CN207643171U - A kind of flexible holding device - Google Patents
A kind of flexible holding device Download PDFInfo
- Publication number
- CN207643171U CN207643171U CN201721288004.XU CN201721288004U CN207643171U CN 207643171 U CN207643171 U CN 207643171U CN 201721288004 U CN201721288004 U CN 201721288004U CN 207643171 U CN207643171 U CN 207643171U
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- drive
- outside connecting
- points
- holding device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 34
- 230000000712 assembly Effects 0.000 claims abstract description 11
- 238000000429 assembly Methods 0.000 claims abstract description 11
- 125000006850 spacer group Chemical group 0.000 claims description 21
- 230000009471 action Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 10
- 230000008569 process Effects 0.000 abstract description 7
- 230000007246 mechanism Effects 0.000 description 19
- 238000010586 diagram Methods 0.000 description 10
- 238000004458 analytical method Methods 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model is related to a kind of flexible holding device, including holder, drive component and clamp assemblies, drive component drives clamp assemblies movement；Clamp assemblies include two drive links for being hingedly connected to holder, it is hingedly connected to two inner links of holder, it is articulated with the outside connecting rod of drive link, it is articulated with inner link simultaneously and the supporting rod outside connecting rod of outside connecting rod is set as two, two outside connecting rods are hingedly connected to corresponding drive link, supporting rod is set as two, and two supporting rods are hingedly connected to corresponding inner link and outside connecting rod；A kind of flexible holding device, it is made of drive lacking connecting rod, after adding driving element, the unilateral connection rod set being made of the drive link of arbitrary side, outside connecting rod, inner link and supporting rod still has there are two degree of freedom, drive lacking connecting rod has adaptivity, in object, with object contact process is clamped, the shape that can form envelope object is acted on by external force.
Description
Technical field
The utility model is related to manipulator fields, more particularly to a kind of flexible holding device.
Background technology
In the production process of product, automatic manipulator is widely used in flow production line operation, can not only carry
High efficiency, while can ensure the quality of finished product.
Multiple types specification product is produced in a production line or work station, and following problem is exactly oneself of manipulator
Adjustment, the solve the above problems method of use of traditional manual work mode are：One manipulator is pressed from both sides plus frock clamp
It holds a kind of workpiece product, after product category and change in size, frock clamp will be generally replaced, especially in some positioning accuracies
More demanding, in the production more than workpiece size and attitudes vibration, traditional stationary machine frock clamp generally requires people
Work adjusts, and this production model not only has complicated, huge clamp positioning mechanism, while requiring also very the operation of worker
Height, and this traditional stationary machine fixture mode is difficult to apply in automated production, therefore, adapts to multiple types specification
The manipulator and frock clamp of the automated production of product just become urgently product leaved for development in automated production.
Invention content
For the technical problems in the prior art, the purpose of this utility model is：A kind of flexible holding device is provided,
In clamping process, the flexible holding device can adjust automatically own form realize packet to adapt to the profile of different objects
Network is clamped or accurate crawl.
In order to achieve the above object, the utility model adopts the following technical solution：A kind of flexible holding device, including branch
Frame, drive component and clamp assemblies, drive component drive clamp assemblies movement；
Clamp assemblies include two drive links for being hingedly connected to holder, are hingedly connected to two inner links of holder,
It is articulated with the outside connecting rod of drive link, while being articulated with the supporting rod of inner link and outside connecting rod, outside connecting rod is set as two, two
Outside connecting rod is hingedly connected to corresponding drive link, and supporting rod is set as two, and two supporting rods are hingedly connected in corresponding
Connecting rod and outside connecting rod；
Drive component includes cylinder, and cylinder body and the backing positions of cylinder are relatively fixed, and are fixedly connected with the piston of cylinder
Air cylinder connecting rod, the length direction of air cylinder connecting rod perpendicular to the piston of cylinder direction of motion setting, respectively with the two of air cylinder connecting rod
Two hinged connecting rods, one end of two connecting rods are held to be hingedly connected to air cylinder connecting rod, the other end point of two connecting rods
It is not articulated with two drive links；
Two drive links, two inner links, two outside connecting rods, two supporting rods, air cylinder connecting rod and two connecting rods
Axisymmetricly it is arranged, symmetry axis is cylinder piston along the central shaft of its direction of motion, the drive link of arbitrary side, outer company
Bar, inner link and supporting rod form unilateral connection rod set；
Drive link is equipped with spacer pin with outside connecting rod hinged place, and spacer pin is for limiting between drive link and outside connecting rod
Angle, the angle between drive link and outside connecting rod are θ1, θ1It is equipped with less than 180 °, between drive link and outside connecting rod and stretches bullet
Spring, extension spring are used to limit the degree of freedom between drive link and outside connecting rod, the extension spring when spacer pin plays position-limiting action
It does not stress.
