Enhanced profiling flexible clamping jaw

Abstract

The utility model discloses a reinforced profiling 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, the driving cavity comprises a cavity bottom wall and a cavity side wall, and the cavity bottom wall is connected with the flexible finger parts. The flexible finger parts are arranged in the cavity side wall, the finger roots of the flexible finger parts are connected with the cavity side wall, each flexible finger part is fixedly provided with a hard reinforced profiling finger sleeve through a connecting piece, the flexible finger parts are sleeved with the reinforced profiling finger sleeves, and the connecting pieces extend from the fingertips of the flexible finger parts to the finger roots. According to the reinforced profiling flexible clamping jaw, clamping of different workpieces can be met while the strength of the flexible finger parts is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of flexible clamping jaw, especially to a reinforced profiling flexible clamping jaw. BACKGROUND

[0002] In the field of industrial automation, the end of the mechanical arm mainly completes the grabbing action by rigid mechanical gripper or vacuum chuck. However, the rigid mechanical gripper is difficult to control the force, and it is difficult to realize non-destructive grabbing of soft and fragile objects. The vacuum chuck is difficult to adapt to the surface roughness, opening and special-shaped objects in the handling process. This leads to limitations in the application scenarios of both. The flexible mechanical finger is made of elastic material, which can realize the grabbing of soft and fragile objects without damaging the object itself.

[0003] The current flexible clamping jaw mainly includes a negative pressure inner support flexible clamping jaw and a negative pressure grabbing flexible clamping. The invention disclosed in the publication No. CN117549341A discloses a negative pressure inner support flexible jaw. The negative pressure inner support flexible jaw realizes inner support by negative pressure, can realize inner hole clamping, and is suitable for clamping some special workpieces with holes or grooves. The publication No. CN219748045U discloses a reinforced flexible clamping jaw, which is a negative pressure grabbing flexible clamping.

[0004] Among them, the CN219748045U also discloses the structure of the functional finger part. The functional finger part is fixed on the finger part by a transverse connecting bolt. The functional finger part can realize profiling. However, the finger part is made of ordinary silica gel, and the finger part does not necessarily embed a reinforcing layer. Because the process of embedding the reinforcing layer in the finger part is difficult, the yield is difficult to control. Therefore, if the ordinary silica gel finger part is used to fix the functional finger part, the transverse connecting bolt will greatly reduce the strength of the finger part. In this way, the finger part is more likely to deform during clamping, resulting in insufficient clamping force.

[0005] The negative pressure inner support flexible jaw can realize inner support clamping by negative pressure. However, for some heavy workpieces, a larger inner support clamping force is required. Or for some workpieces with small inner support hole or groove size, the current negative pressure inner support flexible jaw still cannot meet the requirements. UTILITY MODEL CONTENTS

[0006] The technical problem to be solved by the utility model is to provide a reinforced profiling flexible clamping jaw, which can improve the strength of the flexible finger part while meeting the clamping of different workpieces.

[0007] The utility model discloses a kind of enhanced profiled flexible clamping jaws, including the connecting portion made of elastic material, the connecting portion includes drive chamber, the upper portion of the connecting portion is provided with the connecting port communicated with drive chamber, at least two flexible fingers are connected below the connecting portion, the drive chamber includes cavity bottom wall and cavity side wall, the heel of the flexible finger is connected with the cavity side wall, and each flexible finger is fixedly installed with the hard enhanced profiled finger sleeve by connecting piece, the enhanced profiled finger sleeve is sleeved on the flexible finger, and the connecting piece extends from the tip of the flexible finger to the heel.

[0008] As a preferred scheme, the connecting piece is a longitudinal connecting screw, and at least one longitudinal connecting screw is arranged on each flexible finger.

[0009] As a preferred scheme, the enhanced profiled finger sleeve includes a sleeving portion and a profiled portion arranged at the lower end of the sleeving portion, the sleeving portion is provided with a nested groove matched with the shape of the flexible finger, the nested groove is sleeved on the flexible finger, and the longitudinal connecting screw fixes the sleeving portion and the flexible finger.

