Negative pressure pneumatic clamping mechanism and negative pressure pneumatic clamping device

Abstract

The utility model belongs to pneumatic clamp technical field, concretely relates to negative pressure pneumatic clamping mechanism and negative pressure pneumatic clamping device, the utility model has the following technical scheme: negative pressure pneumatic clamping mechanism includes: a plurality of connecting rods, a plurality of bellows are located on connecting rod, a plurality of clamping force transmission spare are located on connecting rod, wherein each connecting rod is swing connected in turn and forms finger shape, wherein bellows are located between connecting rod and clamping force transmission spare, each bellows is connected in turn, the bellows at the root of finger connects negative pressure source, and bellows are vacuum bellows, the utility model discloses the beneficial effect of negative pressure pneumatic clamping mechanism is: will not cause pollution to the environment, is applicable to high requirement environment, and bellows deformation is reliable, and the life is longer.

Description

Technical Field

[0001] This utility model belongs to the field of pneumatic clamping technology, specifically relating to a negative pressure pneumatic clamping mechanism and a negative pressure pneumatic clamping device. Background Technology

[0002] With increasing automation, various types of gripping mechanisms are widely used in industrial production and daily life, such as automatic gripping, handling and clamping on production lines, or as bionic robotic arms on humanoid robots to cope with various daily work scenarios.

[0003] Currently, the main types of gripping mechanisms are rigid grippers, rope-driven grippers, and positive pressure pneumatic (or hydraulic) driven grippers, each with the following shortcomings:

[0004] 1. Traditional rigid grippers: Some traditional grippers use a rigid structure, which often results in a large rigid impact during the gripping process. Therefore, they are limited in applications involving gripping brittle and easily damaged objects. In addition, because they are made of traditional rigid materials, they lack adaptability and safety when human-computer interaction is required.

[0005] 2. Rope-driven grippers: Rope drives often require linear motion components such as linear motors or cylinders, which increases the complexity of the system. Sometimes the original drive component does not provide linear motion but rotational motion, so a motion conversion mechanism needs to be added, which further increases the complexity of the system.

[0006] 3. Positive pressure driven (or hydraulic) grippers: Although existing positive pressure driven grippers can provide greater clamping force, due to the positive pressure drive, when combined with algorithms such as PID, the system overshoot sometimes occurs, which may cause the airbag to inflate and burst. This not only makes the gripper malfunction, but may even lead to safety accidents. During use, air leakage, liquid leakage and other faults may also occur, causing pollution to the working environment.

[0007] In addition, some pneumatic clamping mechanisms that use negative pressure also have unreasonable aspects, such as poor reliability of bending components and high requirements for bending components.

[0008] Therefore, it is necessary to develop and design clamping mechanisms for scenarios with high requirements for environmental cleanliness. Summary of the Invention

[0009] This invention addresses the shortcomings of existing pneumatic clamping mechanisms, which often employ positive or negative pressure and suffer from poor reliability, by providing a negative pressure pneumatic clamping mechanism that achieves bending clamping through a bellows. Furthermore, it achieves modularization of some components. This invention also provides a negative pressure pneumatic clamping device.

[0010] To achieve the above objectives, this utility model adopts the following technical solution: a negative pressure pneumatic clamping mechanism, which includes:

[0011] Multiple connecting rods;

[0012] Multiple corrugated pipes, each end of which is fixed to an adjacent connecting rod;

[0013] Multiple clamping force transmission components are respectively installed on each connecting rod;

[0014] Among them, each link swings sequentially from end to end and forms a finger shape;

[0015] The bellows are located between the connecting rod and the clamping force transmission component. The bellows are connected end to end. The bellows located at the base of the finger are connected to the negative pressure source. The bellows are vacuum bellows.

