A flexible clamping device

Abstract

The present application belongs to the technical field of mechanical manufacturing, and discloses a flexible clamping device, which comprises a connecting piece, a tightening biasing tool, a tightening head assembly and a tightening driving piece. The tightening biasing tool is arranged at the bottom end of the connecting piece, and can move relative to the connecting piece along a first direction and a second direction perpendicular to the first direction. The tightening head assembly is rotationally arranged at the bottom end of the tightening biasing tool and used for clamping a nut. The tightening driving piece is arranged on the tightening biasing tool and in transmission connection with the tightening head assembly. The tightening driving piece can drive the tightening head assembly to rotate relative to the tightening biasing tool around a first axis perpendicular to the first direction and the second direction. By moving the tightening biasing tool relative to the connecting piece along the first direction and the second direction, the nut can change according to the position change of the bolt, so that rigid collision between the nut and the bolt during the positioning adjustment of the mechanical arm is avoided, and high locking of the bolt and damage of the mechanical arm are avoided.

Description

Technical Field

[0001] This invention relates to the field of mechanical manufacturing technology, and in particular to a flexible clamping device. Background Technology

[0002] High-strength bolts are widely used in modern aircraft structural design due to their high strength, fatigue resistance, excellent self-locking and anti-loosening properties, and ease of assembly. They are used not only for connections between composite materials and between composite materials and metals, but also extensively for connections between metals that bear the main load and transmit the main load. As the proportion of composite materials used in new aircraft models increases, the application of riveted structures is trending downwards, while the application of high-strength bolt connections is increasing. In current automated assembly processes using high-strength bolts, positional deviations between the bolts and nuts can easily lead to rigid collisions between the bolts and nuts, as well as between components of the robotic arm, resulting in damage to the high-strength bolts and the robotic arm itself.

[0003] Therefore, there is an urgent need for a flexible clamping device to solve the above problems. Summary of the Invention

[0004] The purpose of this invention is to provide a flexible clamping device to avoid rigid collisions between nuts and bolts during the adjustment and positioning of the robotic arm, which could lead to damage to the high-locking bolts and the robotic arm.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A flexible clamping device, comprising:

[0007] Connector, used to connect the robotic arm;

[0008] A tightening biasing tool is disposed at the bottom end of the connector. The tightening biasing tool is movable relative to the connector along a first direction and a second direction, wherein the second direction is perpendicular to the first direction.

[0009] A tightening head assembly, which is rotatably mounted at the bottom end of the tightening bias tool, is used to clamp the nut;

[0010] A tightening drive is disposed on the tightening bias tool and is connected to the tightening head assembly in a driving manner. The tightening drive can drive the tightening head assembly to rotate relative to the tightening bias tool about a first axis, the first axis being perpendicular to both the first direction and the second direction.

[0011] Preferably, the flexible clamping device further includes a sensor disposed on the connector, the sensor being capable of monitoring the position of the tightening biasing tool relative to the connector along the first direction and the second direction.

[0012] Preferably, the flexible clamping device further includes a sliding assembly, the sliding assembly comprising:

[0013] A first connecting plate is disposed at the bottom end of the sensor, and a first linear guide rail extending in a first direction is disposed on the side of the first connecting plate away from the connector.

[0014] The first sliding plate is slidably disposed on the first linear guide rail;

[0015] The second connecting plate is fixed to the bottom end of the first sliding plate, and a second linear guide rail extending in the second direction is provided on the side of the second connecting plate away from the first sliding plate.

[0016] The second sliding plate is slidably disposed on the second linear guide rail, and the tightening drive component is fixedly disposed at the bottom end of the second sliding plate.

[0017] Preferably, the flexible clamping device further includes a first connecting flange, the bottom end of the sensor is fixedly connected to the top end of the first connecting flange, and the top end of the first linear guide is fixedly connected to the bottom end of the first connecting flange.

[0018] Preferably, the flexible clamping device further includes a second connecting flange, the bottom end of the second connecting plate is fixedly connected to the top end of the second connecting flange, and the top end of the tightening biasing tool is fixedly connected to the bottom end of the second connecting flange.

[0019] Preferably, the flexible clamping device further includes a return assembly, the return assembly comprising:

[0020] The first spring plunger is provided at both ends of the first linear guide rail. The first spring plunger includes a first column and a first column head. The first column is fixed on the first linear guide rail. The first column head is slidably disposed on the end of the first column near the first sliding plate. The two first columns respectively abut against the two ends of the first sliding plate along the first direction.

