Flexible self-adaptive clamping jaw

Abstract

The utility model provides a flexible self-adaptive clamping jaw. The flexible self-adaptive clamping jaw comprises under-driven knuckles, self-adaptive knuckles and a hand base. The two self-adaptive knuckles are oppositely installed on the hand base, the under-driven knuckles are rotationally connected with the self-adaptive knuckles, and when the hand base is impacted, the under-driven knuckles are bent to protect fingertips from being impacted and damaged by external force; when the self-adaptive knuckles are pressed, the clamping object is wrapped; the hand base is used for driving the two self-adaptive knuckles to be opened and closed. The flexible clamping jaw disclosed by the utility model has the capability of adapting to different object shapes, has greater advantages when being used for grabbing small objects, is used for realizing accurate grabbing and stable movement of small, fragile and special-shaped workpieces and the like, can be used for reducing article loss and enabling a production line to feed smoothly, and can be applied to the fresh food industry.

Description

TECHNICAL FIELD

[0001] The utility model relates to flexible clamping jaw technical field especially is related to a kind of flexible self-adapting clamping jaw. BACKGROUND

[0002] In recent years, the design principle of flexible clamping jaw is based on the characteristics of flexible material, and through elastic deformation and plastic deformation, it can adapt to different workpiece shapes and sizes, and is used to realize accurate grabbing and stable movement of small, fragile and special-shaped workpieces, reduce product loss, make the production line smooth, and can be applied to fresh food industry.

[0003] Compared with the traditional mechanical clamping jaw, flexible clamping jaw has the ability to adapt to different object shapes, and has great advantages when grabbing small objects. SUMMARY

[0004] The utility model aims at providing a kind of flexible self-adapting clamping jaw, which can realize accurate grabbing and stable movement of small, fragile and special-shaped workpieces, reduce product loss, make the production line smooth, and can be applied to fresh food industry.

[0005] The utility model provides a kind of flexible self-adapting clamping jaw, including underdrive knuckle, self-adapting knuckle and hand base;Two self-adapting knuckles are oppositely installed on the hand base, and the underdrive knuckle is rotatably connected with the self-adapting knuckle, when impacted, the underdrive knuckle is bent, to protect the fingertip from damage by external force impact;When the self-adapting knuckle is subjected to pressure, it clamps the object;The hand base is used to drive two self-adapting knuckles to open and close.

[0006] Further, the self-adapting knuckle includes connecting self-adapting knuckle and clamping self-adapting knuckle, the connecting self-adapting knuckle is rotatably connected with the underdrive knuckle, and the clamping self-adapting knuckle is installed on the hand base, and the connecting self-adapting knuckle and the clamping self-adapting knuckle are fixedly connected.

[0007] Further, the underdrive knuckle is connected with the connecting self-adapting knuckle through connecting shaft, and the connecting shaft is provided with compression spring.

[0008] Further, the length of the connecting self-adapting knuckle is shorter than the length of the clamping self-adapting knuckle.

[0009] Further, the connecting self-adapting knuckle and the clamping self-adapting knuckle are integrally formed.

[0010] Further, the underdrive knuckle includes first metal support.

[0011] Further, the clamping self-adaptive knuckle comprises a second metal bracket and a flexible material, the second metal bracket is L-shaped, and the flexible material is wrapped on the finger pulp side of the second metal bracket.

[0012] Further, the cross section of the clamping self-adaptive knuckle is trapezoidal, and the area of the clamping self-adaptive knuckle gradually increases from the underactuated knuckle to the hand base.

[0013] Further, the hand base comprises an upper cover, a rear shell, a motor, a transmission mechanism and an arm connecting piece, the upper cover is adaptively installed with the rear shell, the motor is located inside the space formed after the installation of the upper cover and the rear shell, the transmission mechanism is connected with the motor and the clamping self-adaptive knuckle respectively, and the arm connecting piece is used for connecting with an arm.

[0014] Further, the transmission mechanism comprises a gear, a gear motor connecting piece, a track, a sliding block, a rack connecting seat and a rack, the gear is sleeved on the output shaft of the motor, the gear motor connecting piece is arranged between the gear and the motor and used for supporting the gear, the track is arranged between the gear and the gear motor connecting piece, and the track is provided with two tracks, the sliding block is installed on the track, the rack connecting seat is installed on the top of the sliding block, the rack is connected on the track through the rack connecting seat and the sliding block, the rack is provided with a finger installation position used for installing the self-adaptive knuckle, and the gear is engaged with the rack.

