CN209922393U

CN209922393U - Clamp holder

Info

Publication number: CN209922393U
Application number: CN201920468087.3U
Authority: CN
Inventors: 徐柏辰; 张文增
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-04-09
Filing date: 2019-04-09
Publication date: 2020-01-10
Anticipated expiration: 2029-04-09

Abstract

The utility model provides a clamp holder, include: a base; a driving mechanism providing a driving force; the rotating plate is connected with the driving mechanism and is driven by the driving force to rotate, and at least three sliding grooves are formed in the rotating plate; the first end of each swing rod is rotatably connected with the base, the second end of each swing rod penetrates through one sliding groove, each swing rod is guided to move by the sliding grooves along with the rotation of the rotating plate, and the number of the sliding grooves is larger than or equal to that of the swing rods. The gripper provided by the utility model achieves the multi-directional gripping effect on objects, can provide gripping force for the objects in multiple directions, and can effectively grip objects of various shapes placed in different directions; and the device is not limited by the operating environment, and has low energy consumption, simple structure and convenient operation.

Description

Clamp holder

Technical Field

The utility model relates to the field of machinary, more specifically, relate to a holder for centre gripping article.

Background

Grippers are used in a wide variety of fields, including robotics, logistics, manufacturing, etc., for temporarily attaching, securing, and holding or releasing objects at the appropriate time. The existing holder generally has two groups of rod cluster sets, each group of rod cluster set has a plurality of long rods which are parallel to each other, the long rods are set to be in a structure which is suitable for the appearance of an object, and then the two groups of rod cluster sets are driven to get close or leave by combining with a driving mechanism to realize the grasping of the object. When the two groups of rod clusters are folded to clamp the object, the long rods are utilized to clamp the object from the side surface, so that the purpose of grabbing is achieved. However, the gripper can only be folded along the opposite directions of two groups of rod clusters due to the gripping force, the directions are fixed, the gripping effect is poor, and multi-directional gripping cannot be realized.

SUMMERY OF THE UTILITY MODEL

In order to solve the above technical problem, an object of the present invention is to provide a holder.

In order to achieve the above object, the present invention provides a holder, including: a base; a driving mechanism providing a driving force; the rotating plate is connected with the driving mechanism and is driven by the driving force to rotate, and at least three sliding grooves are formed in the rotating plate; the first end of each swing rod is rotatably connected with the base, the second end of each swing rod penetrates through one sliding groove, each swing rod is guided to move by the sliding grooves along with the rotation of the rotating plate, and the number of the sliding grooves is larger than or equal to that of the swing rods.

The technical scheme of the utility model the holder that provides is through increasing the rotor plate to set up at least three sliding tray on the rotor plate, at least three pendulum rod passes simultaneously rather than corresponding sliding tray, and the self-adaptation function of a plurality of pendulum rods to object size and shape is utilized to the motion mode of sliding tray guide pendulum rod when the rotor plate is rotatory, makes the second end of a plurality of pendulum rods inwards gather together simultaneously, in order to reach the multidirectional effect of grabbing article. The gripper can provide gripping force to the object in multiple directions, so that the gripper can effectively grip various objects with different shapes placed in different directions; the flexible self-adaptive envelope grabbing device is not limited by the operating environment, is simple in structure and low in energy consumption, is suitable for the occasions of grabbing objects in various shapes, and is particularly suitable for the occasions needing flexible self-adaptive envelope grabbing.

In addition, the utility model discloses above-mentioned technical scheme's holder still has following additional technical characterstic:

in the above technical scheme, the holder further comprises a swing rod rotating shaft, the swing rod rotating shaft is connected between the swing rod and the base, and the swing rod can rotate around the swing rod rotating shaft relative to the base.

In the scheme, the swing rod rotating shaft arranged between the swing rod and the base is utilized, so that the swing rod can freely rotate relative to the base, the swing rod can freely move in the sliding groove, and the direction is more flexible.

Optionally, the specific structural form of the swing link rotating shaft is not limited, and the swing link rotating shaft can be one or a combination of more of steerable components such as a universal shaft, a hinge fan, a spring and the like.

In any one of the above technical solutions, the holder further includes a spring member, and the spring member is connected to the base and connected to the swing rod.