[0021] The second spring plunger is provided at both ends of the second linear guide rail. The second spring plunger includes a second column and a second column head. The second column is fixed on the second linear guide rail. The second column head is slidably disposed at one end of the second column near the second sliding plate. The two second columns head respectively abut against the two ends of the second sliding plate along the second direction.

[0022] Preferably, the tightening head assembly includes:

[0023] The tightening shaft base plate includes a rotating shaft and a base plate fixed to the bottom end of the rotating shaft. The tightening biasing tool is provided with a connecting hole. The rotating shaft is rotatably disposed in the connecting hole. The tightening drive can drive the rotating shaft to rotate around the first axis.

[0024] A floating tightening shaft is disposed at the bottom end of the base plate. The axis of the floating tightening shaft is collinear with the first axis. The floating tightening shaft can slide relative to the tightening shaft base plate along the first axis and can rotate relative to the tightening drive member around the first axis with the tightening shaft base plate.

[0025] Preferably, the tightening head assembly further includes:

[0026] A tightening shaft end cap is fixed to the top of the base plate. The tightening shaft end cap is provided with a first receiving cavity, and the bottom end of the tightening shaft end cap is provided with a first floating hole coaxial with the floating tightening shaft.

[0027] A floating shaft, one end of which passes through the first floating hole and is inserted into the first receiving cavity, and the other end of which extends out of the first receiving cavity;

[0028] The first elastic element has a first abutting portion protruding from one end of the floating shaft into the first receiving cavity in a direction away from the first axis. One end of the first elastic element abuts against the first abutting portion, and the other end abuts against the end of the tightening shaft end cover that is provided with the first floating hole. The first elastic element can drive the floating shaft to abut against the bottom end of the base plate.

[0029] The second elastic element has a second receiving cavity provided on the floating shaft. A second floating hole is provided at the end of the floating shaft away from the base plate. The floating tightening shaft passes through the second floating hole and is inserted into the second receiving cavity. The floating tightening shaft is provided with a second abutting part. One end of the second elastic element abuts against the base plate, and the other end abuts against the side of the second abutting part near the base plate of the tightening shaft. The second elastic element can drive the side of the second abutting part away from the base plate to abut against the cavity of the second receiving cavity. At this time, there is a gap between the end of the floating tightening shaft near the base plate and the base plate.

[0030] Preferably, a guide shaft is fixed at one end of the floating tightening shaft near the base plate, the axis of the guide shaft is collinear with the first axis, and the second elastic element is sleeved on the guide shaft.

[0031] Preferably, multiple first elastic elements are provided, and the multiple first elastic elements are arranged at intervals around the floating shaft. The first abutting part is provided with a guide rod corresponding to each of the first elastic elements, and the first elastic element is sleeved on the guide rod.

[0032] The beneficial effects of this invention are:

[0033] The flexible clamping device provided by this invention includes a connector, a tightening bias tool, a tightening head assembly, and a tightening drive. The connector is used to connect a robotic arm. The tightening bias tool is disposed at the bottom end of the connector and is movable relative to the connector along a first direction and a second direction, the second direction being perpendicular to the first direction. The tightening head assembly is rotatably disposed at the bottom end of the tightening bias tool and is used to clamp a nut. The tightening drive is disposed on the tightening bias tool and is drively connected to the tightening head assembly. The tightening drive can drive the tightening head assembly to rotate relative to the tightening bias tool around a first axis, the first axis being perpendicular to both the first and second directions. During the assembly of the nut and bolt, by moving the tightening bias tool relative to the connector along the first and second directions, the nut can change according to the position change of the bolt, avoiding rigid collisions between the nut and bolt during the adjustment and positioning of the robotic arm, which could lead to damage to the bolt and the robotic arm. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the flexible clamping device provided in an embodiment of the present invention;

[0035] Figure 2 This is a cross-sectional view of the flexible clamping device provided in an embodiment of the present invention.

