CN219854199U - Flexible self-adaptive clamp - Google Patents

Abstract

The utility model relates to a flexible self-adaptive clamp holder, which comprises at least two groups, wherein the two groups are respectively arranged on opposite surfaces of two fixed plates, the two fixed plates are respectively arranged at two ends of a telescopic cylinder, the clamp holder comprises a base, the upper end of the base is connected with a rear shell, the upper end of the rear shell is connected with a baffle, and the upper end of the baffle is connected with a shell; the back shell and the baffle are respectively provided with a plurality of first through holes, the shell is provided with a plurality of second through holes, the first through holes are communicated with the second through holes, and the lower ends of the probes are respectively sleeved with a spring and positioned in the second through holes. The utility model aims to overcome the defects of the prior art and provides a flexible self-adaptive clamp which can clamp a special-shaped forming surface part.

Description

Flexible self-adaptive clamp

Technical Field

The utility model relates to a flexible self-adaptive clamp holder.

Background

Along with the development of intelligent production technologies such as intelligent manufacturing and black lamp factories, the requirements of intelligent transfer robots on production lines are higher and higher. However, for a production line with profiled parts, conventional handling robots are difficult to adapt, mainly because the holders for profiled parts are uniquely corresponding and not universally applicable, which will greatly reduce the handling efficiency of the robot. In this case, it is necessary that the transfer robot be able to accommodate various shaped molded surface parts and transport them to specific positions for placement, assembly, installation, and the like.

Aiming at the situation that the production line is provided with various special-shaped molding surface parts, the flexible self-adaptive clamp holder is provided.

Disclosure of Invention

The utility model aims to overcome the defects of the prior art and provides a flexible self-adaptive clamp which can clamp a special-shaped forming surface part.

The technical scheme for achieving the purpose is as follows: the flexible self-adaptive clamp comprises at least two groups of clamp bodies, wherein the clamp bodies are respectively arranged on opposite surfaces of two fixed plates, the two fixed plates are respectively arranged at two ends of a telescopic cylinder, the clamp body comprises a base, the upper end of the base is connected with a rear shell, the upper end of the rear shell is connected with a baffle, and the upper end of the baffle is connected with a shell; the back shell and the baffle are respectively provided with a plurality of first through holes, the shell is provided with a plurality of second through holes, the first through holes are communicated with the second through holes, and the lower ends of the probes are respectively sleeved with a spring and positioned in the second through holes.

Preferably, the diameter of the first through hole is smaller than the diameter of the second through hole.

Preferably, the probe comprises a probe at the upper end and a probe rod at the lower end, and the spring is sleeved on the probe rod;

preferably, the spring is located in the second through hole.

Preferably, the diameter of the probe is smaller than the diameter of the first through hole.

The beneficial effects of the utility model are as follows: the device comprises a shell, a rear shell, a base, a baffle, a probe, a first through hole, a second through hole, a spring, a probe and a probe rod; the flexible clamp can clamp various special-shaped surface parts, solves the problem that the clamp holder needs to be frequently replaced to clamp the parts, is lighter and more compact than the traditional mechanical clamp, and meanwhile, the clamping force is uniformly distributed, so that the clamped objects can be prevented from being damaged or left with marks.

Drawings

FIG. 1 is a schematic view of a single flexible adaptive gripper of the present utility model;

FIG. 2 is a detailed view of the probe of the present utility model;

FIG. 3 is a detail view of the housing of the present utility model;

fig. 4 is a detail view of the rear housing of the present utility model.

In the figure: 1. a housing; 2. a rear case; 3. a base; 4. a baffle; 5. a probe; 6. a first through hole; 7. a second through hole; 8. a spring; 51. a probe; 52. a probe rod.

Detailed Description

The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying positive importance.

The utility model will be further described with reference to the accompanying drawings.

As shown in figures 1-4, the flexible self-adaptive clamp comprises at least two groups, wherein the at least two groups are respectively arranged on opposite surfaces of two fixed plates, the two fixed plates are respectively arranged at two ends of a telescopic cylinder, the clamp comprises a base 3, the upper end of the base 3 is connected with a rear shell 2, the upper end of the rear shell 2 is connected with a baffle 4, and the upper end of the baffle 4 is connected with a shell 1; the rear shell 2 and the baffle 4 are respectively provided with a plurality of first through holes 6, the shell 1 is provided with a plurality of second through holes 7, the plurality of first through holes 6 are communicated with the plurality of second through holes 7, and the lower ends of the plurality of probes 5 are respectively sleeved with a spring 8 and positioned in the second through holes 7. The diameter of the first through hole 6 is smaller than the diameter of the second through hole 7. The probe 5 comprises a probe 51 at the upper end and a probe rod 52 at the lower end, and the spring 8 is sleeved on the probe rod 52; a spring 8 is located in the second through hole 7. The diameter of the probe 52 is smaller than the diameter of the first through hole 6.