[0016] This utility model discloses a negative pressure pneumatic clamping mechanism, comprising connecting rods, bellows, and clamping force transmission components. The connecting rods are sequentially connected end-to-end, forming a finger shape. The bellows are located between the connecting rods and the clamping force transmission components, with each bellows connected end-to-end. The bellows at the base of the "finger" are connected to a negative pressure source. The bellows are vacuum bellows. When the pressure in the bellows decreases (below atmospheric pressure), the bellows is compressed and deformed under atmospheric pressure, causing the connecting rods and the clamping force transmission components on them to bend, thus achieving clamping. When the pressure in the bellows returns to atmospheric pressure, the bellows recovers under its own elastic force, and the connecting rods and the clamping force transmission components on them extend. The bellows deformation is reliable and has a long service life.

[0017] As an improvement, adjacent links are connected by pins.

[0018] As an improvement, the linkage is divided into fingertip linkage and other linkages. The other linkages are the same, with the two ends of the other linkages being a convex part and a concave part that match each other. The fingertip linkage has a convex part or a concave part on only one end.

[0019] As an improvement, a connector is provided on the connecting rod, and the two ends of the bellows are sealed and connected to the connector.

[0020] As an improvement, the corrugated pipe includes a corrugated section in the middle and hose sections at both ends, with the hose sections and connectors plugged in.

[0021] As an improvement, the fingertip of the connector on the fingertip link is sealed by a baffle.

[0022] As an improvement, the cross-sectional sizes of adjacent clamping force transmission components are different, so that when bending, one enters the other.

[0023] As an improvement, a flexible element is provided on the inner side of the clamping force transmission component.

[0024] The negative pressure pneumatic clamping device includes a base and a negative pressure pneumatic clamping mechanism disposed on the base, wherein the negative pressure pneumatic clamping mechanism is the aforementioned negative pressure pneumatic clamping mechanism.

[0025] As an improvement to the negative pressure pneumatic clamping device, the connecting rod is mounted on the base via a pin; and / or,

[0026] The base has multiple channels, each channel connecting to a connector, which is vertically positioned; and / or,

[0027] There are at least two negative pressure pneumatic clamping mechanisms, which are arranged opposite to each other.

[0028] The beneficial effects of this negative pressure pneumatic clamping mechanism are as follows: It includes connecting rods, bellows, and clamping force transmission components. Each connecting rod is connected end-to-end in sequence to form a finger shape. The bellows are located between the connecting rods and the clamping force transmission components, and the bellows are connected end-to-end. The bellows located at the base of the fingers are connected to a negative pressure source. The bellows are vacuum bellows. When the pressure in the bellows decreases (below atmospheric pressure), the bellows is compressed and deformed under atmospheric pressure, causing the connecting rods and the clamping force transmission components on the connecting rods to bend, thus achieving clamping. When the pressure in the bellows returns to atmospheric pressure, the bellows recovers under its own elastic force, and the connecting rods and the clamping force transmission components on the connecting rods extend. It will not cause environmental pollution and is suitable for high-requirement environments. The bellows deformation is reliable and has a long service life.

[0029] The negative pressure pneumatic clamping device of this utility model adopts the negative pressure pneumatic clamping mechanism of this utility model and has all the beneficial effects of the negative pressure pneumatic clamping mechanism of this utility model. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the negative pressure pneumatic clamping device according to Embodiment 1 of this utility model.

[0031] Figure 2 This is a cross-sectional view of the negative pressure pneumatic clamping device according to Embodiment 1 of this utility model.

[0032] Figure 3 This is a schematic diagram of the base of the negative pressure pneumatic clamping device according to Embodiment 1 of this utility model.

[0033] Figure 4 This is a schematic diagram of the negative pressure pneumatic clamping mechanism of Embodiment 1 of this utility model.

[0034] Figure 5 This is an exploded view of the negative pressure pneumatic clamping mechanism of Embodiment 1 of this utility model.

[0035] Figure 6 This is a schematic diagram of the connecting rod structure of the negative pressure pneumatic clamping mechanism according to Embodiment 1 of this utility model.

