CN112757330A - Holder with self-adaptive capacity - Google Patents
Holder with self-adaptive capacity Download PDFInfo
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- CN112757330A CN112757330A CN202110054682.4A CN202110054682A CN112757330A CN 112757330 A CN112757330 A CN 112757330A CN 202110054682 A CN202110054682 A CN 202110054682A CN 112757330 A CN112757330 A CN 112757330A
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- inner cylinder
- groove
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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Abstract
A clamp holder with self-adaptive capability relates to a self-adaptive clamp holder. The invention aims to solve the problems of poor adaptability, and insufficient clamping rigidity and strength of the existing clamp. The invention comprises an inner cylinder, an outer cylinder, a pushing mechanism, a resetting mechanism and a plurality of pressing columns, wherein the plurality of pressing columns are densely arranged and inserted in the inner cylinder, the outer cylinder is sleeved outside the inner cylinder, the inner cylinder is connected with the plurality of pressing columns through the pushing mechanism, and the resetting mechanism is arranged between the outer cylinder and the inner cylinder. The invention is used for catching or clamping complex workpieces.
Description
Technical Field
The invention relates to a self-adaptive clamp holder, in particular to a clamp holder with self-adaptive capacity.
Background
In the industrial field, especially in the automation equipment, it is often necessary to stably and reliably capture or clamp complex workpieces, and common air cylinders and oil cylinders can only provide simple linear motion, so that it is difficult to capture various workpieces with complex surface shapes. Even if a special clamping tool is designed, only limited kinds of workpieces can be clamped, and the adaptability is limited. Therefore, the traditional clamping method has the defects of single target, poor adaptability and insufficient clamping rigidity and strength.
Disclosure of Invention
The invention provides a clamp holder with self-adaptive capacity, aiming at solving the problems of poor adaptability, insufficient clamping rigidity and strength of the existing clamp holder.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a holder with self-adaptation ability includes interior barrel, outer barrel, pushing mechanism, canceling release mechanical system and a plurality of post that compress tightly, and a plurality of close-packed cartridge that compress tightly are internal at the inner tube, and outer barrel suit is in the outside of barrel in, and interior barrel is connected through pushing mechanism with a plurality of between compressing tightly the post, is equipped with canceling release mechanical system between outer barrel and the interior barrel.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides a gripper for realizing surface contact of an object with a complex surface by using a self-adaptive mechanism.
2. The capture mechanism and the captured object are in multipoint contact, the macro is surface contact, and the capture mechanism has better contact rigidity and strength
3. The invention has simple structure and strong adaptability, the main power is the butt-clamping action, and the invention is suitable for actuating elements such as cylinders, oil cylinders, linear modules and the like which are common in the industrial field at present.
4. The invention is easy to expand, and can be suitable for capturing workpieces with different dimensions and different surface characteristics by changing the number, the diameter and the material of the compression columns.
5. The power consumption is small, and the power consumption is 0 in a spring reset mode.
6. The invention can realize the capturing and resetting functions without too many high-precision and expensive parts and components, and is suitable for large-scale application on an automatic production line.
Drawings
FIG. 1 is a front view of the overall structure of the present invention;
FIG. 2 is a cross-sectional view of FIG. 1;
FIG. 3 is a bottom view of FIG. 1;
FIG. 4 is a front cross-sectional view of the present invention in capturing a complex curved workpiece;
fig. 5 is a schematic structural view of the inner cylinder 2 and the outer cylinder 7 in the present invention.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 5, and the self-adaptive gripper in the embodiment includes an inner cylinder 2, an outer cylinder 7, a pushing mechanism, a resetting mechanism and a plurality of compression columns 1, the compression columns 1 are closely arranged and inserted in the inner cylinder 2, the outer cylinder 7 is sleeved outside the inner cylinder 2, the inner cylinder 2 is connected with the compression columns 1 through the pushing mechanism, and the resetting mechanism is arranged between the outer cylinder 7 and the inner cylinder 2.
