Anti-rotation flexible clamping jaw

Abstract

The utility model discloses an anti-rotation flexible clamping jaw which comprises a connecting part made of elastic materials, the connecting part comprises a driving cavity, the upper portion of the connecting part is provided with a connecting port communicated with the driving cavity, the lower portion of the connecting part is connected with at least two flexible finger parts, and the driving cavity comprises a cavity bottom wall and a cavity side wall. The finger root of the flexible finger part is connected with the cavity side wall, the connecting opening is a polygonal connecting opening, an air path connecting joint is embedded in the connecting opening and comprises a connecting section embedded in the polygonal connecting opening, the shape of the connecting section is matched with the shape of the connecting opening, an air path through hole is formed in the air path connecting joint, and the air path through hole is communicated with the air path through hole. According to the anti-rotation flexible clamping jaw, the air path through hole is formed in the connecting section, the air path channel communicating the air path through hole with the driving cavity is formed in the connecting section, the reinforcing finger part is further fixed to the flexible finger part, the anti-rotation flexible clamping jaw can be prevented from rotating in the using process, and therefore it is guaranteed that the clamping angle is accurate every time clamping is conducted.

Description

Technical Field

[0001] The utility model relates to the technical field of flexible clamps, in particular to an anti-rotation flexible clamping claw. Background Art

[0002] In industrial automation, gripping at the end of a robotic arm is primarily accomplished by rigid grippers or vacuum suction cups. However, rigid grippers struggle to control force, making it difficult to non-destructively grasp soft and fragile objects. Vacuum suction cups also struggle to adapt to irregularly shaped objects with rough surfaces and openings during handling. This limits the application scenarios of both. Flexible grippers, made of elastic materials, can grasp soft and fragile objects without damaging them.

[0003] The applicant previously applied for a negative pressure flexible clamp, publication number CN217915364U, which can meet the needs of clamping many items. However, it is not easy to fix the angle of the flexible clamp during use. Some items require a specific clamping angle, such as multiple circular plates squeezed together on a table. Because the plates are squeezed against each other, there will be empty areas between the plates to facilitate the insertion of the flexible clamp. If the position of the flexible clamp deflects during the clamping process, it will not be able to accurately insert into the empty area.

[0004] In addition, the current negative pressure flexible gripper has a relatively small clamping force when clamping the disc because the fingertips are made of flexible silicone material. Utility Model Content

[0005] The technical problem to be solved by the utility model is to provide an anti-rotation flexible clamping claw, which can prevent rotation when in use, thereby ensuring that the clamping angle is accurate each time during clamping.

[0006] In order to solve the above technical problems, the technical solution of the utility model is: an anti-rotation flexible clamp, comprising a connecting part made of elastic material, the connecting part including a driving chamber, the upper part of the connecting part is provided with a connecting port communicating with the driving chamber, at least two flexible fingers are connected to the bottom of the connecting part, the driving chamber includes a cavity bottom wall and a cavity side wall, the heels of the flexible fingers are connected to the cavity side wall, the connecting port is a polygonal connecting port, an air path connecting joint is embedded in the connecting port, the air path connecting joint includes a connecting section embedded in the polygonal connecting port, the shape of the connecting section is adapted to the shape of the connecting port, an air path through hole is provided on the air path connector, and an air path channel connecting the air path through hole with the driving chamber is provided on the connecting section.

[0007] As a preferred solution, the connecting section includes a connecting shaft section and a card edge, the card edge is arranged at the lower end of the connecting shaft section, the cross-sectional shape of the connecting shaft section and / or the card edge is a polygon matching the shape of the connecting port, and the connecting portion is also provided with a card groove adapted to the card edge, the connecting shaft section is inserted into the connecting port and the card edge is snapped into the card groove.

[0008] As a preferred solution, a reinforcing finger is further fixed on the flexible finger.

[0009] As a preferred solution, the air path through hole on the air path connecting joint is a through hole perpendicular to the air path channel.

[0010] As a preferred solution, the reinforced finger portion includes a hard finger sleeve mounted on the flexible finger portion, the hard finger sleeve is fixed to the flexible finger portion by a connecting screw, and a clamping rod for clamping an object is provided at the lower end of the hard finger sleeve.