[0010] As a preferred scheme, the flexible clamping jaw is an inner support flexible clamping jaw, the profiled portion includes an inner support profiled rod, the inner support profiled rod is arranged on the sleeving portion and close to the center of the flexible clamping jaw, and each inner support profiled rod cooperates to form an inner support structure.

[0011] As a preferred scheme, the lower end of the inner support profiled rod is further provided with an enhanced boss.

[0012] As a preferred scheme, all the inner support profiled rods are uniformly distributed relative to the circumferential center of the flexible clamping jaw, and all the enhanced bosses are uniformly distributed relative to the circumferential center of the flexible clamping jaw.

[0013] As a preferred scheme, a layer of glue is further bonded between the nested groove and the flexible finger.

[0014] As a preferred scheme, the inner wall of the nested groove and / or the outer portion of the flexible finger is further provided with a rough surface for increasing friction.

[0015] As a preferred scheme, the connecting piece is a connecting pin, and at least one connecting pin is arranged on each flexible finger.

[0016] The utility model discloses the effect is: because every flexible finger part is fixedly installed with the hard reinforced profiling finger sleeve through the connecting piece, the reinforced profiling finger sleeve is sleeved on the flexible finger part, the connecting piece extends from the finger tip to the heel of the flexible finger part, therefore, the reinforced profiling finger sleeve is first sleeved on the flexible finger part, then is fixed using the connecting piece, and the connecting piece extends from the finger tip to the heel, so the connecting piece can not only play the role of fixed, and the length direction of connecting piece becomes the length direction of flexible finger part, so not only does not reduce the strength of flexible finger part, can increase the bending -resistant ability of flexible finger part instead, thereby improve the whole flexible finger part clamping workpiece's ability, improve the clamping force.

[0017] And because the connecting piece is longitudinal connecting screw, at least one longitudinal connecting screw is arranged on every flexible finger part, when using longitudinal connecting screw connection, the length of connecting screw can increase the bending -resistant strength of flexible finger part, improve the clamping force, and the thread of connecting screw can increase the connecting force between flexible finger part, the anti -pulling ability is strong, and the fixing is also more firm.

[0018] And because the flexible clamping jaw is the inner support flexible clamping jaw, the profiling part includes the inner support profiling rod, and the inner support profiling rod is arranged on the sleeved part and is close to the center of flexible clamping jaw, and each inner support profiling rod cooperates and constitutes the inner support structure, therefore, after adopting the structure, the inner support profiling rod can be closer to each other, this can use larger flexible clamping jaw, and the inner support clamps some small -hole but heavy workpiece, for example some powder metallurgy workpiece, and the larger flexible clamping jaw provides larger inner support clamping force, and the inner support profiling rod that is closer can be inserted into smaller inner hole, to meet the clamping of some small -hole but heavy workpiece.

[0019] And because the lower end of the inner support profiling rod is further provided with the reinforcing boss, the reinforcing boss can first increase the strength of the lower end of the inner support profiling rod, and also increase the wear -resisting ability, meet more times of straining clamping action, and simultaneously, because of the existence of the reinforcing boss, the inner support profiling rod can be inserted into some inner holes with inner ring grooves and be clamped, so that the reinforcing boss can be in the inner ring groove, to better clamp the workpiece, and ensure that the workpiece is not easy to fall off.

[0020] And because the nesting groove and the flexible finger part are further bonded with the glue layer, the glue layer can further improve the bonding force.

[0021] And because the inner wall of the nesting groove and / or the outer portion of the flexible finger part is further provided with the rough surface that increases the friction, the rough surface can further increase the friction, to ensure that the nesting groove inner wall and the flexible finger part are fixed more firmly. BRIEF DESCRIPTION OF DRAWINGS

[0022] The utility model will be further explained in connection with the drawings and examples.