In the embodiment, the outer cylinder 7 can be connected with clamping tools such as a robot, a clamp, a cylinder, an electric cylinder and the like, the compression column 1 is pressed on the object to be caught, and the single clamping action of the clamping tools is changed into self-adaptive clamping on the complex surface of the object to be caught.
The pushing mechanism ensures that each compression column 1 is pushed away from the inner cylinder 2. When the catching device catches, the function of fitting the workpiece is achieved, and when the catching device finishes catching, the reset function is achieved. The resetting mechanism can ensure that the compression column 1 and the inner cylinder body 2 can be reset after the catching is finished.
In order to increase the strength of the compression column 1 and save the cost in the embodiment, the compression column 1 can be made into a hollow structure. In order to better adapt to the complex shape of the surface of an object, the end surface of the outer side end of the compression column 1 is an arc surface or a conical surface.
The second embodiment is as follows: the embodiment is described with reference to fig. 1 to 5, the inner cylinder 2 of the embodiment includes an inner cylinder 2-1 and an inner cylinder cover 2-2, two ends of the inner cylinder 2-1 are open, the inner cylinder cover 2-2 is fixedly connected to one end port of the inner cylinder 2-1, and the compression column 1 is arranged at the other end port of the inner cylinder 2-1;
the outer cylinder 7 comprises an outer cylinder 7-1 and an outer cylinder cover 7-2, two ends of the outer cylinder 7-1 are arranged in an open mode, the outer cylinder cover 7-2 is fixedly connected to one end port of the outer cylinder 7-1, and the outer cylinder 7-1 is sleeved in the inner cylinder 2-1. Other components and connection modes are the same as those of the first embodiment.
The inner cylinder body 2 and the outer cylinder body 7 can relatively move along the axial direction, and the outer circumferential side wall of the inner cylinder 2-1 is connected with the inner circumferential side wall of the outer cylinder 7-1 in a sliding way.
The third concrete implementation mode: referring to fig. 1 to 5, the embodiment is described, in the embodiment, a tapered groove 7-3 is formed in the inner side wall of the port at the other end of the outer cylinder 7-1 along the circumferential direction, a conical surface 2-3 is formed in the outer side wall of the port at the other end of the inner cylinder 2-1 along the circumferential direction, the conical surface 2-3 is matched with the tapered groove 7-3, an annular groove 2-4 is formed in the outer side wall of the inner cylinder 2-1 along the circumferential direction, and the annular groove 2-4 is formed in the inner side of the conical surface 2-3. Other components and connection modes are the same as those of the second embodiment.
The other end of the inner cylinder 2-1 is designed to generate shrinkage deformation when being subjected to axial force, and axial thrust can be converted into centripetal thrust.
In the embodiment, the outer cylinder 7-1 and the inner cylinder 2-1 are provided with a conical groove 7-3 and a conical surface 2-3 which are matched with each other, the inner cylinder 2-1 is provided with a ring groove 2-4, when the inner cylinder 2-1 is blocked by a caught object and cannot move, the outer cylinder 7-1 and the outer cylinder cover 7-2 overcome the resistance of the return spring 6 to generate relative movement with the inner cylinder 2-1 under the push of an external clamping tool, and the pressing force is changed into the holding force on the compression column 1 by utilizing the conical surface.
The fourth concrete implementation mode: referring to fig. 1 to 5, the embodiment is described, in which a middle portion of an inner end surface of the outer cylinder cover 7-2 is provided with a limiting groove 7-4, and the inner cylinder cover 2-2 is disposed in the limiting groove 7-4. Other components and connection modes are the same as those of the second embodiment.
In this embodiment, the outer diameter of the inner cylinder cover 2-2 is larger than the inner diameter of the outer cylinder 7-1, thereby preventing the inner cylinder 2 from falling off.
The fifth concrete implementation mode: the present embodiment is described with reference to fig. 1 to 5, and the reset mechanism of the present embodiment is disposed between the groove bottom of the limiting groove 7-4 and the outer end surface of the inner cylinder cover 2-2. The other components and the connection mode are the same as those of the fourth embodiment.