In the scheme, the swing rod is in a vertical state when the rotating plate is not driven. When the spring element is in a natural state, the swing rod is not influenced by external force and vertically penetrates through the sliding groove. After the rotating plate rotates, the swing rod moves along the sliding groove, so that the spring part is stretched or compressed and deformed, the tension force of the deformed spring part is larger than that of the spring part in a natural state, the swing rod can be provided with tension force, and the swing rod can be rapidly restored under the condition that the rotating plate rotates in the opposite direction.

Optionally, the specific structural form of the spring member is not limited. The spring piece can be one or more of a torsion spring, a tension spring, a rubber band and an elastic rope.

In the above technical solution, the holder further includes: a hooking part provided on the spring; the grabbing hook is arranged at one end, connected with the spring piece, of the swing rod, and the grabbing hook is hooked with the hooking part to enable the spring piece to be connected with the swing rod.

In this scheme, the spring spare passes through the portion of colluding and can connect on the pendulum rod, and the grapple can set up fixedly on the lateral wall of pendulum rod, and then when spring spare and pendulum rod assembly, directly make the grapple hook the portion of colluding on the spring spare, can realize the rapid Assembly of spring spare and grapple, improved the assembly efficiency of product to the stability that spring spare and pendulum rod are connected has been improved.

In any of the above technical solutions, the sliding groove is an arc-shaped sliding groove formed by extending the center of the rotating plate outwards.

In this scheme, the sliding tray is the arc sliding tray that outwards extends the formation by the center of rotor plate, and the arc sliding tray can provide bigger centre gripping space for the pendulum rod for this holder can grasp bigger size's object. Meanwhile, the arc-shaped sliding groove is more reasonable in design compared with sliding grooves in other shapes. Firstly, relative to a sliding groove with a single direction, such as a linear type, in the moving process of the oscillating bar, the second end of the oscillating bar is close to a target object in a mode of constantly changing a tangent angle relative to the object, and compared with the linear type, a better clamping angle can be found to achieve a better clamping effect; secondly, for multi-directional sliding grooves, such as wave-shaped sliding grooves, the sliding of the swing rod is smoother, objects can not be clamped by the sliding grooves to clamp and release the objects, the preset action cannot be completed, and meanwhile, the structure is simpler.

In any one of the above technical solutions, at least three arc-shaped sliding grooves are circumferentially and uniformly distributed on the rotating plate.

In this solution, the movement of the rotating plate is rotational. The sliding grooves are circumferentially and uniformly distributed on the rotating plate, so that the swinging rod and the rotating plate can move synchronously when the rotating plate rotates, and the design is more reasonable. In addition, arc sliding tray circumference equipartition is in on the rotor plate for the pendulum rod is that circumference evenly arranges around the object, can be so that when the pendulum rod snatchs the object, the grabbing power between each pendulum rod is balanced, and it is more firm to be pressed from both sides the object.

In any of the above technical solutions, the holder further includes: the edge of the film sleeve is fixedly connected with the second ends of the at least three swing rods, the center of the top of the film sleeve is fixedly connected with the center of the rotating plate, and the film sleeve is driven by the at least three swing rods to contract or expand.

In this scheme, the edge of film cover and the second end fixed connection of at least three pendulum rod, the top center of film cover is fixed continuous with the center of rotor plate, and the article by the centre gripping is wrapped up in the film cover, and supplementary pendulum rod centre gripping article avoid article to drop from the gap between the pendulum rod. The combination of the swing rod and the film sleeve provides a better enveloping type closed grabbing effect compared with the mode of only clamping an object by the swing rod, so that the clamped object is not easy to move or fall off.

In the above technical solution, the holder further includes: and the elastic piece is fixedly connected with the edge of the film sleeve and the swing rod and is used for gathering the edge of the film sleeve.

In this scheme, because the pendulum rod draws close together, be located the elastic component at film cover edge, have the pretightning force, can drive the film cover end and tighten up for the film cover forms complete envelope state, further plays the effect that prevents the activity of object or drop. The film sleeve and the elastic piece can be matched with each other to realize space envelope of the object. The gripper has the self-adaptability to object size and shape, can reach the multidirectional effect of grabbing to the object to can provide the power of grabbing to the object in a plurality of directions, at the in-process of grabbing, utilize mutually supporting between pendulum rod, film cover and the elastic component, realize enclosing the shape of object and snatch, make the effect of grabbing reliable and more stable.

