedly installed on the periphery of the screw, and the moving contact is fixedly installed on one end of the telescopic rod.

[0010] Preferably, the distance adjustment mechanism also includes two guide rods, which are respectively arranged in parallel on both sides of the forward and reverse bidirectional screw, and a handwheel is fixedly installed at one end of the forward and reverse bidirectional screw, and the four guide rods are respectively fixedly installed in the two through holes in the two sliding clamping blocks.

[0011] Preferably, the parallel clamp comprises a cylinder body and a steel ball slide rail, the steel ball slide rail is fixedly mounted on the lower end of the cylinder body, and the two sliding clamping blocks are symmetrically slidably mounted in the steel ball slide rail.

[0012] Compared with the prior art, the utility model provides a robot flexible gripper, which has the following beneficial effects:

[0013] 1. The robot's flexible gripper can drive the two fixed blocks on both sides to move in opposite directions along the guide rod by twisting the bidirectional screw with positive and negative teeth forward and backward, so that the two parallel grippers on both sides of the distance adjustment mechanism can move away from or closer to each other. Compared with the traditional parallel four-claw flexible gripper, it can clamp objects of more sizes.

[0014] 2. The robot's flexible gripper, through the elasticity of the rubber spring, allows the clamping plate and the silicone block to rotate elastically according to the shape of the outer wall of the clamped object to adapt to different shapes of objects. It can clamp objects in the shape of cylinders, cuboids, a combination of cylinders and cuboids, polygons, etc., so that the present application can clamp objects of more shapes.

[0015] 3. The flexible gripper of the robot drives the screw and the insulating box thread to rotate by turning the knob forward or backward, and the arch plate drives the static contact 1 and the static contact 2 to move along the inner wall of the insulating box, away from or close to the moving contact, and cooperates with the moving contact to move with the telescopic cylinder to connect the circuit between the lower end of the static contact 1 and the static contact 2, and then transmits a stop signal to the parallel gripper, that is, the four flexible claws cannot move further, retaining the reserved elasticity of the silicone block, thereby changing the compressed stroke of the moving contact, that is, changing the compression degree of the clamping surface in the silicone block, so as to adjust the clamping force of the silicone block, so as to clamp objects of different weights and bearing pressures. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the structure of a robot flexible gripper proposed in the utility model Figure 1 ;

[0017] Figure 2 A schematic diagram of the structure of a robot flexible gripper proposed in the utility model Figure 2 ;

[0018] Figure 3 This is a schematic diagram of the connection structure of a distance adjustment mechanism in a robot flexible gripper proposed by the utility model;

[0019] Figure 4 This is a cross-sectional connection diagram of a clamping force adjustment mechanism in a robot flexible clamping jaw proposed by the utility model.

[0020] In the figure:

[0021] 1. Parallel clamping jaws; 1-1. Cylinder body; 1-2. Ball bearing slide rail; 1-3. Sliding clamping block;

[0022] 2. Flexible claws; 2-1. Fixed block; 2-2. Clamp; 2-3. Silicone block; 2-4. Rotating shaft; 2-5. Corrugated groove; 2-6. Fan-shaped limit groove; 2-7. Connecting block; 2-8. Rubber spring; 2-9. Threaded hole; 2-10. Perforation;

[0023] 3. Pitch adjustment mechanism; 3-1. Hand wheel; 3-2. Bidirectional screw with positive and negative teeth; 3-3. Guide rod;

[0024] 4. Clamping force adjustment mechanism; 4-1. Telescopic cylinder; 4-2. Telescopic rod; 4-3. Thrust spring; 4-4. Folding plate; 4-5. Insulation box; 4-6. Stationary contact one; 4-7. Arch plate; 4-8. Screw rod; 4-9. Knob; 4-10. Stationary contact two; 4-11. Moving contact. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0026] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying 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 direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0027] Reference Figure 1-4 A robot flexible gripper includes a parallel gripper 1. The parallel gripper 1 in the present application adopts an electric gripper of model HEPG, which is electrically driven and needs to be connected to a power source through a wire when in use. The parallel air gripper 1 includes a cylinder body 1-1, a steel ball slide rail 1-2 and two sliding clamping blocks 1-3. The steel ball slide rail 1-2 is fixedly installed at the lower end of the cylinder body 1-1, and the two sliding clamping blocks 1-3 are symmetrically slidably installed in the steel ball slide rail 1-2. It is well known that after the parallel gripper 1 is energized, the two sliding clamping blocks 1-3 can move synchronously in opposite directions along the steel ball slide rail 1-2, so that the two sliding clamping blocks 1-3 can be opened and closed.