[0011] As a preferred solution, the connecting screw is installed from the bottom of the hard finger sleeve to the flexible finger portion, and the connecting screw extends along the length direction of the flexible finger portion.

[0012] As a preferred solution, a reinforcement portion is further provided at the connection between the outer surface of the hard finger sleeve and the clamping rod.

[0013] As a preferred solution, a tension reinforcement block is further provided between the flexible finger portion and the cavity bottom wall, and the hard finger sleeve partially covers the tension reinforcement block.

[0014] As a preferred solution, the outer edge of the upper opening of the hard finger sleeve is provided with an inclined surface for closing the opening.

[0015] After adopting the above technical solution, the effect of the utility model is as follows: the anti-rotation flexible clamp includes a connecting portion made of elastic material, the connecting portion includes a driving chamber, the upper portion of the connecting portion is provided with a connecting port communicating with the driving chamber, at least two flexible fingers are connected to the lower portion of the connecting portion, the driving chamber includes a cavity bottom wall and a cavity side wall, the finger heels of the flexible fingers are connected to the cavity side wall, the connecting port is a polygonal connecting port, an air path connecting joint is embedded in the connecting port, the air path connecting joint includes a connecting section embedded in the polygonal connecting port, the shape of the connecting section is adapted to the shape of the connecting port, an air path through hole is provided on the air path connector, the connecting section is provided with an air path channel connecting the air path through hole with the driving chamber, and a reinforcing finger is further fixed on the flexible finger, so that the polygonal connecting port on the connecting portion is directly connected to the connecting section of the air path connecting joint, and due to the polygonal connecting port and the polygonal connecting section, the rotation of the connecting portion can be avoided, thereby playing an anti-rotation role. When in use, it is only necessary to fix the air path connector on the robotic arm. At the same time, since the lower end of the flexible finger is fixed with the reinforced finger, the clamping force can be improved by clamping the disc with the reinforced finger.

[0016] Since the connecting section includes a connecting shaft section and a card edge, the card edge is arranged at the lower end of the connecting shaft section, and the cross-sectional shape of the connecting shaft section or / and the card edge is a polygon matching the shape of the connecting port, and a card groove adapted to the card edge is also provided on the connecting portion, the connecting shaft section is inserted into the connecting port and the card edge is snapped into the card groove, so the above-mentioned connection method can better make the connecting section snap into the connecting portion, and at the same time, the card groove or / and the connecting portion are arranged into a polygon to play an anti-rotation effect.

[0017] Furthermore, since the air path through hole on the air path connection joint is a through hole perpendicular to the air path channel, the through hole can facilitate the selection of the installation direction of the air path. When one end of the through hole is connected to the air path, the other end can be blocked by a blocking head.

[0018] Furthermore, since the reinforced finger portion includes a hard finger sleeve mounted on the flexible finger portion, the hard finger sleeve is fixed to the flexible finger portion by a connecting screw, and a clamping rod for clamping an object is provided at the lower end of the hard finger sleeve. The connecting screw is installed from the bottom of the hard finger sleeve to the flexible finger portion, and the connecting screw extends along the length direction of the flexible finger portion. First, the extending direction of the connecting screw is the length direction of the flexible finger portion. To a certain extent, the connecting screw constitutes a reinforcing structure, thereby enhancing the strength of the flexible finger portion and further improving the clamping force.

[0019] Furthermore, since a reinforcement portion is provided at the connection between the outer surface of the hard finger sleeve and the clamping rod, the connection between the hard finger sleeve and the clamping rod is made more secure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Figure 1 It is a three-dimensional diagram of an embodiment of the utility model;

[0022] Figure 2 It is a three-dimensional diagram of another angle of the embodiment of the utility model;

[0023] Figure 3 This is a front view of an embodiment of the utility model;

[0024] Figure 4 It is a top view of an embodiment of the utility model;

[0025] Figure 5 yes Figure 4 Structural cross-section along AA;

[0026] Figure 6 It is a three-dimensional diagram with the gas connection joint hidden;

[0027] Figure 7 It is a three-dimensional diagram of the gas connection joint;