In any one of the above technical solutions, the base is provided with a limiting rod, the rotating plate is provided with a connecting hole, and the limiting rod penetrates through the connecting hole to connect the base and the rotating plate.

In this scheme, be equipped with the gag lever post on the base, be equipped with spacing portion on the gag lever post, be equipped with the connecting hole on the rotor plate, the gag lever post passes the rotor plate to it is spacing continuous with the rotor plate to make the gag lever post. Can realize the rapid Assembly between base and the rotor plate, improve the assembly efficiency of product to the stability of being connected of base and rotor plate has been improved.

Preferably, the limiting rod can be located at the geometric center of the base and penetrates through the geometric center of the rotating plate, and the limiting rod plays a role of a rotating shaft of the rotating plate. When an object with a more regular shape is clamped, the moments among the swing rods are equal, the clamping force on the object is uniform, and the object is more stable; under the condition that the limiting rod does not penetrate through the geometric circle center of the rotating plate, after the rotating plate rotates, the displacement distance of the second end of each swing rod relative to the object can be different, and the limiting rod can be suitable for clamping the object in a special shape. In addition, the circumference length of the rotating plate can be larger than that of the bottom surface of the base, the outermost edge of the sliding groove on the rotating plate is arranged outside the vertical projection range of the base, and therefore a plurality of swing rods can be opened at a larger angle than the vertical angle, and the effect of clamping objects with larger volumes is achieved.

In any of the above technical solutions, a projection of the center of the base coincides with a projection of the center of the rotating plate on the base.

In this embodiment, the base is coaxial with the rotating plate. The base and the rotating plate are convenient to assemble, and the standardization degree is high. Secondly, when the object is clamped, the corresponding relation between the positions of the swing rods and the sliding grooves is simple and reasonable, the moment among the swing rods is equal, the clamping force on the object is uniform, and the clamping effect is more stable.

In any of the above technical solutions, the holder further includes: and the transmission part is connected with the power output end of the driving mechanism, and the output end of the transmission part is connected with the rotating plate.

In the scheme, the gripper can realize the control of adjusting the gripping speed and gripping force. Under the effect of driving medium, drive power can make the rotor plate do the motion of reverse speed reduction, realizes the increase of moment of torsion, guarantees the stability of snatching.

Optionally, the specific structural form of the transmission member is not limited. The transmission member may be one or more of a gear, a pulley, a chain, and a sheave.

In any of the above technical solutions, the holder further includes: the control device is electrically connected with the driving mechanism and used for controlling the direction of the driving force, when the driving force drives the rotating plate to rotate in a first direction, at least three swing rods slide from the outer periphery of the sliding groove to the inner periphery of the sliding groove, and the second ends of the at least three swing rods gradually approach each other; when the driving force drives the rotating plate to rotate in the second direction, at least three swing rods slide from the inner periphery of the sliding groove to the outer periphery of the sliding groove, and second ends of the at least three swing rods are gradually separated from each other.

In the scheme, the gripper realizes automatic control on the movement direction of the transmission member by using the control device, guides the swing rod to move along the sliding groove and performs gathering or opening actions, thereby realizing grabbing or releasing of an object. The gripper can automatically perform sorting and other activities by the process of grabbing different objects first and then releasing the different objects. Alternatively, the driving mechanism can be a motor, and the output end of the driving mechanism is connected with the rotating plate and drives the rotating plate to rotate.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic perspective view of a clamp according to a first embodiment of the present invention;

fig. 2 is a schematic perspective view of a clamp according to an embodiment of the present invention;

FIG. 3 is a schematic axial cross-sectional view of FIG. 1;

FIG. 4 is a schematic cross-sectional view of the top view of FIG. 1;

FIG. 5 is a schematic view of the structure of the holder portion element according to an embodiment of the present invention;

fig. 6 is a schematic perspective view of a clamp according to another embodiment of the present invention;

FIG. 7 is a cross-sectional axial view of FIG. 5;

FIG. 8 is a schematic cross-sectional view of the top view of FIG. 5;

fig. 9 is a schematic view of a process of grasping or releasing an object by the gripper according to an embodiment of the present invention.

Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 9 is:

100 clamp holders, 1 base, 2 driving mechanisms, 3 transmission pieces, 41 swing rod rotating shafts, 42 swing rods, 43 spring pieces, 5 rotating plates, 6 film sleeves, 7 elastic pieces, 8 objects, 11 limiting rods, 51 connecting holes, 52 sliding grooves and A driving force.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

The following describes the clamp 100 of some embodiments of the present invention with reference to the accompanying drawings.

The first embodiment is as follows:

an embodiment of the present invention provides a holder, as shown in fig. 1 to 9, a holder 100, comprising: the base 1, the driving mechanism 2 provides the driving force; the rotating plate 5 is connected with the driving mechanism 2 and is driven by a driving force to rotate, and the rotating plate 5 is provided with at least three sliding grooves; and at least three swing rods 42, wherein a first end of each swing rod 42 is rotatably connected with the base 1, a second end of each swing rod 42 respectively passes through one sliding groove 52, and each swing rod 42 is guided to move by the sliding grooves along with the rotation of the rotating plate 5, wherein the number of the sliding grooves may be more than or equal to that of the swing rods 42.

Specifically, as shown in fig. 1, three swing links 42 are provided on the base 1, wherein each swing link 42 can rotate around the connection point of the swing link 42 and the base 1 relative to the base 1. The rotating plate 5 is provided with three sliding grooves 52, each swing link 42 corresponds to each sliding groove 52, and the swing link 42 penetrates through the sliding groove 52 corresponding to itself. An external driving force A is applied to the rotating plate 5, so that the rotating plate 5 rotates to drive the oscillating bar 42 to move in the sliding groove 52. By utilizing the self-adapting function of the plurality of swing rods 42 to the size and the shape of the object, the second ends of the plurality of swing rods 42 are gathered to the center of the rotating plate along the sliding groove 52 at the same time, and the multi-directional grasping effect is realized. The combination of three swing rods 42 and three sliding grooves 52 is a minimum component structure of the clamp 100 for realizing the purpose of the present invention.

Of course, in other embodiments, more than three swing rods 42 and more than three sliding grooves 52 can be matched to achieve the purpose of the present invention. It can be understood that the number of the sliding slots 52 can be greater than or equal to the number of the swing links 42, so that all the swing links 42 can pass through the sliding slots 52, and the multi-directional clamping effect can be realized.

By using the gripper 100 provided by the present invention, the object can be gripped or released in multiple directions. As shown in fig. 8, the gripper 100 is first disposed right above the object 8, then the gripper 100 is moved downward until the swing link 42 surrounds the object 8 from the periphery, then the rotating plate 5 is rotated in the first rotating direction by the external driving force a, the swing link 42 is driven to slide along the sliding groove 52 as the rotating plate 5 rotates, the swing link 42 slides along the sliding groove 52 from the outer end close to the rotating plate 5 to the center of the rotating plate 5, and moves inward to gather, the swing link 42 gradually draws close to the object 8 until contacting with the object 8 and gripping it, and then the gripper 100 is lifted upward, thereby completing the whole process of gripping the object 8.

On the contrary, the present invention provides a gripper 100, which can release the object 8 by controlling the moving direction of the rotating plate 5. As shown in the reverse flow of fig. 9, the rotating plate 5 is rotated by the external driving force a in a second rotating direction (the first rotating direction is opposite to the second rotating direction), the swing link 42 slides along the sliding slot from the sliding slot 52 toward the center of the rotating plate 5 to one end of the rotating plate 5 outside, and performs an outward opening motion, and the swing link 42 gradually separates from the object until the object is separated from the gripper 100, thereby achieving the purpose of releasing the object 8. The direction of the visible driving force a may be the first rotational direction or the second rotational direction.

The utility model discloses the technical scheme that the first embodiment provided has solved and has grabbed the power direction among the prior art fixed, and the centre gripping effect is poor, can't accomplish the multidirectional problem of grabbing and holding. Accomplish multidirectional snatching, improved the stability of grabbing, this structure is for structural design such as many imitations staff simultaneously, simple structure, installation convenient operation has avoided the complexity and the high cost of mechanical system, sensing system, control system and control algorithm.

