CN218998908U - Flexible clamping piece and flexible tail end clamp - Google Patents
Flexible clamping piece and flexible tail end clamp Download PDFInfo
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- CN218998908U CN218998908U CN202223487722.3U CN202223487722U CN218998908U CN 218998908 U CN218998908 U CN 218998908U CN 202223487722 U CN202223487722 U CN 202223487722U CN 218998908 U CN218998908 U CN 218998908U
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Abstract
The utility model belongs to the field of clamp equipment, and particularly relates to a flexible clamping piece and a flexible tail end clamp. The flexible clamping piece comprises a connecting part, a first clamping part, a second clamping part, a deformation cavity and a traction part, wherein the first clamping part is arranged on the connecting part, the second clamping part is arranged on the connecting part, and the second clamping part and the first clamping part are symmetrically arranged; a deformation cavity is arranged in the connecting part, the first clamping part and the second clamping part; the inner wall of the connecting part is fixedly provided with a pulling part which moves back and forth along the direction of the symmetry axis of the first clamping part and the second clamping part. The flexible end clamp comprises a housing and the flexible clamping member. According to the utility model, when the clamping block clamps an object, the first clamping part and the second clamping part are made of flexible materials, so that the gripped object cannot be scratched or knocked, and the yield of the produced object is improved.
Description
Technical Field
The utility model belongs to the field of clamp equipment, and particularly relates to a flexible clamping piece and a flexible tail end clamp.
Background
When the traditional pneumatic clamp or the electric clamp is used, as the tail end of the traditional pneumatic clamp or the electric clamp adopts a rigid structure, the tail end of the traditional pneumatic clamp or the electric clamp is easy to scratch and knock the gripped object, thereby reducing the yield and affecting normal industrial production. Although the flexible tail end clamp cannot cause scratch and gouge on a gripped object, as most of the flexible tail end clamps are based on a fluid driving principle, internal media are fluid, and a fluid pipeline has limitation on clamp deployment; the fluid drive control device is complicated and bloated, often needs to be arranged externally, and therefore occupies a larger space, the deployment of a production line is also hindered, meanwhile, parts of a part of types are fragile on one production line, when clamping force needs to be changed, the fluid drive clamp is difficult to meet the requirement of flexibly changing the clamping force, the hydraulic module and the compressed air of the clamp can be acted through repeatedly converting energy into a form, and the energy utilization efficiency of the pneumatic module of additional energy used when cooling the air is very low.
Disclosure of Invention
In order to solve the problems, the utility model provides the flexible clamping piece, which can acquire the position information of the target day lily according to the image acquired by the vision component, and the picking component is used for picking the target day lily, so that the intelligent picking of the day lily is realized.
The main technical scheme of the utility model is as follows:
a flexible clip, the flexible clip comprising:
the connecting part is provided with a connecting part,
the first clamping part is arranged on the connecting part;
the second clamping part is arranged on the connecting part and is symmetrically arranged with the first clamping part;
the deformation cavity is arranged in the connecting part, the first clamping part and the second clamping part;
the pulling part is fixedly arranged on the inner wall of the connecting part and moves back and forth along the symmetrical axis direction of the first clamping part and the second clamping part;
and is configured to:
when the flexible clamping piece is in a balanced state, the first surface of the first clamping part and the first surface of the second clamping part are oppositely arranged; when the pulling part moves forwards, the pulling part drives the inner wall of the connecting part to move forwards, the deformation cavity is enlarged, and the end parts of the first clamping part and the second clamping part are separated into an open state; when the pulling part moves backwards, the pulling part drives the inner wall of the connecting part to move backwards, the deformation cavity is smaller, and the end parts of the first clamping part and the second clamping part are close to each other to be in a clamping state.
The flexible clamping piece further comprises a power assembly, and the connecting portion, the first clamping portion and the second clamping portion are made of materials with Young's modulus of less than 1 GPa.
