CN213136797U

CN213136797U - Flexible clamping device

Info

Publication number: CN213136797U
Application number: CN202021259786.6U
Authority: CN
Inventors: 黄文鑫; 徐晓冰
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2020-07-01
Filing date: 2020-07-01
Publication date: 2021-05-07
Anticipated expiration: 2030-07-01

Abstract

The utility model relates to a flexible clamping device, include: a plurality of clamping assemblies; the clamping assembly is internally provided with a cavity and is made of flexible materials; the bottom of the connecting structure is connected with the clamping component in a sticking manner, and the connecting structure is provided with a through hole for accommodating the upper end of the clamping component to pass through; the fixing assembly is communicated with the air inlets of the plurality of clamping assemblies, and the clamping assemblies penetrate through the fixing assembly and are communicated with external air supply equipment. The utility model discloses in, make centre gripping subassembly and fixed subassembly together fixed through connection structure, perhaps bleed to a plurality of centre gripping subassembly air feed through air supply equipment, be full of air or exhaust air in a plurality of centre gripping subassembly's the cavity to make centre gripping subassembly shrink curl and also can extend the expansion clamp and get the object, can press from both sides like this and get the fragile object that easily decreases of softness.

Description

Flexible clamping device

Technical Field

The utility model relates to a press from both sides and grab technical field, especially relate to a flexible clamping device.

Background

At present, mechanical claws on the market are generally rigid mechanical claws with rigid structures, existing flexible mechanical claws are sucker type mechanical claws and soft mechanical claws with switching value on the market, and the mechanical claws are widely applied in life and bring great convenience to human life.

However, the hard mechanical claw with the steel structure is not easy to clamp a light, soft and fragile object, and easily damages the object to be clamped. The mechanical claw of sucking disc formula can only press from both sides smooth surperficial object of leveling and get, and the object that the surperficial is crude to be unfavorable for sucking disc absorption just can not press from both sides and get. The soft mechanical claw can only clamp a determined single object, can not clamp a plurality of unknown objects, and is very expensive in selling price. Therefore, no better clamping jaw is available on the market for grabbing fragile, easy-to-damage and irregularly-shaped objects.

SUMMERY OF THE UTILITY MODEL

The utility model discloses how the technical problem that will solve snatchs fragile easy damage and the anomalous object of shape.

The utility model discloses a following technical means realizes solving above-mentioned technical problem:

a flexible clamping device comprising:

a plurality of flexible clamping assemblies; the clamping assembly is internally provided with a cavity and is provided with an air inlet for inflating the cavity;

the bottom of the connecting structure is fixedly connected with the clamping assembly, the connecting structure is provided with a through hole, and the through hole accommodates the upper end of the clamping assembly to penetrate through;

the fixing assembly is communicated with the air inlets of the plurality of clamping assemblies, and the clamping assemblies penetrate through the fixing assembly and are communicated with external air supply equipment.

The clamping assembly and the fixing assembly are fixed together through the connecting structure, the air supply equipment supplies air or exhausts air to the plurality of clamping assemblies, and cavities of the plurality of clamping assemblies are filled with air or exhausted air, so that the clamping assemblies can contract and curl and can also extend to expand to clamp an object, and the object which is soft and fragile can be clamped.

As a further aspect of the present invention: the centre gripping subassembly includes air duct, centre gripping supporter, slipmat, bellying, wherein, the one end of air duct is linked together with external air supply equipment in order to let in gas, the other end of air duct is linked together with the one end of centre gripping supporter, evenly be provided with the bellying that a plurality of integral type is connected and is linked together on the side of centre gripping supporter, be provided with a plurality of slipmat on the side that deviates from the bellying place on the centre gripping supporter.

As a further aspect of the present invention: the centre gripping supporter includes coupling part, supporting part, coupling part, supporting part fixed connection and be linked together "L" type structure as an organic whole, be linked together with the air duct in the middle of the top of coupling part, be provided with the protrusion that a plurality of fixed connection and be linked together on the supporting part, the protrusion is "hump structure", just the supporting part was kept away from to the protrusion's one end and coupling part one end on the coplanar, the side fixedly connected with a plurality of slipmat of protrusion is kept away from to the supporting part's lower extreme.

