CN113246165A - Flexible driving clamp - Google Patents
Flexible driving clamp Download PDFInfo
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- CN113246165A CN113246165A CN202110643402.3A CN202110643402A CN113246165A CN 113246165 A CN113246165 A CN 113246165A CN 202110643402 A CN202110643402 A CN 202110643402A CN 113246165 A CN113246165 A CN 113246165A
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- China
- Prior art keywords
- flexible
- clamping jaw
- solid
- actuating unit
- actuation unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Clamps And Clips (AREA)
Abstract
The invention discloses a flexible driving clamp, and relates to the technical field of clamps; the flexible drive clamp includes at least: the flexible actuating unit, the solid flexible clamping jaw, the flexible hinge and the clamping jaw bracket are arranged on the base; the flexible actuating unit is fixedly connected to the clamping jaw support, the solid flexible clamping jaw is connected with the flexible actuating unit in a matched mode, and the solid flexible clamping jaw is connected to the clamping jaw support through the flexible hinge; the solid flexible clamping jaw is clamped or opened by performing inflation operation or air suction operation on the flexible actuating unit; the structure is simple and compact, the production is easy, a rigid driving element is not needed, and the cost is greatly saved.
Description
Technical Field
The disclosure relates to the technical field of clamps, in particular to a flexible driving clamp.
Background
Due to its own performance advantages and increasingly sophisticated design, flexible fixtures are widely used in various production fields. The flexible clamp is mainly divided into two types, namely a hollow flexible clamp and a solid flexible clamp. The hollow flexible clamp is mainly driven pneumatically, the driving mode is single, the influence factors of the performance and the service life of the clamp are not the driving mode, but the factors of the stability of an air source, the pressure, the inflation and deflation frequency and the like, and the driving mode of the solid flexible clamp directly influences the performance and the service life of the clamp to a great extent. The existing solid flexible clamping jaw driving modes on the market mainly comprise two modes: pneumatic and electric, the main bodies (cylinder and motor) of both driving modes are rigid elements. In the actual production and use process, in order to obtain the most suitable clamping force, the driving stroke is usually required to be adjusted, but the problem that the rigid element cannot be stretched and the cylinder piston cannot stay at the middle specific position is solved, the pneumatic type solid flexible clamping jaw is complex and tedious to debug, and a structural part needs to be repeatedly processed for adaptation; although the motor can solve the problem that the air cylinder cannot stay at a specific position, the motor also has the problems of poor ductility and high cost in the production and use processes.
Disclosure of Invention
To the above technical problem among the prior art, this disclosed embodiment provides a flexible drive anchor clamps, can solve the main part of the drive mode of the solid flexible clamping jaw that exists among the prior art and all be the rigid element, have ductility difference, the debugging process is complicated loaded down with trivial details, the higher scheduling problem of cost.
The embodiment of the disclosure discloses a flexible driving clamp, at least comprising: the flexible actuating unit, the solid flexible clamping jaw, the flexible hinge and the clamping jaw bracket are arranged on the base;
the flexible actuating unit is fixedly connected to the clamping jaw support, the solid flexible clamping jaw is connected with the flexible actuating unit in a matched mode, and the solid flexible clamping jaw is connected to the clamping jaw support through the flexible hinge;
and the solid flexible clamping jaw is clamped or opened by performing inflation operation or air suction operation on the flexible actuating unit.
In some embodiments, the flexible drive clamp further comprises an air tube connected to the flexible actuation unit.
In some embodiments, the clamping or opening of the solid flexible jaws is achieved by performing an inflation operation or a suction operation on the flexible actuation unit using the air tube.
In some embodiments, when the flexible actuation unit is in a normal state, the flexible actuation unit is at a normal length, the solid flexible jaws are in a relaxed, rotated state, and the flexible hinges are not bent.
In some embodiments, when the flexible actuating unit is inflated, the flexible actuating unit is in a positive pressure state, the length of the flexible actuating unit is increased, the solid flexible clamping jaws are clamped, and the flexible hinge is bent in a positive direction.
In some embodiments, when the air suction operation is performed on the flexible actuating unit, the flexible actuating unit is in a negative pressure state, the length of the flexible actuating unit is reduced, the solid flexible clamping jaws are opened, and the flexible hinge is bent in a negative direction.
In some embodiments, the flexible actuating unit can adjust the telescopic length according to the air pressure.
In some embodiments, the mating connection of the solid flexible jaws with the flexible actuation unit is achieved by means of gluing and/or mechanical fitting.