[0036] Figure 7 This is a schematic diagram of the bellows structure of the negative pressure pneumatic clamping mechanism according to Embodiment 1 of this utility model.

[0037] In the diagram, 01 is the negative pressure pneumatic clamping mechanism; 02 is the base.

[0038] 11. Finger tip linkage; 12. Other linkages; 121. Recess; 122. Protrusion;

[0039] 2. Corrugated pipe; 21. Corrugated section; 22. Tubing section;

[0040] 31. Fingertip gripping force transmission component; 32. First gripping force transmission component; 33. Second gripping force transmission component;

[0041] 4. Pin;

[0042] 5. Connector;

[0043] 6. Baffle;

[0044] 7. Main body of the seat; 71. Mounting slot; 72. Channel. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be explained and described below. However, the following embodiments are only preferred embodiments of the present invention and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present invention.

[0046] See Figures 1 to 7 The negative pressure pneumatic clamping mechanism of this utility model includes:

[0047] Multiple connecting rods;

[0048] Multiple corrugated pipes, each end of which is fixed to an adjacent connecting rod;

[0049] Multiple clamping force transmission components are respectively installed on each connecting rod;

[0050] Among them, each link swings sequentially from end to end and forms a finger shape;

[0051] The bellows are located between the connecting rod and the clamping force transmission component. The bellows are connected end to end. The bellows located at the base of the finger are connected to the negative pressure source. The bellows are vacuum bellows.

[0052] This utility model discloses a negative pressure pneumatic clamping mechanism, comprising connecting rods, bellows, and clamping force transmission components. The connecting rods are sequentially connected end-to-end, forming a finger shape. The bellows are located between the connecting rods and the clamping force transmission components, with each bellows connected end-to-end. The bellows at the base of the "finger" are connected to a negative pressure source. The bellows are vacuum bellows. When the pressure in the bellows decreases (below atmospheric pressure), the bellows is compressed and deformed under atmospheric pressure, causing the connecting rods and the clamping force transmission components on them to bend, thus achieving clamping. When the pressure in the bellows returns to atmospheric pressure, the bellows recovers under its own elastic force, and the connecting rods and the clamping force transmission components on them extend. The bellows deformation is reliable and has a long service life.

[0053] Example 1

[0054] See Figures 1 to 7 The negative pressure pneumatic clamping device of Embodiment 1 of this utility model includes a base 02 and a negative pressure pneumatic clamping mechanism 01 disposed on the base 02. The negative pressure pneumatic clamping mechanism 01 includes:

[0055] Multiple connecting rods;

[0056] Multiple corrugated pipes 2, each end of which is fixedly connected to an adjacent connecting rod;

[0057] Multiple clamping force transmission components are respectively installed on each connecting rod;

[0058] Among them, each link swings sequentially from end to end and forms a finger shape;

[0059] Among them, the bellows 2 is located between the connecting rod and the clamping force transmission component. Each bellows 2 is connected end to end. The bellows 2 located at the base of the finger is connected to the negative pressure source. The bellows 2 is a vacuum bellows 2.

[0060] In this embodiment, a single negative pressure pneumatic clamping mechanism 01 has four connecting rods, which are divided into one fingertip connecting rod 11 and three other connecting rods 12, all of which are identical. In other embodiments, the two intermediate connecting rods may be identical and different from the fingertip connecting rod and the finger root connecting rod.

[0061] In this embodiment, there are multiple identical negative pressure pneumatic clamping mechanisms 01. Specifically, there are a total of 8 negative pressure pneumatic clamping mechanisms 01, which are divided into four groups and arranged in pairs facing each other.

[0062] In this embodiment, adjacent connecting rods on the same negative pressure pneumatic clamping mechanism 01 are connected by pins 4. Pins 4 include an intermediate shaft section and anti-detachment sections at both ends, and at least one of the anti-detachment sections at both ends is detachably connected to the intermediate shaft section.