[0028] In this embodiment, a distance adjusting mechanism 3 is installed on each of the two sliding clamping blocks 1-3. The distance adjusting mechanism 3 includes a forward and reverse bidirectional screw 3-2. The middle end of the forward and reverse bidirectional screw 3-2 is rotatably connected to the sliding clamping block 1-3 through a bearing. The distance adjusting mechanism 3 also includes two guide rods 3-3. The two guide rods 3-3 are respectively arranged in parallel on both sides of the forward and reverse bidirectional screw 3-2. The threads on both sides of the forward and reverse bidirectional screw 3-2 are opposite. A handwheel 3-1 is fixedly installed on one end of the forward and reverse bidirectional screw 3-2.

[0029] In this embodiment, two flexible claws 2 are symmetrically arranged on both sides of the forward and reverse bidirectional screw 3-2, and the flexible claws 2 include a fixed block 2-1, a clamping plate 2-2 and a silicone block 2-3. Four guide rods 3-3 are respectively fixedly installed in two through holes 2-10 in the two sliding clamping blocks 1-3. The guide rods 3-3 are mainly used to guide the fixed block 2-1 to move horizontally and cannot rotate with the forward and reverse bidirectional screw 3-2. The threaded hole 2-9 in the fixed block 2-1 is threadedly connected to the forward and reverse bidirectional screw 3-2. The moving forward and reverse bidirectional screw 3-2 can drive the two fixed blocks 2-1 on both sides to move in the opposite direction along the guide rod 3-3, that is, the two parallel clamping jaws 1 can adjust the distance according to the size of the clamped object through the distance adjustment mechanism 3. Compared with the traditional parallel four-claw flexible clamping jaws, more sizes of objects can be clamped. The lower end of the fixed block 2-1 is rotatably installed on the top of the clamping plate 2-2 through the rotating shaft 2-4. The fixed block 2-1 and the rotating shaft 2-4 are fixedly connected, and the rotating shaft 2-4 and the clamping plate 2-2 are fixedly connected. The clamping plate 2-2 is in the shape of the number ⑦.

[0030] A fan-shaped limit groove 2-6 is provided on the lower surface of the top end of the splint 2-2, and two rubber springs 2-8 are provided in the fan-shaped limit groove 2-6. A connecting block 2-7 is fixedly installed between the two rubber springs 2-8. The connecting block 2-7 is fixedly installed at the lower end of the rotating shaft 2-4, and the connecting block 2-7 is rotatably installed in the fan-shaped limit groove 2-6. The connecting block 2-7 and the fan-shaped limit groove 2-6 are used to limit the rotation angle of the splint 2-2, and then the elastic force of the rubber spring 2-8 is used to realize the flexible rotation of the splint 2-2. That is, the flexible finger claw 2 in the present application can not only realize the flexible clamping of the flexible finger claw 2 through the soft elasticity of the silicone block 2-3 itself, but also can realize the elastic rotation of the splint 2-2 and the silicone block 2-3 through the elasticity of the rubber spring 2-8. It can rotate according to the shape of the outer wall of the clamped object to adapt to different shapes of objects, such as Figure 1 Clamped cylindrical objects and Figure 2 The clamped rectangular objects can also be clamped, and objects with a combination of cylindrical and rectangular shapes can be clamped, so that the present application can clamp objects of more shapes. The silicone block 2-3 is fixedly installed on the inner end face of the splint 2-2, and a plurality of corrugated grooves 2-5 are arranged on the clamping end face of the silicone block 2-3. The plurality of corrugated grooves 2-5 provide deformation space for the clamping end face of the silicone block 2-3, which can better deform and adapt to the surface of the object.

[0031] In this embodiment, a clamping force adjustment mechanism 4 is installed on the back end face of a flexible finger claw 2, and the clamping force adjustment mechanism 4 includes a telescopic cylinder 4-1, a thrust spring 4-3, a folding plate 4-4, an insulating box 4-5, a static contact 1 4-6, a static contact 2 4-10 and a moving contact 4-11. The thrust spring 4-3 is arranged in the telescopic cylinder 4-1 and is extruded and installed between the telescopic cylinder 4-1 and the folding plate 4-4. The telescopic cylinder 4-1 slides through the silicone block 2-3, and the head end of the telescopic cylinder 4-1 is telescopically installed in the clamping plate 2-2. A telescopic rod 4-2 is coaxially fixedly installed in the telescopic cylinder 4-1, and the thrust spring 4-3 is arranged on the periphery of the telescopic rod 4-2. The thrust spring 4-3 in this application is always in a compressed state, and is used to automatically push the telescopic cylinder 4-1 through the clamping end face of the silicone block 2-3;