As a further aspect of the present invention: the one end that the connecting portion was kept away from to the support part is the curved surface, and the one end of curved surface is connected with the side lower extreme of slipmat place support part, the other end of curved surface is connected with the bottom of the bellying of below.

As a further aspect of the present invention: and a through hole for accommodating the air duct to pass through is arranged in the middle of the connecting structure.

As a further aspect of the present invention: fixed subassembly includes fixed plate, spout, second screw hole, put evenly around the central point on the fixed plate and seted up with a plurality of spout, the spout holds the air duct and passes, be provided with a plurality of and first screw hole matched with second screw hole along the long limit direction symmetry of spout on the fixed plate, first screw hole sets up on connection structure, just the central point of fixed plate puts and also is provided with a plurality of third screw hole.

The second screw hole through first screw hole and different positions corresponds to screw up screw fixed connection structure, and connection structure pastes with the centre gripping subassembly and is connected, can adjust the position of air duct in the spout like this, also can adjust the interval each other of centre gripping subassembly, thereby can press from both sides and grab the not article of equidimension.

As a further aspect of the present invention: the fixed plate comprises a plurality of connecting plates and supporting plates, the supporting plates are uniformly wound around the connecting plates, and the connecting plates and the supporting plates are fixedly connected into a whole.

As a further aspect of the present invention: the connecting plate quantity is four, this moment the shape of fixed plate is "ten" font, wherein, the spout has been seted up on the connecting plate, and the symmetry is provided with a plurality of second screw hole respectively along the long limit direction of spout, the connecting plate passes through second screw hole and connection structure fixed connection, just the central point of backup pad puts and still is provided with a plurality of second screw hole, backup pad and external equipment fixed connection are in order to support whole fixed plate.

As a further aspect of the present invention: the connecting plate is three, and the contained angle is the degree between per two adjacent connecting plates, the spout has been seted up on the connecting plate, and the long limit direction of spout symmetry respectively is provided with a plurality of second screw hole, the connecting plate passes through second screw hole and connection structure fixed connection, just the central point of backup pad puts and still is provided with a plurality of second screw hole, backup pad and external equipment fixed connection are in order to support whole fixed plate.

As a further aspect of the present invention: the fixed plate is of a rectangular plate structure, a sliding groove of a rectangular or square structure is formed in the fixed plate, and second screw holes are formed in two sides of the sliding groove.

The utility model has the advantages that:

1. in the embodiment, the clamping assembly and the fixing assembly are fixed together through the connecting structure, the air supply device supplies or exhausts air to the plurality of clamping assemblies, and the cavities of the plurality of clamping assemblies are filled with air or exhausted air, so that the clamping assemblies can stretch and expand to clamp objects when contracting and curling, and the soft and fragile objects can be clamped.

2. In this embodiment, carry out the air feed through air feeder, gaseous getting into the centre gripping supporter through the air duct, in the bellying, along with gaseous constantly dashing into, the centre gripping supporter, the bellying constantly increases to make supporting part and object contact, and the slipmat also can prevent the object gliding, improves the stability of centre gripping object, through the second screw hole connection of adjusting connection structure and different positions, can adjust the interval between the centre gripping subassembly like this, thereby can the not object of equidimension of centre gripping.

3. The second screw hole through first screw hole and different positions corresponds to screw up screw fixed connection structure, and connection structure pastes with the centre gripping subassembly and is connected, can adjust the position of air duct in the spout like this, also can adjust the interval each other of centre gripping subassembly, thereby can press from both sides and grab the not article of equidimension.

Drawings

Fig. 1 is a schematic structural view of a flexible clamping device provided in embodiment 1 of the present invention.

Fig. 2 is a first schematic perspective view of a clamping assembly in the flexible clamping device provided in embodiment 1 of the present invention.

Fig. 3 is a second schematic perspective view of a clamping assembly in the flexible clamping device provided in embodiment 1 of the present invention.

Fig. 4 is a third schematic perspective view of a clamping assembly in the flexible clamping device provided in embodiment 1 of the present invention.

Fig. 5 is a first top view of a fixing assembly in the flexible clamping device provided in embodiment 1 of the present invention.

Fig. 6 is a second top view of a fixing assembly in the flexible clamping device provided in embodiment 1 of the present invention.