In the flexible clamping member, the connecting portion, the first clamping portion and the second clamping portion are made of flexible materials.
In the flexible clamping piece, the flexible material is silica gel, rubber, fluororubber or gel.
The flexible clamping piece further comprises an actuating part, wherein the actuating part is connected with the traction part, and the actuating part provides power for the traction part to move back and forth.
In the flexible clamping piece, the actuating part is a crank connecting rod assembly, a connecting rod of the crank connecting rod assembly is connected with the tail end of the pulling part, and when the disc of the crank connecting rod assembly rotates, the pulling part is driven to move forwards and backwards.
In the flexible clamping piece, the actuating part is a gear-rack assembly, a rack of the gear-rack assembly is connected with the tail end of the pulling part, and the pulling part is driven to move back and forth when the gear of the gear-rack assembly rotates.
In the flexible clamping piece, the actuating part is a cam transmission assembly, a spring is arranged at the tail end of the pulling part, a cam of the cam transmission assembly rotates, when the protruding end of the cam abuts against the spring, the spring is compressed, the pulling part moves forwards, and when the protruding end of the cam leaves the spring, the spring pulls the pulling part to move backwards.
In the flexible clamping piece, the actuating part is a sheave transmission assembly, when the rotating disc of the sheave transmission assembly rotates, the pulling part is arranged at the forefront end in a first state, and the pulling part is arranged at the rearmost end in a second state.
The flexible tail end clamp comprises a shell and the flexible clamping piece, wherein a driving unit and a transmission unit are arranged in the shell, the driving unit provides power for the transmission unit, the transmission unit is an actuating part, a through hole is formed in the shell, the connecting part is arranged in the through hole, and the first clamping part and the second clamping part are arranged outside the shell.
In the flexible tail end clamp, a control unit is further arranged in the shell, and the control unit controls the movement of the driving unit to control the flexible clamping piece to be in a balanced state, an open state and a clamping state;
in the flexible tail end clamp, the driving unit is a steering engine, a stepping motor, a speed reducing motor, a servo motor or a linear motor.
By means of the technical scheme, the utility model has at least the following advantages:
1) According to the utility model, when the clamping block clamps an object, the first clamping part and the second clamping part are made of flexible materials, so that the gripped object cannot be scratched or knocked, and the yield of the produced object is improved.
2) The pulling part and the clamping parts (the first clamping part and the second clamping part) are arranged on the same straight line, and the moving mode of the pulling part is also on the straight line, so that the flexible clamping piece has a simple structure, is small in whole volume and occupies small space, thereby being convenient to be deployed on production lines with different sizes.
3) According to the utility model, the clamping force can be changed by changing the movement amplitude of the pulling part, so that the requirements of different clamping forces required by different parts are met.
The foregoing description is only an overview of the present utility model, and is intended to provide a better understanding of the present utility model, as it is embodied in the following description, with reference to the preferred embodiments of the present utility model and the accompanying drawings.
Drawings
FIG. 1 is a cross-sectional view of a flexible clip of the present utility model in a balanced condition;
FIG. 2 is a cross-sectional view of the flexible clip of the present utility model in a gripping state;
FIG. 3 is a cross-sectional view of the flexible clip of the present utility model in an expanded state;
FIG. 4 is a schematic view of the structure of the crank-connecting rod assembly of the present utility model;
FIG. 5 is a schematic view of the structure of the rack and pinion assembly of the present utility model;
FIG. 6 is a schematic view of the cam gear assembly of the actuating portion of the present utility model;
FIG. 7 is a schematic view of the construction of the inventive actuator as a sheave drive assembly;
fig. 8 is a schematic structural view of the flexible end clamp of the present utility model.
Detailed Description
In order to further describe the technical means and effects adopted for achieving the preset aim of the utility model, the following detailed description refers to the specific implementation, structure, characteristics and effects according to the application of the utility model with reference to the accompanying drawings and preferred embodiments.