Example two:

the difference from the first embodiment is that: on the basis of the first embodiment, further, the holder further comprises: the holder 100 further comprises: the edge of the film sleeve 6 is fixedly connected with the second ends of the at least three swing rods 42, and the center of the top of the film sleeve 6 is fixedly connected with the center of the rotating plate 5. Since the film sleeve 6 is connected with at least three swing rods 42, when the swing rods 42 slide in the sliding grooves 52, the swing rods 42 gather or separate to drive the film sleeve 6 to contract or expand, as shown in fig. 2 and 6.

Preferably, the holder 100 further comprises: the elastic element 7 is fixedly connected with the edge of the film sleeve 6 and the swing rod 42 and is used for gathering the edge of the film sleeve 6. Similarly, when the swing link 42 is gathered or separated, the swing link 42 can drive the elastic element 7 to contract or expand.

As shown in fig. 6 to 8, when the clamper 100 is in the initial state, the swing link 42 is perpendicular to the base 1, the film cover 6 is in the open state, and the elastic member 7 is stretched. When the film sleeve 6 wraps the object 8, the swing rods 42 move inwards along the sliding grooves 52 under the rotation of the rotating plate 5, the swing rods move from the outer ends of the sliding grooves 52 to the inner ends of the sliding grooves 52, the second ends of the swing rods 42 are close together, the tail ends of the film sleeve 6 are driven to tighten due to the pretightening force of the elastic pieces 7, the elastic pieces 7 contract gradually, the elastic pieces 7 contract similarly until the film sleeve 6 touches and forms a complete enveloping state for the object 8, and the grabbing process is completed.

Compare the mode of pendulum rod centre gripping object, film cover 6 can wrap up and be lived by centre gripping object 8, provides better envelope formula and seals the effect of snatching for the object is more firm, and difficult activity or drop. Meanwhile, the second ends of the swing rods 42 are close together, and the elastic pieces 7 positioned at the edges of the film sleeves 6 can drive the tail ends of the film sleeves 6 to be tightened due to the pretightening force, so that the film sleeves 6 form a complete enveloping state, and further play a role in preventing objects from moving or falling off. The film sleeve 6 and the elastic piece 7 are matched to realize space envelope on the object; the gripper 100 in the technical scheme has self-adaptability to the size and the shape of an object, and can realize the multi-directional gripping and stabilizing effects on the object: the grabbing force can be provided for the object in multiple directions, the swing rod 42, the film sleeve 6 and the elastic piece 7 are comprehensively utilized to realize shape sealing grabbing for the object in the grabbing process, and grabbing is more stable and reliable.

Example three:

the difference from the first embodiment and the second embodiment is that: on the basis of the first embodiment or the second embodiment, the clamper further includes: a transmission member 3, and a control device. And the transmission piece 3 is connected with the power output end of the driving mechanism 2, and the output end of the transmission piece 3 is connected with the rotating plate 5. And the control device is electrically connected with the driving mechanism 2 and is used for controlling the action direction of the driving force so that the rotating plate 5 can rotate along different radial directions to achieve the aim of automatically controlling the oscillating bar 42 to grab or release an object. As shown in fig. 6 and 7, the gripper 100 implements control for adjusting the speed and force of gripping by controlling the design of the transmission member 3 and the driving mechanism 2. In the case of the transmission member 3, the driving force of the driving mechanism 2 is transmitted to the rotating plate 5 through the transmission member 3. It will be appreciated that different transmission members 3 may transmit the driving force of the driving mechanism 2 to the rotating plate 5 by means of acceleration or deceleration. Through making the rotor plate 5 do the motion of reverse speed reduction, can realize the moment of torsion increase of rotor plate 5 for the arm of force of pendulum rod 42 increases, exerts bigger effort to object 8, guarantees the stability of snatching. This kind of snatchs the mode and can also be directed against some flexible objects, or the object that is difficult for snatching such as outward appearance is smooth for the snatching force that the object received is bigger, thereby reaches more stable effect of snatching. Conversely, some objects require less holding force, such as fragile items and the like, which often require a gentle hold. The rotating speed of the rotating plate 5 can be slowed down by the rotating member 3, so that the gathering or spreading speed of the swing link 42 is slowed down, and an object is not easily damaged by external reasons.