Fig. 7 is a third top view of a fixing component in the flexible clamping device provided in embodiment 1 of the present invention.

Fig. 8 is a schematic structural view of the connection between the flexible clamping device provided in embodiment 1 of the present invention and an external air supply device.

In the figure, 1, a clamping assembly; 101. an air duct; 102. clamping the support body; 1021. a connecting portion; 1022. a support portion; 103. a non-slip mat; 104. a protrusion; 105. a circular truncated cone connecting body; 2. a connecting structure; 3. a fixing assembly; 301. a fixing plate; 3011. a connecting plate; 3012. a support plate; 302. A chute; 303. a second screw hole; 401. an air pressure sensor; 402. an electromagnetic valve; 403. an air pump; 404. a one-way valve; 5. and controlling the terminal.

Detailed Description

To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the embodiments of the present invention are combined to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Example 1

As shown in fig. 1, fig. 1 is a schematic structural view of a flexible clamping device provided in embodiment 1 of the present invention; the method comprises the following steps:

a plurality of flexible clamping assemblies 1; the clamping component 1 is internally provided with a cavity with changeable volume, the clamping component 1 is provided with an air inlet for inflating the cavity, and the volume of the cavity is changed along with the inflation quantity; the clamping component 1 is made of TPU (Thermoplastic polyurethanes, Thermoplastic polyurethane elastomer rubber) 3D printing material, and may also be made of other flexible materials, for example, other flexible materials such as 3D printing TPE material or silicone rubber are used;

the bottom of the connecting structure 2 is connected with the clamping component 1 in a sticking manner, the connecting structure 2 is provided with a through hole, and the through hole accommodates the upper end of the clamping component 1 to pass through;

the fixing component 3 is communicated with the air inlets of the plurality of clamping components 1; the clamping assembly 1 penetrates through the fixing assembly 3 and is communicated with external air supply equipment.

Wherein, make centre gripping subassembly 1 and fixed subassembly 3 fixed together through connection structure 2, supply air or bleed to a plurality of centre gripping subassemblies 1 through air supply equipment, be full of air or exhaust air in the cavity of a plurality of centre gripping subassemblies 1 to make centre gripping subassembly 1 contract to curl and also can extend the expansion and get the object of clamp.

Further, referring to fig. 1, the clamping assembly 1 includes an air duct 101, a clamping support 102, a non-slip mat 103, and a plurality of protrusions 104, wherein air is introduced into one end of the air duct 101, the other end of the air duct is communicated with one end of the clamping support 102, the plurality of protrusions 104 integrally connected and communicated are uniformly disposed on the side surface of the clamping support 102, and the plurality of non-slip mats 103 are adhered to the side surface of the clamping support 102 away from the protrusions 104.

However, in a specific use process, when the clamping support 102 is of a rectangular parallelepiped structure and the protrusion 104 is of a rectangular parallelepiped or square structure, it can clamp some regular-shaped objects (such as a square), but the effect of clamping irregular-shaped objects (such as an ellipsoid) is not ideal;

therefore, in this embodiment, referring to fig. 2, fig. 2 is a first schematic perspective view of a clamping assembly 1 in a flexible clamping device provided in embodiment 1 of the present invention; preferably, the clamping support 102 is an "L" shaped structure, the clamping support 102 includes a connecting portion 1021 and a supporting portion 1022, the connecting portion 1021 and the supporting portion 1022 are fixedly connected and communicated into an integral "L" shaped structure, the middle of the top of the connecting portion 1021 is communicated with the airway 101, the supporting portion 1022 is provided with a plurality of protrusions 104 fixedly connected and communicated with each other, the protrusions 104 are "hump shaped structures", that is, one end of the protrusion 104 far from the supporting portion 1022 and one end of the connecting portion 1021 far from the supporting portion 1022 are on the same plane, so that the clamping support is more beautiful and can better clamp articles, both regular shaped articles and irregular shaped fragile articles can be clamped, the side of the lower end of the supporting portion far from the protrusion 104 is fixedly connected with a plurality of anti-skid pads 103, therefore, the stability of clamping the article can be improved, one end of the supporting part 1022 far away from the connecting part 1021 is a curved surface, one end of the curved surface is connected with the lower end of the side surface of the supporting part 1022 where the non-slip mat 103 is located, and the other end of the curved surface is connected with the bottom of the lowest bulge 104.