Flexible clamp embodiments
As shown in fig. 1 to 7, the present embodiment discloses a flexible clamping member, which includes a connection portion 2, a first clamping portion 11, a second clamping portion 12, a deformation cavity 3, and a pulling portion 5, wherein the first clamping portion 11 is disposed on the connection portion 2, the second clamping portion 12 is disposed on the connection portion 2, and the second clamping portion 12 and the first clamping portion 11 are symmetrically disposed; a deformation cavity 3 is arranged in the connecting part 2, the first clamping part 11 and the second clamping part 12; a pulling part 5 is fixedly arranged on the inner wall of the connecting part 2, and the pulling part 5 moves back and forth along the direction of the symmetry axis of the first clamping part 11 and the second clamping part 12; and is configured to: when the flexible clamping piece is in a balanced state, the first surface of the first clamping part 11 and the first surface of the second clamping part 12 are oppositely arranged; when the pulling part 5 moves forwards, the pulling part 5 drives the inner wall of the connecting part 2 to move forwards, the deformation cavity 3 becomes large, and the ends of the first clamping part 11 and the second clamping part 12 are separated into an open state; when the pulling part 5 moves backward, the pulling part 5 drives the inner wall of the connecting part 2 to move backward, the deformation cavity 3 becomes smaller, and the ends of the first clamping part 11 and the second clamping part 12 are close to each other to be in a clamping state.
The front end of the clamping part 1 (including the first clamping part 11 and the second clamping part 12) is small, thereby facilitating the movement and deformation of the clamping part 1.
The clamping part 1 is made of soft flexible material, and generally, the thicker the modeling of the clamping part 1 is, the stronger the bending resistance is, and more effective force can be transmitted to the tail end, so that the clamping force is stronger.
The outer wall of the connecting part 2 is fixed with the shell, when the pulling part 5 drives the inner wall of the connecting part 2 to move, the outer wall of the connecting part 2 is kept still, and the deformation of the deformation cavity 3 is caused by the movement of the pulling part 5.
The shape of the deformation cavity 3 can be changed under the stress condition, and in the balanced state, the shape of the deformation cavity 3 is matched with the shape of the connecting part 2, the first clamping part 11 and the second clamping part 12. The deformation chamber 3 comprises a connection chamber 33 provided on the connection part 2, a first deformation branch 31 provided on the first clamping part 11, a second deformation branch 32 provided on the second clamping part 12. The first deformation branch 31 extends to the end of the first clamping part 11, the second deformation branch 32 extends to the end of the second clamping part 12, the end of the first clamping part 11 gradually changes to a tip, and the end of the second clamping part 12 gradually changes to a tip, thereby facilitating the deformation of the first clamping part 11 and the second clamping part 12 to a clamping state.
The pulling part 5 includes a pulling head 52 and a pulling rod 51, where the pulling head 52 is fixedly connected with the inner wall of the connecting part 2, that is, the pulling head 52 pulls or presses the inner wall of the connecting part 2 to deform, so that the deformation cavity 3 is deformed, and the pulling rod 51 moves in the connecting cavity 33.
When the pulling rod 51 moves forward, the pulling head 52 pulls the inner wall of the connecting portion 2 to move forward, the volume of the connecting cavity 33 is increased, and the shapes of the first deforming branch 31 and the second deforming branch 32 are also changed (specifically, separated state), so that the first clamping portion 11 and the second clamping portion 12 are separated, and at this time, the flexible clamping member is in an open state.
When the pulling rod 51 moves backward, the pulling head 52 presses the inner wall of the connecting portion 2 to move backward, the volume of the connecting cavity 33 is reduced, and the first deforming branch 31 and the second deforming branch 32 are in a closed state, so that the first clamping portion 11 and the second clamping portion 12 are closed together, and at this time, the flexible clamping member is in a clamping state and can be used for clamping an article.