[0032] The telescopic rod 4-2 slides through the folding plate 4-4, the folding plate 4-4 and the clamping plate 2-2 are fixedly connected by bolts, the folding plate 4-4 and the insulating box 4-5 are fixedly connected, the arch plate 4-7 is made of insulating material and cannot conduct electricity, the static contact 1 4-6 and the static contact 2 4-10 are arranged on the same vertical line, and the static contact 1 4-6 and the static contact 2 4-10 are both slidably connected to the insulating box 4-5, and the moving contact 4-11 is fixedly installed at one end of the telescopic rod 4-2;

[0033] The lower end of the static contact 1 4-6 and the upper end of the static contact 2 4-10 are arranged on the path of the upper and lower ends of the moving contact 4-11. The static contact 1 4-6, the static contact 2 4-10 and the moving contact 4-11 are all made of highly elastic brass. The upper end of the static contact 1 4-6 and the lower end of the static contact 2 4-10 are connected to the parallel clamping claw 1 through a wire. When the four flexible fingers 2 are used to flexibly clamp an object, the outer wall of the clamped object will push the telescopic cylinder 4-1 to retract. Inside the silicone block 2-3, the moving contact 4-11 is driven by the telescopic rod 4-2 to approach the lower end of the static contact 1 4-6 and the static contact 2 4-10, and the circuit between the lower end of the static contact 1 4-6 and the static contact 2 4-10 is connected. After the lower end of the static contact 1 4-6 and the static contact 2 4-10 are connected, a stop signal is transmitted to the parallel clamping claw 1 through the wire, that is, the four flexible fingers 2 cannot continue to approach, and the reserved elasticity of the silicone block 2-3 is retained;

[0034] The static contact 1 4-6 and the static contact 2 4-10 are fixedly connected by an arch plate 4-7, and a screw 4-8 is rotatably connected to one side of the arch plate 4-7. The screw 4-8 and the insulating box 4-5 are threadedly connected, and a knob 4-9 is fixedly installed on the periphery of the screw 4-8. The screw 4-8 is driven to rotate along the insulating box 4-5 by turning the knob 4-9 forward or reverse, and the static contact 1 4-6 and the static contact 2 4-10 are driven by the arch plate 4-7 to move along the inner wall of the insulating box 4-5, away from or close to the moving contact 4-11, thereby changing the compression stroke of the moving contact 4-11, that is, changing the compression degree of the clamping surface in the silicone block 2-3, so as to adjust the clamping force of the silicone block 2-3, so as to clamp objects of different weights and bearing pressures.

[0035] Summarize:

[0036] 1) The four parallel clamps 1 in the present application can be adjusted in distance according to the size of the clamped object through two distance adjustment mechanisms 3. By twisting the forward and reverse bidirectional screw 3-2, the two fixed blocks 2-1 on both sides can be driven to move in the opposite direction along the guide rod 3-3, so that the two parallel clamps 1 on both sides of the distance adjustment mechanism 3 are moved away from or close to each other. Compared with the traditional parallel four-claw flexible clamp, more objects of different sizes can be clamped;

[0037] 2) The flexible finger claw 2 in the present application can not only realize flexible clamping of the flexible finger claw 2 through the soft elasticity of the silicone block 2-3 itself, but also can make the clamping plate 2-2 and the silicone block 2-3 elastically rotate according to the shape of the outer wall of the clamped object through the elasticity of the rubber spring 2-8 to adapt to different shapes of objects, and can clamp objects in the shape of cylinders, cuboids, combinations of cylinders and cuboids, polygons, etc., so that the present application can clamp objects of more shapes;

[0038] 3) When the four flexible fingers 2 in the present application flexibly clamp an object, the outer wall of the clamped object will push the telescopic cylinder 4-1 to retract into the silicone block 2-3, and the moving contact 4-11 driven by the telescopic rod 4-2 will approach the lower end of the static contact 1 4-6 and the static contact 2 4-10, connecting the circuit between the lower end of the static contact 1 4-6 and the static contact 2 4-10. After the lower end of the static contact 1 4-6 and the static contact 2 4-10 are connected, a stop signal will be transmitted to the parallel clamp 1 through the wire, that is, the four flexible fingers 2 cannot continue to approach, and the circuit is retained. The reserved elasticity of the silicone block 2-3 is obtained, and the screw 4-8 is driven to rotate along the insulating box 4-5 by turning the knob 4-9 forward or reverse, and the static contact 1 4-6 and the static contact 2 4-10 are driven by the arch plate 4-7 to move along the inner wall of the insulating box 4-5, away from or close to the moving contact 4-11, thereby changing the compression stroke of the moving contact 4-11, that is, changing the compression degree of the clamping surface in the silicone block 2-3, so as to adjust the clamping force of the silicone block 2-3, so as to clamp objects of different weights and bearing pressures.