When air is supplied to the inside of the air duct 101, the connecting part 1021, the supporting part 1022 and the protrusion 104 are all communicated and fixedly connected into a whole, so that the sizes of the air duct 101, the connecting part 1021, the supporting part 1022 and the protrusion 104 can be changed according to the amount of the filled air, the clamping assembly 1 can contract or relax together integrally, and the object can be clamped flexibly.

Preferably, in this embodiment, the number of the protrusions 104 is 2 (as shown in fig. 2) or 3 (as shown in fig. 3, fig. 3 is a second perspective view of a clamping assembly in the flexible clamping device provided in embodiment 1 of the present invention) or 4 (as shown in fig. 4, fig. 4 is a third perspective view of a clamping assembly in the flexible clamping device provided in embodiment 1 of the present invention).

It should be noted that, in this embodiment, the airway tube 101, the connecting portion 1021, the supporting portion 1022, and the protrusion 104 may also be made of TPU (Thermoplastic polyurethane elastomers, namely Thermoplastic polyurethane elastomers, rubbers) 3D printing materials, or may also be made of other flexible materials, for example, other flexible materials such as 3D printing TPE materials or silicone rubbers are used, a specific flexible material may be selected according to practical applications, and the material is not within the protection scope of the present invention, as for the manufacturing method, 3D printing (of course, other methods may also be used for manufacturing), and a specific 3D printing method is also prior art and is not within the protection scope of the present invention.

In addition, in this embodiment, the non-slip mat 103 may also be made of a flexible material, in this case, the non-slip mat 103 is communicated with the supporting portion 1022, and when the supporting portion 1022 is filled with gas, the inside of the supporting portion 1022 is also filled with gas, so as to prevent the object from sliding down.

Further, the middle part of the connecting structure 2 is provided with a through hole for accommodating the air duct 101 to pass through, and the connecting structure 2 is further provided with a plurality of first screw holes.

Further, as shown in fig. 5, fig. 5 is a first top view of the fixing component 3 in the flexible clamping device provided in embodiment 1 of the present invention; the fixing component 3 comprises a fixing plate 301, a chute 302 and a second screw hole 303, the fixing plate 301 is uniformly provided with a plurality of chutes 302 around the central position, the chutes 302 contain the air duct 101 to pass through, the fixing plate 301 is symmetrically provided with a plurality of second screw holes 303 along the long side direction of the chute 302, the central position of the fixing plate 301 is also provided with a plurality of third screw holes, the second screw holes 303 symmetrical along the long side direction of the chute 302 are used for being correspondingly connected with the first screw holes of the connecting structure 2, the first screw holes correspond to the second screw holes 303 at different positions, the screw fixing and connecting structure 2 is screwed, the connecting structure 2 is adhered to the clamping component 1, so that the position of the air duct 101 in the chute 302 can be adjusted, namely, the distance between the clamping components can be adjusted, and articles with different sizes can be clamped and grabbed, and a plurality of third screw holes are formed in the center of the fixing plate 301 for connecting with external devices, thereby supporting the fixing plate 301.

Preferably, in this embodiment, the fixing plate 301 includes a plurality of connecting plates 3011 and supporting plates 3012, the plurality of supporting plates 3012 surround the connecting plates 3011 uniformly, the connecting plates 3011 and the supporting plates 3012 are fixedly connected to form an integral structure,

when the number of the connecting plates 3011 is four, (as shown in fig. 6), the shape of the fixing plate 301 is "cross" -shaped, wherein the connecting plate 3011 is provided with a sliding slot 302, a plurality of (preferably four in this embodiment) second screw holes 303 are symmetrically arranged along the long side direction of the sliding slot 302, the connecting plate 3011 is fixedly connected to the connecting structure 2 through the second screw holes 303, the center of the supporting plate 3012 is further provided with a plurality of (preferably four in this embodiment) second screw holes 303, and the supporting plate 3012 is connected to external equipment through screws or bolts to support the whole fixing plate 301;

when the connecting plates 3011 are three (see fig. 6, fig. 6 is a second top view of a fixing component in the flexible clamping device provided in embodiment 1), an included angle between every two adjacent connecting plates 3011 is 120 degrees, the connecting plates 3011 are provided with a sliding slot 302, a plurality of (preferably four in this embodiment) second screw holes 303 are symmetrically arranged along a long side direction of the sliding slot 302, the connecting plates 3011 are fixedly connected with the connecting structure 2 through the second screw holes 303, the central position of the supporting plate 3012 is further provided with a plurality of (preferably four in this embodiment) second screw holes 303, and the supporting plate 3012 is connected with external devices through screws or bolts to support the whole fixing plate 301.

