Robot hand flexible grabbing device

Abstract

The utility model discloses a robot hand flexible grabbing device which comprises a fixing column and a plurality of fixing frames, the fixing frames are all installed on the outer ring of the fixing column through hinge pieces, the fixing frames are evenly distributed in an annular structure, one end of each fixing frame extends outwards in an inclined mode and is vertically bent to form a fixing part, and the other end of each fixing frame is fixedly connected with the fixing column. Positioning sleeves are installed on the inner side faces of the fixing parts, positioning columns are arranged in the positioning sleeves, one ends of the positioning columns extend to the outside, clamping pieces are installed on the positioning columns, rubber layers are installed on one side faces of the clamping pieces, and the fixing columns are sleeved with positioning pipes which inwards press the multiple fixing frames on the fixing columns. The clamping device is simple in structure, the rubber layers and the clamping pieces are arranged on the portions making contact with an object, damage to the object is avoided through the flexibility of the rubber layers and the elasticity of the clamping pieces, the positions of the clamping pieces can be adjusted according to the size of the object, the clamping device can better adapt to objects of different sizes, and the clamping pieces can be replaced.

Description

Technical Field

[0001] This utility model relates to the field of grasping technology, specifically to a flexible grasping device for a robot hand. Background Technology

[0002] In the field of industrial automation, the grasping action of a robot arm is mainly performed by a rigid robotic gripper. However, when a rigid robotic gripper comes into contact with some flexible or easily damaged objects, the result is a rigid contact between the steel gripper and the object being grasped, lacking elasticity and flexibility. This can easily cause surface damage or destruction to the object being grasped, thereby affecting the quality of the object. Summary of the Invention

[0003] The technical problem to be solved by this utility model is to provide a flexible gripping device for a robot hand, which adopts flexible gripping to avoid damage to the surface of the object being gripped, thereby solving the problems mentioned in the background art.

[0004] This utility model is achieved through the following technical solution: a flexible gripping device for a robot hand, comprising a fixed column and multiple fixed frames. The fixed frames are all installed on the outer ring of the fixed column through hinges. The multiple fixed frames are evenly distributed in a ring structure. One end of each fixed frame extends outward at an angle and is bent vertically to form a fixed part. A positioning sleeve is installed on the inner side of each fixed part. A positioning column is provided in each positioning sleeve. One end of each positioning column extends to the outside and is equipped with a clamping piece. A rubber layer is installed on one side of each clamping piece. A positioning tube is sleeved on the outside of the fixed column to press the multiple fixed frames inward onto the fixed column.

[0005] As a preferred technical solution, the end of the fixing frame facing the fixing column is bent upward to form a vertical pressure-bearing part. The inner side of the pressure-bearing part is in contact with the outer wall of the fixing column. The outer side of the pressure-bearing part is set with an arc-shaped structure. The positioning tube is sleeved on the outside of multiple pressure-bearing parts, and the inner ring surface of the positioning tube is in contact with the arc-shaped structure on the pressure-bearing part. One end of the positioning tube narrows inward to form a positioning part, which is sleeved on the fixing column. The other end of the positioning tube expands outward to form a flow guide part with an annular structure.

[0006] As a preferred technical solution, the fixing part is provided with a mounting hole opposite the positioning sleeve, and a sealed bearing is installed in the mounting hole. A lead screw hole is provided axially at the center of each positioning column. A lead screw is installed in the inner ring of the sealed bearing. One end of the lead screw is threaded into the lead screw hole, and the other end of the lead screw is set to the outside and is equipped with a handwheel.

[0007] As a preferred technical solution, the clamping plates are all made of metal springs.

[0008] As a preferred technical solution, a fixing seat is installed at one end of the fixing column, a fixing plate is installed on the outer ring surface of the positioning tube, a connecting seat is installed on the fixing seat, a cylinder is installed on the connecting seat, and the piston of the cylinder is mounted on the fixing plate.

[0009] As a preferred technical solution, the hinge is a torsion spring hinge.

[0010] As a preferred technical solution, the clamping plates are all arranged in a "J" shape.