The sixth specific implementation mode: the embodiment is described with reference to fig. 1 to 5, and the return mechanism of the embodiment includes a plurality of return springs 6, and the return springs 6 are uniformly distributed and fixedly connected between the bottom of the limiting groove 7-4 and the outer end surface of the inner cylinder cover 2-2. The other components and the connection mode are the same as the fifth embodiment mode.
The reset spring 6 pushes the outer cylinder cover 7-2 and the inner cylinder cover 2-2, so that the centripetal thrust force disappears when the outer cylinder 7-1 and the inner cylinder 2-1 are separated from contact during resetting.
When the caught object is released, the reset spring 6 can push the outer cylinder 7-1 and the outer cylinder cover 7-2 to reset, so that the inner cylinder 2-1 does not hold the compression column 1 tightly any more, and the compression column 1 is pushed to the position of the blocking rope 3 to reset under the action of electromagnetic force or spring force.
The seventh embodiment: referring to fig. 1 to 5, the pushing mechanism of the present embodiment includes an electromagnetic coil 4 and a plurality of silicon steel columns, the electromagnetic coil 4 is embedded on an outer sidewall of one end of the inner cylinder 2-1, and one silicon steel column is respectively fixed in each compression column 1. Other components and connection modes are the same as those of the first embodiment, the second embodiment, the third embodiment, the fourth embodiment, the fifth embodiment or the sixth embodiment.
In the embodiment, the electromagnetic coil 4 is matched with silicon steel column magnetic steel arranged in the compression column 1, so that each compression column 1 changes in height along with the surface characteristics of a captured object according to the position of the compression column 1, and the compression column is in close contact with and compresses the captured object.
The specific implementation mode is eight: the embodiment is described with reference to fig. 1 to 5, the pushing mechanism of the embodiment includes a plurality of compression springs 5, a plurality of grooves are densely arranged on the inner end surface of the inner cylinder cover 2-2, each groove is respectively arranged corresponding to one compression column 1, one compression spring 5 is respectively arranged between each groove and the compression column 1, one end of each compression spring 5 is fixedly connected with the bottom of the groove, and the other end of each compression spring 5 is fixedly connected with the inner end of the compression column 1. Other components and connection modes are the same as those of the first embodiment, the second embodiment, the third embodiment, the fourth embodiment, the fifth embodiment or the sixth embodiment.
In the embodiment, the compression springs 5 enable each compression column 1 to change in height along with the surface characteristics of the capture object according to the position of the compression column, so that close contact and compression are realized.
The pushing mechanism enables each compaction column 1 to be subjected to external pushing force and is far away from an inner cylinder cover 2-2 arranged on the end face of the inner cylinder 2-1.
The specific implementation method nine: referring to fig. 1 to 5, the embodiment is described, in the embodiment, a plurality of blocking ropes 3 are fixedly connected to the same height of the inner side of an inner cylinder 2-1, a through groove is arranged on the sidewall of a compression column 1 along the radial direction, each blocking rope 3 respectively passes through the through groove on the compression column 1 at the collinear position, and two ends of each blocking rope 3 are fixedly connected to the inner side of the inner cylinder 2-1. Other components and connection modes are the same as those of the first embodiment.
Two ends of the blocking rope 3 are connected to the barrel body and penetrate through the through grooves in each compression column 1, so that the compression columns 1 can only move axially along the barrel body and cannot fall off, and the compression columns 1 cannot fall off from the inner barrel 2-1.
The detailed implementation mode is ten: the embodiment is described with reference to fig. 1 to 5, and the adaptive gripper according to the embodiment further includes a plurality of packing columns 8, and the packing columns 8 are disposed in a gap between the compression column 1 and the inner cylinder 2. Other components and connection modes are the same as those of the first embodiment.
The packing column 8 is used for ensuring that the compaction column 1 is tightly attached to the inner cylinder 2-1, and the centripetal thrust generated by the inner cylinder 2-1 can act on each compaction column 1 so as to ensure that the packing is tight and the stress is uniform.