Of course, the fixing plate 301 may also be a rectangular plate structure (see fig. 7, fig. 7 is a third top view of the fixing component in the flexible clamping device provided in embodiment 1 of the present invention), the fixing plate 301 is provided with a sliding chute 302 having a rectangular or square structure, the two sides of the sliding chute 302 (e.g., the view angle of the drawing is an example, the upper and lower sides of the sliding chute 302 may also be the left and right sides of the sliding chute 302) are provided with second screw holes 303, at this time, the number of the air ducts 101 is two, and two air ducts 101 run through the sliding chute 302. (in which case the position of the clamping assembly 1 in the chute 302 cannot be adjusted).

Preferably, the sliding groove 302 has a waist-shaped hole structure.

To better illustrate the working mode of the present application, as shown in fig. 8, fig. 8 is a schematic structural diagram of the flexible clamping device provided in embodiment 1 of the present invention connected to an external air supply device, the air supply device includes an air pressure sensor 401, a solenoid valve 402, an air pump 403, and a check valve 404, wherein the air pump 403 is communicated with an air inlet of the check valve 404 through a pipeline, an air outlet of the check valve 404 is communicated with an air inlet of a multi-way converter (not shown in the figure), an air outlet of the multi-way converter is communicated with a plurality of air ducts 101, so that the air pressures inside a plurality of clamping assemblies 1 are the same, the air pressure sensor 401 is disposed in the pipeline for detecting the pressure of the air entering the multi-way converter, and the internal air pressures in the plurality of clamping assemblies 1 are substantially the same, so that the air pressure inside the clamping assemblies 1 can be known through the air pressure sensor 401, the electromagnetic valve 402 is arranged on a pipeline between the one-way valve 404 and the multi-way converter, the air pressure sensor 401, the electromagnetic valve 402 and the air pump 403 are further communicated with an external control terminal 5, the control terminal receives data of the air pressure sensor 401 to know air pressure inside the clamping assembly 1, and the control terminal 5 controls the electromagnetic valve 402 and the air pump 403 to work to inflate.

It should be noted that the control terminal 5 may be a computer or a single chip microcomputer, and the electromagnetic valve 402 and the air pump 403 are controlled by the control terminal 5 to operate as in the prior art, and software, circuits and the like in the prior art are not improved in the present application.

Specifically, in this embodiment, the control terminal 5 may adopt an Arduino UNO single chip microcomputer as a main control board, and is connected to a motor driving module in the air pump 403, and the control terminal 5 transmits a high level to the motor driving module, so that the air pump 403 starts to inflate when working, the control terminal 5 transmits a low level, and the air pump 403 stops working;

the solenoid valve 402 is used as an on-off air valve, preferably a normally closed solenoid valve, when the control terminal 5 transmits a high level to the solenoid valve 402 to open the valve of the solenoid valve 402, the air pressure inside the clamping assembly 1 is restored to be equal to the external atmospheric pressure, and when a low level is transmitted, the valve of the solenoid valve 402 is closed.

In addition, can also include pressure sensitive sensor, crooked sensor in this embodiment, wherein, pressure sensitive sensor, crooked sensor paste and set up in the supporting part 1022 bottom of two relative settings, just pressure sensitive sensor, crooked sensor and 5 communication connection of control terminal, like this, the utility model discloses well set up 3 kinds of sensors, be respectively baroceptor, pressure sensitive sensor, and crooked sensor, wherein pressure sensitive sensor feedback data is the pressure value size of centre gripping subassembly 1 with the contact department of centre gripping object, and crooked sensor feedback data is the bending degree size of flexible finger, and baroceptor 401 feedback data is the inside atmospheric pressure size of centre gripping subassembly 1.