[0015] Compared with the prior art, the flexible clamping jaw has the ability to adapt to different object shapes, has great advantages when grabbing small objects, is used for realizing accurate grabbing and stable movement of small, fragile and special-shaped workpieces, can reduce the loss of articles, make the feeding on the production line smooth, and can be applied to the fresh food industry. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings described below are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0017] Fig. 1 It is a front view structural schematic diagram of the flexible self-adaptive clamping jaw of the embodiment of the present application.

[0018] Fig. 2 It is an assembly schematic diagram of the underactuated knuckle and the self-adaptive knuckle of the embodiment of the present application.

[0019] Fig. 3 It is an explosive structure schematic view of the flexible self-adaptive clamping jaw of the embodiment of the present application.

[0020] Mark explanation:

[0021] 1: underdrive knuckle; 2: self-adaptive knuckle; 21: connecting self-adaptive knuckle; 22: clamping self-adaptive knuckle; 3: hand base; 4: connecting shaft; 5: first metal support; 6: second metal support; 7: upper cover; 8: rear shell; 9: motor; 10: arm connecting piece; 11: gear; 12: gear motor connecting piece; 13: track; 14: sliding block; 15: rack connecting seat; 16: rack. DETAILED DESCRIPTION

[0022] The technical scheme of the present application will be described clearly and completely below in conjunction with embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0023] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0024] In addition, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited. In addition, the terms "mounting", "connecting", "connection" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0025] As Figs. 1 to 3As shown, the utility model provides a kind of flexible self-adapting gripper, including underdrive knuckle 1, self-adapting knuckle 2 and hand base 3. Two self-adapting knuckles 2 are oppositely installed on hand base 3, and underdrive knuckle 1 is rotatably connected with self-adapting knuckle 2. When impacted, underdrive knuckle 1 bends, protecting fingertips from damage by external force. When self-adapting knuckle 2 is pressed, it clamps the object. Hand base 3 is used to drive two self-adapting knuckles 2 to open and close. Two self-adapting knuckles 2 can approach each other or move away from each other to clamp objects and release them.

[0026] In some preferred embodiments, the self-adapting knuckle 2 includes a connecting self-adapting knuckle 21 and a clamping self-adapting knuckle 22. The connecting self-adapting knuckle 21 is rotatably connected with the underdrive knuckle 1, and the clamping self-adapting knuckle 22 is installed on the hand base 3. The connecting self-adapting knuckle 21 and the clamping self-adapting knuckle 22 are fixedly connected. To increase the overall strength of the gripper, the connecting self-adapting knuckle 21 and the clamping self-adapting knuckle 22 are integrally formed. The length of the connecting self-adapting knuckle 21 is shorter than the length of the clamping self-adapting knuckle 22.

[0027] In some preferred embodiments, the underdrive knuckle 1 is connected with the connecting self-adapting knuckle 21 through a connecting shaft 4. The connecting shaft 4 is provided with a compression spring to ensure that the underdrive knuckle 1 remains in the original position when not under force.

[0028] In some preferred embodiments, the underdrive knuckle 1 includes a first metal bracket 5 to ensure that the finger has both flexibility and rigidity when grasping objects. The clamping self-adapting knuckle 22 includes a second metal bracket 6 and a flexible material. The second metal bracket 6 is L-shaped, and the flexible material is wrapped around the finger side of the second metal bracket 6. When the clamping self-adapting knuckle 22 is pressed, the flexible material will deform to clamp the object. The flexible material is preferably soft rubber, but other materials can also be used to ensure that the finger has a certain compressibility when clamping objects.

[0029] In some preferred embodiments, the cross section of the clamping self-adapting knuckle 22 is trapezoidal. From the underdrive knuckle 1 to the hand base 3, the area of the clamping self-adapting knuckle 22 gradually increases.

[0030] In some preferred embodiments, the hand base 3 includes an upper cover 7, a rear shell 8, a motor 9, a transmission mechanism, and an arm connecting piece 10. The upper cover 7 is fitted with the rear shell 8. The motor 9 is located inside the space formed after the upper cover 7 and the rear shell 8 are installed. The transmission mechanism is connected with the motor 9 and the clamping self-adapting knuckle 22 respectively. The arm connecting piece 10 is used to connect with the arm.