[0011] The beneficial effects of this utility model are: the utility model has a simple structure, the part that contacts the object is a rubber layer and a clamping piece, the flexibility of the rubber layer and the elasticity of the clamping piece prevent damage to the object, and the position of the clamping piece can be adjusted according to the size of the object, so it can better adapt to objects of different sizes, and the clamping piece can be replaced. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0014] Figure 2 This is a bottom view of the present invention;

[0015] Figure 3 This is a schematic diagram of the structure of this utility model after removing the positioning tube;

[0016] Figure 4 This is a schematic diagram of the installation structure of the lead screw and sealed bearing of this utility model.

[0017] Among them, 1. fixed column; 2. fixed frame; 3. positioning sleeve; 4. positioning column; 5. clamping piece; 6. rubber layer; 7. handwheel; 8. positioning part; 9. positioning tube; 10. guide part; 11. fixed plate; 12. cylinder; 13. fixed seat; 14. arc structure; 15. fixed part. Detailed Implementation

[0018] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0019] All features disclosed in this specification, or all steps in all disclosed methods or processes, may be combined in any way, except for mutually exclusive features and / or steps.

[0020] Any feature disclosed in this specification (including any appended claims, abstract, and drawings) may be replaced by other equivalent or similar features, unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is merely one example of a series of equivalent or similar features.

[0021] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, a flexible gripping device for a robot hand according to this utility model includes a fixed column 1 and multiple fixed frames 2. The fixed frames 2 are all installed on the outer ring of the fixed column 1 through hinges. The multiple fixed frames 2 are evenly distributed in a ring structure. One end of each fixed frame 2 extends outward at an angle and is bent vertically to form a fixed part 15. A positioning sleeve 3 is installed on the inner side of each fixed part 15. A positioning column 4 is provided in each positioning sleeve 3. One end of each positioning column 4 extends to the outside and is equipped with a clamping piece 5. A rubber layer 6 is installed on one side of each clamping piece 5. A positioning tube 9 is sleeved on the outside of the fixed column 1 to press the multiple fixed frames 2 inward on the fixed column 1.

[0022] In this embodiment, the end of the fixing frame 2 facing the fixing column 1 is bent upward to form a vertical pressure-bearing part. The inner side of the pressure-bearing part is in contact with the outer wall of the fixing column 1. The outer side of the pressure-bearing part is provided with an arc-shaped structure 14. The positioning tube 9 is sleeved on the outside of the multiple pressure-bearing parts, and the inner ring surface of the positioning tube 9 is in contact with the arc-shaped structure 14 on the pressure-bearing part. One end of the positioning tube 9 is narrowed inward to form a positioning part 8, which is sleeved on the fixing column 1. The other end of the positioning tube 9 is expanded outward to form a guide part 10 with an annular structure.

[0023] In this embodiment, the fixing part 15 is provided with an installation hole opposite to the positioning sleeve 3. A sealed bearing is installed in the installation hole. A lead screw hole is provided axially at the center of the positioning column 4. A lead screw is installed in the inner ring of the sealed bearing. One end of the lead screw is threaded into the lead screw hole, and the other end of the lead screw is set to the outside and is equipped with a handwheel 7.

[0024] In this embodiment, the clamping pieces 5 are all made of metal spring sheets to ensure the elasticity of the clamping pieces. When the handwheel is rotated, it can drive the lead screw and the positioning pin. After rotating to a certain extent, the positioning pin can disengage from the lead screw, thereby allowing the clamping pieces to be replaced.

[0025] In this embodiment, a fixing seat 13 is installed at one end of the fixing column 1, a fixing plate 11 is installed on the outer ring surface of the positioning tube 9, a connecting seat is installed on the fixing seat 13, a cylinder 12 is installed on the connecting seat, and the piston of the cylinder 12 is installed on the fixing plate 11.

[0026] In this embodiment, the hinge is a torsion spring hinge. The torsion spring hinge can automatically lift the fixing frame and the clamping plate upwards, and the opened clamping plate can better fit over the object.

[0027] In this embodiment, the clamping pieces 5 are all arranged in a "J" shape, so that the clamping pieces can bend toward the fixed frame side after being pressed.