Preferably, the transmission member 3 may be one or more of a gear, a pulley, a chain, and a sheave.

Example four:

the difference from the third embodiment is that: on the basis of the third embodiment, further, the holder further includes: the swing rod rotating shaft 41 is connected between the swing rod 42 and the base 1, and the swing rod 42 can rotate around the swing rod rotating shaft 41 relative to the base 1.

Preferably, as shown in fig. 5, 6 swing link rotating shafts 41 are arranged on the base 1, each swing link rotating shaft 41 is connected with the base 1 and the swing links 42, and the number of the swing links 42 is also 6. Therefore, as shown in fig. 3 or fig. 6, the number of the sliding grooves 52 and the number and positions of the swing links 42 correspond to each other, and the number of the sliding grooves 52 on the rotating plate 5 is also 6. For example, the second end of the 1 st swing link 42 passes through the 1 st sliding slot 52, and the second end of the 2 nd swing link 42 passes through the 2 nd sliding slot 52.

Compared with 3

swing rods

42 or 4

swing rods

42, 6 swing rods 42 have 2 sets of swing rods 42 which are relatively parallel and 1 set of swing rods 42 which are vertical to the 2 sets of swing rods 42, namely, 2 sets of forces in the parallel direction and simultaneously forces in the direction vertical to the forces in the parallel direction exist, and the capability of clamping articles by the swing rods 42 is firmer through the resultant force. It can be understood that when external force is applied to clamp an object from three directions, a multi-directional clamping effect can be formed on the object, but each direction lacks acting force opposite to the direction in the three directions; although two groups of acting forces which are relatively vertical can be in the four directions, in practice, the object 8 is generally not a sphere or a cube but is generally a column or a cuboid, if the grabbing position is not at the center, 4 swing rods 42 are unevenly stressed, and due to the absence of parallel swing rods, the stress of the swing rods 42 is not easily dispersed to the adjacent swing rods 42, and the object is easily inclined in the grabbing and moving process. Therefore, the swing rods 42 with the number of 6 have the advantages of 3

swing rods

42 and 4 swing rods 42, and meanwhile, the structure is simpler than that of the swing rods 42 with the number of more than 6, and the selection mode is reasonable in the number of the swing rods 42. In addition, the swing link rotating shaft 41 can be detachably arranged on the base 1, and the swing link 42 is also detachable. The swing rod 42 can be replaced, and swing rods 42 with different sizes, shapes and materials can be adopted for different objects 8, so that the objects can be better grabbed.

Preferably, the sliding grooves 52 are circumferentially and uniformly arranged on the rotating plate 5, and are formed by extending the center of the rotating plate 5 outwards.

Preferably, the slide groove 52 is an arc-shaped slide groove.

As shown in fig. 4, the sliding groove 52 extending outward from the center of the rotating plate 5 can provide a larger holding space for the swing link 42, so that the holder 100 can hold an object with a larger size. The design of arc sliding tray is more reasonable, and pendulum rod 42 is in the motion process, and pendulum rod 42 second end is drawn close to object 8 with the mode of constantly changing tangent line angle for object 8, can find better centre gripping angle, reaches better centre gripping effect.

Preferably, the clamper 100 further comprises a spring member 43 fixedly connected to the base 1 and connected to the swing link 42 for keeping the swing link 42 in a vertical state when the swing link 42 is not driven. The swing rod 42 has larger tension force under the condition of not receiving external force, vertically penetrates through the sliding groove, and under the condition of receiving the external force, the spring 43 can provide tension force for the swing rod 42, so that the swing rod 42 can be rapidly restored under the condition of not receiving the external force.

Preferably, the spring 43 is further provided with a hooking portion, and a catch is provided at an end of the swing link 42 connected to the spring 43, and the catch is hooked with the hooking portion, so that the spring 43 is connected to the swing link 42.

The structure and principle of the clamp 100 provided by the present invention will be described in detail with reference to a specific embodiment.