Specifically, the telescopic cylinder stretches out to separate the two groups of holders, the telescopic cylinder contracts to enable the two groups of holders to be close to each other to clamp the part, when the telescopic clamp is used, the mechanical arm acts to attach the holders to the object, and then the holders clamp the object to be lifted; and then the robot moves to the corresponding position to put down the object, thus completing the carrying work. In the process, not only is the manpower saved, but also the working efficiency is greatly improved.

Specifically, the metal probe 5 array of the working face of the clamp holder can adaptively adjust the extending length of the metal probe array according to the shape of the molding face of the transported object so as to be matched with the special-shaped molding face, the problem that the clamp holder needs to be replaced frequently when the special-shaped object is clamped is solved, the working strength is greatly reduced, and the procedure steps are simplified.

Specifically, the mechanical arm starts to act, the tail end clamp holder is aligned to the object, and the object is grabbed. After the grabbing is completed, the object moves to a position where the object needs to be placed, the kinematic solution is performed again, and the dropping action is performed after the grabbing is completed. At this point, a process is completed, after which the operation is repeated until the task is completed.

Specifically, this flexible self-adaptation holder can press from both sides the part of getting various abnormal shape faces, has solved the problem that needs frequent change holder in order to press from both sides the part, compares with traditional mechanical clamp, and flexible holder is lighter and more exquisite, compact, and its clamping force distributes evenly simultaneously, can avoid causing damage or leaving the trace to the object that is pressed from both sides.

Specifically, in the clamping process, the metal probe array can lock the part according to the molding surface shape of the part, so that the part is fixed and clamped. The metal probe array can adaptively adjust the extending length of the probe according to the shape of the molding surface, so that the metal probe array is in multipoint contact with the clamped part, and the transported part is stably clamped.

Specifically, the robot motion chassis can transport the clamped parts to a designated position according to the position requirement, and then the parts are placed. Therefore, the transportation problem of the special-shaped forming surface parts of the production line can be well solved by the transportation robot with the special-shaped forming surface parts of the production line, and the production efficiency is improved.

The object clamped by the clamp holder is carried out calculation and verification, so that the spring with proper parameters is selected.

Setting mass m=5kg probe head of object as rubber material, and assuming carbon steel as object, static friction factor between them

μ≈0.90

Thus the clamp clamps the object with the required friction force

f＝μmg＝0.90×5×9.8＝44.1N

Assuming that the object is in contact with a minimum of 8 probes during gripping and that the spring is in a fully compressed state, the average positive pressure required by the spring is

The compression x=25 mm at full compression of the spring and therefore the stiffness coefficient of the spring required

The stiffness coefficient calculation formula of the pulling and pressing spring obtained by checking data is as follows

Wherein the diameter D of the spring wire is=1 mm, the pitch diameter D of the spring is=6 mm, the effective number of turns n is=12, and the shear modulus G of the carbon steel is=7900 Mpa.

The stiffness coefficient of the selected spring is calculated to be more than 0.38N/mm and more than 0.25N/mm, so that the spring meets the condition.

The above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model.

Claims (5)

1. The flexible self-adaptive clamp holder is at least two groups of the clamp holders, the clamp holders are respectively arranged on opposite surfaces of two fixed plates, and the two fixed plates are respectively arranged at two ends of a telescopic cylinder, and the clamp holder is characterized by comprising a base (3), wherein the upper end of the base (3) is connected with a rear shell (2), the upper end of the rear shell (2) is connected with a baffle plate (4), and the upper end of the baffle plate (4) is connected with a shell (1); the rear shell (2) and the baffle (4) are respectively provided with a plurality of first through holes (6), the shell (1) is provided with a plurality of second through holes (7), the first through holes (6) are communicated with the second through holes (7), and the lower ends of the probes (5) are respectively sleeved with a spring (8) and positioned in the second through holes (7).

2. Flexible adaptive gripper according to claim 1, characterized in that the diameter of the first through hole (6) is smaller than the diameter of the second through hole (7).

3. A flexible self-adapting holder according to claim 1, characterized in that the probe (5) comprises a probe (51) at the upper end and a probe rod (52) at the lower end, the spring (8) being sleeved on the probe rod (52).

4. A flexible adaptive gripper according to claim 1, characterized in that the spring (8) is located in the second through hole (7).

5. A flexible adaptive holder according to claim 3, characterized in that the diameter of the probe rod (52) is smaller than the diameter of the first through hole (6).