Flexible grabbing tail end

Abstract

The utility model discloses a flexible grabbing tail end, and relates to the field of flexible grabbing. The device comprises a control assembly and a fixing assembly, the control assembly comprises a supporting frame, a clockwork spring, a control handle, a rotary disc and a movable rod, the clockwork spring is arranged on one side of the supporting frame, the rotary disc is arranged in the supporting frame, the movable rod is connected to the interior of the supporting frame in a sliding mode, and the control handle is arranged on the control assembly. The movable rod is meshed with the rotating disc, the fixing assembly comprises a movable strip, a connecting rod, a supporting table and a flexible gripper, the movable strip is arranged on one side of the movable rod, the connecting rod is arranged on the top of the movable strip, the supporting table is arranged on the top of the connecting rod, and the flexible gripper is arranged on one side of the supporting table. A complex mechanical linkage or hydraulic system is replaced by a simple mechanical structure that the motor drives the turntable, so that the structure of the whole grabbing tail end is greatly simplified, and the flexibility and the adaptability of the grabbing tail end are improved.

Description

Technical Field

[0001] The utility model belongs to the field of flexible grabbing, and in particular relates to a flexible grabbing end. Background Art

[0002] The flexible production line of the prior art has the characteristics of producing diverse products. In the flexible production line, the handling robot realizes the handling of objects through the end effector such as the gripper tool. With the increase of the production products and the introduction of new products.

[0003] The Chinese patent application number CN202122391161.6 discloses a pen holder flexible production line robot end-effector grasping device, which relates to the field of industrial production technology. It includes a driving device and two sets of symmetrically arranged flexible grasping mechanisms, and any set of the flexible grasping mechanisms are connected to the driving device in a transmission manner. The utility model can replace different types of claw assemblies according to different pen holder shapes and sizes, without the need to replace the entire assembly, which greatly reduces the cost of use, reduces the switching time, and thus improves the production cycle and production efficiency.

[0004] However, when the above-mentioned device is actually used in application scenarios that require high flexibility and precision, such as the assembly of precision electronic components and sample processing in the biomedical field, traditional clamping mechanisms often cannot meet the requirements. The maintenance and upkeep of the system is relatively complicated and prone to leakage and other problems, which increases the downtime and maintenance costs of the equipment.

[0005] In view of this, the present utility model is proposed. Utility Model Content

[0006] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and provide a flexible grasping end.

[0007] In order to solve the above technical problems, the basic concept of the technical solution adopted by the utility model is:

[0008] A flexible gripping end comprises a control component and a fixed component, wherein the control component comprises a support frame, a clockwork spring, a control handle, a turntable and a movable rod, wherein the clockwork spring is arranged on one side of the support frame, the turntable is arranged inside the support frame, the movable rod is slidably connected to the inside of the support frame, and the movable rod is engaged with the turntable, and the fixed component comprises a moving bar, a connecting rod, a support platform and a flexible gripper, wherein the moving bar is arranged on one side of the movable rod, the connecting rod is arranged on the top of the moving bar, the support platform is arranged on the top of the connecting rod, and the flexible gripper is arranged on one side of the support platform.

[0009] Optionally, a telescopic hole is opened on one side of the support frame, and a slide rail is symmetrically arranged on the inner wall of the telescopic hole. The movable rod is symmetrically slidably connected between the slide rail and the support frame, thereby realizing the sliding connection of the movable rod.

[0010] Optionally, the clockwork spring is fixedly arranged on one side of the support frame, a support rod fixedly connected to the support frame is fixedly arranged on one side of the clockwork spring, a turntable is rotatably arranged inside the support frame, a rotating rod is arranged on one side of the turntable, the rotating rod passes through the support frame, and the rotating rod passes through the clockwork spring, wherein when the rotating rod rotates, the clockwork spring is used to realize the restoration of the rotation of the rotating rod.

[0011] Optionally, a control handle is provided on one side of the control handle, a control motor is provided on one side of the control handle, an output shaft of the control motor is fixedly connected to the rotating rod, and a baffle is provided on the outside of the control handle, and a function of the baffle is to achieve connection with an external object.