Wherein, supporting rod includes interconnecting piece and clamping part, and clamping part is fixed in one end of interconnecting piece, outside connecting rod and inner link
It is articulated with interconnecting piece.
Wherein, the length direction of clamping part and the direction of motion of cylinder piston are identical.
Wherein, the hinge joint of drive link and holder is A points, and the hinge joint of outside connecting rod and interconnecting piece is C points, interconnecting piece with
It is D points with the hinge joint of inner link, the hinge joint of inner link and holder is E points, when extension spring does not stress, A points to C points
Distance, the distance of the distance of C points to D points, the distance of D points to E points, E points to A points form a parallelogram.
Wherein, spacer pin is fixed in drive link, and spacer pin is set to position near outside connecting rod and the hinge joint of drive link
It sets.
Wherein, holder includes anter and rear piece, and anter and rear piece are fixed together, the articulated position of drive link and holder
Between anter and rear piece.
Wherein, one end that inner link is connect with holder is equipped with connector, and connector is extended by inner link, connector packet
The first branch and the second branch are included, the first branch is hinged with anter, and the second branch is hinged with rear piece, and the first branch and second point
Branch is positioned at the both sides of holder.
Wherein, drive link includes drive connection portion and is clamped and connected portion, drive connection portion and the portion's of being clamped and connected one at
Type, drive connection portion connect drive component, and the portion of being clamped and connected connects outside connecting rod, and the length direction in drive connection portion is perpendicular to clamping
The hinge joint of the length direction of interconnecting piece, drive link and holder is located on the intersection point in drive connection portion and the portion that is clamped and connected.
Wherein, the angle between outside connecting rod and supporting rod is θ2, 90 °<θ2<100°。
Wherein, extension spring is spiral stretching spring.
Generally speaking, the utility model has the following advantages that：
A kind of flexible holding device is made of drive lacking connecting rod, that is, after adding driving element, by the driving of arbitrary side
The unilateral connection rod set that connecting rod, outside connecting rod, inner link and supporting rod form still has there are two degree of freedom, and drive lacking connecting rod has
Adaptivity is acted on the shape that can form envelope object by external force in object, with object contact process is clamped；
Including pseudo rigid-body, before not in contact with object, in order to ensure that drive lacking connecting rod has determining movement, therefore in hinge
The elements such as addition extension spring, spacer pin are carried out to the degree of freedom limitation at this in equal kinematic pairs, when by outer force effect,
The degree of freedom release of the spring that is stretched at this limitation, to form the shape of envelope object, therefore can be clamped spherical body；
Driven using cylinder, driven compared with motor, need to add additional transmission mechanism although pneumatic, it is self adaptive it is good,
Chucking power adjustable extent is wide and has good overload protection performance；
In clamping process, the flexible holding device can adjust automatically own form, to adapt to the wheel of different objects
Exterior feature, the grasp mode realized envelope clamping or accurately captured.
Description of the drawings
Fig. 1 is a kind of dimensional structure diagram of flexible holding device of the utility model.
Fig. 2 is that a kind of flexible holding device of the utility model is dismantled the dimensional structure diagram after anter.
Fig. 3 is the working state schematic representation that a kind of flexible holding device top of the utility model captures thin long materials.
