Grabbing tentacle of soft robot
By designing the combined structure of soft robot grasping tentacles, the problem of repeated replacement of flexible mechanical claws is solved, and convenient grasping and buffering protection is achieved, which is suitable for grabbing items of different areas in industrial production.
Patent Information
- Application Number
- CN202422437303.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-09
- Publication Date
- 2025-08-19
- Estimated Expiration
- 2034-10-09
AI Technical Summary
When picking objects, existing flexible mechanical claws need to replace mechanical claws of different specifications according to the area of the object, resulting in inconvenient disassembly and replacement operations, and easy to damage the mechanical claws and mechanical arms.
A soft robot grasping tentacle is designed. Through the combination of mount, push cylinder, guide seat, sliding seat and flexible jaw, combined with the adapter mechanism and buffer mechanism, the clamping range adjustment and buffering function of the flexible jaw are realized, and the mechanical jaws are avoided repeatedly changing.
It realizes the grabbing of items in different areas without changing the jaws, improves the operation convenience, and prevents mechanical inertia impact through the buffer mechanism to protect the equipment.
Smart Images
Figure CN223236347U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a robot grasping tentacle, in particular to a soft robot grasping tentacle. Background Art
[0002] In industrial production, there are often objects and parts that need to be grasped. Due to the special materials of some parts, if a hard mechanical claw is used to grasp them, it is easy to damage the parts or objects. Therefore, a flexible clamp is needed to grasp them. The existing flexible clamp is to install a flexible mechanical claw on the machine through a robotic arm to grasp the objects or parts through the flexible mechanical claw. When the object or part to be grasped exceeds the clamping range of the flexible mechanical claw, the original flexible mechanical claw needs to be disassembled and replaced with a larger flexible mechanical claw to grasp objects and parts with a larger area. When the area of the grasped object becomes smaller, it is necessary to replace it with a smaller flexible mechanical claw. Repeated operation is very inconvenient, and repeated replacement and disassembly will cause certain damage to the flexible mechanical claw and the robotic arm.
[0003] Therefore, people have developed a soft robotic grasping tentacle that can adjust the gripping range of the flexible mechanical claw when the area of the object to be gripped exceeds that of the flexible mechanical claw, without having to repeatedly disassemble and replace the mechanical claw. Utility Model Content
[0004] In order to overcome the disadvantage of being very inconvenient to repeatedly replace the mechanical claw when gripping objects that exceed the gripping range of the flexible mechanical claw, the technical problem is: to provide a soft robotic grasping tentacle that can adjust the gripping range of the flexible mechanical claw without repeatedly disassembling and replacing the mechanical claw.
[0005] The technical solution is as follows: A soft robot grasping tentacle includes a mounting seat, a first pushing cylinder, a connecting seat, a guide seat, a sliding seat, a flexible clamp and an adaptation mechanism. The bottom of the mounting seat is connected to the first pushing cylinder, the telescopic rod of the first pushing cylinder is connected to the connecting seat, the bottom of the connecting seat is connected to the guide seat, three sliding seats are slidably connected to the guide seat, the lower parts of the three sliding seats are all connected to flexible clamps, and an adaptation mechanism is provided on the front side of the connecting seat.
[0006] Preferably, the adaptation mechanism includes a support seat, a second pushing cylinder, a connecting block, a lifting frame and a guide groove frame. The support seat is fixedly connected to the front side of the connecting seat, the second pushing cylinder is connected to the support seat, the connecting block is connected to the telescopic rod of the second pushing cylinder, the lower part of the connecting block is connected to the lifting frame, the lifting frame is slidably connected to the connecting seat, three guide groove frames are slidably connected to the lifting frame, and the lower parts of the three guide groove frames are all connected to the three sliding seats.
[0007] Preferably, a buffer mechanism is further included, which includes a mounting block and a buffer gasket. Three mounting blocks are connected to the guide seat, and the three mounting blocks are all slidably connected to the buffer gasket.
[0008] Preferably, a return spring is further included, and a return spring is connected between the three buffer pads and the three mounting blocks.
[0009] Preferably, the three flexible clamping jaws are arranged in a triangle.