[0012] Optionally, the movable rods are arranged in two circles outside the turntable, and the moving bars are arranged outside the movable rods, so as to achieve uniform and symmetrical movement of the fixed component.

[0013] Optionally, a telescope is disposed outside the support platform, and a flexible gripper is disposed at an output end of the telescope, and the relative movement of the flexible gripper can be controlled by controlling the telescope.

[0014] After adopting the above technical solution, the utility model has the following beneficial effects compared with the prior art. Of course, any product implementing the utility model does not necessarily need to achieve all the advantages described below at the same time:

[0015] The utility model replaces the complicated mechanical linkage or hydraulic system with the simple mechanical structure of the motor-driven turntable, which greatly simplifies the structure of the entire grasping end and improves its flexibility and adaptability, so that it can more effectively grasp objects of different shapes and sizes. The direct drive mode of the motor makes the control more precise and the response speed faster, and can realize the state transition from fully open to fully closed in a short time, which greatly improves the grasping efficiency and operation accuracy.

[0016] The specific implementation of the utility model is further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described below are only some embodiments. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0018] Figure 1 It is a schematic diagram of the flexible grasping end structure;

[0019] Figure 2 It is a schematic diagram of the local structure of the flexible grasping end;

[0020] Figure 3 It is a schematic diagram of the structure inside the support frame;

[0021] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0022] 1. Control component; 101. Support frame; 1011. Telescopic hole; 1012. Slide rail; 102. Clockwork spring; 1021. Support rod; 103. Control handle; 1031. Baffle; 104. Control motor; 1041. Turntable; 105. Movable rod; 106. Turntable; 2. Fixed component; 201. Moving bar; 202. Connecting rod; 203. Support platform; 2031. Telescopic device; 204. Flexible gripper.

[0023] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but rather to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0024] The utility model will now be further described in detail with reference to the accompanying drawings.

[0025] See also Figure 1-3 As shown, in this embodiment, a flexible grasping end is provided, including a control component 1 and a fixed component 2, the control component 1 includes a support frame 101, a clockwork spring 102, a control handle 103, a turntable 106 and a movable rod 105, the clockwork spring 102 is arranged on one side of the support frame 101, the turntable 106 is arranged inside the support frame 101, the movable rod 105 is slidably connected to the inside of the support frame 101, and the movable rod 105 is engaged with the turntable 106, the fixed component 2 includes a moving bar 201, a connecting rod 202, a support platform 203 and a flexible gripper 204, the moving bar 201 is arranged on one side of the movable rod 105, the connecting rod 202 is arranged on the top of the moving bar 201, the support platform 203 is arranged on the top of the connecting rod 202, and the flexible gripper 204 is arranged on one side of the support platform 203.

[0026] The utility model replaces the complex mechanical linkage or hydraulic system with a simple mechanical structure of a motor-driven turntable 106, which greatly simplifies the structure of the entire grasping end and improves its flexibility and adaptability, so that it can more effectively grasp objects of various shapes and sizes. The direct drive mode of the motor makes the control more precise and the response speed faster, and can achieve the state transition from fully open to fully closed in a short time, greatly improving the grasping efficiency and operation accuracy.

[0027] In this embodiment, a telescopic hole 1011 is opened on one side of the support frame 101, and a slide rail 1012 is symmetrically arranged on the inner wall of the telescopic hole 1011. The movable rod 105 is symmetrically slidably connected between the slide rail 1012 and the support frame 101, thereby realizing the sliding connection of the movable rod 105 and facilitating subsequent adjustment.

[0028] In this embodiment, the clockwork spring 102 is fixedly arranged on one side of the support frame 101, and a support rod 1021 fixedly connected to the support frame is fixedly arranged on one side of the clockwork spring 102. A turntable 106 is rotatably arranged inside the support frame 101, and a rotating rod 1041 is arranged on one side of the turntable 106. The rotating rod 1041 penetrates the support frame 101, and the rotating rod 1041 penetrates the clockwork spring 102. When the rotating rod 1041 rotates, the clockwork spring 102 is used to realize the recovery of the rotation of the rotating rod 1041, thereby realizing the effect of elastic recovery.