Fig. 4 is the working state schematic representation that a kind of flexible holding device top of the utility model captures small ball.
Fig. 5 is the working state schematic representation that a kind of flexible holding device top of the utility model captures cube.
Fig. 6 is the working state schematic representation of porous body in a kind of expansion crawl of flexible holding device of the utility model.
Fig. 7 is the working state schematic representation that big ball is clamped in a kind of envelope of flexible holding device of the utility model.
Fig. 8 is that the working state schematic representation of irregularity block is clamped in a kind of envelope of flexible holding device of the utility model.
Fig. 9 is a kind of schematic diagram of mechanism of flexible holding device of the utility model
Figure 10 is a kind of retained part link mechanism schematic diagram of flexible holding device of the utility model.
Figure 11 is that a kind of pinching for flexible holding device of the utility model grabs link motion trend analysis figure.
Figure 12 is that a kind of expansion of flexible holding device of the utility model captures force analysis figure.
Figure 13 is that a kind of envelope of flexible holding device of the utility model captures movement tendency analysis chart；
Wherein Figure 13 (a) is a kind of part body schematic diagram of flexible holding device of the utility model；
Figure 13 (b) is the schematic diagram of mechanism and movement tendency analysis chart after the simplification of Figure 13 (a)；
Figure 13 (c) is the satisfactory polygon diagram of Figure 13 (a).
Figure 14 is a kind of drive component link mechanism figure of flexible holding device of the utility model.
Figure 15 is a kind of drive component link motion trend analysis figure of flexible holding device of the utility model；
Wherein Figure 15 (a) is the schematic diagram of mechanism and movement tendency analysis chart of drive component；
Figure 15 (b) is the satisfactory polygon diagram of Figure 15 (a).
Include in wherein Fig. 1 to Figure 15：
1. supporting rod, 2. inner links, 21. first branches, 22. second branches, 3. outside connecting rods, 4. extension springs, 5. limits
Pin, 6. drive links, 61. drive connection portions, 62. are clamped and connected piece, 8. connecting rods, 9. behind portion, 7. holders, 71. anters, 72.
Bolt, 10. air cylinder connecting rods, 11. cylinders, 12. thin long materials, 13. small balls, 14. cubes, porous body in 15., 16. big balls,
17. irregularity block.
Specific implementation mode
It is next below that the utility model is described in more detail.
Embodiment 1,
As shown in Figure 1, Figure 2, shown in Fig. 9, a kind of flexible holding device, including holder 7, drive component and clamp assemblies, driving
Component driver clamp assemblies move；
Clamp assemblies include two drive links 6 for being hingedly connected to holder 7, are hingedly connected to connect in two of holder 7
Bar 2 is articulated with the outside connecting rod 3 of drive link 6, and outside connecting rod 3 is set as two, and two outside connecting rods 3 are hingedly connected to corresponding drive
Dynamic connecting rod 6, while it being articulated with the supporting rod 1 of inner link 2 and outside connecting rod 3, supporting rod 1 is set as two, and two supporting rods 1 are distinguished
It is articulated with corresponding inner link 2 and outside connecting rod 3；
Drive component includes cylinder 11, and cylinder body and 7 position of holder of cylinder 11 are relatively fixed, are fixed with the piston of cylinder 11
The air cylinder connecting rod 10 of connection, the length direction of air cylinder connecting rod 10 perpendicular to the piston of cylinder 11 direction of motion setting, respectively with
Two hinged connecting rods 8 of the both ends of air cylinder connecting rod 10, one end of two connecting rods 8 are hingedly connected to air cylinder connecting rod 10, two
The other end of connecting rod 8 is hingedly connected to two drive links 6；
Two outside connecting rods of inner link 2, two of drive link 6, two, 3, two supporting rods 1, air cylinder connecting rod 10 and two
Connecting rod 8 is axisymmetricly arranged, and symmetry axis is the piston of cylinder 11 along the central shaft of its direction of motion, the driving of arbitrary side
Connecting rod 6, outside connecting rod 3, inner link 2 and supporting rod 1 form unilateral connection rod set；
Drive link 6 is equipped with spacer pin 5 with 3 hinged place of outside connecting rod, and spacer pin 5 is for limiting drive link 6 and outside connecting rod 3
Between angle, the angle between drive link 6 and outside connecting rod 3 is θ1, θ1Less than 180 °, between drive link 6 and outside connecting rod 3
Equipped with extension spring 4, extension spring 4 is used to limit the degree of freedom between drive link 6 and outside connecting rod 3, when spacer pin 5 plays limit
Extension spring 4 does not stress when effect.Spacer pin is in contact condition with outside connecting rod.