[0063] In this embodiment, the other connecting rods 12 have a convex portion 122 and a concave portion 121 at both ends, respectively, while the fingertip connecting rod 11 has a convex portion 122 at only one end. The other end of the fingertip connecting rod 11 is a closed arc shape.

[0064] In this embodiment, the connecting rod is provided with a connector 5, and both ends of the bellows 2 are sealed and connected to the connector 5. The connector 5 includes a connecting part connected to the connecting rod and a joint part connected to the bellows 2.

[0065] In this embodiment, the corrugated pipe 2 includes a central corrugated section 21 and tubular sections 22 at both ends, which are connected to the connector 5. Specifically, the tubular sections 22 are inserted into the connector portion of the connector 5.

[0066] In this embodiment, the fingertip of the connector 5 on the fingertip link 11 is closed by the baffle 6. The connector 5 on the fingertip link 11 is the same as the connector 5 on the other links 12.

[0067] In this embodiment, the adjacent clamping force transmission components have different cross-sectional sizes, allowing one to enter the other during bending. The clamping force transmission components on the same negative pressure pneumatic clamping mechanism 01 are divided into one fingertip clamping force transmission component 31, two first clamping force transmission components 32, and one second clamping force transmission component 33. The fingertip clamping force transmission component 31 and the second clamping force transmission component 33 have smaller cross-sectional dimensions, while the first clamping force transmission component 32 has a larger dimension. The two first clamping force transmission components 32 are identical. The difference between the fingertip clamping force transmission component 31 and the second clamping force transmission component 33 is that one end of the fingertip clamping force transmission component 31 is a closed arc shape, while both ends of the second clamping force transmission component 33 are open.

[0068] In other embodiments, a flexible element is provided on the inner side of the clamping force transmission element, thereby preventing the bellows 2 from being subjected to force and allowing the flexible element to directly contact the workpiece.

[0069] In this embodiment, the other connecting rod 12 (finger root connecting rod) near the base 02 is mounted on the base 02 via a pin 4. The finger root connecting rod swings relative to the base 02. The connector 5 on the finger root connecting rod is connected to the connector 5 on the base 02 via a short corrugated pipe.

[0070] In this embodiment, the base 02 has multiple channels 72, each channel 72 being connected to a connector 5. The connector 5 is vertically arranged, and the connector 5 on the negative pressure pneumatic clamping mechanism 01 is connected to the connector 5 on the base 02 via a short corrugated pipe 2. All connectors 5 except those on the base 02 are identical. Each channel 72 includes a connected horizontal section and a vertical section.

[0071] The beneficial effects of the negative pressure pneumatic clamping device in Embodiment 1 of this utility model are as follows: its negative pressure pneumatic clamping mechanism 01 includes a connecting rod, a bellows 2, and a clamping force transmission component. Each connecting rod is connected end to end in sequence to form a finger shape. The bellows 2 is located between the connecting rod and the clamping force transmission component. Each bellows 2 is connected end to end. The bellows 2 located at the base of the finger is connected to a negative pressure source. The bellows 2 is a vacuum bellows 2. When the pressure in the bellows 2 decreases (below atmospheric pressure), the bellows 2 is compressed and deformed under the action of atmospheric pressure, which drives the connecting rod and the clamping force transmission component on the connecting rod to bend, thereby achieving clamping. When the pressure in the bellows 2 returns to atmospheric pressure, the bellows 2 recovers under its own elastic force, and the connecting rod and the clamping force transmission component on the connecting rod extend. It will not cause environmental pollution and is suitable for high-requirement environments. The components used are all relatively common. The bellows 2 has reliable deformation and a long service life. It has a base 02 and multiple clamping mechanisms arranged opposite to each other. The base 02 and multiple clamping mechanisms cooperate to achieve more reliable clamping.