[0029] In this embodiment, a control handle 103 is provided on one side of the control handle 103, and a control motor 104 is provided on one side of the control handle 103. The output shaft of the control motor 104 is fixedly connected to the rotating rod 1041. A baffle 1031 is provided on the outside of the control handle 103. The function of the baffle 1031 is to achieve connection with external objects, and the control motor 104 is provided to realize the rotation of the turntable 106.

[0030] In this embodiment, the movable rods 105 are arranged in two circles outside the rotating disk 106 , and the moving bars 201 are arranged outside the movable rods 105 , so as to achieve uniform and symmetrical movement of the fixing assembly 2 .

[0031] In this embodiment, a telescope 2031 is provided on the outside of the support platform 203, and a flexible gripper 204 is provided at the output end of the telescope 2031. The relative movement of the flexible gripper 204 can be controlled by controlling the telescope 2031. The structure and principle of the flexible gripper 204 have been described in the comparative documents and will not be described again in this application.

[0032] In summary, the comparative document has explained the clamping mechanism, but this clamping power structure is not convenient. The present application improves it by setting a power motor to control the rotation of the turntable 106, so as to realize the movement of the two movable plates, thereby controlling the two fixed components 2 to move synchronously and achieve the clamping and fixing effect.

[0033] The present invention is not limited to the above-mentioned implementation modes. Anyone should be aware of the structural changes made under the inspiration of the present invention. Any technical solution that is the same or similar to the present invention falls within the protection scope of the present invention. The technology, shape, and structure that are not described in detail in the present invention are all known technologies.

Claims

1. A flexible gripping end, characterized in that: The invention comprises a control component (1) and a fixing component (2); the control component (1) comprises a support frame (101), a spring spring (102), a control handle (103), a rotating disk (106) and a movable rod (105); the spring spring (102) is arranged on one side of the support frame (101); the rotating disk (106) is arranged inside the support frame (101); the movable rod (105) is slidably connected to the inside of the support frame (101); and the movable rod (105) is connected to the support frame (101). The rotating disk (106) is engaged, and the fixed component (2) includes a moving bar (201), a connecting rod (202), a support platform (203) and a flexible gripper (204), wherein the moving bar (201) is arranged on one side of the movable rod (105), the connecting rod (202) is arranged on the top of the moving bar (201), the support platform (203) is arranged on the top of the connecting rod (202), and the flexible gripper (204) is arranged on one side of the support platform (203).

2. A flexible gripping tip according to claim 1, characterized in that: A telescopic hole (1011) is provided on one side of the support frame (101), a slide rail (1012) is symmetrically arranged on the inner wall of the telescopic hole (1011), and the movable rod (105) is symmetrically slidably connected between the slide rail (1012) and the support frame (101).

3. A flexible gripping tip according to claim 1, characterized in that: The clockwork spring (102) is fixedly arranged on one side of the support frame (101); a support rod (1021) fixedly connected to the support frame (101) is fixedly arranged on one side of the clockwork spring (102); a turntable (106) is rotatably arranged inside the support frame (101); a rotating rod (1041) is arranged on one side of the turntable (106); the rotating rod (1041) passes through the support frame (101); and the rotating rod (1041) passes through the clockwork spring (102).

4. A flexible gripping tip according to claim 3, characterized in that: A control handle (103) is provided on one side of the control handle (103), a control motor (104) is provided on one side of the control handle (103), an output shaft of the control motor (104) is fixedly connected to the rotating rod (1041), and a baffle (1031) is provided on the outside of the control handle (103).

5. A flexible gripping tip according to claim 1, characterized in that: The movable rods (105) are arranged in two circles outside the rotating disk (106), and the moving bars (201) are arranged outside the movable rods (105).

6. A flexible gripping tip according to claim 1, characterized in that: A telescoping device (2031) is disposed outside the support platform (203), and a flexible gripper (204) is disposed at the output end of the telescoping device (2031).

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