Supporting rod 1：The connecting rod of object is clamped；Inner link 2：Connection function；Outside connecting rod 3, connection function；Extension spring 4：It releases
Degree of freedom is put, when being clamped such as envelope, 1 envelope object motion of supporting rod is realized by release degree of freedom, until supporting rod 1 contacts
When object, object limiting rod movement, degree of freedom number will subtract one；Spacer pin 5：The reduction of certain hinge angle is limited, it is whole to make
A mechanism freedom subtracts one；Drive link 6：Drive clamping device componental movement；Holder 7：Fix the effect of other components；Connecting rod
8：Connection function；Bolt 9：Connection for air cylinder connecting rod 10 and cylinder 11；Air cylinder connecting rod 10：Connect cylinder 11, cylinder 11：It drives
Dynamic entire clamper movement.The method of clamping of the present apparatus includes：Top crawl, expansion clamping, envelope folder clamping.
Supporting rod 1 includes interconnecting piece and clamping part, and clamping part is fixed in one end of interconnecting piece, and outside connecting rod 3 and inner link 2 are equal
It is articulated with interconnecting piece.
The length direction of clamping part is identical as the direction of motion of the piston of cylinder 11.
The hinge joint of drive link 6 and holder 7 is A points, and the hinge joint of outside connecting rod 3 and interconnecting piece is C points, interconnecting piece with
The hinge joint of inner link 2 is D points, and the hinge joint of inner link 2 and holder 7 is E points, when extension spring 4 does not stress, spacer pin with
Outside connecting rod is in contact condition, the distance of A points to C points, the distance of C points to D points, the distance of D points to E points, E points to A points away from
From one parallelogram of composition.
Spacer pin 5 is fixed in drive link 6, and spacer pin 5 is set to outside connecting rod 3 and position near the hinge joint of drive link 6
It sets.
Holder 7 includes anter 71 and rear piece 72, and anter 71 and rear piece 72 are fixed together, the hinge of drive link 6 and holder 7
Position is connect between anter 71 and rear piece 72.
One end that inner link 2 is connect with holder 7 is equipped with connector, and connector is extended by inner link 2, and connector includes
First branch 21 and the second branch 22, the first branch 21 and anter 71 are hinged, and the second branch 22 and rear piece 72 are hinged, and first point
Branch 21 and the second branch 22 are located at the both sides of holder 7.
Drive link 6 includes drive connection portion 61 and the portion 62 that is clamped and connected, drive connection portion 61 and the portion 62 1 that is clamped and connected
Body formed, drive connection portion 61 connects drive component, and the portion 62 that is clamped and connected connects outside connecting rod 3, the length side in drive connection portion 61
To the length direction perpendicular to the portion of being clamped and connected 62, the hinge joint of drive link 6 and holder 7 is located at drive connection portion 61 and clamping
On the intersection point of interconnecting piece 62.
Angle between outside connecting rod 3 and supporting rod 1 is θ2, 90 °<θ2<100°。
Extension spring 4 is draft helical spring.