The beneficial effects of the embodiment of the disclosure are: the flexible actuating unit is subjected to inflation operation or air suction operation, so that the solid flexible clamping jaws connected with the flexible actuating unit are clamped or opened; the flexible hinge connects the solid flexible clamping jaw to the clamping jaw bracket and limits the action amplitude of the solid flexible clamping jaw; the structure is simple and compact, the production is easy, a rigid driving element is not needed, and the cost is greatly saved.
Drawings
The features and advantages of the present disclosure will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the disclosure in any way, and in which:
FIG. 1 is a schematic diagram illustrating the construction and use of a flexible drive clamp according to some embodiments of the present disclosure.
Detailed Description
In the following detailed description, numerous specific details of the disclosure are set forth by way of examples in order to provide a thorough understanding of the relevant disclosure. However, it will be apparent to one of ordinary skill in the art that the present disclosure may be practiced without these specific details. It should be understood that the use of the terms "system," "apparatus," "unit" and/or "module" in this disclosure is a method for distinguishing between different components, elements, portions or assemblies at different levels of sequence. However, these terms may be replaced by other expressions if they can achieve the same purpose.
It will be understood that when a device, unit or module is referred to as being "on" … … "," connected to "or" coupled to "another device, unit or module, it can be directly on, connected or coupled to or in communication with the other device, unit or module, or intervening devices, units or modules may be present, unless the context clearly dictates otherwise. For example, as used in this disclosure, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present disclosure. As used in the specification and claims of this disclosure, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are inclusive in the plural, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" are intended to cover only the explicitly identified features, integers, steps, operations, elements, and/or components, but not to constitute an exclusive list of such features, integers, steps, operations, elements, and/or components.
These and other features and characteristics of the present disclosure, as well as the methods of operation and functions of the related elements of structure and the combination of parts and economies of manufacture, will be better understood by reference to the following description and drawings, which form a part of this specification. It is to be expressly understood, however, that the drawings are for the purpose of illustration and description only and are not intended as a definition of the limits of the disclosure. It will be understood that the figures are not drawn to scale.
Various block diagrams are used in this disclosure to illustrate various variations of embodiments according to the disclosure. It should be understood that the foregoing and following structures are not intended to limit the present disclosure. The protection scope of the present disclosure is subject to the claims.
Due to its own performance advantages and increasingly sophisticated design, flexible fixtures are widely used in various production fields. The flexible clamp is mainly divided into two types, namely a hollow flexible clamp and a solid flexible clamp. The hollow flexible clamp is mainly driven pneumatically, the driving mode is single, the influence factors of the performance and the service life of the clamp are not the driving mode, but the factors of the stability of an air source, the pressure, the inflation and deflation frequency and the like, and the driving mode of the solid flexible clamp directly influences the performance and the service life of the clamp to a great extent.
The existing solid flexible clamping jaw driving modes on the market mainly comprise two modes: pneumatic and electric; the pneumatic type is a cylinder driving type, and the linear displacement of a cylinder piston is utilized to pull some parts of the flexible clamp so as to realize the function of the clamp; the electrodynamic type major structure is unanimous with the pneumatic type scheme basically, only changes the cylinder into linear electric motor, and specific working form does not have great difference.
It can be seen that the bodies (cylinder and motor) of both drive modes are rigid elements. In the actual production and use process, in order to obtain the most suitable clamping force, the driving stroke is usually required to be adjusted, but the problem that the rigid element cannot be stretched and the cylinder piston cannot stay at the middle specific position is solved, the pneumatic type solid flexible clamping jaw is complex and tedious to debug, and a structural part needs to be repeatedly processed for adaptation; although the motor can solve the problem that the air cylinder cannot stay at a specific position, the motor also has the problems of poor ductility and high cost in the production and use processes.
To overcome the above-mentioned deficiencies of the prior art, embodiments of the present disclosure provide a flexible driving clamp, as shown in fig. 1, at least comprising: the flexible clamping jaw device comprises a flexible actuating unit 1, a solid flexible clamping jaw 2, a flexible hinge 3 and a clamping jaw support 4;
the flexible actuating unit 1 is fixedly connected to the clamping jaw support 4, the solid flexible clamping jaw 2 is connected with the flexible actuating unit 1 in a matched mode, and the solid flexible clamping jaw 2 is connected to the clamping jaw support 4 through the flexible hinge 3;
the solid flexible clamping jaw 2 is clamped or opened by performing inflation operation or air suction operation on the flexible actuating unit 1.
In some embodiments, the flexible drive clamp further comprises an air tube 5 connected to the flexible actuation unit 1.