[0010] Preferably, rubber pads are provided at the bottom of the three buffer pads.
[0011] The utility model has the following advantages: 1. The utility model can grasp objects of different sizes by adjusting the distance between the clamping jaws without replacing the clamping jaws, which is convenient for people to operate.
[0012] 2. The utility model can buffer the downward-moving mechanical arm and prevent the clamping claw from hitting the table due to mechanical inertia. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1 This is a schematic diagram of the first three-dimensional structure of the utility model.
[0014] Figure 2 This is a schematic diagram of the second three-dimensional structure of the present invention.
[0015] Figure 3 It is a schematic diagram of the three-dimensional structure of the adaptation mechanism of the utility model.
[0016] Figure 4 It is a three-dimensional structural diagram of the buffer mechanism of the utility model.
[0017] Explanation of the reference numerals: 1: mounting seat, 2: first pushing cylinder, 3: connecting seat, 4: guide seat, 5: sliding seat, 6: flexible clamp, 7: adapter mechanism, 71: supporting seat, 72: second pushing cylinder, 73: connecting block, 74: lifting frame, 75: guide groove frame, 8: buffer mechanism, 81: mounting block, 82: buffer gasket, 83: return spring. DETAILED DESCRIPTION
[0018] To make the objectives, technical solutions, and advantages of the present invention more clearly apparent, the present invention will be further described in detail below with reference to the accompanying drawings. It is hereby stated that any directional terms such as "up," "down," "left," "right," "front," "back," "inside," and "outside" that appear or will appear in this document are based solely on the accompanying drawings and are not intended to limit the present invention.
[0019] A soft robot grasping tentacle, such as Figure 1 and Figure 2 As shown, it includes a mounting base 1, a first pushing cylinder 2, a connecting base 3, a guide base 4, a sliding base 5, a flexible clamp 6 and an adaptation mechanism 7. The bottom of the mounting base 1 is connected to the first pushing cylinder 2, the telescopic rod of the first pushing cylinder 2 is connected to the connecting base 3, the bottom of the connecting base 3 is connected to the guide base 4, and three sliding bases 5 are slidably connected to the guide base 4. The lower part of the three sliding bases 5 is connected to a flexible clamp 6, and the flexible clamp 6 is used to grab objects and components. An adaptation mechanism 7 is provided on the front side of the connecting base 3.
[0020] like Figure 3 As shown, the adapting mechanism 7 includes a support base 71, a second pushing cylinder 72, a connecting block 73, a lifting frame 74 and a guide slot frame 75. The front side of the connecting base 3 is fixedly connected to the support base 71, the second pushing cylinder 72 is connected to the support base 71, the telescopic rod of the second pushing cylinder 72 is connected to the connecting block 73, the lower part of the connecting block 73 is connected to the lifting frame 74, the lifting frame 74 is slidably connected to the connecting base 3, three guide slot frames 75 are slidably connected to the lifting frame 74, the lifting frame 74 slides in the three guide slot frames 75, and the lower parts of the three guide slot frames 75 are all connected to the three sliding seats 5.
[0021] like Figure 3 As shown, the three flexible clamping claws 6 are arranged in a triangle, which can better grasp the object to be grasped and improve the stability during grasping.
[0022] When people need to grasp some fragile and fragile objects, they can use this device. First, install the device in the area where the object needs to be grasped and then start the first push cylinder 2. The telescopic rod of the first push cylinder 2 pushes the connecting seat 3 downward to move, driving the guide seat 4 to move downward, so that the three sliding seats 5 on the guide seat 4 drive the three flexible clamping claws 6 to move downward as well. After moving into place, the three flexible clamping claws 6 will clamp the three positions of the object to be grasped. After clamping, the telescopic rod of the first push cylinder 2 will retract upward, driving the connecting seat 3 to move upward and reset, driving the guide seat 4 to move upward and reset, and the three flexible clamping claws 6 also move upward and reset. When the grasped object is When the item is brought to the designated position, the flexible clamping claw 6 will be released and reset. When the area of the item to be clamped becomes larger, the second pushing cylinder 72 can be started. The telescopic rod of the second pushing cylinder 72 will drive the connecting block 73 to move downward. The downward movement of the connecting block 73 will drive the lifting frame 74 to slide downward along the connecting seat 3. When the lifting frame 74 slides downward, it will slide downward along the three guide groove frames 75, so that the three guide groove frames 75 drive the sliding seat 5 to slide, so that the three flexible clamping claws 6 move away from each other and are adjusted to a distance that the three flexible clamping claws 6 can grasp. The second pushing cylinder 72 is closed to expand the grasping area, so that the equipment can grasp items of different sizes.