Generally speaking, the utility model has the following advantages that：
A kind of flexible holding device is made of drive lacking connecting rod 6, that is, after adding driving element, connecting rod still has two
There is adaptivity to be acted on by external force in object, with object contact process is clamped for a above degree of freedom, drive lacking connecting rod
The shape of envelope object can be formed；
Including pseudo rigid-body, before not in contact with object, in order to ensure that drive lacking connecting rod has determining movement, therefore in hinge
The elements such as addition extension spring 4, spacer pin 5 are carried out to the degree of freedom limitation at this, when by outer force effect in equal kinematic pairs
It waits, to form the shape of envelope object, therefore sphere can be clamped in the degree of freedom release of the spring 4 that is stretched at this limitation
Body；
It is driven using cylinder 11, is driven compared with motor, it is self adaptive although pneumatically needing to add additional transmission mechanism
Good, chucking power adjustable extent is extensively and with good overload protection performance；
In clamping process, the flexible holding device can adjust automatically own form, to adapt to the wheel of different objects
Exterior feature, the grasp mode realized envelope clamping or accurately captured.
Simultaneously meet top pinch grab, expand crawl, envelope clamping etc. the long requirement condition of bars, you can realization one clamper realization
Various ways are clamped, that is, need to meet following condition：
1. ACDE is parallelogram
②θ2Angle is more than 90 °, but cannot be excessive, θ2It is excessive influence whether expansion clamping ability, refer to expansion gripping by
Power analysis chart (expansion gripping).
③θ1It is necessarily less than 180 ° (envelope grippings).
All it is initial angle for above angles θ, i.e. extension spring 4 is not at stretching or compressive state, at position-limit mechanism
In contact condition.
Practical drive component is slider-crank mechanism, is that drive rod is transported around the rotation of rack by 11 transform linear motion of cylinder
It is dynamic.
Purpose：When verification drive rod L is vertically moved upwards, ensure that AB bars make counterclockwise movement around A points.
Analytic process：As shown in figure 15, operating speed instantaneous center method analyzes mechanism, and there are four structures altogether for the mechanism
Part, shown in corresponding dynamical response such as Figure 15 (b).
By dynamical response it is found that represent P13 is the common edge of △ 123 and △ 143, i.e. P13 both should be in P12 and P23
Line on, also should be on the line of P14 and P34, the intersection point of this two lines is the instantaneous center of velocity of bar I, bar III.Instantaneous position
Set as shown in (a) in Figure 15, bar I, bar III the direction of motion be respectively v1, ω 3.
P13 points are the constant speed coincidence points of bar I and bar III.Obviously, when instantaneous P13 is located at the right side of point P34, bar III is in inverse
When needle movement, reach required requirement.
Specifically, grabbed as Fig. 3, Fig. 4, Fig. 5 show top and pinch, Fig. 3 is that top pinches and grabs thin long materials 12, and Fig. 4 is top
It pinches and grabs small ball 13, Fig. 5 is pinched for top and grabbed cube 14, realizes that the necessary condition grabbed is pinched on top：
1) as shown in Figure 10, ensure that supporting rod 1DF remains plumbness under any state.AECD palpuses under original state
For parallelogram.Original state：Extension spring 4 is not stretched, is not compressed；The contact of spacer pin 5 is original state.Ensure DC flat
It is not rotated on face, i.e., DF bars keep plumbness.
2) ensure to pinch stability when grabbing, limit element provides constraints, then 1 jiao of θ must be in reduction trend.2 angles of θ must
90 ° must be more than, the movement tendency analysis of 2 bars is as shown in figure 11.If F2c will provide 2 bars one component to the left, 2 bars are opposite
There is rotation trend counterclockwise in B points.Then 2 angles of θ should be greater than wanting 90 °.To ensure that 1 jiao of θ is in subtract when object is when top is pinched and grabbed
Small trend.Using spacer pin 5, limitation 1 angles of θ reduce, and limit the degree of freedom of hinges B, i.e. AB and BC bars can be seen
Make the same component, the degree of freedom of entire link mechanism is 0 at this time, it is clear that have determining movement, realize that stabilization pinches the function of grabbing.
3) it is double-crank mechanism to verify the mechanism.Double-crank existential theorem：1. rack is most quarter butt；2. most quarter butt and longest
The sum of pole length is less than or equal to the sum of remaining two pole length.The obvious mechanism meets conditions above.Double-crank four-bar mechanism：ED
Extreme position is not present with AC bars, verifies the unilateral clamping hand not working limit condition of itself.