In some embodiments, the clamping or opening of the solid flexible jaws 2 is achieved by performing an inflation or suction operation on the flexible actuation unit 1 using the air tube 5.
In some embodiments, the flexible driving clamp works in a way that the flexible actuating unit 1 generates three states of positive pressure, normal pressure and negative pressure through the inflation and air-suction operations of the air pipe 5.
In some embodiments, when the flexible actuating unit 1 is in the normal state, the flexible actuating unit 1 is in the normal length, the solid flexible jaw 2 is in the relaxed rotation state, and the flexible hinge 3 is not bent.
In some embodiments, when the flexible actuating unit 1 is inflated, the flexible actuating unit 1 is in a positive pressure state, the length of the flexible actuating unit 1 is increased, the solid flexible clamping jaws 2 are clamped, and the flexible hinge 3 is bent in a positive direction.
In some embodiments, when the air suction operation is performed on the flexible actuating unit 1, the flexible actuating unit 1 is in a negative pressure state, the length of the flexible actuating unit 1 is reduced, the solid flexible clamping jaws 2 are opened, and the flexible hinges 3 are bent in a negative direction.
In some embodiments, the flexible actuating unit 1 can adjust the telescopic length according to the air pressure.
In some embodiments, the mating connection of the solid flexible clamping jaw 2 to the flexible actuation unit 1 is achieved by means of gluing and/or mechanical fitting.
In some embodiments, the flexible actuating unit 1 may be a member such as a bellows, which has a certain flexibility, can be bent and compressed during installation, and can adjust the telescopic length according to the air pressure during ventilation, so as to effectively solve the problems of the rigid driving member in the prior art.
The flexible driving clamp disclosed by the embodiment of the disclosure fixes the flexible actuating unit with the solid flexible clamping jaw and the clamping jaw bracket, connects the flexible actuating unit with the air pipe joint and ensures air tightness; the flexible hinge should have a connection reliability and reduce its limiting effect on the action effect of the jaws; the solid flexible clamping jaw can grab a target object under a preset requirement under the driving of the flexible actuating unit, and the structure of the solid flexible clamping jaw is simple and compact, so that the die is easy to produce.
In summary, the present disclosure provides a flexible driving clamp, which clamps or opens a solid flexible clamping jaw connected to a flexible actuating unit by performing an inflation operation or an air suction operation on the flexible actuating unit; the flexible hinge connects the solid flexible clamping jaw to the clamping jaw bracket and limits the action amplitude of the solid flexible clamping jaw; the structure is simple and compact, the production is easy, a rigid driving element is not needed, and the cost is greatly saved.
It is to be understood that the above-described specific embodiments of the present disclosure are merely illustrative of or illustrative of the principles of the present disclosure and are not to be construed as limiting the present disclosure. Accordingly, any modification, equivalent replacement, improvement or the like made without departing from the spirit and scope of the present disclosure should be included in the protection scope of the present disclosure. Further, it is intended that the following claims cover all such variations and modifications that fall within the scope and bounds of the appended claims, or equivalents of such scope and bounds.
Claims (8)
1. A flexible drive clamp, comprising at least: the flexible actuating unit, the solid flexible clamping jaw, the flexible hinge and the clamping jaw bracket are arranged on the base;
the flexible actuating unit is fixedly connected to the clamping jaw support, the solid flexible clamping jaw is connected with the flexible actuating unit in a matched mode, and the solid flexible clamping jaw is connected to the clamping jaw support through the flexible hinge;
and the solid flexible clamping jaw is clamped or opened by performing inflation operation or air suction operation on the flexible actuating unit.
2. The flexible drive clamp of claim 1 further comprising an air tube connected to the flexible actuation unit.
3. The flexible drive clamp of claim 2, wherein the clamping or spreading of the solid flexible jaws is achieved by performing an inflation or suction operation on the flexible actuation unit using the air tube.
4. The flexible drive clamp of claim 1 wherein when the flexible actuation unit is in a normal state, the flexible actuation unit is at a normal length and the solid flexible jaws are in a relaxed state, the flexible hinges are not bent.
5. The flexible drive clamp of claim 1 wherein when the flexible actuation unit is inflated, the flexible actuation unit is under positive pressure, the flexible actuation unit increases in length, the solid flexible jaws grip, and the flexible hinge flexes in a positive direction.
6. The flexible drive clamp of claim 1, wherein when the flexible actuation unit is subjected to a suction operation, the flexible actuation unit is under negative pressure, the flexible actuation unit decreases in length, the solid flexible jaws open, and the flexible hinges bend negatively.