[0028] In the accompanying drawings: 1. Connecting part; 11. Driving chamber; 111. Cavity bottom wall; 112. Cavity side wall; 12. Polygonal connecting port 12; 2. Flexible finger; 3. Air path connecting joint; 31. Connecting section; 311. Connecting shaft section; 312. Clamping edge; 32. Air path through hole; 33. Air path channel; 4. Reinforced finger; 41. Hard finger sleeve; 42. Clamping rod; 43. Reinforcement part; 44. Inclined surface; 5. Tension reinforcement block. DETAILED DESCRIPTION

[0029] The present invention will be described in further detail below through specific embodiments.

[0030] like Figure 1-7As shown, an anti-rotation flexible clamp comprises a connecting portion 1 made of elastic material, the connecting portion 1 comprises a driving chamber 11, a connecting port communicating with the driving chamber 11 is provided on the upper portion of the connecting portion 1, at least two flexible fingers 2 are connected to the lower portion of the connecting portion 1, the driving chamber 11 comprises a cavity bottom wall 111 and a cavity side wall 112, the heels of the flexible fingers 2 are connected to the cavity side wall 112, the connecting port is a polygonal connecting port 12, an air path connecting joint 3 is embedded in the connecting port, the air path connecting joint 3 comprises a connecting section 31 embedded in the polygonal connecting port 12, the shape of the connecting section 31 is adapted to the polygonal shape of the connecting port, an air path through hole 32 is provided on the air path connector, an air path channel 33 connecting the air path through hole 32 with the driving chamber 11 is provided on the connecting section 31, and a reinforcing finger 4 is also fixed on the flexible finger 2.

[0031] In this embodiment, the reinforced finger portion 4 includes a hard finger sleeve 41 that is mounted on the flexible finger portion 2. The hard finger sleeve 41 is fixed to the flexible finger portion 2 by a connecting screw. The lower end of the hard finger sleeve 41 is provided with a clamping rod 42 for clamping an object. The connecting screw is installed from the bottom of the hard finger sleeve 41 to the flexible finger portion 2, and the connecting screw extends along the length direction of the flexible finger portion 2. In the accompanying drawings, the connecting screw is not shown. The extending direction of the connecting screw is the length direction of the flexible finger portion 2, which to a certain extent constitutes a reinforcing structure, thereby enhancing the strength of the flexible finger portion 2 and further improving the clamping force. A reinforcing portion 43 is also provided at the connection between the outer surface of the hard finger sleeve 41 and the clamping rod 42. The connecting section 31 includes a connecting shaft section 31 and a latching edge 32. The latching edge 32 is provided at the lower end of the connecting shaft section 31. The cross-sectional shape of the connecting shaft section 31 and / or the latching edge 32 is a polygon that matches the shape of the connecting port. The connecting portion 1 is also provided with a latching groove that matches the latching edge 32. The connecting shaft section 31 is inserted into the connecting port, and the latching edge 32 is latched into the latching groove. The polygonal shape can be set to a quadrilateral, pentagon, or hexagon, etc.

[0032] In this embodiment, the air passage hole 32 on the air connection joint 3 is a through hole perpendicular to the air passage 33. Of course, the air passage hole can also be formed by the air passage 33 directly passing through the air connection joint 3. A tension reinforcement block 5 is provided between the flexible finger portion 2 and the cavity bottom wall 111. The rigid finger sleeve 41 partially covers the tension reinforcement block 5. The outer edge of the upper sleeve of the rigid finger sleeve 41 is provided with a closing inclined surface 44.

[0033] During operation, the polygonal connection opening 12 on the connecting portion 1 directly mates with the connecting section 31 of the air circuit connector 3. Since both the polygonal connection opening and the polygonal connecting section 31 prevent the connecting portion 1 from rotating, thus preventing rotation, the air circuit connector 3 only needs to be fixed to the robotic arm during use. The polygonal connecting section 31 can be a polygonal connecting shaft section 31 or a polygonal clamping edge 32, or both the connecting shaft section 31 and the clamping edge 32 can be polygonal. Furthermore, the lower end of the flexible finger 2 is fixed with a reinforced finger 4, which can be used to clamp objects and improve the gripping force.