[0036] In the picture:

[0037] 100. Nuts;

[0038] 11. Connectors;

[0039] 12. Tighten the offset tool;

[0040] 13. Tightening head assembly;

[0041] 131. Tightening shaft base plate; 1311. Rotating shaft; 1312. Base plate; 132. Floating tightening shaft; 1321. Guide shaft; 133. Tightening shaft end cover; 134. Floating shaft; 1341. First abutment part; 1342. Guide rod; 135. First elastic element; 136. Second elastic element;

[0042] 14. Tighten the drive components;

[0043] 15. Sensors;

[0044] 16. Sliding component;

[0045] 161. First connecting plate; 1611. First mounting block; 162. First sliding plate; 163. Second connecting plate; 1631. Second mounting block; 164. Second sliding plate;

[0046] 17. Return assembly; 171. First spring plunger; 172. Second spring plunger;

[0047] 18. First connecting flange;

[0048] 19. Second connecting flange;

[0049] 20. Bushing;

[0050] 21. Fasteners. Detailed Implementation

[0051] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0052] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0053] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0054] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0055] like Figure 1 and Figure 2As shown, this embodiment provides a flexible clamping device, for example, for assembling high-strength bolts. The flexible clamping device includes a connector 11, a tightening bias tool 12, a tightening head assembly 13, and a tightening drive 14. The connector 11 is used to connect a robotic arm. The tightening bias tool 12 is disposed at the bottom end of the connector 11 and is movable relative to the connector 11 along a first direction and a second direction, the second direction being perpendicular to the first direction. The tightening head assembly 13 is rotatably disposed at the bottom end of the tightening bias tool 12 and is used to clamp a nut 100. The tightening drive 14 is disposed on the tightening bias tool 12 and is drively connected to the tightening head assembly 13. The tightening drive 14 can drive the tightening head assembly 13 to rotate relative to the tightening bias tool 12 around a first axis, the first axis being perpendicular to both the first and second directions. During the assembly of the nut 100 and the bolt, the tightening bias tool 12 moves relative to the connector 11 along the first and second directions, allowing the nut 100 to change according to the position of the bolt. This avoids rigid collisions between the nut 100 and the bolt during the robotic arm's adjustment and positioning process, preventing damage to the bolt and the robotic arm. Specifically, in this embodiment, the tightening drive 14 is a servo tightening device.

[0056] The flexible clamping device provided in this embodiment also includes a sensor 15, which is disposed on the connector 11. The sensor 15 can monitor the position of the tightening bias tool 12 relative to the connector 11 along the first direction and the second direction. Specifically, in this embodiment, the sensor 15 is a six-dimensional force sensor. The top end of the sensor 15 is fixed to the bottom end of the connector 11, and the tightening bias tool 12 is disposed at the bottom end of the sensor 15. When the tightening bias tool 12 moves relative to the connector 11 along the first direction and the second direction, the position change of the tightening bias tool 12 relative to the connector 11 can be converted into a force reading of the sensor 15. By reading the force reading of the sensor 15, the position of the tightening bias tool 12 relative to the connector 11 along the first direction and the second direction can be determined.

[0057] Optionally, such as Figure 1 and Figure 2As shown, the flexible clamping device provided in this embodiment further includes a sliding assembly 16, which includes a first connecting plate 161, a first sliding plate 162, a second connecting plate 163, and a second sliding plate 164. The first connecting plate 161 is disposed at the bottom end of the sensor 15. Specifically, the flexible clamping device provided in this embodiment also includes a first connecting flange 18, with the bottom end of the sensor 15 fixedly connected to the top end of the first connecting flange 18, and the top end of the first linear guide rail fixedly connected to the bottom end of the first connecting flange 18. A first linear guide rail extending in a first direction is disposed on the side of the first connecting plate 161 away from the connector 11. The first sliding plate 162 is slidably disposed on the first linear guide rail. The second connecting plate 163 is fixedly disposed at the bottom end of the first sliding plate 162, and a second linear guide rail extending in a second direction is disposed on the side of the second connecting plate 163 away from the first sliding plate 162. The second sliding plate 164 is slidably disposed on the second linear guide rail, and the tightening drive member 14 is fixedly disposed at the bottom end of the second sliding plate 164. The movement of the tightening biasing tool 12 relative to the connector 11 in the first and second directions is achieved by the movement of the first sliding plate 162 relative to the first connecting plate 161 in the first direction and the movement of the second sliding plate 164 relative to the second connecting plate 163 in the second direction. Specifically, the flexible clamping device provided in this embodiment also includes a second connecting flange 19, the bottom end of the second connecting plate 163 is fixedly connected to the top end of the second connecting flange 19, and the top end of the tightening biasing tool 12 is fixedly connected to the bottom end including the second connecting flange 19.