7. The flexible driving clamp of claim 1, wherein the flexible actuating unit can adjust the telescopic length according to the air pressure.
8. The flexible drive clamp of claim 1 wherein mating connection of the solid flexible jaws to the flexible actuating unit is achieved by means of adhesive and/or mechanical fitting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110643402.3A CN113246165A (en) | 2021-06-09 | 2021-06-09 | Flexible driving clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110643402.3A CN113246165A (en) | 2021-06-09 | 2021-06-09 | Flexible driving clamp |
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| Publication Number | Publication Date |
|---|---|
| CN113246165A true CN113246165A (en) | 2021-08-13 |
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| CN202110643402.3A Pending CN113246165A (en) | 2021-06-09 | 2021-06-09 | Flexible driving clamp |
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Citations (10)
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|---|---|---|---|---|
| WO2012148472A2 (en) * | 2010-11-19 | 2012-11-01 | President And Fellows Of Harvard College | Soft robotic actuators |
| CN103213140A (en) * | 2013-04-09 | 2013-07-24 | 江南大学 | Pneumatic dual-flexible multi-finger claw with adjustable rigidity |
| CN203380896U (en) * | 2013-04-09 | 2014-01-08 | 江南大学 | Compliant mechanism pneumatic series connection hinge flexible multi-fingered paw |
| CN205166949U (en) * | 2015-11-26 | 2016-04-20 | 东莞技研新阳电子有限公司 | Flexible universal machine clamping jaw |
| CN108638115A (en) * | 2018-05-22 | 2018-10-12 | 苏州乔岳软件有限公司 | A kind of flexibility clamping jaw |
| CN209289318U (en) * | 2018-12-24 | 2019-08-23 | 重庆怡得塑胶有限公司 | A kind of gripper |
| CN111452066A (en) * | 2020-04-07 | 2020-07-28 | 安徽大学 | Full-flexible bionic pneumatic manipulator |
| CN111906811A (en) * | 2020-08-10 | 2020-11-10 | 安徽大学 | Full-flexible pneumatic actuator |
| CN112549057A (en) * | 2020-12-23 | 2021-03-26 | 山东理工大学 | Novel mechanical arm flexible clamping jaw for sorting and recycling garbage |
| CN212859509U (en) * | 2020-06-12 | 2021-04-02 | 北京软体机器人科技有限公司 | Passive cladding type self-adaptive flexible clamp |
-
2021
- 2021-06-09 CN CN202110643402.3A patent/CN113246165A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012148472A2 (en) * | 2010-11-19 | 2012-11-01 | President And Fellows Of Harvard College | Soft robotic actuators |
| CN103213140A (en) * | 2013-04-09 | 2013-07-24 | 江南大学 | Pneumatic dual-flexible multi-finger claw with adjustable rigidity |
| CN203380896U (en) * | 2013-04-09 | 2014-01-08 | 江南大学 | Compliant mechanism pneumatic series connection hinge flexible multi-fingered paw |
| CN205166949U (en) * | 2015-11-26 | 2016-04-20 | 东莞技研新阳电子有限公司 | Flexible universal machine clamping jaw |
| CN108638115A (en) * | 2018-05-22 | 2018-10-12 | 苏州乔岳软件有限公司 | A kind of flexibility clamping jaw |
| CN209289318U (en) * | 2018-12-24 | 2019-08-23 | 重庆怡得塑胶有限公司 | A kind of gripper |
| CN111452066A (en) * | 2020-04-07 | 2020-07-28 | 安徽大学 | Full-flexible bionic pneumatic manipulator |
| CN212859509U (en) * | 2020-06-12 | 2021-04-02 | 北京软体机器人科技有限公司 | Passive cladding type self-adaptive flexible clamp |
| CN111906811A (en) * | 2020-08-10 | 2020-11-10 | 安徽大学 | Full-flexible pneumatic actuator |
| CN112549057A (en) * | 2020-12-23 | 2021-03-26 | 山东理工大学 | Novel mechanical arm flexible clamping jaw for sorting and recycling garbage |
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Address after: 102,600 Building 12, Yard 109, Jinghai 3rd Road, Daxing Economic and Technological Development Zone, Beijing (Yizhuang Cluster, High end Industrial Zone, Beijing Pilot Free Trade Zone) Applicant after: Beijing Software Robot Technology Co.,Ltd. Address before: 101111 building 12, yard 109, jinghaisan Road, Tongzhou Economic and Technological Development Zone, Beijing (Yizhuang group, high end industrial area, Beijing Pilot Free Trade Zone) Applicant before: BEIJING SOFT ROBOT TECH Co.,Ltd. |
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