[0072] This utility model embodiment also provides a negative pressure pneumatic clamping mechanism 01, including:

[0073] Multiple connecting rods;

[0074] Multiple corrugated pipes 2, each end of which is fixedly connected to an adjacent connecting rod;

[0075] Multiple clamping force transmission components are respectively installed on each connecting rod;

[0076] Among them, each link swings sequentially from end to end and forms a finger shape;

[0077] Among them, the bellows 2 is located between the connecting rod and the clamping force transmission component. Each bellows 2 is connected end to end. The bellows 2 located at the base of the finger is connected to the negative pressure source. The bellows 2 is a vacuum bellows 2.

[0078] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes, but is not limited to, the content described in the above specific embodiments. Any modifications that do not depart from the functional and structural principles of the present invention will be included within the scope of the claims.

Claims

1. A negative pressure pneumatic clamping mechanism (01) characterized by: The negative pressure pneumatic clamping mechanism (01) comprises: a plurality of connecting rods; a plurality of bellows (2), the two ends of each of which are fixedly connected with adjacent connecting rods; a plurality of clamping force transmission members, each of which is arranged on a connecting rod; wherein the connecting rods are sequentially connected end to end in a finger shape; wherein the bellows (2) are located between the connecting rods and the clamping force transmission members, the bellows (2) are connected end to end, the bellows (2) at the root of the fingers are connected to a negative pressure source, and the bellows (2) are vacuum bellows (2).

2. The negative pressure pneumatic clamping mechanism (01) according to claim 1, characterized in that: Adjacent connecting rods are connected by a pin shaft (4).

3. The negative pressure pneumatic clamping mechanism (01) according to claim 1, characterized in that: The connecting rods are divided into fingertip connecting rods (11) and other connecting rods (12), the other connecting rods (12) are the same, the two ends of each of the other connecting rods (12) are a matching convex portion (122) and a concave portion (121), and only one end of the fingertip connecting rod (11) has a convex portion (122) or a concave portion (121); the fingertip end of the fingertip connecting rod (11) is a closed circular arc; and the fingertip end of the connecting head (5) on the fingertip connecting rod (11) is closed by a baffle (6).

4. The negative pressure pneumatic clamping mechanism (01) according to claim 1, characterized in that: The connecting rods are provided with connecting heads (5), and the two ends of the bellows (2) are in sealed communication with the connecting heads (5).

5. The negative pressure pneumatic clamping mechanism (01) according to claim 4, characterized in that: The bellows (2) comprise a middle bellows section (21) and two end skin tube sections (22), and the skin tube sections (22) are inserted into the connecting heads (5).

6. The negative pressure pneumatic clamping mechanism (01) according to claim 1, characterized in that: The cross-sectional sizes of adjacent clamping force transmission members are different, so that one enters the other when bent.

7. The negative pressure pneumatic clamping mechanism (01) according to claim 6, characterized in that: The clamping force transmission members are divided into fingertip clamping force transmission members (31), first clamping force transmission members (32), and second clamping force transmission members (33), the cross-sectional sizes of the fingertip clamping force transmission members (31) and the second clamping force transmission members (33) are smaller than that of the first clamping force transmission members (32), and the fingertip end of the fingertip clamping force transmission members (31) is a closed circular arc.

8. The negative pressure pneumatic clamping mechanism (01) according to claim 1, characterized in that: The inner side of the clamping force transmission members is provided with a flexible member.

9. A negative pressure pneumatic clamping device, characterized by: The negative pressure pneumatic clamping device comprises a base (02) and a negative pressure pneumatic clamping mechanism (01) arranged on the base (02), and the negative pressure pneumatic clamping mechanism (01) is the negative pressure pneumatic clamping mechanism (01) of any one of claims 1 to 8.

10. The negative pressure pneumatic clamping device according to claim 9, characterized in that: The connecting rods are installed on the base (02) by pin shafts (4); and / or The base (02) is provided with a plurality of channels (72), each of which is in communication with a connecting head (5), and the connecting head (5) is vertically arranged; and / or The negative pressure pneumatic clamping mechanism (01) comprises at least two and is arranged oppositely.

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