In fact, the three sensors are all due to the fact that resistance changes under different conditions, and finally feedback data are obtained through conversion of the resistance. For example, the unit of the feedback value of the air pressure sensor is converted from ohm to pa, the final feedback value of the pressure-sensitive sensor is converted from ohm to g, and the unit conversion is not carried out on the bending sensor by using the resistance value as the feedback value (the resistance of the bending sensor is reduced along with the increase of the bending degree); the specific working process comprises the following steps:

s1, firstly, the air supply equipment does not start to work, the clamping component 1 does not deform, the supporting part 1022 does not contact with the object to be clamped, the feedback pressure value of the pressure-sensitive sensor is 0g, and the feedback value of the bending sensor does not bend the initial resistance value of the sensor;

s2, when the air supply device starts to work and the air pump 403 starts to inflate, the air pressure in the cavity of the clamping assembly 1 increases, i.e. the pressure value of the air pressure sensor 401 increases. Since the supporting portion 1022 is not in contact with the object to be gripped, the pressure-sensitive sensor feedback data is still 0g, and since the supporting portion 1022 starts to bend, the bending sensor resistance starts to decrease, that is, the bending sensor feedback value decreases.

S3, when the supporting part 1022 and the object contact each other, the air pump 403 still inflates, the air pressure sensor 401 feeds back an increased air pressure value, but the supporting part 1022 no longer deforms, and the force of the supporting part 1022 for gripping the object increases. The feedback value of the pressure-sensitive sensor is increased from 0g, and the feedback resistance value of the bending sensor tends to be unchanged.

S4, the air pressure is continuously increased, so that the pressure value of the supporting part 1022 and the object is increased to clamp the object, and the expected clamping state is achieved.

S5, when the supporting part 1022 slides with the object to be clamped, the pressure-sensitive sensor and the bending sensor feed back data to judge such situation to adjust in time. When the object to be clamped slides, the pressure-sensitive sensor feedback pressure value is reduced, the bending sensor feedback value is reduced, the feedback data of the two sensors is different from the expected feedback data, the air pressure is continuously increased under the condition, the pressure value of the supporting part 1022 and the object is increased, the pressure value at the moment is recorded, and the object can be conveniently clamped next time.

It should be emphasized that the present invention does not improve the software program of the control terminal 5, and the present invention only protects the mechanical structure.

Further, centre gripping subassembly 1 still includes round platform connector 105, (as fig. 2, fig. 3, fig. 4) round platform connector 105 is round platform body structure, just the one end of round platform connector 105 and air duct 101 fixed connection structure as an organic whole and be linked together, fixed connection structure as an organic whole and be linked together in the middle of the other end of round platform connector 105 and the top of coupling part 1021, through setting up round platform connector 105, can strengthen the gas tightness, at this moment the recess that cooperatees and hold round platform connector 105 is seted up to coupling structure 2's inside, paints glue through the recess internal surface and round platform connector 105's surface and is connected, can be more stable like this, of course, round platform connector 105 also can with coupling structure 2 screwed connection.

The working principle is as follows:

when the clamping device is used specifically, gas is supplied through the gas supply equipment, the gas enters the clamping support body 102 and the bulge 104 through the gas guide pipe 101, the clamping support body 102 and the bulge 104 are continuously enlarged along with the continuous flushing of the gas, so that the support part 1022 is contacted with an object, the anti-slip mat 103 can also prevent the object from sliding downwards, the stability of clamping the object is improved, the connecting structure 2 is connected with the second screw holes 303 at different positions through adjustment, the distance between the clamping assemblies 1 can be adjusted, and the objects with different sizes can be clamped;

the article that can press from both sides are for instance agricultural and sideline products such as kiwi fruit, glassware and electronic components goods etc to thereby can take the interval of adjusting between the centre gripping subassembly 1 to press from both sides according to the object of different shape size, different attributes and get.

The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. A flexible clamping device, comprising:

a plurality of flexible clamping assemblies (1); the clamping assembly (1) is internally provided with a cavity, and the clamping assembly (1) is provided with an air inlet for inflating the cavity;

the bottom of the connecting structure (2) is fixedly connected with the clamping assembly (1), the connecting structure (2) is provided with a through hole, and the through hole accommodates the upper end of the clamping assembly (1) to penetrate through;

the clamping device comprises a fixing component (3), wherein the fixing component (3) is communicated with air inlets of a plurality of clamping components (1), and the clamping components (1) penetrate through the fixing component (3) and are communicated with external air supply equipment.