Embodiment 2,
The primary structure of the present embodiment is same as Example 1, and details are not described herein for something in common, the difference is that：Such as
Shown in Fig. 6, interior porous body 15 is captured for expansion, realizes that the necessary condition of expansion crawl is：Ensure that supporting rod 1 hangs down under any state
Directly.That is original state AECD is parallelogram.Ensure that DC is not rotated in the plane, i.e., DF bars keep plumbness.
For the stable state for being optimal, following require is proposed to clamping device：
As shown in figure 12, if pinching the model under the state of grabbing using top, expansion crawl is carried out, F2c provides one to bar II
Component to the right, bar II have clockwise rotation trend relative to B points.1 jiao of θ is in increase trend at this time, and limitation is played to hinge B
The limit element of effect is extension spring 4.
As shown in figure 12, the stability being clamped at this time depends on bar II, power F2ctPower to the torque of B points, F2ctMore
It is small, it is more stable to expand crawl.That is θ2The size at angle, θ2It is more advantageous to the stability for increasing expansion clamping closer to 90 °.
The stiffness coefficient that the torsion that BC bars are subject to depends on extension spring 4 is born, stiffness coefficient is bigger, expands the steady of clamping
It is qualitative better, but stiffness coefficient is bigger, is more unfavorable for envelope gripping.Therefore the quality of expansion clamping object is limited significantly
System.
Embodiment 3,
The primary structure of the present embodiment is identical as embodiment 1 or 2, and details are not described herein for something in common, the difference is that：
As shown in Figure 7, Figure 8, big ball 16 and irregularity block 17 is clamped in envelope, to realize that envelope is clamped, then need supporting rod 1 III
Movement tendency is to do counterclockwise movement around D points.The movement tendency of bar III is as shown in figure 13：When object is clamped in envelope, IV quilt of bar
Object block is withstood, and be considered as bar IV does not have relative motion for rack, and the machine such as Figure 13 (b) can be simplified to from such as Figure 13 (a)
Structure schematic diagram, there are four component, corresponding dynamical response such as Figure 13 (c) altogether for the mechanism.
By dynamical response it is found that represent P13 is the common edge of △ 123 and △ 153, i.e. P13 both should be in P12 and P23
Line on, also should be on the line of P14 and P34, the intersection point of this two lines is the instantaneous center of velocity of bar I, bar III.Instantaneous position
Set as shown in Figure 13 (b), bar I, bar III the direction of motion be respectively ω 1, ω 3.Obviously when instantaneous P13 be located at bar I, bar III it is same
When side (θ 1 is less than 180 °), it will be able to realize the action of envelope clamping.
Above-described embodiment is the preferable embodiment of the utility model, but the embodiment of the utility model is not by above-mentioned
The limitation of embodiment, under other any Spirit Essences and principle without departing from the utility model made by change, modify, replace
In generation, simplifies combination, should be equivalent substitute mode, is included within the scope of protection of the utility model.