[0023] Figure 1 is a structure perspective view of an embodiment of the present application;

[0024] Figure 2 is a bottom view of an embodiment of the present application;

[0025] Figure 3 is Figure 2 is a partial sectional view at A-A;

[0026] Figure 4 is a structure schematic view of an embodiment of the present application in use;

[0027] In the drawings: 1, flexible jaw; 11, connecting portion; 12, flexible finger portion; 121, finger tip; 122, finger heel; 13, reinforced profiling finger sleeve; 131, sleeve portion; 132, inner support profiling rod; 133, reinforcing boss; 2, longitudinal connecting screw; 3, metal workpiece; 31, stepped hole. DETAILED DESCRIPTION

[0028] The present application will be further described in detail by specific embodiments.

[0029] As Figures 1 to 4 shown, a reinforced profiling flexible jaw 11 includes a connecting portion 11 made of elastic material, the connecting portion 11 includes a driving cavity, the upper portion of the connecting portion 11 is provided with a connecting port communicated with the driving cavity, and the lower portion of the connecting portion 11 is connected with at least two flexible finger portions 12, the driving cavity includes a cavity bottom wall and a cavity side wall, and the finger heel 122 of the flexible finger portion 12 is connected with the cavity side wall.

[0030] The basic structure of the flexible jaw 11 is the same as that mentioned in the background art, but according to the use characteristics of the flexible jaw 11, the flexible jaw 11 can be divided into a negative pressure inner support flexible jaw 11 and a negative pressure grabbing flexible jaw 11.

[0031] Each flexible finger portion 12 is fixedly installed with a hard reinforced profiling finger sleeve 13 through a connecting piece, the reinforced profiling finger sleeve 13 is sleeved on the flexible finger portion 12, and the connecting piece extends from the finger tip 121 to the finger heel 122 of the flexible finger portion 12.

[0032] The connecting piece is a longitudinal connecting screw 2, and at least one longitudinal connecting screw 2 is arranged on each flexible finger portion 12. In this embodiment, the number of longitudinal connecting screws 2 on each flexible finger portion 12 is two and the longitudinal connecting screws 2 are arranged in parallel in an up-down direction.

[0033] The enhanced profiled finger sleeve 13 comprises a sleeving part 131 and a profiled part arranged at the lower end of the sleeving part 131, the sleeving part 131 is provided with a nested groove matched with the shape of the flexible finger part 12, the nested groove is sleeved on the flexible finger part 12, and the longitudinal connecting screw 2 fixes the sleeving part 131 and the flexible finger part 12.

[0034] The profiled part can be optimized according to the shape of the workpiece to be clamped, for example, the profiled part for clamping shaft workpieces or spherical workpieces as described in CN219748045U can be selected.

[0035] In the preferred embodiment, as shown in Figure 3 and Figure 4 The flexible clamping jaw 11 is an inner support flexible clamping jaw 11, and the profiled part comprises an inner support profiled rod 132 arranged on the sleeving part 131 and close to the center of the flexible clamping jaw 11, and each inner support profiled rod 132 cooperates with each other to form an inner support structure. The lower end of the inner support profiled rod 132 is also provided with an enhanced boss 133. All the inner support profiled rods 132 are uniformly distributed relative to the center circumference of the flexible clamping jaw 11, and all the enhanced bosses 133 are uniformly distributed relative to the center circumference of the flexible clamping jaw 11.

[0036] As shown in Figure 4 , Figure 4 The workpiece in the embodiment is a metal workpiece 3, and the workpiece has a through hole for facilitating inner support clamping. The through hole of the workpiece in the embodiment is a stepped hole 31, so that when the workpiece is clamped by inner support, the inner support profiled rod 132 is directly inserted into the through hole, and the enhanced boss 133 corresponds to the step of the stepped hole 31, so that the workpiece can be better clamped by inner support. Of course, if the enhanced boss 133 is not arranged, the workpiece can still be clamped by the inner support force when the flexible finger part 12 is opened. The enhanced boss 133 can also support the through hole which is not a stepped hole.