[0031] In some preferred embodiments, the transmission mechanism comprises a gear 11, a gear motor connecting piece 12, a track 13, a sliding block 14, a rack connecting seat 15 and a rack 16, the gear 11 is sleeved on the output shaft of the motor 9, the gear motor connecting piece 12 is arranged between the gear 11 and the motor 9, and the gear 11 is supported. The track 13 is arranged between the gear 11 and the gear motor connecting piece 12, and the track 13 is provided with two. The sliding block 14 is installed on the track 13, and the rack connecting seat 15 is installed on the top of the sliding block 14, and the rack 16 is connected to the track 13 through the rack connecting seat 15 and the sliding block 14. The rack 16 is provided with a finger mounting position for mounting the adaptive finger joint 2, and the gear 11 is engaged with the rack 16.

[0032] The working principle of the utility model is as follows: the motor 9 drives the gear 11 to rotate, the gear 11 drives the rack 16 engaged with it to move, so that the adaptive finger joint 2 installed on the rack 16 moves. Two adaptive finger joints 2 can be close to each other or away from each other, so as to be used for clamping articles and loosening.

[0033] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the utility model, and not to limit them; although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model.

Claims

1. A flexible adaptive gripper, characterized in that, It includes an underdriven phalanx (1), an adaptive phalanx (2), and a hand base (3); two adaptive phalanxes (2) are mounted opposite each other on the hand base (3), the underdriven phalanx (1) and the adaptive phalanx (2) are rotatably connected, and when impacted, the underdriven phalanx (1) bends to protect the fingertip from damage by external force; when the adaptive phalanx (2) is subjected to pressure, it covers and grips the object; the hand base (3) is used to drive the two adaptive phalanxes (2) to open and close.

2. The flexible adaptive gripper according to claim 1, characterized in that, The adaptive knuckle (2) includes a connecting adaptive knuckle (21) and a gripping adaptive knuckle (22). The connecting adaptive knuckle (21) is rotatably connected to the underdriven knuckle (1). The gripping adaptive knuckle (22) is mounted on the hand base (3). The connecting adaptive knuckle (21) and the gripping adaptive knuckle (22) are fixedly connected.

3. The flexible adaptive gripper according to claim 2, characterized in that, The underdriven finger (1) and the adaptive finger (21) are connected by a connecting shaft (4), and a compression spring is provided on the connecting shaft (4).

4. The flexible adaptive gripper according to claim 2, characterized in that, The length of the connecting adaptive phalanx (21) is shorter than the length of the clamping adaptive phalanx (22).

5. The flexible adaptive gripper according to claim 2, characterized in that, The connecting adaptive knuckle (21) and the clamping adaptive knuckle (22) are integrally formed.

6. The flexible adaptive gripper according to claim 2, characterized in that, The underdriven phasor (1) includes a first metal support (5).

7. The flexible adaptive gripper according to claim 2, characterized in that, The gripping adaptive knuckle (22) includes a second metal support (6) and a flexible material. The second metal support (6) is L-shaped, and the flexible material covers the fingertip side of the second metal support (6).

8. The flexible adaptive gripper according to claim 2, characterized in that, The cross-section of the gripping adaptive phalanx (22) is trapezoidal, and the area of ​​the gripping adaptive phalanx (22) gradually increases from the underdriven phalanx (1) to the hand base (3).

9. The flexible adaptive gripper according to claim 2, characterized in that, The hand base (3) includes an upper cover (7), a rear shell (8), a motor (9), a transmission mechanism, and an arm connector (10); the upper cover (7) is adapted to the rear shell (8), the motor (9) is located inside the space formed after the upper cover (7) and the rear shell (8) are installed, the transmission mechanism is connected to the motor (9) and the gripping adaptive knuckle (22) respectively, and the arm connector (10) is used to connect with the arm.

10. The flexible adaptive gripper according to claim 9, characterized in that, The transmission mechanism includes a gear (11), a gear motor connector (12), a track (13), a slider (14), a rack connector (15), and a rack (16). The gear (11) is sleeved on the output shaft of the motor (9). The gear motor connector (12) is located between the gear (11) and the motor (9) to support the gear (11). The track (13) is located between the gear (11) and the gear motor connector (12), and there are two tracks (13). The slider (14) is mounted on the track (13), and the rack connector (15) is mounted on the top of the slider (14). The rack (16) is connected to the track (13) through the rack connector (15) and the slider (14). The rack (16) is provided with a finger mounting position for mounting the adaptive knuckle (2). The gear (11) meshes with the rack (16).

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