2. The flexible clamping device according to claim 1, wherein the clamping assembly (1) comprises an air duct (101), a clamping support body (102), anti-slip pads (103) and a protrusion (104), wherein one end of the air duct (101) is communicated with an external air supply device to introduce air, the other end of the air duct (101) is communicated with one end of the clamping support body (102), a plurality of integrally connected and communicated protrusions (104) are uniformly arranged on the side surface of the clamping support body (102), and a plurality of anti-slip pads (103) are arranged on the side surface of the clamping support body (102) away from the protrusion (104).

3. The flexible clamping device according to claim 2, wherein the clamping support body (102) comprises a connecting portion (1021) and a supporting portion (1022), the connecting portion (1021) and the supporting portion (1022) are fixedly connected and communicated into an integral L-shaped structure, the middle of the top of the connecting portion (1021) is communicated with the air duct (101), a plurality of fixedly connected and communicated protrusions (104) are arranged on the supporting portion (1022), the protrusions (104) are of a hump structure, one end of each protrusion (104) far away from the supporting portion (1022) and one end of each connecting portion (1021) far away from the supporting portion (1022) are on the same plane, and a plurality of anti-skid pads (103) are fixedly connected to the side of the lower end of the supporting portion (1022) far away from the protrusions (104).

4. The flexible clamping device as claimed in claim 3, wherein the end of the supporting part (1022) away from the connecting part (1021) is a curved surface, one end of the curved surface is connected with the lower end of the side of the supporting part (1022) where the non-slip mat (103) is located, and the other end of the curved surface is connected with the bottom of the lowest projection (104).

5. A flexible clamping device according to claim 2, characterised in that the connecting structure (2) is provided with a through hole in the middle for receiving the air duct (101) therethrough.

6. The flexible clamping device according to claim 4, wherein the fixing assembly (3) comprises a fixing plate (301), a plurality of sliding grooves (302) and second screw holes (303), the fixing plate (301) is provided with the sliding grooves (302) around a central position, the sliding grooves (302) accommodate the air tubes (101) to pass through, the second screw holes (303) are symmetrically arranged along the long side direction of the sliding grooves (302), the connecting structure is provided with first screw holes matched and connected with the second screw holes, and the central position of the fixing plate (301) is also provided with a plurality of third screw holes used for being connected with external objects.

7. The flexible clamping device as claimed in claim 6, wherein the fixing plate (301) comprises a plurality of connecting plates (3011) and supporting plates (3012), the plurality of supporting plates (3012) uniformly surround the connecting plates (3011), and the connecting plates (3011) and the supporting plates (3012) are fixedly connected into a whole.

8. The flexible clamping device as claimed in claim 7, wherein the number of the connecting plates (3011) is four, wherein a sliding groove (302) is formed in the connecting plate (3011), a plurality of second screw holes (303) are symmetrically formed along the long side direction of the sliding groove (302), the connecting plate (3011) is fixedly connected with the connecting structure (2) through the second screw holes (303), a plurality of second screw holes (303) are further formed in the center of the supporting plate (3012), and the supporting plate (3012) is fixedly connected with an external device to support the whole fixing plate (301).

9. The flexible clamping device as claimed in claim 7, wherein the number of the connecting plates (3011) is three, an included angle between every two adjacent connecting plates (3011) is 120 degrees, a sliding groove (302) is formed in each connecting plate (3011), a plurality of second screw holes (303) are symmetrically formed in the long side direction of each sliding groove (302), the connecting plates (3011) are fixedly connected with the connecting structure (2) through the second screw holes (303), a plurality of second screw holes (303) are further formed in the center of the supporting plate (3012), and the supporting plate (3012) is fixedly connected with external equipment to support the whole fixing plate (301).

10. The flexible clamping device according to claim 6, wherein the fixing plate (301) is a rectangular plate structure, a sliding slot (302) with a rectangular or square structure is formed in the fixing plate (301), and second screw holes (303) are formed in two sides of the sliding slot (302).