Further, in order to achieve a deformed state of the connection portion 2, the first clamping portion 11, and the second clamping portion 12 of the flexible clamping member, the connection portion 2, the first clamping portion 11, and the second clamping portion 12 are made of a flexible material having a young's modulus of 1GPa or less. Is a macroscopic definition of academic definition soft robot, not an engineering definition
Specifically, the flexible material is silica gel.
As a variant embodiment, the flexible material may also be any of rubber, fluororubber or gel. The particular material of the flexible material does not affect the implementation of this embodiment.
In order to improve the kinetic energy effect of the pulling part 5, the flexible clamping member further comprises an actuating part, wherein the actuating part is connected with the pulling part 5, and the actuating part provides power for the pulling part 5 to move back and forth. In specific implementation, the actuating part comprises the following four specific transmission modes:
mode 1: as shown in fig. 4, the actuating portion is a crank-link assembly, a link of the crank-link assembly is connected with the tail end of the pulling portion 5, and when the disc of the crank-link assembly rotates, the pulling portion 5 is driven to move back and forth. The crank connecting rod assembly comprises a disc 411 and a transmission rod 413, wherein a first connecting column 412 is fixedly connected to the surface of the disc 411, a first end of the transmission rod 413 is rotationally connected with the first connecting column, a second connecting column 414 is rotationally connected to a second end of the transmission rod 413, and the second connecting column 414 is fixedly connected with the traction rod 51. When an object needs to be clamped, the disc 411 is rotated, the disc 411 drives the first connecting column 412 to change in position, the driving rod 413 changes in position, the driving rod 413 drives the pulling rod 51 connected with the second connecting column 414 to move back and forth, and when the pulling rod 51 drives the pulling head 52 to move, the deformation cavity 3 deforms, so that the flexible clamping piece forms a clamping state, an opening state and a balancing state.
Mode 2: as shown in fig. 5, the actuating portion is a rack and pinion assembly, the rack and pinion assembly includes a gear 421, a rack 422 is meshed on the surface of the gear 421, a guide rail plate 423 is fixedly connected to the surface of the rack 422, a linear guide rail is arranged on the guide rail plate 423, the guide rail plate 423 is fixedly connected to the housing 1, the rack 422 can move back and forth along the guide rail plate 423, a connecting plate 424 is fixedly connected to one end of the rack 422, the connecting plate 424 is fixedly connected to the pulling rod 51, the rack 422 is located at the upper end of the gear 421, and the gear 421 is located at one end of the rack 422 far away from the connecting plate 424. When an object needs to be clamped, the driving module 3 is started through the control module 2, then the driving module 3 drives the gear 421 to rotate, the gear 421 drives the rack 422 to move, then the rack 422 drives the connecting plate 424 to move, and then the connecting plate 424 drives the draw-bar 51 to move, so that the draw-bar 51 drives the draw-bar head 52 to change to cause deformation of the deformation cavity 3, and the flexible clamping piece is in a clamping state, an opening state and a balancing state.
Mode 3: as shown in fig. 6, the actuating portion is a cam transmission assembly, the cam transmission assembly includes a cam 431 and a spring 433, two ends of the spring 433 are respectively provided with a fixed block 434 and a supporting block 432, the spring 433 is fixedly connected with the tail end of the pulling rod 51 through the supporting block 432, the pulling rod 51 is sleeved in the fixed block 434, the pulling rod 51 can move back and forth along the fixed block 434, when the cam 431 rotates, the protruding portion of the cam 431 rotates to the supporting block 432, the supporting block 432 is driven to move, then the spring 433 compresses, then the supporting block 432 drives the pulling rod 51 to move forward, when the protruding portion of the cam 431 is far away from the supporting block 432, the pulling rod 51 returns to the original position under the elastic force of the spring 433, and the flexible clamping member forms a clamping state, an opening state and a balanced state under the combined action of the spring 433 and the cam 431.
