Flexible clamping jaw of manipulator
Through the design of the flexible clamping mechanism and the protective mechanism, the stability problem of the flexible clamping claw when grasping larger objects is solved, stable clamping of objects of different sizes and protection of the telescopic rod are achieved, and the flexibility and service life of the clamping claw are improved.
Patent Information
- Application Number
- CN202422063339.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-26
- Publication Date
- 2025-09-23
- Estimated Expiration
- 2034-08-26
AI Technical Summary
When grasping larger objects, existing flexible grippers are not stable enough, causing the objects to fall and failing to effectively grip them.
A robotic gripper with a flexible clamping mechanism and a protective mechanism was designed. The flexible clamping mechanism consisted of a hexagonal seat, an elastic block, a telescopic rod, an L-shaped block, and a lower pressure plate. The elastic block moved internally to clamp objects. The protective mechanism consisted of a supporting spring, a sliding block, and a protective cylinder to protect the telescopic rod, thereby improving clamping stability and flexibility.
It achieves stable clamping of objects of different sizes, improves the flexibility of the clamping claws and the service life of the telescopic rod, and prevents objects from falling.
Smart Images
Figure CN223369448U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of flexible clamping claws, in particular to a flexible clamping claw of a manipulator. Background Art
[0002] A robotic arm is an automated device that mimics certain movements of the human hand and arm, allowing it to grasp, move objects, or operate tools according to a fixed program. It can replace heavy manual labor to achieve mechanization and automation of production, and can operate in hazardous environments to protect personal safety. Therefore, it is widely used in sectors such as machinery manufacturing, metallurgy, electronics, light industry, and atomic energy. Currently, there are at least two approaches to gripping objects: one uses a rigid clamp, and the other uses flexible fingers supported by flexible materials. Because flexible materials are inherently soft, they do not damage the surface of the object and provide a suitable gripping force, making them ideal for gripping fragile objects.
[0003] However, in the existing technology, traditional flexible grippers can only clamp smaller objects. Due to the limited flexibility of the flexible grippers, when grasping some larger objects, the objects may fall due to unstable grasping, making it impossible to grasp the objects well. Therefore, there are limitations. Therefore, a flexible gripper for a robot is proposed. Utility Model Content
[0004] The purpose of this utility model is to solve the problem in the prior art that due to the limited flexibility of the flexible gripper, when grasping some larger objects, the objects may fall due to insufficient stability of the gripping, making it impossible to grasp the objects well, and there are limitations. A flexible gripper for a manipulator is proposed.
[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical solutions: a flexible clamping claw of a manipulator, comprising a mounting disc, the outer wall of the mounting disc is provided with a protective mechanism, the lower end of the protective mechanism is provided with a flexible clamping mechanism, the flexible clamping mechanism comprises a hexagonal seat and three groups of elastic blocks, the interior of the hexagonal seat is provided with three-head limiting holes, the interior of the three-head limiting holes is slidably installed with three-head limiting plates, the upper end of the hexagonal seat is penetrated by a telescopic rod, and the lower end of the hexagonal seat is fixedly installed with three groups of concave seats, the interior of the three groups of concave seats is rotatably installed with L-shaped blocks, and one end of the three groups of L-shaped blocks is rotatably installed with a lower pressure plate, and one end of the three groups of elastic blocks is fixedly installed with limiting blocks near the edge positions on both sides, and the upper ends of the three groups of elastic blocks are respectively fixed to the lower ends of the L-shaped blocks.
[0006] Preferably, three groups of bonding plates are fixedly mounted on the lower end of the mounting disc, the protective mechanism comprises a protective cylinder, and vertical holes are penetrated through one end of the three groups of bonding plates.
[0007] Preferably, the upper parts of the three groups of lower pressure plates are all rotatably mounted inside the three-head limiting plate, and the protruding ends of the telescopic rods are fixed to the upper ends of the three-head limiting plates.
[0008] Preferably, support springs are fixedly installed at the bottom ends of the three groups of vertical holes, and sliding blocks are slidably installed inside the three groups of vertical holes.
[0009] Preferably, one end of the three groups of bonding plates are all fixed to the outer wall of the hexagonal seat.
[0010] Preferably, the upper ends of the three groups of support springs are respectively fixed to the lower ends of the three groups of sliding blocks.
[0011] Preferably, one end of the three groups of sliding blocks are fixed to the inner wall of the protective cylinder, and the protective cylinder is located on the outer wall of the three groups of laminating plates.
[0012] Compared with the prior art, the advantages and positive effects of the present invention are:
[0013] 1. In the utility model, a flexible clamping mechanism is provided, and with the cooperation of a telescopic rod, three groups of lower pressure plates, three groups of concave seats, three groups of L-shaped blocks and three groups of elastic blocks, an object can be clamped in the middle of the three groups of elastic blocks, so that within a certain range, objects of different sizes can be clamped, while the flexibility of the flexible clamp is improved. At the same time, by installing two groups of limit blocks at one end of the three groups of elastic blocks, the toughness of the elastic blocks can be increased, preventing the object from falling due to unstable grasping, and the object can be grasped well.