Principle of operation
The compression column 1 and the filling column 8 are arranged in the inner cylinder 2-1, can move along the cylinder body and are driven and limited by a spring or an electromagnetic field and a blocking rope 3; the outer cylinder 7 is sleeved outside the inner cylinder 2 and is supported by the return spring 6; a conical surface and an annular groove which are mutually matched are arranged between the inner cylinder 2-1 and the outer cylinder 7-1, so that the outer cylinder 7-1 generates centripetal holding force on the inner cylinder 2-1 when moving along the inner cylinder 2-1, and the compression column 1 and the filling column 8 at the innermost layer are held tightly.
The invention belongs to a universal tool capable of rigidly clamping objects with different geometric characteristics, and solves the problem of clamping different objects. The invention can be arranged on a clamping tool such as a robot, a clamp, a cylinder, an electric cylinder and the like, when the clamping tool clamps a clamped object, the pressing column is contacted with the object, the electromagnetic force or the spring force is overcome, the inner cylinder moves relatively until the highest point of the object is contacted with the bottom of the inner cylinder, so that the inner cylinder and the outer cylinder move relatively, the outer cylinder presses the pressing column and the filling column by utilizing the conical surface, and the complete fit of the pressing column and the clamped object is realized. The method has the advantages of simplicity, reliability, strong adaptability and high rigidity and strength. The invention is suitable for robots or other automation fields, and occasions needing to capture workpieces with complex surfaces.
Working process
As shown in fig. 2, in the initial position, the conical groove 7-3 of the outer cylinder 7-1 is not contacted with the conical surface 2-3 of the inner cylinder 2-1 under the action of the return spring 6, and the inner cylinder 2-1 is not contracted and deformed and has no radial thrust on the compression column 1;
as shown in fig. 4, as the clamper moves towards the workpiece, the pressing columns 1 are contacted with the workpiece and do not move continuously, and the pressure of the pressing spring 5 is increased to ensure that each pressing column 1 is tightly attached to the workpiece;
as shown in fig. 4, as the clamper continues to move towards the workpiece until the pressing column 1 and the inner cylinder cover 2-2 are pressed, the inner cylinder 2-1 cannot move continuously;
as shown in fig. 4, as the clamper continues to move towards the workpiece, the return spring 6 compresses, so that the outer cylinder 7-1 and the inner cylinder 2-1 move relatively, the tapered groove 7-3 of the outer cylinder 7-1 and the conical surface 2-3 of the inner cylinder 2-1 contact the inner cylinder 2-1 to deform and contract, and the axial thrust of the outer cylinder 7-1 is converted into the centripetal thrust of the inner cylinder 2-1;
as shown in fig. 4, as the clamper continues to move toward the workpiece, the centripetal thrust increases, and the compression column 1 and the packing column 8 are clasped to achieve rigidity. Each compression column 1 is contacted with the workpiece, and the complex surface of the workpiece is completely attached;
as shown in figure 2, after the catching is finished, under the action of the compression spring 5 and the return spring 6, the outer cylinder 7-1 and the inner cylinder 2-1 are separated from contact, the holding force disappears, and the compression column 1 and the filling column 8 are restored and blocked by the blocking rope 3.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (10)
1. A clamp with adaptive capability, characterized by: the utility model provides a holder with self-adaptation ability includes barrel (2) in, barrel (7) outward, pushing mechanism, canceling release mechanical system and a plurality of post (1) that compress tightly, a plurality of post (1) that compress tightly close-packed cartridge in barrel (2) in, outer barrel (7) suit is in the outside of barrel (2) in, and interior barrel (2) and a plurality of compressing tightly are connected through pushing mechanism between post (1), are equipped with canceling release mechanical system between outer barrel (7) and the interior barrel (2).
2. A self-adaptive gripper according to claim 1, characterized in that: the inner cylinder body (2) comprises an inner cylinder (2-1) and an inner cylinder cover (2-2), two ends of the inner cylinder (2-1) are arranged in an open mode, the inner cylinder cover (2-2) is fixedly connected to one end port of the inner cylinder (2-1), and the compression column (1) is arranged at the other end port of the inner cylinder (2-1);
the outer cylinder (7) comprises an outer cylinder (7-1) and an outer cylinder cover (7-2), two ends of the outer cylinder (7-1) are arranged in an open mode, the outer cylinder cover (7-2) is fixedly connected to one end port of the outer cylinder (7-1), and the outer cylinder (7-1) is sleeved in the inner cylinder (2-1).