Mode 4: as shown in fig. 7, the actuating portion is a geneva rack assembly, the geneva rack assembly includes a rotating disc 441, a groove 442 is formed on the surface of the rotating disc 441, a moving block 443 is slidably connected in the groove 442 on the surface of the rotating disc 441, one end of the moving block 443 away from the rotating disc 441 is fixedly connected with a connecting block 444, and one end of the connecting block 444 away from the moving block 443 is provided with a draw bar 51. The rotation of the rotating disc 441 drives the moving block 443 to rotate in the groove 442, so as to drive the position of the moving block 443 to change, then the moving block 443 drives the connecting block 444 to move, and then the connecting block 444 drives the pulling rod 51 to move back and forth, so that the pulling rod 51 drives the pulling head 52 to change to cause the deformation of the deformation cavity 3, and the flexible clamping member is in a clamping state, an opening state and a balancing state.
Flexible end clamp embodiment
A flexible end fixture as shown in fig. 8, the flexible end fixture includes a housing 10 and a flexible clamping member in the foregoing embodiment, a driving unit 7 and a transmission unit 8 are disposed in the housing, the driving unit 7 provides power to the transmission unit 8, the transmission unit 8 is an actuating portion (may be any one of a crank-link assembly, a rack-and-pinion assembly, a cam transmission assembly or a sheave transmission assembly), a through hole is disposed on the housing 10, the connecting portion 2 is disposed in the through hole, the connecting portion 2 is fixedly connected with the housing 10, and the clamping portion 1 (including a first clamping portion 11 and a second clamping portion 12) is disposed outside the housing 10.
In a specific implementation, when an object needs to be clamped, the driving unit 7 can provide power for the transmission unit 8 (namely, the actuating part in the flexible clamping piece), so that the pulling rod moves back and forth to cause the deformation of the deformation cavity 3, and the flexible clamping piece is in a clamping state, an opening state and a balancing state. The opening sizes of the first clamping portion 11 and the second clamping portion 12 in the clamping state of the flexible clamping member can be set according to the size of the article to be clamped, that is, when the article to be clamped is large, the opening formed by the first clamping portion 11 and the second clamping portion 12 can be larger, and when the article to be clamped is small, the opening formed by the first clamping portion 11 and the second clamping portion 12 can be smaller.
Further, in order to realize automatic control of the flexible end clamp, a control unit 6 is further arranged in the shell, and the control unit 6 realizes control of transition of the flexible clamping piece among a balanced state, an open state and a clamping state by controlling movement of the driving unit 7.
Further, the flexible end clamp is a flexible end clamp based on electric driving, and the driving unit 7 is a steering engine, a stepping motor, a gear motor, a servo motor or a linear motor.
The control unit 6 is configured to control the driving unit 7 (the control unit 6 may adopt a control mode embedded with the driving unit 7, or the driving unit 7 and the control unit 6 are integrated to perform control, or a control mode such as connection between the control unit and the driving unit 7 is established remotely.
When the flexible tail end clamp is required to clamp an object, the driving unit 7 is started through the control unit, the driving unit 7 drives the transmission unit 8 to move, the pulling rod 51 is driven to move back and forth, and the shape of the first clamping part 11 and the shape of the second clamping part 12 are changed after the deformation cavity 3 is changed, so that the flexible clamping part is in a clamping state, an opening state and a balancing state.
In the present embodiment, only the stroke of the forward and backward movement of the pulling bar 51 needs to be controlled, so that the effect of controlling the clamping forces of the first clamping portion 11 and the second clamping portion 12 can be achieved.
The above description is only of the preferred embodiments of the present utility model, and is not intended to limit the present utility model in any way, but any simple modification, equivalent variation and modification made to the above embodiments according to the technical substance of the present utility model still fall within the scope of the technical solution of the present utility model.
