Self-adaptive soft clamping jaw device

Abstract

The utility model discloses a self-adaptive soft clamping jaw device which is characterized by comprising a vertical plate, sliding blocks are arranged on the two sides of the upper end of the vertical plate in a sliding mode, air bag claws are installed on the sliding blocks through installation blocks, and a driving assembly used for driving the sliding blocks on the two sides to horizontally slide so that the air bag claws can be synchronously close to or away from each other is arranged on one side of the vertical plate. The manipulator is simple in structure and high in adaptability, the air bag claws have good flexibility and deformability, the grabbing force of the air bag claws can be adjusted through air pressure, a steering engine connecting plate is driven to rotate by controlling a steering engine in the driving assembly, so that a connecting rod drives sliding blocks on the two sides to slide horizontally, and the air bag claws get close to or away from each other synchronously; and therefore, opening or closing is achieved, the device adapts to objects of different sizes, and the grabbing position can be adjusted by controlling the steering engine.

Description

Technical Field

[0001] The utility model relates to an adaptive soft clamping claw device. Background Art

[0002] In the field of robotics research, grasping complex objects has always been a challenging problem. Current grippers are mainly divided into two types: rigid grippers and soft grippers. Rigid grippers have the characteristics of high precision and large force, but cannot adapt to complex shapes and irregular surfaces, and may cause deformation or damage when grasping objects; while soft grippers are generally made of rubber or soft plastic, and have problems such as insufficient grasping force and insufficient stability for heavy objects. In view of this, it is necessary to improve the existing technology. Utility Model Content

[0003] The utility model aims to overcome the deficiencies of the prior art and provide a self-adaptive soft clamping jaw device.

[0004] In order to achieve the above technical purpose, the technical solution adopted by the utility model is as follows:

[0005] An adaptive soft clamping claw device comprises a vertical plate, sliders are slidably provided on both sides of the upper end of the vertical plate, air bag claws are installed on the sliders through mounting blocks, and a driving component is provided on one side of the vertical plate for driving the sliders on both sides to slide horizontally so that the air bag claws are synchronously moved closer or farther away.

[0006] Furthermore, a guide rail is provided on the upper end of the vertical plate, and a sliding groove matching the guide rail is provided on the bottom of the sliding block.

[0007] Furthermore, the airbag claw includes a main airbag and a plurality of branch airbags protruding from one side of the main airbag and connected to the main airbag. An air inlet connector corresponding to the air inlet of the main airbag is provided on the mounting block, and the air inlet connector is connected to an external air source.

[0008] Furthermore, the number of the bronchial sacs is nine.

[0009] Furthermore, the driving assembly includes a servo, a servo connecting plate and a connecting rod. The servo is installed on one side of the plate surface of the vertical plate by a first bolt. The output end of the servo passes through the vertical plate and is connected to the servo connecting plate. The two ends of the servo connecting plate are respectively hinged with connecting rods, and the other end of the connecting rod is hinged to the fixed rod at the bottom of the slider.

[0010] Furthermore, a base is provided at the bottom of the vertical board.

[0011] Furthermore, a mounting groove is provided on the sliding block, a boss corresponding to the mounting groove is provided on one side of the bottom of the mounting block, and the mounting block is connected to the sliding block via a fourth bolt.

[0012] The utility model has a simple structure and strong adaptability. The airbag claw has good softness and deformability. The gripping force of the airbag claw can be adjusted by air pressure. The driving component drives the steering gear to drive the steering gear connecting plate to rotate, so that the connecting rod drives the sliders on both sides to slide horizontally, so that the airbag claw can synchronously approach or move away, and then open or close, and adapt to objects of different sizes. The gripping position can be adjusted by controlling the steering gear. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the structure of a preferred embodiment of the utility model;

[0014] Figure 2 This is a schematic diagram of the installation of the airbag claw and the mounting block in a preferred embodiment of the utility model;

[0015] Figure 3 for Figure 2 A cross-sectional view of

[0016] Figure 4 This is a front view of the airbag claw in a preferred embodiment of the utility model;

[0017] Figure 5 A top view of the airbag claw in a preferred embodiment of the utility model;

[0018] In the figure: airbag claw 1, air intake connector 2, mounting block 3, slider 4, first bolt 5, connecting rod 6, second bolt 7, vertical plate 8, servo connecting plate 9, third bolt 10, servo 11, fourth bolt 12, slide groove 41, mounting groove 42, guide rail 81, main airbag 101, branch airbag 102, main air duct 103, fixing part 104, air intake port 105, boss 301, mounting hole 302. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0020] Example: See Figures 1 to 5As shown, it includes a vertical plate 8, and a slider 4 is slidably provided on both sides of the upper end of the vertical plate 8, and an airbag claw 1 is installed on the slider 4 through a mounting block 3. A driving assembly for driving the sliders 4 on both sides to slide horizontally so that the airbag claw 1 is synchronously approached or moved away is provided on one side of the vertical plate 8. The driving assembly includes a steering engine 11, a steering engine connecting plate 9 and a connecting rod 6. The steering engine 11 is installed on one side of the plate surface of the vertical plate 8 through a first bolt 5. The output end of the steering engine 11 passes through the vertical plate 8 and is connected to the steering engine connecting plate 9. The two ends of the steering engine connecting plate 9 are respectively hinged with the connecting rod 6, and the other end of the connecting rod 6 is hinged with the fixed rod at the bottom of the slider 4. Specifically, the output end of the steering engine 11 is connected to the steering engine connecting plate 9 through a second bolt 7, and the two ends of the connecting rod 6 are respectively hinged with the steering engine connecting plate 9 and the fixed rod at the bottom of the slider 4 through a third bolt 10. The utility model drives the steering engine connecting plate 9 to rotate through the steering engine 11, so that the connecting rod 6 drives the sliders 4 on both sides to slide horizontally, so that the airbag claw 1 is synchronously approached or moved away, and then opened or closed, and adapted to objects of different sizes.