[0058] Optionally, such as Figure 1 and Figure 2As shown, the flexible clamping device provided in this embodiment also includes a return assembly 17, which includes a first spring plunger 171 and a second spring plunger 172. A first spring plunger 171 is provided at both ends of the first linear guide rail. The first spring plunger 171 includes a first column and a first head. The first column is fixed to the first linear guide rail, and the first head is slidably disposed on the end of the first column near the first sliding plate 162. The two first heads respectively abut against the two ends of the first sliding plate 162 along a first direction. A second spring plunger 172 is provided at both ends of the second linear guide rail. The second spring plunger 172 includes a second column and a second head. The second column is fixed to the second linear guide rail, and the second head is slidably disposed at the end of the second column near the second sliding plate 164. The two second heads respectively abut against the two ends of the second sliding plate 164 along a second direction. By providing first spring plungers 171 at both ends of the first linear guide rail, the first sliding plate 162 can only move between the two first pillars, thus limiting the movement of the first sliding plate 162. The first pillar head abuts against the first sliding plate 162. When the position of the first sliding plate 162 relative to the first connecting plate 161 changes, the first pillar head applies a restoring force to the first sliding plate 162. After the nut 100 is installed and the tightening head assembly 13 is disengaged from the bolt, the restoring force applied by the first pillar head to the first sliding plate 162 drives it back to its equilibrium position. Similarly, the second pillar acts as a limiter for the second sliding plate 164. After the nut 100 is installed and the tightening head assembly 13 is disengaged from the bolt, the second pillar head drives the second sliding plate 164 back to its equilibrium position.

[0059] Optionally, such as Figure 1 and Figure 2 As shown, the first connecting plate 161 is provided with a first mounting block 1611 corresponding to the first spring plunger 171. The first column is mounted on the first mounting block 1611, and the relative position of the first column and the first mounting block 1611 can be adjusted, thereby adjusting the movement range of the first sliding plate 162. The second connecting plate 163 is provided with a second mounting block 1631 corresponding to the second spring plunger 172. The second column is mounted on the second mounting block 1631, and the relative position of the second column and the second mounting block 1631 can be adjusted, thereby adjusting the movement range of the second sliding plate 164.

[0060] Optionally, such as Figure 1 and Figure 2As shown, the tightening head assembly 13 includes a tightening shaft base plate 131 and a floating tightening shaft 132. The tightening shaft base plate 131 includes a rotating shaft 1311 and a base plate 1312 fixed to the bottom end of the rotating shaft 1311. The tightening biasing tool 12 is provided with a connecting hole, and the rotating shaft 1311 is rotatably disposed in the connecting hole. The tightening drive member 14 can drive the rotating shaft 1311 to rotate around a first axis. The floating tightening shaft 132 is disposed at the bottom end of the base plate 1312. The axis of the floating tightening shaft 132 is collinear with the first axis. The floating tightening shaft 132 can slide relative to the tightening shaft base plate 131 along the first axis and can rotate relative to the tightening drive member 14 around the first axis with the tightening shaft base plate 131.

[0061] Optionally, such as Figure 1 and Figure 2 As shown, the flexible clamping device provided in this embodiment also includes a bushing 20 and a fastener 21. A connecting hole is provided through the tightening drive member 14, and the bushing 20 is fixed within the connecting hole. A rotating shaft 1311 is rotatably disposed within the bushing 20, with one end of the rotating shaft 1311 away from the base plate 1312 extending out of the bushing 20 and screwed to the fastener 21. The bottom end of the fastener 21 abuts against the top end of the bushing 20. The bushing 20 reduces the rotational friction of the rotating shaft 1311. The fastener 21 secures the rotating shaft 1311 to the bushing 20. A gasket is provided between the fastener 21 and the bushing 20.