[0014] 2. In the present invention, by providing a protective mechanism, with the cooperation of three groups of support springs, three groups of sliding blocks and a protective cylinder, the telescopic rods inside the three groups of laminating plates can be protected to prevent the telescopic rods from being damaged, thereby increasing the service life of the telescopic rods. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 The utility model provides a schematic diagram of the three-dimensional structure of a flexible gripper of a manipulator;
[0016] Figure 2 The utility model provides a structural diagram of a flexible clamping mechanism and a protective mechanism of a flexible clamping claw of a manipulator;
[0017] Figure 3 This is a schematic diagram of the structure of a flexible clamping mechanism of a flexible clamping claw of a manipulator proposed in the utility model;
[0018] Figure 4 The utility model provides a structural schematic diagram of a protective mechanism for a flexible gripper of a manipulator.
[0019] Legend: 1. Mounting disc; 11. Laminating plate; 2. Flexible clamping mechanism; 21. Hexagonal seat; 22. Three-head limit hole; 23. Three-head limit plate; 24. Telescopic rod; 25. Elastic block; 26. Concave seat; 27. L-shaped block; 28. Lower pressure plate; 29. Limit block; 3. Protective mechanism; 31. Vertical hole; 32. Support spring; 33. Sliding block; 34. Protective cylinder. DETAILED DESCRIPTION
[0020] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described below with reference to the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other without conflict.
[0021] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.
[0022] Example 1
[0023] like Figure 1 As shown in FIG4 , the present invention provides a flexible gripper of a manipulator, comprising a mounting disc 1, a protective mechanism 3 being provided on the outer wall of the mounting disc 1, a flexible clamping mechanism 2 being provided at the lower end of the protective mechanism 3, the flexible clamping mechanism 2 comprising a hexagonal seat 21 and three sets of elastic blocks 25, a three-head limiting hole 22 being provided inside the hexagonal seat 21, a three-head limiting plate 23 being slidably installed inside the three-head limiting hole 22, a telescopic rod 24 being installed through the upper end of the hexagonal seat 21, and a fixed installation on the lower end of the hexagonal seat 21. There are three groups of concave seats 26, and L-shaped blocks 27 are rotatably installed inside the three groups of concave seats 26. A lower pressure plate 28 is rotatably installed inside one end of the three groups of L-shaped blocks 27. A limit block 29 is fixedly installed at one end of the three groups of elastic blocks 25 and near the edges on both sides. The upper ends of the three groups of elastic blocks 25 are respectively fixed to the lower ends of the L-shaped blocks 27. The upper parts of the three groups of lower pressure plates 28 are rotatably installed inside the three-head limit plate 23, and the protruding ends of the telescopic rods 24 are fixed to the upper ends of the three-head limit plates 23.
[0024] The following is a detailed description of the specific settings and functions of this embodiment. By providing a flexible clamping mechanism 2, the telescopic rod 24 is started, and the extended end of the telescopic rod 24 pushes the three-head limit plate 23 to move downward inside the three-head limit hole 22. The three-head limit plate 23 pushes the three groups of L-shaped blocks 27 to move downward through the three groups of lower pressing plates 28. The three groups of lower pressing plates 28 respectively push the L-shaped blocks 27 rotating therewith to move downward, and because the three groups of L-shaped blocks 27 are respectively rotated with the three groups of concave seats 26, the three groups of L-shaped blocks 27 are respectively rotated inside the three groups of concave seats 26. The three groups of L-shaped blocks 27 move, and then the three groups of L-shaped blocks 27 push the elastic blocks 25 fixed thereto to move, so that the three groups of elastic blocks 25 all move inward, and then the objects can be clamped in the middle of the three groups of elastic blocks 25, so that within a certain range, objects of different sizes can be clamped, while the flexibility of the flexible clamp is improved. At the same time, by installing two groups of limit blocks 29 at one end of the three groups of elastic blocks 25, the toughness of the elastic block 25 can be increased, preventing the object from falling due to unstable grasping, and the object can be grasped well.
[0025] Example 2
[0026] like Figure 1 、 Figure 2 and Figure 4 As shown, three groups of bonding plates 11 are fixedly installed at the lower end of the mounting disc 1, and the protective mechanism 3 includes a protective cylinder 34. Vertical holes 31 are penetrated at one end of the three groups of bonding plates 11, and support springs 32 are fixedly installed at the inner bottom ends of the three groups of vertical holes 31. Sliding blocks 33 are slidably installed inside the three groups of vertical holes 31. One ends of the three groups of bonding plates 11 are fixed to the outer wall of the hexagonal seat 21, and the upper ends of the three groups of support springs 32 are respectively fixed to the lower ends of the three groups of sliding blocks 33. One ends of the three groups of sliding blocks 33 are fixed to the inner wall of the protective cylinder 34, and the protective cylinder 34 is located on the outer wall of the three groups of bonding plates 11.