[0028] This device is suitable for cylindrical objects and can change the distance between the clamping plates according to the diameter of the object. During adjustment, the handwheel is rotated directly. The rotation of the handwheel drives the lead screw, which in turn drives the positioning pin, causing the positioning pin to move outward along the positioning tube. The movement of the positioning pin drives the clamping plates, so that multiple clamping plates form a clamping cavity that matches the size of the object.

[0029] In use, the cylinder is activated, causing the piston rod to retract. The movement of the piston rod drives the fixing plate and positioning tube. After the positioning tube moves away from the outside of the pressure part, the torsion of the torsion spring hinge opens the fixing frame and clamping plate outward. The opened clamping plate can be moved above the object by the robotic arm. At this time, the cylinder is activated in reverse, causing the piston rod to extend. The movement of the piston rod drives the positioning tube, which can squeeze the fixing frame inward through the guide part, causing the fixing frame to automatically move inward. After the pressure part is in contact with the fixing column, the positioning tube can be sleeved on the outside of the arc-shaped structure of the pressure part. The positioning tube can move the clamping plate to the specified position, thereby gripping the object.

[0030] During gripping, the rubber layer increases friction and flexibility when in contact with the object, and the elasticity of the clamping plate can better press the item inward. Furthermore, the flexibility of the rubber layer and the elasticity of the clamping plate prevent damage to the object being gripped.

[0031] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any changes or substitutions conceived without inventive effort should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope defined in the claims.

Claims

1. A flexible gripping device for a robot hand, characterized in that: It includes a fixed column (1) and multiple fixed brackets (2). The fixed brackets (2) are all installed on the outer ring of the fixed column (1) through hinges. The multiple fixed brackets (2) are evenly distributed in a ring structure. One end of each fixed bracket (2) extends outward at an angle and is bent vertically to form a fixed part (15). A positioning sleeve (3) is installed on the inner side of each fixed part (15). A positioning column (4) is provided in each positioning sleeve (3). One end of each positioning column (4) extends to the outside and is equipped with a clamping piece (5). A rubber layer (6) is installed on one side of each clamping piece (5). A positioning tube (9) is sleeved on the outside of the fixed column (1) to press the multiple fixed brackets (2) inward on the fixed column (1).

2. The robotic hand flexible grasping device according to claim 1, characterized in that: The fixed frame (2) bends upward toward the fixed column (1) to form a vertical pressure-bearing part. The inner side of the pressure-bearing part is in contact with the outer wall of the fixed column (1). The outer side of the pressure-bearing part is set with an arc-shaped structure (14). The positioning tube (9) is sleeved on the outside of multiple pressure-bearing parts, and the inner ring surface of the positioning tube (9) is in contact with the arc-shaped structure (14) on the pressure-bearing part. One end of the positioning tube (9) narrows inward to form a positioning part (8). The positioning part (8) is sleeved on the fixed column (1). The other end of the positioning tube (9) expands outward to form a guide part (10) with an annular structure.

3. The robotic hand flexible grasping device according to claim 1, characterized in that: The fixing part (15) is provided with a mounting hole opposite the positioning sleeve (3). A sealed bearing is installed in the mounting hole. A screw hole is provided axially at the center of the positioning column (4). A screw is installed in the inner ring of the sealed bearing. One end of the screw is threaded into the screw hole, and the other end of the screw is set to the outside and is equipped with a handwheel (7).

4. The robotic hand flexible grasping device according to claim 1, characterized in that: The clamping pieces (5) are all made of metal springs.

5. The robotic hand flexible grasping device according to claim 1, characterized in that: A fixed seat (13) is installed at one end of the fixed column (1), a fixed plate (11) is installed on the outer ring surface of the positioning tube (9), a connecting seat is installed on the fixed seat (13), a cylinder (12) is installed on the connecting seat, and the piston of the cylinder (12) is installed on the fixed plate (11).

6. The robotic hand flexible grasping device according to claim 1, characterized in that: The hinge is a torsion spring hinge.

7. The robotic hand flexible grasping device according to claim 1, characterized in that: The clamping plates (5) are all arranged in a "J" shape.

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