[0062] Optionally, such as Figure 1 and Figure 2As shown, the tightening head assembly 13 also includes a tightening shaft end cap 133, a floating shaft 134, a first elastic element 135, and a second elastic element 136. The tightening shaft end cap 133 is fixed to the top of the base plate 1312 and has a first receiving cavity. The bottom end of the tightening shaft end cap 133 has a first floating hole coaxial with the floating tightening shaft 132. One end of the floating shaft 134 passes through the first floating hole and is inserted into the first receiving cavity, while the other end extends out of the first receiving cavity. The end of the floating shaft 134 extending into the first receiving cavity has a first abutting portion 1341 protruding away from the first axis. One end of the first elastic element 135 abuts against the first abutting portion 1341, and the other end abuts against the end of the tightening shaft end cap 133 with the first floating hole. The first elastic element 135 can drive the floating shaft 134 to abut against the bottom end of the base plate 1312. The floating shaft 134 is provided with a second receiving cavity. The end of the floating shaft 134 away from the base plate 1312 is provided with a second floating hole. The floating tightening shaft 132 passes through the second floating hole and is inserted into the second receiving cavity. The floating tightening shaft 132 is provided with a second abutting part. One end of the second elastic member 136 abuts against the base plate 1312, and the other end abuts against the side of the second abutting part near the tightening shaft base plate 131. The second elastic member 136 can drive the side of the second abutting part away from the base plate 1312 to abut against the cavity of the second receiving cavity. When the side of the second abutting part away from the base plate 1312 abuts against the cavity of the second receiving cavity, there is a gap between the end of the floating tightening shaft 132 near the base plate 1312 and the base plate 1312. By configuring a tightening shaft end cap 133, a floating shaft 134, a first elastic element 135, and a second elastic element 136, the floating tightening shaft 132 can move away from the base plate 1312 by compressing the first elastic element 135 via the floating shaft 134, and also move closer to the base plate 1312 by compressing the second elastic element 136. Specifically, in this embodiment, both the first elastic element 135 and the second elastic element 136 are springs.

[0063] During the tightening phase of nut 100, if the tightening speed of the motor of tightening drive 14 does not match the feed speed of nut 100, the second elastic element 136 will be forced to compress. The industrial robot determines the degree of synchronization between the motor of tightening drive 14 and the movement of the robotic arm based on the assembly force information fed back by sensor 15, and dynamically adjusts the feed speed of the robotic arm or the motor speed. During the robotic arm retraction phase, if the hexagonal part of the high-lock nut is not broken or other abnormalities occur, the first elastic element 135 will be forced to compress during the retraction process. The industrial robot determines the existence of this abnormal state based on the compression force information of the first elastic element 135 fed back by sensor 15, and then automatically implements the abnormality handling process.

[0064] Optionally, such as Figure 2As shown, a guide shaft 1321 is fixed at one end of the floating tightening shaft 132 near the base plate 1312. The axis of the guide shaft 1321 is collinear with the first axis, and the second elastic element 136 is sleeved on the guide shaft 1321. The guide shaft 1321 is used to prevent the second elastic element 136 from deflecting.

[0065] Optionally, such as Figure 2 As shown, multiple first elastic elements 135 are provided, and the multiple first elastic elements 135 are arranged at intervals around the floating shaft 134. The first abutment portion 1341 is provided with guide rods 1342 corresponding to the first elastic elements 135, and the first elastic elements 135 are sleeved on the guide rods 1342. By having multiple first elastic elements 135 arranged at intervals around the floating shaft 134, the floating shaft 134 is subjected to uniform force.