[0027] The effect achieved by the entire embodiment is that, under the elastic force of the three groups of support springs 32, the three groups of support springs 32 respectively push the sliding blocks 33 fixed thereto to move, so that the three groups of sliding blocks 33 slide upward inside the three groups of vertical holes 31 respectively. At the same time, the three groups of sliding blocks 33 will drive the protective cylinder 34 to move upward, so that the protective cylinder 34 moves upward on the outer wall of the three groups of plywood 11, thereby protecting the telescopic rod 24 inside the three groups of plywood 11, preventing the telescopic rod 24 from being damaged, and improving the service life of the telescopic rod 24.
[0028] The method of using and working principle of this device: First, the flexible clamp is installed on the robot arm by installing the disc 1, and then, by starting the telescopic rod 24, the extended end of the telescopic rod 24 pushes the three-head limit plate 23 to move downward inside the three-head limit hole 22, and under the rotation cooperation of the three-head limit plate 23 and the three groups of lower pressure plates 28, the three-head limit plate 23 pushes the three groups of L-shaped blocks 27 to move downward, and the three groups of lower pressure plates 28 all rotate inside the three-head limit plate 23, and under the rotation cooperation of the three groups of lower pressure plates 28 and the three groups of L-shaped blocks 27, the three groups of lower pressure plates 28 respectively push the L-shaped blocks 27 rotating therewith to move downward, and because the three groups of L-shaped blocks 27 respectively rotate with the three groups of concave seats 26, the three groups of L-shaped blocks 27 respectively rotate inside the three groups of concave seats 26, thereby causing the three groups of L-shaped blocks 27 to respectively push the elastic blocks fixed therewith. The movement of the flexible block 25 causes the three groups of elastic blocks 25 to move inward, thereby clamping the object in the middle of the three groups of elastic blocks 25, and can clamp objects of different sizes. At the same time, the flexibility of the flexible clamp is improved, and by installing two groups of limit blocks 29 at one end of the three groups of elastic blocks 25, the toughness of the elastic block 25 can be increased to prevent the object from falling due to unstable grasping, so that the object can be grasped well. Finally, under the elastic force of the three groups of support springs 32, the three groups of support springs 32 respectively push the sliding blocks 33 fixed thereto to move, so that the three groups of sliding blocks 33 slide upward inside the three groups of vertical holes 31 respectively. At the same time, the three groups of sliding blocks 33 will drive the protective cylinder 34 to move upward, so that the protective cylinder 34 moves upward on the outer wall of the three groups of bonding plates 11, which can protect the telescopic rod 24 inside the three groups of bonding plates 11.
[0029] The above are only preferred embodiments of the present invention and are not intended to limit the present invention in any other form. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification of the above embodiment made according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the scope of protection of the technical solution of the present invention.
Claims
1. A flexible gripper of a manipulator, comprising a mounting disc (1), characterized in that: The outer wall of the mounting disc (1) is provided with a protective mechanism (3), the lower end of the protective mechanism (3) is provided with a flexible clamping mechanism (2), the flexible clamping mechanism (2) comprises a hexagonal seat (21) and three groups of elastic blocks (25), the interior of the hexagonal seat (21) is provided with a three-head limiting hole (22), the interior of the three-head limiting hole (22) is slidably provided with a three-head limiting plate (23), the upper end of the hexagonal seat (21) is penetrated by a telescopic rod (23) 4), three groups of concave seats (26) are fixedly installed at the lower end of the hexagonal seat (21), L-shaped blocks (27) are rotatably installed inside the three groups of concave seats (26), and lower pressure plates (28) are rotatably installed inside one end of the three groups of L-shaped blocks (27). Limiting blocks (29) are fixedly installed at one end of the three groups of elastic blocks (25) and near the edge positions on both sides, and the upper ends of the three groups of elastic blocks (25) are respectively fixed to the lower ends of the L-shaped blocks (27).
2. The flexible gripper of a manipulator according to claim 1, characterized in that: Three groups of bonding plates (11) are fixedly mounted on the lower end of the mounting disc (1), the protective mechanism (3) comprises a protective cylinder (34), and one end of each of the three groups of bonding plates (11) is penetrated by a vertical hole (31).
3. The flexible gripper of a manipulator according to claim 1, characterized in that: The upper parts of the three groups of lower pressing plates (28) are all rotatably mounted inside the three-head limiting plate (23), and the extended ends of the telescopic rods (24) are fixed to the upper ends of the three-head limiting plates (23).
4. The flexible gripper of a manipulator according to claim 2, characterized in that: Support springs (32) are fixedly installed at the bottom ends of the three groups of vertical holes (31), and sliding blocks (33) are slidably installed inside the three groups of vertical holes (31).
5. The flexible gripper of a manipulator according to claim 2, characterized in that: One end of each of the three groups of laminating plates (11) is fixed to the outer wall of the hexagonal seat (21).
6. The flexible gripper of a manipulator according to claim 4, characterized in that: The upper ends of the three groups of support springs (32) are respectively fixed to the lower ends of the three groups of sliding blocks (33).
7. The flexible gripper of a manipulator according to claim 6, characterized in that: One end of each of the three groups of sliding blocks (33) is fixed to the inner wall of the protective cylinder (34), and the protective cylinder (34) is located on the outer wall of the three groups of laminating plates (11).