Flexible gripper device

Abstract

The utility model relates to the technical field of clamping jaws, and provides a flexible gripper device which comprises a horizontally-arranged base and four flexible clamping jaws arranged at the bottom of the base in a matrix mode, and a moving mechanism used for adjusting the distance between the flexible clamping jaws is arranged on the base. A pulling rod is moved to drive a second limiting block to slide along the surface of a connecting rod to be separated from a clamping block, a spring is extruded, the second limiting block is made to approach a first limiting block, then a connecting disc is moved to drive the first limiting block and the clamping block to be separated, and the flexible clamping jaw can be disassembled and replaced; and then the connecting disc is moved to enable the first limiting block to be clamped into the clamping block to be positioned, the pulling rod is loosened to drive the second limiting block to be clamped into the other clamping block to be fixed through the spring, and therefore the effect that the flexible clamping jaw is rapidly disassembled, assembled, replaced and maintained is achieved, the maintenance time is shortened, and the use convenience and the maintenance efficiency are effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of clamping claws, and specifically to a flexible gripping device. Background Art

[0002] A flexible gripper is a device used to hold, grasp or manipulate objects, characterized by its soft material construction and ability to conform to objects of various shapes and surfaces.

[0003] The authorized patent with known application number: CN202321317161.4 discloses a lightweight robot flexible gripper. The utility model provides a lightweight robot flexible gripper that can perform decentralized multi-stage adjustment on the gripper to improve the adaptability of the gripper. A lightweight robot flexible gripper includes a mounting plate, an angle controller, an air nozzle, a flexible gripper and an adjustment mechanism. The front and rear parts of the mounting plate are both slidably and rotatably connected with multiple angle controllers, the angle controllers are connected with flexible grippers, the tops of the flexible grippers are connected with air nozzles, and the mounting plate is provided with an adjustment mechanism for adjusting the spacing between the flexible grippers. The utility model adjusts the position and angle of the flexible gripper through the movement and rotation of the angle controller and the telescopic end of the first cylinder, so as to achieve the effect of decentralized multi-stage adjustment of the gripper and improve the adaptability of the gripper.

[0004] However, in the implementation of relevant technologies, it was found that the above technical solution has the following problems: when in use, it is not convenient to quickly disassemble, replace and maintain the clamping jaws. Since the flexible clamping jaws are used for a long time, their surfaces are prone to wear and therefore need to be replaced and maintained regularly. The existing disassembly and assembly process of the flexible clamping jaws is relatively cumbersome and time-consuming, and tools are required for disassembly and assembly, which easily increases the maintenance and replacement time, thereby reducing the convenience of use and maintenance efficiency. Utility Model Content

[0005] The utility model provides a flexible gripper device, which solves the problem in the related art that it is inconvenient to quickly disassemble, replace and maintain the clamping claws.

[0006] The technical solution of the utility model is as follows: a flexible gripper device, comprising: a horizontally arranged base;

[0007] Four flexible clamping claws are arranged in a matrix at the bottom of the base, and a moving mechanism for adjusting the spacing between the flexible clamping claws is provided on the base;

[0008] A plurality of fixing blocks arranged at the output end of the adjusting mechanism and corresponding to the flexible clamping claws;

[0009] Two clamping blocks symmetrically fixedly mounted on the bottom of the fixing block;

[0010] A connection plate fixedly mounted on the top of the flexible clamping claw, a limiting block 1 which is clamped with a fixed block is fixedly mounted on one side of the top of the connection plate, and a groove is provided on the other side of the top of the connection plate;

[0011] A groove is provided on the other side of the top of the connection plate and a connecting rod is fixedly installed inside the groove, and a second limiting block which is engaged with another fixed block is slidably connected on the surface of the connecting rod;

[0012] and a spring sleeved on the surface of the connecting rod and having two ends connected to one side of the inner wall of the groove and the second limit block;

[0013] A pulling rod which slides with the connecting plate is fixedly mounted on one side of the second limiting block.

[0014] Preferably, an air connection head is fixedly mounted on the top of the flexible clamping jaw, and a plurality of anti-sliding blocks are fixedly mounted on the inner surface of the flexible clamping jaw.