[0023] like Figure 4As shown, a buffer mechanism 8 is also included. The buffer mechanism 8 includes a mounting block 81 and a buffer gasket 82. Three mounting blocks 81 are connected to the guide seat 4. The three mounting blocks 81 are all slidably connected to the buffer gasket 82.
[0024] like Figure 4 As shown, a return spring 83 is also included. The three buffer pads 82 and the three mounting blocks 81 are connected with a return spring 83. The return spring 83 can further buffer the device and drive the three mounting blocks 81 to reset.
[0025] like Figure 4 As shown, the bottoms of the three buffer pads 82 are all provided with rubber pads, which can increase the friction between the device and the work surface and provide buffering for the device.
[0026] When the equipment is running to grab items, there will be a certain amount of inertia. Due to the inertia, the mechanical gripper may collide with the table, so it needs to be buffered. When the mechanical arm grabs downward, the three buffer pads 82 will first contact the work table. The three buffer pads 82 will buffer the equipment for the first time when they contact the work table. The mechanical arm continues to move downward, which will cause the three mounting blocks 81 on the guide seat 4 to stretch the three reset springs 83. The reset springs 83 can further buffer the equipment. After the gripping is completed, the mechanical arm moves upward to reset, so that the reset spring 83 is released to drive the three mounting blocks 81 and the three buffer pads 82 to reset.
[0027] The above description is merely an example of the implementation of the present invention and is not intended to limit the present invention. Any equivalent substitutions made within the principles of the present invention shall be included within the scope of protection of the present invention. Any matters not fully described in the present invention are prior art known to those skilled in the art.
Claims
1. A soft robot grasping tentacle, characterized in that: The invention comprises a mounting base (1), a first pushing cylinder (2), a connecting base (3), a guide base (4), a sliding base (5), a flexible clamping claw (6) and an adapting mechanism (7), wherein the bottom of the mounting base (1) is connected to the first pushing cylinder (2), the telescopic rod of the first pushing cylinder (2) is connected to the connecting base (3), the bottom of the connecting base (3) is connected to the guide base (4), three sliding bases (5) are slidably connected to the guide base (4), the lower parts of the three sliding bases (5) are all connected to the flexible clamping claw (6), and the front side of the connecting base (3) is provided with an adapting mechanism (7); The adapting mechanism (7) includes a support base (71), a second pushing cylinder (72), a connecting block (73), a lifting frame (74) and a guide slot frame (75). The front side of the connecting base (3) is fixedly connected to the support base (71), the support base (71) is connected to the second pushing cylinder (72), the connecting block (73) is connected to the telescopic rod of the second pushing cylinder (72), the lower part of the connecting block (73) is connected to the lifting frame (74), the lifting frame (74) is slidably connected to the connecting base (3), and three guide slot frames (75) are slidably connected to the lifting frame (74), and the lower parts of the three guide slot frames (75) are all connected to the three sliding bases (5).
2. The soft robot grasping tentacle according to claim 1, characterized in that: The guide seat (4) is connected to three mounting blocks (81), and each of the three mounting blocks (81) is slidably connected to a buffer gasket (82).
3. The soft robot grasping tentacle according to claim 2, characterized in that: The buffer mechanism (8) further includes a return spring (83), and the return spring (83) is connected between the three buffer washers (82) and the three mounting blocks (81).
4. The soft robot grasping tentacle according to claim 1, characterized in that: The three flexible clamping claws (6) are arranged in a triangle.
5. The soft robot grasping tentacle according to claim 2, characterized in that: The bottoms of the three buffer pads (82) are all provided with rubber pads.