[0021] See also Figure 1 As shown, a guide rail 81 is disposed at the upper end of the vertical plate 8 , and a slide groove 41 matching with the guide rail 81 is disposed at the bottom of the sliding block 4 .

[0022] See also Figure 1 , Figure 3 and Figure 5 As shown, the airbag claw 1 includes a main airbag 101 and a plurality of branch airbags 102 protruding from one side of the main airbag 101 and connected to the main airbag 101. An air inlet connector 2 corresponding to the air inlet port 105 of the main airbag 101 is provided on the mounting block 3, and the air inlet connector 2 is connected to an external air source. Furthermore, one side of the main airbag 101 is a plane, and a main air duct 103 is provided inside the main airbag 101, and each branch airbag 102 is respectively provided with a branch air duct connected to the main air duct 103. A fixing portion 104 is provided at one end of the main airbag 101, and an air inlet port 105 is provided on the fixing portion 104.

[0023] In this embodiment, the number of the bronchial cells 102 is nine, and the nine bronchial cells 102 are arranged at equal intervals.

[0024] See also Figure 1 As shown, a base is provided at the bottom of the vertical plate 8, and a mounting hole is provided on the base to facilitate installation.

[0025] See also Figure 1 As shown, a mounting groove 42 is provided on the slider 4, a boss 301 corresponding to the mounting groove 42 is provided on one side of the bottom of the mounting block 3, a mounting hole 302 is provided on the boss 301, and the mounting block 3 is connected to the slider 4 by a fourth bolt 12. This structure can make the airbag claw 1 easy to install and replace.

[0026] When the utility model is used, the base is installed on the robot arm, the air inlet connector 2 is connected to the external air source, the air bag claw 1 expands under the action of air pressure, and the servo 11 drives the servo connecting plate 9 to rotate when working, so that the connecting rod 6 drives the sliders 4 on both sides to slide horizontally, so that the air bag claws 1 can approach or move away synchronously, and then open or close. When the air bag claws 1 approach each other, they can contact both sides of the object, so as to clamp the object. It is worth noting that when the air bag claws 1 are away from each other, the utility model can also clamp the inner wall of the object.

[0027] Finally, it should be noted that the above only describes in detail the specific embodiments of the present invention, but the present invention is not limited to the specific embodiments described above. Therefore, equivalent changes and modifications made without departing from the spirit and scope of the present invention are all included in the scope of the present invention.

Claims

1. An adaptive soft gripper device, characterized in that: It comprises a vertical plate (8), wherein sliders (4) are slidably provided on both sides of the upper end of the vertical plate (8), an airbag claw (1) is mounted on the slider (4) via a mounting block (3), and a driving component is provided on one side of the vertical plate (8) for driving the sliders (4) on both sides to slide horizontally so that the airbag claw (1) moves synchronously closer or farther away; The airbag claw (1) comprises a main airbag (101) and a plurality of branch airbags (102) protruding from one side of the main airbag (101) and connected to the main airbag (101); an air intake connector (2) corresponding to an air intake port (105) of the main airbag (101) is provided on the mounting block (3); and the air intake connector (2) is connected to an external air source; The number of the bronchial sacs (102) is nine; The driving assembly comprises a steering gear (11), a steering gear connecting plate (9) and a connecting rod (6); the steering gear (11) is mounted on one side of a plate surface of a vertical plate (8) via a first bolt (5); an output end of the steering gear (11) passes through the vertical plate (8) and is connected to the steering gear connecting plate (9); connecting rods (6) are respectively hinged at both ends of the steering gear connecting plate (9); and the other end of the connecting rod (6) is hinged to a fixed rod at the bottom of a slider (4).

2. The adaptive soft gripper device according to claim 1, characterized in that: A guide rail (81) is provided at the upper end of the vertical plate (8), and a sliding groove (41) matched with the guide rail (81) is provided at the bottom of the sliding block (4).

3. The adaptive soft gripper device according to claim 1, characterized in that: The bottom of the vertical plate (8) is provided with a base.

4. The adaptive soft gripper device according to claim 1, characterized in that: The slider (4) is provided with a mounting groove (42), and a boss (301) corresponding to the mounting groove (42) is provided on one side of the bottom of the mounting block (3). The mounting block (3) is connected to the slider (4) via a fourth bolt (12).

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