[0015] Preferably, the adjustment mechanism includes slide grooves opened on both sides of the top of the base, a bidirectional screw rod penetrating and rotatably connected to the surface of the vertical section of the base, a movable plate symmetrically threadedly connected to the surface of the bidirectional screw rod and sliding with the slide groove, a power part arranged on the base, a rotating part arranged on the top of the movable plate and a shaft rod rotatably connected to the two ends of the bottom of the movable plate, and the fixed block is fixedly connected to the bottom end of the shaft rod.

[0016] The power part comprises a motor 1 fixedly mounted on one end of the top of the base, and the output end of the motor 1 is connected to the bidirectional screw.

[0017] The rotating member comprises a second motor symmetrically fixedly mounted at two ends of the top of the moving plate, and the output end of the second motor passes through the moving plate and is connected to the shaft rod.

[0018] Preferably, an auxiliary mechanism is provided at the bottom of the base, and the auxiliary mechanism includes an electric push rod fixedly installed at the center of the base, a suction cup fixedly installed at the output end of the electric push rod, and a vacuum pump fixedly installed at the top of the base;

[0019] The suction end of the vacuum pump is fixedly connected with a hose that passes through the base and is connected to the suction cup.

[0020] Preferably, a connecting frame is fixedly installed at the top center of the base, and a connecting block is fixedly installed at the top of the connecting frame.

[0021] The working principle and beneficial effects of the utility model are:

[0022] When disassembling and replacing the flexible clamping claw, the pull rod is moved to drive the limit block two to slide along the surface of the connecting rod to separate from the blocking block, and the spring is squeezed to make the limit block two approach the limit block one, and then the connecting plate is moved to drive the limit block one and the blocking block to separate, so that the flexible clamping claw can be disassembled and replaced. During installation, the pull rod is moved to drive the limit block two to slide along the connecting rod to approach the limit block one, and then the connecting plate is moved to make the limit block one be stuck in one blocking block for positioning, and then the pull rod is released to drive the limit block two to be stuck in another blocking block for fixing via the spring. Therefore, the flexible clamping claw can be quickly disassembled, replaced and maintained without the need for tools for disassembly and assembly, which saves maintenance time and effectively improves the convenience of use and maintenance efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0024] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the utility model;

[0025] Figure 2 It is a partial three-dimensional structural schematic diagram of the flexible clamping claw of the utility model;

[0026] Figure 3 It is a partial three-dimensional structural schematic diagram of the mobile mechanism of the utility model;

[0027] Figure 4 It is a cross-sectional three-dimensional structural schematic diagram of the base of the utility model;

[0028] In the figure: 1. base; 2. flexible clamping claw; 3. fixing block; 4. clamping block; 5. connecting plate; 6. limit block 1; 7. connecting rod; 8. limit block 2; 9. spring; 10. pulling rod; 11. air connection head; 12. anti-sliding block; 13. two-way screw; 14. moving plate; 15. shaft; 16. motor 2; 17. motor 1; 18. electric push rod; 19. suction cup; 20. vacuum pump; 21. connecting frame; 22. connecting block. DETAILED DESCRIPTION

[0029] The following will be combined with the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] Embodiment 1

[0031] See also Figure 1 - Figure 4 , the utility model provides a flexible gripper device, comprising a horizontally arranged base 1;

[0032] Four flexible clamping claws 2 are arranged in a matrix at the bottom of the base 1, and a moving mechanism for adjusting the spacing between the flexible clamping claws 2 is provided on the base 1;

[0033] A plurality of fixing blocks 3 arranged at the output end of the adjustment mechanism and corresponding to the flexible clamping claws 2;

[0034] Two clamping blocks 4 are symmetrically fixedly mounted on the bottom of the fixing block 3;

[0035] A connection plate 5 is fixedly mounted on the top of the flexible clamping claw 2, a limiting block 6 which is clamped with a fixing block 3 is fixedly mounted on one side of the top of the connection plate 5, and a groove is provided on the other side of the top of the connection plate 5;

[0036] A groove is provided on the other side of the top of the connection plate 5 and a connecting rod 7 is fixedly installed inside. The surface of the connecting rod 7 is slidably connected with a second limit block 8 that is engaged with another fixed block 3, wherein the distance between the two blocks 4 is greater than the total length of the first limit block 6 and the second limit block 8;

[0037] and a spring 9 sleeved on the surface of the connecting rod 7 and having two ends connected to one side of the inner wall of the groove and the second limit block 8;

[0038] A pulling rod 10 that slides with the connecting plate 5 is fixedly mounted on one side of the limiting block 8 .