The base 1 is provided with 6 swing rod rotating shafts 41, the other ends of the 6 swing rod rotating shafts 41 are respectively connected with 6 swing rods 42, and each swing rod 42 can rotate around the swing rod rotating shaft 41 relative to the base 1. The rotating plate 5 is provided with three sliding grooves 52, each swing link 42 corresponds to each sliding groove 52, and the swing link 42 penetrates through the sliding groove 52 corresponding to itself. The base 1 is further provided with a spring element 43, and the other end of the spring element 43 is connected with the swing rod 42 to provide tension for the swing rod 42. The driving mechanism 2 provides a driving force, which acts on the rotating plate 5 to rotate the rotating plate 5, so as to control the rotating direction of the rotating plate 5 and drive the oscillating bar 42 to reciprocate in the sliding groove 52. The output end of the driving mechanism 2 is provided with a transmission piece 3, and the output end of the transmission piece 3 is connected with a rotating plate 5 to control the rotating speed of the rotating plate. By utilizing the self-adapting function of the plurality of swing rods 42 to the size and the shape of the object, the second ends of the plurality of swing rods 42 are gathered towards the center of the rotating plate along the sliding groove 52 at the same time. The second ends of at least three swing rods 42 are fixedly connected with the center of the rotating plate 5 through a film sleeve 6. The film sleeve 6 is shielded on the plane space between any two continuous swing rods, and when the swing rods 42 slide in the sliding grooves 52, the swing rods 42 are gathered or separated to drive the film sleeve 6 to contract or expand. An elastic part is arranged on the film sleeve 6 close to the second end of the swing rod 42.

Specifically, the present invention provides a clamp 100 having two states, a first state being an open state and a second state being a closed state. The gathering state of the gripper 100 is shown in fig. 5 to 7, at this time, the 6 swing rods 42 move inward along the sliding grooves to the inner ends of the sliding grooves under the rotation of the rotating plate 5, the second ends of the 6 swing rods 42 are gathered together, and the elastic member 7 has a pre-tightening force to drive the tail end of the film sleeve 6 to tighten, so that the film sleeve 6 forms a complete enveloping state. The holder 100 is in an open state as shown in fig. 1 to 3, all the swing links 42 are located at the outermost ends of the sliding grooves 52, and the spring member 7 is in an unretracted state under the action of its biasing force, so that all the swing links 42 are in a vertical state. This state has a greater tension than the bunched state. The switching between the opened state and the closed state of the clamper 100 is realized by the driving mechanism 2 driving the rotation of the rotating plate 5 through the transmission member 3. It will be appreciated that the holder 100 is in an open condition when not in operation.

The principle is as follows:

the clamper 100 is restored to the initial state, that is, the swing link 42 is kept open, and the swing link 42 is perpendicular to the base 1. If the clamper 100 is in a non-initial state, the rotating plate 5 is rotated in the first direction, the rotating plate 5 is driven by the transmission member 3 to rotate in the second direction, each swing link 42 slides along the sliding groove 52 to the outermost end of the sliding groove 52, and the spring member 43 returns to a non-stretching state. At this time, the swing rods 42 are parallel to each other and are perpendicular to the base 1, so as to drive the film sleeve 6 to be in an open state, and the elastic member 7 is stretched.

As shown in the flow of fig. 9 in the directions (1) to (4), the gripper 100 approaches the object 8 until it is placed directly above the object 8. The gripper 100 is then moved vertically downwards, so that the entire film sleeve 6 envelops the entire object 8. Under the action of the driving mechanism 2, the transmission of the transmission member 3 drives the rotating plate 5 to rotate along the first direction. Under the action of the transmission member 3, the rotating plate 5 performs a backward deceleration movement. Each swing rod 42 slides inwards from the outermost end along the sliding groove on the rotating plate 5, the swing rods 42 gather inwards around the swing rod rotating shaft 41, the spring piece 43 is gradually stretched, the second ends of all the swing rods 42 are gradually gathered, so that the film sleeve 6 is gradually contracted and closed, the elastic piece 7 is contracted until the film sleeve 6 touches and envelops the object 8, and the grabbing process is completed.

Likewise, when the object is released, the flow is shown in the (4) to (1) direction in fig. 9. The rotating plate 5 is driven to rotate along the second direction, each swing rod 42 slides outwards from the innermost end along the sliding groove on the rotating plate 5, the swing rods 42 stretch outwards around the swing rod rotating shaft 41, the spring element 43 gradually recovers to the original state, the second ends of all the swing rods 42 are gradually separated, the film sleeve 6 is gradually opened, the elastic element 7 is stretched until the film sleeve 6 is separated from the object 8, and the object 8 is separated from the clamp holder 100, so that the releasing process is completed. Wherein the first direction is opposite to the second direction.