[0037] In addition, in order to increase the fixing firmness between the nested groove and the flexible finger part 12, a layer of glue is also bonded between the nested groove and the flexible finger part 12. The inner wall of the nested groove and / or the outer part of the flexible finger part 12 is also provided with a rough surface to increase the friction. In this way, the friction can be further improved.

[0038] In addition, as a supplement, the connecting piece is a connecting pin, and at least one connecting pin is arranged on each flexible finger part 12. Preferably, the number of connecting pins can be two and arranged in cross, so as to further improve the fixing firmness and the pulling force.

[0039] The flexible clamping jaw 11 in the embodiment has the following advantages: 1. The connecting piece of the flexible clamping jaw 11 reinforcing the profiled finger sleeve 13 can play the effect of connecting and increasing the strength of the flexible finger part 12, and the clamping force is larger under the premise of the same air pressure; 2. The flexible clamping jaw 11 reinforcing the profiled finger sleeve 13 can be suitable for clamping different workpieces, especially the inner supporting clamping of the workpiece with small holes and heavy weight.

[0040] The above-described embodiments are only the description of the preferred embodiments of the present application, and are not intended to limit the scope of the present application. Various modifications and improvements of the technical solutions of the present application made without departing from the design spirit of the present application shall fall within the protection scope determined by the claims of the present application.

Claims

1. A reinforced contour-following flexible gripper, comprising a connecting portion made of an elastic material, the connecting portion including a driving chamber, a connecting port communicating with the driving chamber being provided at the upper part of the connecting portion, at least two flexible fingers being connected to the lower part of the connecting portion, the driving chamber including a bottom wall and a side wall, the base of the flexible fingers being connected to the side wall, characterized in that: Each flexible finger is fixedly installed with a hard reinforcing profiled finger sleeve through a connecting piece, the reinforcing profiled finger sleeve is sleeved on the flexible finger, and the connecting piece extends from the fingertip to the heel of the flexible finger.

2. The reinforced profiled flexible jaw as claimed in claim 1, wherein: The connecting piece is a longitudinal connecting screw, and at least one longitudinal connecting screw is arranged on each flexible finger.

3. The reinforced profiled flexible jaw as claimed in claim 2, wherein: The reinforcing profiled finger sleeve comprises a sleeving part and a profiled part arranged at the lower end of the sleeving part, the sleeving part is arranged with a nested groove matched with the shape of the flexible finger, the nested groove is sleeved on the flexible finger, and the longitudinal connecting screw fixes the sleeving part and the flexible finger.

4. The reinforced profiled flexible jaw as claimed in claim 3, wherein: The flexible clamping jaw is an inner support flexible clamping jaw, the profiled part comprises an inner support profiled rod arranged on the sleeving part and close to the center of the flexible clamping jaw, and the inner support profiled rods are matched with each other to form an inner support structure.

5. An enhanced profile flexible gripper jaw as claimed in claim 4, wherein: The lower end of the inner support profiled rod is further arranged with a reinforcing boss.

6. An enhanced profile flexible gripper jaw as claimed in claim 5, wherein: All the inner support profiled rods are uniformly distributed relative to the center circle of the flexible clamping jaw, and all the reinforcing bosses are uniformly distributed relative to the center circle of the flexible clamping jaw.

7. The reinforced profiled flexible jaw as claimed in claim 3 wherein: A glue layer is further bonded between the nested groove and the flexible finger.

8. The reinforced profiled flexible jaw as claimed in claim 3 wherein: The inner wall of the nested groove and / or the outer part of the flexible finger is further arranged with a rough surface for increasing friction.

9. The reinforced profiled flexible jaw as claimed in claim 1 wherein: The connecting piece is a connecting pin, and at least one connecting pin is arranged on each flexible finger.

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