[0066] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A flexible gripping device, characterized in that, The utility model relates to a kind of mechanical arm and its screwing device, including: Connecting piece (11) for connecting mechanical arm; Tightening biasing tool (12) is arranged at the bottom end of connecting piece (11), and the tightening biasing tool (12) can be moved relative to the connecting piece (11) along the first direction and the second direction, and the second direction is perpendicular to the first direction; Tightening head assembly (13) is rotationally arranged at the bottom end of the tightening biasing tool (12), for clamping nut (100); Tightening driving part (14) is arranged on the tightening biasing tool (12), and is in transmission connection with the tightening head assembly (13), and the tightening driving part (14) can drive the tightening head assembly (13) to rotate relative to the tightening biasing tool (12) around the first axis, and the first axis is perpendicular to the first direction and the second direction; The tightening head assembly (13) includes: Tightening shaft bottom plate (131) includes rotating shaft (1311) and bottom plate (1312) fixed at the bottom end of the rotating shaft (1311), the connecting hole is arranged on the tightening biasing tool (12), the rotating shaft (1311) is rotationally arranged in the connecting hole, and the tightening driving part (14) can drive the rotating shaft (1311) to rotate around the first axis; Floating tightening shaft (132) is arranged at the bottom end of the bottom plate (1312), the axis of the floating tightening shaft (132) is collinear with the first axis, the floating tightening shaft (132) can slide relative to the tightening shaft bottom plate (131) along the first axis, and can rotate with the tightening shaft bottom plate (131) relative to the tightening driving part (14) around the first axis; The tightening head assembly (13) further includes: Tightening shaft end cover (133) is fixed at the top end of the bottom plate (1312), and the tightening shaft end cover (133) is provided with a first accommodating cavity, and the bottom end of the tightening shaft end cover (133) is arranged in the coaxial first floating hole of the floating tightening shaft (132); Floating shaft (134) is inserted into the first accommodating cavity through the first floating hole at one end, and the other end extends out of the first accommodating cavity; First elastic member (135), the first abutting portion (1341) is protruded away from the first axis direction at the end of the floating shaft (134) extending into the first accommodating cavity, one end of the first elastic member (135) is in abutment with the first abutting portion (1341), and the other end is in abutment with the one end of the first floating hole provided in the tightening shaft end cover (133), and the first elastic member (135) can drive the floating shaft (134) to abut with the bottom end of the bottom plate (1312); The floating shaft (134) is provided with a second accommodating cavity, and one end of the floating shaft (134) away from the bottom plate (1312) is provided with a second floating hole, the floating tightening shaft (132) is inserted into the second accommodating cavity through the second floating hole, the floating tightening shaft (132) is provided with a second abutting portion, one end of the second elastic member (136) abuts against the bottom plate (1312), and the other end abuts against the second abutting portion on one side of the tightening shaft bottom plate (131) close to the bottom plate (1312), and the second elastic member (136) can drive the second abutting portion away from one side of the bottom plate (1312) to abut against the cavity of the second accommodating cavity, so that a gap is formed between the end of the floating tightening shaft (132) close to the bottom plate (1312) and the bottom plate (1312).

2. The flexible gripping device of claim 1, wherein, The sensor (15) is arranged on the connecting piece (11), and the sensor (15) can monitor the position of the tightening biasing tool (12) relative to the connecting piece (11) in the first direction and the second direction.

3. The flexible gripping device of claim 2, wherein, The sliding assembly (16) comprises: The first connecting plate (161) is arranged at the bottom end of the sensor (15), and one side of the first connecting plate (161) away from the connecting piece (11) is provided with a first linear guide rail extending in the first direction; The first sliding plate (162) is slidingly arranged on the first linear guide rail; The second connecting plate (163) is fixedly arranged at the bottom end of the first sliding plate (162), and one side of the second connecting plate (163) away from the first sliding plate (162) is provided with a second linear guide rail extending in the second direction; The second sliding plate (164) is slidingly arranged on the second linear guide rail, and the tightening driving member (14) is fixedly arranged at the bottom end of the second sliding plate (164).

4. The flexible clamp device of claim 3, wherein, The first connecting flange (18) is fixedly connected to the bottom end of the sensor (15) and the top end of the first connecting flange (18).

5. The flexible clamp device of claim 3, wherein, The second connecting flange (19) is fixedly connected to the bottom end of the second connecting plate (163) and the top end of the second connecting flange (19).

6. The flexible clamp device of claim 3, wherein, The return assembly (17) comprises: The first spring plunger (171) is arranged at both ends of the first linear guide rail, and the first spring plunger (171) comprises a first column body and a first column head, the first column body is fixedly arranged on the first linear guide rail, the first column head is slidingly arranged at one end of the first column body close to the first sliding plate (162), and the two first column heads abut against both ends of the first sliding plate (162) in the first direction, respectively. Second spring plunger (172), both ends of the second linear guide are provided with the second spring plunger (172), the second spring plunger (172) includes second cylinder and second column head, the second cylinder is fixed on the second linear guide, the second column head is slidably arranged on one end of the second cylinder close to the second sliding plate (164), two second column heads are respectively abutted with both ends of the second sliding plate (164) along the second direction.

7. The flexible gripping device of claim 1, wherein, The floating tightening shaft (132) is fixed with a guide shaft (1321) at one end close to the bottom plate (1312), the axis of the guide shaft (1321) is collinear with the first axis, and the second elastic member (136) is sleeved on the guide shaft (1321).

8. The flexible gripping device of claim 1, wherein, The first elastic member (135) is provided with a plurality of first elastic members (135), a plurality of first elastic members (135) are arranged at intervals around the floating shaft (134), the first abutment portion (1341) is provided with a guide rod (1342) corresponding to the first elastic member (135), and the first elastic member (135) is sleeved on the guide rod (1342).

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