To sum up, the embodiment provided by the utility model realizes the continuous discrete adaptive grabbing function by the cooperation of the base 1, the driving mechanism 2, the transmission part 3, the plurality of swing rods 42, the film sleeve 6 and other parts, realizes the adaptive function to the size and shape of the object 8 by the plurality of swing rods 42, and achieves the multi-directional grabbing effect to the object 8 by the gripper 100; the film sleeve 6 and the elastic piece 7 are utilized to realize space envelope of the object 8, and complete envelope and damage-free self-adaptive flexible grabbing of the object 8 are realized; the design of the transmission part 3 and the control of the speed of the driving mechanism 2 are utilized to realize the control of the speed of the grabbing and the grabbing force, so that the torque is increased, and the grabbing stability is ensured. The utility model provides a holder 100 can provide to object 8 in a plurality of directions and hold the power of grabbing, can all effectively hold and hold to the various shape objects 8 that different directions were placed. The gripper 100 is not limited by the operating environment, has simple structure and low energy consumption, is suitable for various occasions needing to grip objects, and is particularly suitable for the occasions needing flexible self-adaptive envelope gripping.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A holder for holding an article, comprising:

a base;

a driving mechanism providing a driving force;

the rotating plate is connected with the driving mechanism and is driven by the driving force to rotate, and at least three sliding grooves are formed in the rotating plate;

the first end of each swing rod is rotatably connected with the base, the second end of each swing rod respectively penetrates through one sliding groove, and each swing rod is guided to move by the sliding grooves along with the rotation of the rotating plate,

the number of the sliding grooves is larger than or equal to that of the swing rods.

2. The clamp of claim 1, further comprising:

the swing rod rotating shaft is connected between the swing rod and the base, and the swing rod can rotate around the swing rod rotating shaft relative to the base.

3. The gripper of claim 2, further comprising:

and the spring part is fixedly connected with the base, is connected with the swing rod and is used for enabling the swing rod to be in a vertical state when the swing rod is not driven.

4. The clamp according to claim 3, further comprising:

a hooking part provided on the spring;

the grabbing hook is arranged at one end, connected with the spring piece, of the swing rod, and the grabbing hook is hooked with the hooking part to enable the spring piece to be connected with the swing rod.

5. A holder according to any one of claims 1 to 4,

the sliding groove is an arc-shaped sliding groove formed by extending the center of the rotating plate outwards.

6. The holder according to claim 5,

at least three arc sliding grooves are circumferentially and uniformly distributed on the rotating plate.

7. A holder according to any one of claims 1 to 4 further comprising:

the edge of the film sleeve is fixedly connected with the second ends of the at least three swing rods, the center of the top of the film sleeve is fixedly connected with the center of the rotating plate, and the film sleeve is driven by the at least three swing rods to contract or expand.

8. The clamp of claim 7, further comprising:

and the elastic piece is fixedly connected with the edge of the film sleeve and the swing rod and is used for gathering the edge of the film sleeve.

9. A holder according to any one of claims 1 to 4,

the base is provided with a limiting rod, the rotating plate is provided with a connecting hole, and the limiting rod penetrates through the connecting hole to enable the base to be connected with the rotating plate.

10. A holder according to any one of claims 1 to 4,

the projection of the center of the base coincides with the projection of the center of the rotating plate on the base.

11. A holder according to any one of claims 1 to 4 further comprising:

and the transmission part is connected with the power output end of the driving mechanism, and the output end of the transmission part is connected with the rotating plate.

12. A holder according to any one of claims 1 to 4 further comprising:

a control device electrically connected with the driving mechanism and used for controlling the direction of the driving force,

when the driving force drives the rotating plate to rotate in a first direction, at least three swing rods slide from the outer periphery of the sliding groove to the inner periphery of the sliding groove, and second ends of at least three swing rod assemblies gradually approach each other;

when the driving force drives the rotating plate to rotate in the second direction, the at least three swing rods slide from the inner periphery of the sliding groove to the outer periphery of the sliding groove, and the second ends of the at least three swing rod assemblies are gradually separated from each other.