Claims (10)
1. A flexible clip, the flexible clip comprising:
the connecting part is provided with a connecting part,
the first clamping part is arranged on the connecting part;
the second clamping part is arranged on the connecting part and is symmetrically arranged with the first clamping part;
the deformation cavity is arranged in the connecting part, the first clamping part and the second clamping part;
the pulling part is fixedly arranged on the inner wall of the connecting part and moves back and forth along the symmetrical axis direction of the first clamping part and the second clamping part;
and is configured to:
when the flexible clamping piece is in a balanced state, the first surface of the first clamping part and the first surface of the second clamping part are oppositely arranged; when the pulling part moves forwards, the pulling part drives the inner wall of the connecting part to move forwards, the deformation cavity is enlarged, and the end parts of the first clamping part and the second clamping part are separated into an open state; when the pulling part moves backwards, the pulling part drives the inner wall of the connecting part to move backwards, the deformation cavity is smaller, and the end parts of the first clamping part and the second clamping part are close to each other to be in a clamping state.
2. The flexible clip of claim 1, further comprising a power assembly,
the connecting portion, the first clamping portion and the second clamping portion are made of a flexible material.
3. A flexible clip as defined in claim 2, wherein,
the flexible material is silica gel, rubber, fluororubber or gel.
4. The flexible clip of claim 1, further comprising an actuator coupled to the pulling portion, the actuator providing power to the pulling portion for back and forth movement.
5. A flexible clip as defined in claim 4, wherein,
the actuating part is a crank connecting rod assembly, a connecting rod of the crank connecting rod assembly is connected with the tail end of the traction part, and when the disc of the crank connecting rod assembly rotates, the traction part is driven to move forwards and backwards.
6. A flexible clip as defined in claim 4, wherein,
the actuating part is a gear rack assembly, a rack of the gear rack assembly is connected with the tail end of the traction part, and the traction part is driven to move back and forth when the gear of the gear rack assembly rotates.
7. A flexible clip as defined in claim 4, wherein,
the cam driving assembly is characterized in that the actuating part is a cam driving assembly, a spring is arranged at the tail end of the pulling part, the cam of the cam driving assembly rotates, when the protruding end of the cam abuts against the spring, the spring is compressed, the pulling part moves forwards, and when the protruding end of the cam leaves the spring, the spring pulls the pulling part to move backwards.
8. A flexible clip as defined in claim 4, wherein,
the actuating part is a sheave transmission assembly, when the rotating disc of the sheave transmission assembly rotates, the pulling part is arranged at the forefront end in a first state, and the pulling part is arranged at the rearmost end in a second state.
9. A flexible end clamp comprising a housing and a flexible clamp member according to any one of claims 4 to 8,
the shell is internally provided with a driving unit and a transmission unit, the driving unit provides power for the transmission unit, the transmission unit is the actuating part, the shell is provided with a through hole, the connecting part is arranged in the through hole, and the first clamping part and the second clamping part are arranged outside the shell.
10. The flexible end clamp of claim 9, wherein the flexible end clamp is configured to be secured to the flexible end clamp,
a control unit is further arranged in the shell, and the control unit controls the movement of the driving unit to realize the control of the transition of the flexible clamping piece among a balance state, an open state and a clamping state;
the driving unit is a steering engine, a stepping motor, a gear motor, a servo motor or a linear motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223487722.3U CN218998908U (en) | 2022-12-27 | 2022-12-27 | Flexible clamping piece and flexible tail end clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223487722.3U CN218998908U (en) | 2022-12-27 | 2022-12-27 | Flexible clamping piece and flexible tail end clamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218998908U true CN218998908U (en) | 2023-05-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223487722.3U Active CN218998908U (en) | 2022-12-27 | 2022-12-27 | Flexible clamping piece and flexible tail end clamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218998908U (en) |
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2022
- 2022-12-27 CN CN202223487722.3U patent/CN218998908U/en active Active
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