3. A self-adaptive gripper according to claim 2, characterized in that: the inner side wall of the port at the other end of the outer cylinder (7-1) is provided with a conical groove (7-3) along the circumferential direction, the outer side wall of the port at the other end of the inner cylinder (2-1) is provided with a conical surface (2-3) along the circumferential direction, the conical surface (2-3) is matched with the conical groove (7-3), the outer side wall of the inner cylinder (2-1) is provided with an annular groove (2-4) along the circumferential direction, and the annular groove (2-4) is arranged on the inner side of the conical surface (2-3).
4. A self-adaptive gripper according to claim 2, characterized in that: the middle part of the inner end face of the outer cylinder cover (7-2) is provided with a limiting groove (7-4), and the inner cylinder cover (2-2) is arranged in the limiting groove (7-4).
5. A self-adaptive gripper according to claim 4, characterized in that: the reset mechanism is arranged between the groove bottom of the limiting groove (7-4) and the outer end face of the inner cylinder cover (2-2).
6. A self-adaptive gripper according to claim 5, characterized in that: the reset mechanism comprises a plurality of reset springs (6), and the reset springs (6) are uniformly distributed and fixedly connected between the bottom of the limiting groove (7-4) and the outer end face of the inner cylinder cover (2-2) in parallel.
7. An adaptive gripper according to claim 1, 2, 3, 4, 5 or 6, characterized in that: the pushing mechanism comprises an electromagnetic coil (4) and a plurality of silicon steel columns, the electromagnetic coil (4) is embedded on the outer side wall of one end of the inner cylinder (2-1), and one silicon steel column is fixedly connected in each compression column (1).
8. An adaptive gripper according to claim 1, 2, 3, 4, 5 or 6, characterized in that: the pushing mechanism comprises a plurality of compression springs (5), a plurality of grooves are densely arranged on the inner end face of the inner cylinder cover (2-2), each groove is arranged in one-to-one correspondence with one compression column (1), one compression spring (5) is arranged between each groove and the compression column (1), one end of each compression spring (5) is fixedly connected with the bottom of each groove, and the other end of each compression spring (5) is fixedly connected with the inner side end of each compression column (1).
9. A self-adaptive gripper according to claim 1, characterized in that: the inner side of the inner cylinder (2-1) is fixedly connected with a plurality of blocking ropes (3) at the same height, the side wall of the compression column (1) is provided with a through groove along the radial direction, each blocking rope (3) respectively penetrates through the through groove on the compression column (1) at the collinear position, and two ends of each blocking rope (3) are fixedly connected with the inner side of the inner cylinder (2-1).
10. A self-adaptive gripper according to claim 1, characterized in that: the holder with the self-adaptive capacity further comprises a plurality of packing columns (8), and the packing columns (8) are arranged in gaps between the compression columns (1) and the inner cylinder body (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110054682.4A CN112757330A (en) | 2021-01-15 | 2021-01-15 | Holder with self-adaptive capacity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110054682.4A CN112757330A (en) | 2021-01-15 | 2021-01-15 | Holder with self-adaptive capacity |
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| Publication Number | Publication Date |
|---|---|
| CN112757330A true CN112757330A (en) | 2021-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110054682.4A Pending CN112757330A (en) | 2021-01-15 | 2021-01-15 | Holder with self-adaptive capacity |
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| CN (1) | CN112757330A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023274844A1 (en) * | 2021-06-30 | 2023-01-05 | Bimba Llc | Robotic gripper with a finger having a matrix of spring-loaded pins |
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| WO2023274844A1 (en) * | 2021-06-30 | 2023-01-05 | Bimba Llc | Robotic gripper with a finger having a matrix of spring-loaded pins |
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Application publication date: 20210507 |
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