[0034] The air circuit system, actuators such as servo motors, gear transmission mechanisms, and lead screw and nut mechanisms mentioned in this embodiment are all current conventional technologies. The specific structures and principles and other designs of the cylinders, motors, and other transmission mechanisms are disclosed in detail in the "Mechanical Design Manual, Fifth Edition", the 28th printing of the fifth edition in Beijing in April 2008, which belongs to the existing technology and its structure is clear. The SMC training textbook "Modern Practical Pneumatic Technology, 3rd Edition" published by the Machinery Industry Press on August 1, 2008 discloses in detail the vacuum components, gas circuits, and program control, indicating that the air circuit structure in this embodiment is also existing technology and is clear. The book "Motor Drive and Speed ​​Regulation" published by the Chemical Industry Press on July 1, 2015 also introduces the control of the motor and the travel switch in detail. Therefore, the circuit and air circuit connections are clear.

[0035] The above-described embodiments are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Various modifications and alterations to the technical solutions of the present invention, without departing from the spirit of the present invention, should fall within the scope of protection defined in the claims of the present invention.

Claims

1. An anti-rotation flexible clamping claw, comprising a connecting portion (1) made of elastic material, the connecting portion (1) comprising a drive chamber (11), a connection port communicating with the drive chamber (11) being provided on the upper portion of the connecting portion (1), at least two flexible fingers (2) being connected below the connecting portion (1), the drive chamber (11) comprising a chamber bottom wall (111) and a chamber side wall (112), the heels of the flexible fingers (2) being connected to the chamber side wall (112), and characterized in that: The connection port is a polygonal connection port (12), an air path connection joint (3) is embedded in the connection port, the air path connection joint (3) comprises a connection section (31) embedded in the polygonal connection port (12), the shape of the connection section (31) is adapted to the shape of the connection port, an air path through hole (32) is provided on the air path connection joint, and an air path channel (33) is provided on the connection section (31) for connecting the air path through hole (32) with the drive chamber (11).

2. The anti-rotation flexible clamping claw according to claim 1, characterized in that: The connecting section (31) comprises a connecting shaft section (311) and a clamping edge (312); the clamping edge (312) is arranged at the lower end of the connecting shaft section (311); the cross-sectional shape of the connecting shaft section (311) or / and the clamping edge (312) is a polygon matching the shape of the connecting port; the connecting portion (1) is further provided with a clamping groove adapted to the clamping edge (312); the connecting shaft section (311) is inserted into the connecting port and the clamping edge (312) is clamped into the clamping groove.

3. The anti-rotation flexible clamping claw according to claim 2, characterized in that: A reinforcing finger (4) is also fixed on the flexible finger (2).

4. The anti-rotation flexible clamping claw according to claim 3, characterized in that: The reinforced finger portion (4) comprises a hard finger sleeve (41) sleeved on the flexible finger portion (2), the hard finger sleeve (41) being fixed to the flexible finger portion (2) via a connecting screw, and a clamping rod (42) for clamping an object is provided at the lower end of the hard finger sleeve (41).

5. The anti-rotation flexible clamping claw according to claim 4, characterized in that: The connecting screw is installed from the bottom of the hard finger sleeve (41) to the flexible finger portion (2), and the connecting screw extends along the length direction of the flexible finger portion (2).

6. The anti-rotation flexible clamping claw according to claim 5, characterized in that: A reinforcement portion (43) is further provided at the connection between the outer surface of the hard finger sleeve (41) and the clamping rod (42).

7. The anti-rotation flexible clamping claw according to claim 6, characterized in that: A tension reinforcement block (5) is further provided between the flexible finger portion (2) and the cavity bottom wall (111), and the hard finger sleeve (41) partially covers the tension reinforcement block (5).

8. The anti-rotation flexible clamping claw according to claim 7, characterized in that: The outer edge of the upper sleeve opening of the hard finger sleeve (41) is provided with an inclined surface (44) for closing the opening.

9. The anti-rotation flexible clamping claw according to claim 1, characterized in that: The air path through hole (32) on the air path connection joint (3) is a through hole perpendicular to the air path channel (33).

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