[0039] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A robot flexible gripper, comprising a parallel gripper (1) and four flexible fingers (2), characterized in that: The four flexible fingers (2) are symmetrically moved in opposite directions and installed on both sides of the two sliding clamping blocks (1-3) in the parallel clamping jaws (1) through two distance adjustment mechanisms (3), the distance adjustment mechanism (3) comprises a forward and reverse bidirectional screw (3-2), the forward and reverse bidirectional screw (3-2) and the sliding clamping block (1-3) are rotatably connected, and the four flexible fingers (2) are threadedly installed on both sides of the two forward and reverse bidirectional screws (3-2).

2. A robot flexible gripper according to claim 1, characterized in that: The flexible finger claw (2) comprises a fixed block (2-1), a clamping plate (2-2) and a silicone block (2-3); the threaded hole (2-9) in the fixed block (2-1) is threadedly connected to the forward and reverse bidirectional screw (3-2); the lower end of the fixed block (2-1) is rotatably mounted on the top end of the clamping plate (2-2) through a rotating shaft (2-4); a fan-shaped limiting groove (2-6) is provided on the lower surface of the top end of the clamping plate (2-2); two rubber springs (2-8) are provided in the fan-shaped limiting groove (2-6); a connecting block (2-7) is fixedly mounted between the two rubber springs (2-8); the connecting block (2-7) is fixedly mounted on the lower end of the rotating shaft (2-4); the silicone block (2-3) is fixedly mounted on the inner end surface of the clamping plate (2-2); and a plurality of corrugated grooves (2-5) are provided on the clamping end surface of the silicone block (2-3).

3. A robot flexible gripper according to claim 2, characterized in that: A clamping force adjustment mechanism (4) is installed on the back end face of one of the flexible fingers (2), and the clamping force adjustment mechanism (4) comprises a telescopic tube (4-1), a thrust spring (4-3), a folding plate (4-4), an insulating box (4-5), a first static contact (4-6), a second static contact (4-10) and a moving contact (4-11). The telescopic tube (4-1) slides through the silicone block (2-3), and the head end of the telescopic tube (4-1) is telescopically installed in the clamping plate (2-2), and the thrust spring (4-3) is arranged between the telescopic tube (4-1) and the folding plate (4-4).

4. A robot flexible gripper according to claim 3, characterized in that: A telescopic rod (4-2) is coaxially fixedly installed in the telescopic cylinder (4-1), the telescopic rod (4-2) slides through the folding plate (4-4), the folding plate (4-4) and the clamping plate (2-2) are fixedly connected, the folding plate (4-4) and the insulating box (4-5) are fixedly connected, the static contact 1 (4-6) and the static contact 2 (4-10) are fixedly connected via an arch plate (4-7), one side of the arch plate (4-7) is rotatably connected with a screw rod (4-8), the screw rod (4-8) and the insulating box (4-5) are threadedly connected, a knob (4-9) is fixedly installed on the periphery of the screw rod (4-8), and the moving contact (4-11) is fixedly installed on one end of the telescopic rod (4-2).

5. The robot flexible gripper according to claim 1, characterized in that: The distance adjustment mechanism (3) further comprises two guide rods (3-3), the two guide rods (3-3) are respectively arranged in parallel on both sides of the forward and reverse bidirectional screw (3-2), a hand wheel (3-1) is fixedly mounted on one end of the forward and reverse bidirectional screw (3-2), and the four guide rods (3-3) are respectively fixedly mounted in two through holes (2-10) in the two sliding clamping blocks (1-3).

6. The robot flexible gripper according to claim 1, characterized in that: The parallel clamp (1) comprises a cylinder body (1-1) and a steel ball slide rail (1-2), wherein the steel ball slide rail (1-2) is fixedly mounted on the lower end of the cylinder body (1-1), and the two sliding clamping blocks (1-3) are symmetrically slidably mounted in the steel ball slide rail (1-2).

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