Claims (10)
1. a kind of flexible holding device, it is characterised in that：Including holder, drive component and clamp assemblies, drive component driving folder
Hold component movement；
Clamp assemblies include two drive links for being hingedly connected to holder, are hingedly connected to two inner links of holder, hinged
In the outside connecting rod of drive link, while it being articulated with the supporting rod of inner link and outside connecting rod, outside connecting rod is set as connecting outside two, two
Bar is hingedly connected to corresponding drive link, and supporting rod is set as two, and two supporting rods are hingedly connected to corresponding inner link
And outside connecting rod；
Drive component includes cylinder, and cylinder body and the backing positions of cylinder are relatively fixed, the cylinder being fixedly connected with the piston of cylinder
The length direction of connecting rod, air cylinder connecting rod is arranged perpendicular to the direction of motion of the piston of cylinder, is cut with scissors respectively with the both ends of air cylinder connecting rod
One end of two connecting rods connect, two connecting rods is hingedly connected to air cylinder connecting rod, and the other end of two connecting rods is cut with scissors respectively
It is connected to two drive links；
Two drive links, two inner links, two outside connecting rods, two supporting rods, air cylinder connecting rod and two connecting rods are in
Axial symmetry is arranged, and symmetry axis is central shaft of the cylinder piston along its direction of motion, the drive link of arbitrary side, outside connecting rod, interior
Connecting rod and supporting rod form unilateral connection rod set；
Drive link is equipped with spacer pin with outside connecting rod hinged place, and spacer pin is used to limit the angle between drive link and outside connecting rod
Degree, the angle between drive link and outside connecting rod is θ1, θ1Less than 180 °, extension spring is equipped between drive link and outside connecting rod,
Extension spring is used to limit degree of freedom between drive link and outside connecting rod, when spacer pin plays position-limiting action extension spring not by
Power.
2. a kind of flexible holding device described in accordance with the claim 1, it is characterised in that：Supporting rod includes interconnecting piece and clamping
Portion, clamping part are fixed in one end of interconnecting piece, and outside connecting rod and inner link are articulated with interconnecting piece.
3. a kind of flexible holding device according to claim 2, it is characterised in that：The length direction of clamping part is lived with cylinder
The direction of motion of plug is identical.
4. a kind of flexible holding device described in accordance with the claim 3, it is characterised in that：The hinge joint of drive link and holder is
The hinge joint of A points, outside connecting rod and interconnecting piece is C points, and the hinge joint of interconnecting piece and inner link is D points, the hinge of inner link and holder
Contact is E points, when extension spring does not stress, the distance of A points to C points, the distance of C points to D points, the distance of D points to E points, E points
Distance to A points forms a parallelogram.
5. a kind of flexible holding device described in accordance with the claim 1, it is characterised in that：Spacer pin is fixed in drive link, limit
Position pin is set to the hinge joint neighbouring position of outside connecting rod and drive link.
6. a kind of flexible holding device described in accordance with the claim 1, it is characterised in that：Holder includes anter and rear piece, anter
It is fixed together with rear, the articulated position of drive link and holder is between anter and rear piece.
7. a kind of flexible holding device according to claim 6, it is characterised in that：One end that inner link is connect with holder is set
There are connector, connector to be extended by inner link, connector includes the first branch and the second branch, and the first branch cuts with scissors with anter
It connects, the second branch is hinged with rear piece, and the first branch and the second branch are located at the both sides of holder.
8. a kind of flexible holding device described in accordance with the claim 1, it is characterised in that：Drive link include drive connection portion and
Be clamped and connected portion, and drive connection portion and the portion of being clamped and connected are integrally formed, and drive connection portion connects drive component, and the portion of being clamped and connected connects
Connect outside connecting rod, perpendicular to the length direction in the portion of being clamped and connected, drive link and holder are hinged for the length direction in drive connection portion
Point is located at drive connection portion and is clamped and connected on the intersection point in portion.