[0039] When in use, the spacing between the flexible clamping claws 2 can be easily adjusted through the adjusting mechanism, which makes it convenient to clamp objects of different sizes and enhances the flexibility of use. When disassembling and replacing the flexible clamping claw 2, the limit block 2 8 is driven by moving the pull rod 10 to slide along the surface of the connecting rod 7 to disengage from the card block 4, and the spring 9 is squeezed to make the limit block 2 8 approach the limit block 1 6, and then the connecting plate 5 is moved to drive the limit block 1 6 and the card block 4 to separate and disassemble the flexible clamping claw 2. During installation, the pull rod 10 is moved to drive the limit block 2 8 to slide along the connecting rod 7 to approach the limit block 1 6, and then the connecting plate 5 is moved to make the limit block 1 6 snap into one card block 4 for positioning, and then the pull rod 10 is released to drive the limit block 2 8 to snap into the other card block 4 for fixing via the spring 9. Therefore, the effect of quick disassembly, assembly, replacement and maintenance of the flexible clamping claw 2 is achieved, and no tools are needed for disassembly and assembly, which saves maintenance time and effectively improves the convenience of use and maintenance efficiency.

[0040] Furthermore, an air connection head 11 is fixedly mounted on the top of the flexible clamping jaw 2 , and a plurality of anti-sliding blocks 12 are fixedly mounted on the inner surface of the flexible clamping jaw 2 .

[0041] Specifically, by providing the air connection head 11, it is convenient to connect the external air pipe and the flexible clamping claw 2 for use. By providing the anti-sliding block 12, the contact area and friction between the flexible clamping claw 2 and the clamped object can be further increased to prevent the object from detaching.

[0042] Furthermore, the adjustment mechanism includes slide grooves opened on both sides of the top of the base 1, a bidirectional screw 13 that penetrates and is rotatably connected to the surface of the vertical section of the base 1, a movable plate 14 that is symmetrically threadedly connected to the surface of the bidirectional screw 13 and slides with the slide groove, a power part arranged on the base 1, a rotating part arranged on the top of the movable plate 14 and a shaft 15 that is rotatably connected to the two ends of the bottom of the movable plate 14, and the fixed block 3 is fixedly connected to the bottom end of the shaft 15.

[0043] The power part includes a motor 17 fixedly mounted on one end of the top of the base 1 , and the output end of the motor 17 is connected to the bidirectional screw 13 .

[0044] The rotating member includes a second motor 16 symmetrically fixedly mounted on both ends of the top of the moving plate 14 , and the output end of the second motor 16 passes through the moving plate 14 and is connected to the shaft 15 .

[0045] Specifically, the bidirectional screw 13 is driven to rotate by the motor 17, driving the two movable plates 14 to move closer to or away from each other along the slide groove, thereby driving the flexible clamping jaws 2 to move via the shaft 15, so as to achieve the purpose of adjusting the distance between the flexible clamping jaws 2, which is convenient for clamping objects of different volumes. At the same time, the shaft 15 is driven to rotate by the motor 2 16, thereby driving the flexible clamping jaws 2 to rotate and adjust the angle, thereby effectively improving the application range and flexibility of the flexible clamping jaws 2.

[0046] Furthermore, a connecting frame 21 is fixedly installed at the top center of the base 1 , and a connecting block 22 is fixedly installed at the top of the connecting frame 21 .

[0047] Specifically, by providing the connecting frame 21 and the connecting block 22 , it is convenient to connect the base 1 and the robot arm for use, and it is convenient to install the base 1 .

[0048] Embodiment 2

[0049] Based on the first embodiment, the present embodiment includes: an auxiliary mechanism disposed at the bottom of the base 1, and the auxiliary mechanism includes an electric push rod 18 fixedly mounted at the center of the base 1, a suction cup 19 fixedly mounted at the output end of the electric push rod 18, and a vacuum pump 20 fixedly mounted at the top of the base 1;

[0050] A hose passing through the base 1 and connected to the suction cup 19 is fixedly connected to the suction end of the vacuum pump 20 .

[0051] The technical solution provided in this embodiment is: after the flexible clamping claw 2 clamps the object, the electric push rod 18 drives the suction cup 19 to contact the object, and the vacuum pump 20 forms a negative pressure inside the suction cup 19 to adsorb on the surface of the object, thereby achieving the effect of auxiliary fixation of the clamped object, so as to improve the clamping strength and stability of the flexible clamping claw 2.

[0052] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A flexible gripper device, characterized in that: include: A horizontally arranged base (1); Four flexible clamping claws (2) are arranged in a matrix at the bottom of the base (1), and a moving mechanism for adjusting the spacing between the flexible clamping claws (2) is provided on the base (1); A plurality of fixing blocks (3) arranged at the output end of the regulating mechanism and corresponding to the flexible clamping claws (2); Two clamping blocks (4) symmetrically fixedly mounted on the bottom of the fixing block (3); A connecting plate (5) is fixedly mounted on the top of the flexible clamping claw (2), a limiting block (6) which is clamped with a fixing block (3) is fixedly mounted on one side of the top of the connecting plate (5), and a groove is formed on the other side of the top of the connecting plate (5); A groove is provided on the other side of the top of the connection plate (5) and a connecting rod (7) is fixedly installed inside the groove, and a second limiting block (8) which is engaged with another fixed block (3) is slidably connected to the surface of the connecting rod (7); and a spring (9) sleeved on the surface of the connecting rod (7) and having two ends connected to one side of the inner wall of the groove and the second limit block (8); A pulling rod (10) which slides with the connecting plate (5) is fixedly mounted on one side of the second limiting block (8).

2. A flexible gripper device according to claim 1, characterized in that: An air connection head (11) is fixedly mounted on the top of the flexible clamping jaw (2), and a plurality of anti-sliding blocks (12) are fixedly mounted on the inner surface of the flexible clamping jaw (2).

3. A flexible gripper device according to claim 1, characterized in that: The adjusting mechanism comprises slide grooves provided on both sides of the top of the base (1), a bidirectional screw (13) penetrating and rotatably connected to the surface of the vertical section of the base (1), a moving plate (14) symmetrically threadedly connected to the surface of the bidirectional screw (13) and sliding with the slide groove, a power member provided on the base (1), a rotating member provided on the top of the moving plate (14) and a shaft (15) rotatably connected to the two ends of the bottom of the moving plate (14), and the fixed block (3) is fixedly connected to the bottom end of the shaft (15).

4. A flexible gripper device according to claim 3, characterized in that: The power component comprises a motor 1 (17) fixedly mounted on one end of the top of the base (1), and the output end of the motor 1 (17) is connected to the bidirectional screw (13).

5. A flexible gripper device according to claim 3, characterized in that: The rotating member comprises a second motor (16) symmetrically fixedly mounted on the two ends of the top of the moving plate (14), and the output end of the second motor (16) passes through the moving plate (14) and is connected to the shaft (15).

6. A flexible gripper device according to claim 1, characterized in that: An auxiliary mechanism is provided at the bottom of the base (1), and the auxiliary mechanism comprises an electric push rod (18) fixedly mounted at the center of the base (1), a suction cup (19) fixedly mounted at the output end of the electric push rod (18), and a vacuum pump (20) fixedly mounted at the top of the base (1); The suction end of the vacuum pump (20) is fixedly connected to a hose that passes through the base (1) and is connected to the suction cup (19).

7. A flexible gripper device according to claim 1, characterized in that: A connecting frame (21) is fixedly mounted at the top center of the base (1), and a connecting block (22) is fixedly mounted at the top of the connecting frame (21).

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