9. a kind of flexible holding device described in accordance with the claim 1, it is characterised in that：Angle between outside connecting rod and supporting rod
For θ2, 90 °<θ2<100°。
10. a kind of flexible holding device described in accordance with the claim 1, it is characterised in that：Extension spring is spiral stretching spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721288004.XU CN207643171U (en) | 2017-09-30 | 2017-09-30 | A kind of flexible holding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721288004.XU CN207643171U (en) | 2017-09-30 | 2017-09-30 | A kind of flexible holding device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207643171U true CN207643171U (en) | 2018-07-24 |
Family
ID=62884020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721288004.XU Withdrawn - After Issue CN207643171U (en) | 2017-09-30 | 2017-09-30 | A kind of flexible holding device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207643171U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107553523A (en) * | 2017-09-30 | 2018-01-09 | 佛山科学技术学院 | A kind of flexible holding device |
| CN108839046A (en) * | 2018-08-21 | 2018-11-20 | 佛山科学技术学院 | A kind of clamp assemblies and flexible retainer |
| CN109910366A (en) * | 2019-04-16 | 2019-06-21 | 惠秀达包装科技(太仓)有限公司 | Retractable lapel bag making former and its multiple row lapel bag-making forming device |
| CN110605733A (en) * | 2019-10-31 | 2019-12-24 | 中国科学院合肥物质科学研究院 | Self-adaptive finger clamping device |
| CN110774300A (en) * | 2019-11-08 | 2020-02-11 | 腾讯科技（深圳）有限公司 | Under-actuated clamp holder and artificial intelligent electronic clamping equipment |
-
2017
- 2017-09-30 CN CN201721288004.XU patent/CN207643171U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107553523A (en) * | 2017-09-30 | 2018-01-09 | 佛山科学技术学院 | A kind of flexible holding device |
| CN107553523B (en) * | 2017-09-30 | 2024-02-06 | 佛山科学技术学院 | Flexible clamping device |
| CN108839046A (en) * | 2018-08-21 | 2018-11-20 | 佛山科学技术学院 | A kind of clamp assemblies and flexible retainer |
| CN109910366A (en) * | 2019-04-16 | 2019-06-21 | 惠秀达包装科技(太仓)有限公司 | Retractable lapel bag making former and its multiple row lapel bag-making forming device |
| CN110605733A (en) * | 2019-10-31 | 2019-12-24 | 中国科学院合肥物质科学研究院 | Self-adaptive finger clamping device |
| CN110605733B (en) * | 2019-10-31 | 2022-08-02 | 中国科学院合肥物质科学研究院 | Self-adaptive finger clamping device |
| CN110774300A (en) * | 2019-11-08 | 2020-02-11 | 腾讯科技（深圳）有限公司 | Under-actuated clamp holder and artificial intelligent electronic clamping equipment |
| CN110774300B (en) * | 2019-11-08 | 2022-08-30 | 腾讯科技（深圳）有限公司 | Under-actuated clamp holder and artificial intelligent electronic clamping equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107553523A (en) | A kind of flexible holding device | |
| CN207643171U (en) | A kind of flexible holding device | |
| CN203185352U (en) | Pneumatic centering inside-supporting clamping device | |
| CN109605405B (en) | Self-adaptive cylinder grabbing paw | |
| CN207127540U (en) | A kind of adjustable special fixture of angle | |
| CN217728765U (en) | Adjustable centering clamping jaw of high stability | |
| CN105643455B (en) | A kind of coordinated type robot clamping device | |
| CN107855786B (en) | Clamping device capable of being adjusted in height and used for mechanical automatic machining | |
| CN110238679A (en) | A kind of air-actuated jaw | |
| CN207344171U (en) | One kind machining special fixture | |
| CN117681132A (en) | Self-centering clamp for pipe sealing equipment | |
| CN211388836U (en) | Self-adaptation cylinder bottle diameter electromechanical clamping jaw | |
| CN206578779U (en) | A kind of multiple degrees of freedom retainer | |
| CN111283452A (en) | Clamping and positioning fixture for arc surface workpiece | |
| CN207930690U (en) | Manipulator clamping jaw structure | |
| CN216967820U (en) | Mechanical clamping jaw for mechanical manufacturing | |
| CN209453407U (en) | Fixture | |
| CN208643902U (en) | Limiting device based on processing of robots | |
| CN109202937B (en) | Modular multi-joint line control robot | |
| CN209207282U (en) | Flat-nose pliers during a kind of adaptive angle repetition is fixed | |
| CN208663557U (en) | A kind of circular object fast fixture | |
| CN207272802U (en) | A kind of damping tube special fixture | |
| CN113021217A (en) | Pneumatic auxiliary device for machining free-form surface thin-walled workpiece | |
| CN215470648U (en) | But anchor clamps of batch centre gripping cylinder automatically regulated size | |
| CN213765911U (en) | Adjusting clamp for mechanical arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180724 Effective date of abandoning: 20240206 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20180724 Effective date of abandoning: 20240206 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |