A flexible adaptive morphing mechanical gripper for bolted assembly

Abstract

The application discloses a flexible self-adapting deformation mechanical gripper for bolt assembly, which comprises a driver, two clamping arms, two fixing mechanisms and two first deformation beams, the driver is drivingly connected with the two clamping arms, and a containing space is formed between the two clamping arms, wherein one fixing mechanism is connected with one clamping arm through one first deformation beam, the other fixing mechanism is connected with the other clamping arm through the other first deformation beam, and a fixing space is formed between the two fixing mechanisms; the driver is used for driving the two clamping arms to approach each other, so that the two fixing mechanisms clamp and fix a valve piece in the fixing space; and the two first deformation beams are used for driving the valve piece clamped by the two fixing mechanisms to translate and adjust through the power of an electric wrench driving bolt when the electric wrench drives the bolt to be inserted into a valve body, so that the valve piece and the valve body are aligned after the bolt is inserted into the valve body. In the technical scheme, the error of a visual system is solved through the two first deformation beams, the whole valve piece is ensured to be fixed, and the bolt is ensured to be quickly and correctly screwed in.

Description

Technical Field

[0001] This invention relates to bolt installation, and more particularly to a flexible, adaptive, deformable mechanical clamp for bolt assembly. Background Technology

[0002] Mechanical devices used for clamping and gripping objects are called grippers. Grippers often mimic some of the movements of a human hand, using program control or mechanical transmission to perform the gripping action. Currently, most automated bolt installations use electric wrenches for tightening. However, during the bolt tightening process, the mounting component (i.e., the valve plate) is prone to displacement due to the power of the electric wrench, causing the valve plate's mounting hole to deviate, resulting in misalignment between the valve plate's mounting hole and the valve body's mounting hole. Therefore, installation needs to be performed while the mounting component is clamped and fixed. Valve plates are generally clamped using a two-finger gripping mechanism. Traditional two-finger gripping mechanisms offer high rigidity and ease of operation when gripping valve plates. However, due to the positioning accuracy of the vision system and the gripping mechanism, there is a certain error between the mounting hole of the valve plate and the valve body (the error is generally 5 mm to 8 mm). Since the gripping mechanism rigidly fixes the valve plate, this means that the electric wrench cannot screw the bolt in during tightening operations, and may even cause damage. Summary of the Invention

[0003] The main objective of this invention is to provide a flexible adaptive deformation mechanical clamp for bolt assembly, which aims to solve the problem that bolts cannot be screwed in correctly due to positioning errors caused by positioning accuracy.

[0004] To achieve the above objectives, the technical solution proposed by this invention is as follows: A flexible adaptive deformable mechanical clamp for bolt assembly includes a driver, two clamping arms, two fixing mechanisms, and two first deformable beams. The driver drives and connects the two clamping arms, forming a receiving space between them. The two fixing mechanisms and the two first deformable beams are all disposed within the receiving space. One fixing mechanism is connected to one clamping arm via one of the first deformable beams, and the other fixing mechanism is connected to the other clamping arm via another first deformable beam, forming a fixing space between the two fixing mechanisms. The driver drives the two clamping arms to move closer together, so that the two fixing mechanisms clamp and fix a valve plate within the fixing space. When an electric wrench drives a bolt to be inserted into the valve body, the two first deformable beams are used to move and adjust the valve plate clamped by the two fixing mechanisms by the power of the electric wrench driving the bolt, so that the valve plate and the valve body are aligned after the bolt is inserted into the valve body.

[0005] Preferably, the first deformable beam includes a first mounting plate, a connecting plate, and at least one first elastic piece. The first mounting plate and the connecting plate are arranged in parallel and spaced apart. Each first elastic piece is disposed between the first mounting plate and the connecting plate. One end of each first elastic piece is connected to the first mounting plate. The first mounting plate and the adjacent clamping arm are detachably connected. The other end of each first elastic piece is connected to the connecting plate. The connecting plate and the adjacent fixing mechanism are detachably connected.

[0006] Preferably, two first elastic sheets are provided between the first mounting plate and the connecting plate, the two first elastic sheets are spaced apart and form an included angle; the two first elastic sheets and the first mounting plate, and the two first elastic sheets and the connecting plate respectively form a first included angle of the same angle.

[0007] Preferably, the angle of the first included angle is between 4° and 6°.

[0008] Preferably, the fixing mechanism includes two adjusters and two finger blocks. The two adjusters are spaced apart, and the two finger blocks are disposed between the two adjusters. One adjuster is driven to connect to one of the finger blocks, and the other adjuster is driven to connect to the other finger block. A clamping gap is formed between the two finger blocks. The two adjusters are used to drive the two finger blocks closer or further apart so that the two finger blocks adjust the clamping gap and clamp and fix the valve plate located in the fixing space within the clamping gap.

[0009] Preferably, the adjuster and the finger block are connected by a second deformable beam; the second deformable beam includes two second mounting plates and at least one second elastic piece, the two second mounting plates are arranged in parallel and spaced apart, each second elastic piece is disposed between the two second mounting plates, one end of each second elastic piece is connected to one of the second mounting plates, and the other end of each second elastic piece is connected to the other second mounting plate; one of the second mounting plates is connected to the adjacent adjuster, and the other second mounting plate is connected to the adjacent finger block; each second elastic piece is used to adjust the position of the valve plate by cooperating with each first elastic piece and each second elastic piece when the electric wrench drives the bolt to be inserted into the valve body.

[0010] Preferably, two second elastic sheets are disposed between the two second mounting plates, the two second elastic sheets are spaced apart and form an included angle; the two elastic sheets and the two second mounting plates respectively form a second included angle of the same angle.

[0011] Preferably, the angle of the second included angle is between 14° and 16°.

[0012] Preferably, the connecting plate has a groove on one side facing the clamping gap, the groove extends along one end of the connecting plate connected to one of the first elastic pieces, and to the other end of the connecting plate connected to the other first elastic piece; the two finger blocks are slidably connected to the groove.

[0013] Preferably, the adjuster includes a fixing block and an adjusting bolt, the adjusting bolt being disposed on the fixing block and drivingly connected to the adjacent second deformable beam; wherein one of the fixing blocks is disposed at one end of the slide groove, and the other fixing block is disposed at the other end of the slide groove.

[0014] Compared with the prior art, the present invention has at least the following beneficial effects: The actuator drives the two clamping arms to move the valve plate to the position above the valve body through two fixing mechanisms. The electric wrench drives the bolt to first insert into the connecting hole of the valve plate, and then the two first deformable beams adjust the position of the valve plate according to the power of the bolt inserting into the connecting hole of the valve body, so that the connecting hole of the valve plate and the connecting hole of the valve body are automatically concentric until the bolt is screwed into the connecting hole of the valve body. The two first deformable beams solve the error of the vision system, ensuring both the overall fixation of the valve plate and the fast and correct screwing of the bolt. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of an embodiment of the flexible adaptive deformation mechanical clamp for bolt assembly according to the present invention; Figure 2 for Figure 1 Top view of the structure; Figure 3 This is a structural schematic diagram of the first deformable beam and the fixing mechanism; Figure 4 This is a schematic diagram of the structure of the first deformable beam; Figure 5 This is a schematic diagram of the second deformable beam.

[0017] Explanation of icon numbers: 1-Driver; 11-Clamping arm; 2-First deformable beam; 21-First mounting plate; 22-Connecting plate; 23-First elastic sheet; 24-Slide groove; 3-Fixed mechanism; 31-Fixed space; 32-Finger block; 4-Adjuster; 41-Fixing block; 42-Adjusting bolt; 5-Second deformable beam; 51-Second mounting plate; 52-Second elastic sheet; The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0019] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0020] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0021] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0022] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0023] This invention proposes a flexible, adaptive, deformable mechanical clamp for bolt assembly.

[0024] like Figures 1 to 5 The diagram shows a flexible adaptive deformable mechanical clamp for bolt assembly, comprising a driver 1, two clamping arms 11, two fixing mechanisms 3, and two first deformable beams 2. The driver 1 drives and connects the two clamping arms 11, forming a receiving space between the two clamping arms 11. The two fixing mechanisms 3 and the two first deformable beams 2 are all disposed within the receiving space. One fixing mechanism 3 is connected to one clamping arm 11 through one of the first deformable beams 2, and the other fixing mechanism 3 is connected to the other clamping arm 11 through the other first deformable beam 2, forming a fixing space 31 between the two fixing mechanisms 3. The driver 1 is used to drive the two clamping arms 11 to move closer together, so that the two fixing mechanisms 3 clamp and fix the valve plate within the fixing space 31. The two first deformable beams 2 are used to, when the electric wrench drives the bolt to be inserted into the valve body, use the power of the electric wrench to drive the bolt to drive the valve plate clamped by the two fixing mechanisms 3 to move and adjust, so that the valve plate and the valve body are aligned.

[0025] The driver 1 drives the two clamping arms 11 to move the valve plate to the position above the valve body through the two fixing mechanisms 3. The electric wrench drives the bolt to first insert into the connecting hole of the valve plate and rotate the bolt. Then, the two first deformable beams 2 adjust the position of the valve plate according to the power of the bolt inserting into the connecting hole of the valve body, so that the connecting hole of the valve plate and the connecting hole of the valve body are automatically concentric until the bolt is screwed into the connecting hole of the valve body. The two first deformable beams 2 solve the error of the vision system, ensuring both the overall fixation of the valve plate and the fast and correct screwing of the bolt.

[0026] Specifically, driver 1 is a parallel motor, which is a common technical solution, so it will not be described in detail here.

[0027] like Figure 3 and Figure 4 As shown, the first deformable beam 2 includes a first mounting plate 21, a connecting plate 22, and at least one first elastic piece 23. The first mounting plate 21 and the connecting plate 22 are arranged in parallel and spaced apart. Each first elastic piece 23 is disposed between the first mounting plate 21 and the connecting plate 22. One end of each first elastic piece 23 is connected to the first mounting plate 21. The first mounting plate 21 and the adjacent clamping arm 11 are detachably connected. The other end of each first elastic piece 23 is connected to the connecting plate 22. The connecting plate 22 and the adjacent fixing mechanism 3 are detachably connected.

[0028] Two first elastic plates 23 are disposed between the first mounting plate 21 and the connecting plate 22. The two first elastic plates 23 are spaced apart and form an included angle. The two first elastic plates 23 and the first mounting plate 21, as well as the two first elastic plates 23 and the connecting plate 22, each form a first included angle of the same angle. The two first elastic plates 23 are arranged in a cross pattern, which can provide sufficient rigidity for the relative movement between the first mounting plate 21 and the connecting plate 22, and also facilitate the deflection of the connecting plate 22 relative to the first mounting plate 21 with a certain degree of angular freedom.

[0029] The first included angle is between 4° and 6°. Setting this first included angle effectively ensures the overall strength of the first deformable beam 2, ensuring both that the valve plate can be fine-tuned according to the bolts and that the entire structure can be reset. Specifically, the first included angle is 4.84°. This ensures that the two first elastic plates 23 provide a rigid force of 60N, thereby ensuring the stability of the valve plate displacement.

[0030] Specifically, the first deformable beam 2 is made of resin or metal, at least one of the two.

[0031] The fixing mechanism 3 includes two adjusters 4 and two finger blocks 32. The two adjusters 4 are spaced apart, and the two finger blocks 32 are disposed between the two adjusters 4. One adjuster 4 drives and connects to one of the finger blocks 32, and the other adjuster 4 drives and connects to the other finger block 32. A clamping gap is formed between the two finger blocks 32. The two adjusters 4 are used to drive the two finger blocks 32 to move closer or further away, so that the two finger blocks 32 adjust the clamping gap and clamp and fix the valve plate located in the fixing space 31 within the clamping gap.

[0032] Specifically, the side of the finger block 32 closest to the clamping gap and the fixing space 31 is an arc surface; Specifically, in another embodiment, the finger block 32 includes two plates, one end of which is connected to one end of the other plate. The two plates are arranged vertically. The adjuster 4 drives one of the plates to the side opposite to the vertical angle between the two plates, and the other plate is parallel to the connecting plate 22.

[0033] Selecting different functional finger blocks 32 according to the size of the valve plate reduces the error rate during operation and minimizes damage.

[0034] Adjuster 4 and finger block 32 are connected by a second deformable beam 5. The second deformable beam 5 includes two second mounting plates 51 and at least one second elastic piece 52. The two second mounting plates 51 are arranged in parallel and spaced apart. Each second elastic piece 52 is disposed between the two second mounting plates 51. One end of each second elastic piece 52 is connected to one of the second mounting plates 51, and the other end of each second elastic piece 52 is connected to the other second mounting plate 51. One of the second mounting plates 51 is connected to the adjacent adjuster 4, and the other second mounting plate 51 is connected to the adjacent finger block 32. Each second elastic piece 52 is used to adjust the position of the valve plate by cooperating with each first elastic piece 23 and each second elastic piece 52 when the electric wrench drives the bolt to be inserted into the valve body. First, the two adjusters 4 adjust the spacing between the two finger blocks 32 according to the size of the valve plate. Then, the two finger blocks 32 clamp and fix the valve plate by the second deformable beam 5. Furthermore, the two second deformable beams 5 can further fine-tune the valve plate when the electric wrench is rotated.

[0035] The cooperation of the first elastic plate 23 and the second elastic plate 52 can satisfy the position adjustment of the valve plate in the horizontal direction, while the first elastic plate 23 can satisfy the position adjustment in the vertical direction. In addition, the adjustment device 4 limits the extreme movement distance of the finger block 32 to achieve rigid-flexible coupling. This can make precise adjustments according to the rotation of the bolt, and avoid excessive adjustments that may lead to installation errors.

[0036] Two second elastic pieces 52 are disposed between the two second mounting plates 51, and the two second elastic pieces 52 are spaced apart and form an included angle; the two elastic pieces and the two second mounting plates 51 respectively form a second included angle of the same angle.

[0037] The second included angle is between 14° and 16°. The function of the second included angle is the same as that of the first included angle.

[0038] Specifically, the first included angle is 15.26°.

[0039] Specifically, the first deformable beam 2 is made of at least one of nylon or metal.

[0040] A groove 24 is formed on the side of the connecting plate 22 facing the clamping gap. The groove 24 extends along one end of the connecting plate 22 connected to one of the first elastic plates 23 and to the other end of the connecting plate 22 connected to the other first elastic plate 23. The two finger blocks 32 are slidably connected to the groove 24. The groove 24 can effectively limit the sliding direction of the finger blocks 32.

[0041] The adjuster 4 includes a fixed block 41 and an adjusting bolt 42. The adjusting bolt 42 is disposed on the fixed block 41 and drives the adjacent second deformable beam 5. One fixed block 41 is disposed at one end of the slide groove 24, and the other fixed block 41 is disposed at the other end of the slide groove 24. The position of the finger block 32 can be adjusted along the slide groove 24 by adjusting the adjusting bolt 42, which is convenient and quick.

[0042] Work process; Adjust the adjusting bolts according to the size of the valve piece to be grasped, so that the clamping gap meets the size of the valve piece; According to the size of the valve piece to be grasped, the driver 1 controls the two clamping arms 11 to open a preset distance so that the valve piece can enter the receiving space; The two clamping arms 11 of the driver 1 come together so that the four-finger block 32 can cooperate to clamp and fix the valve plate; The external robotic arm moves the valve plate to a position above the valve body via the driver 1, and the electric wrench drives the bolt through the connection hole of the valve plate and then inserts it into the connection hole of the valve body; During the process of inserting the bolt into the valve body, it is subjected to the downward pressure of the electric wrench and the left and right swinging power of the electric wrench. The first deformable beam 2 and the second deformable beam 5 adjust the horizontal position of the valve plate according to the movement of the bolt. The first deformable beam 2 adjusts the vertical position of the valve plate according to the pressure of the electric wrench towards the valve body. The bolt drives the valve plate and the valve body to automatically concentricate, so that the bolt fixes the valve plate and the valve body.

[0043] During the assembly process, the first deformable beam 2 and the second deformable beam 5 deform due to the movement of the bolts, which automatically aligns the connecting holes of the valve plate and the valve body, preventing damage to the electric wrench, valve plate and valve body due to excessive tightening force, and reducing the requirements for visual search accuracy.

[0044] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A flexible, adaptive, deformable mechanical clamp for bolt assembly, characterized in that, The device includes a driver, two clamping arms, two fixing mechanisms, and two first deformable beams. The driver drives and connects the two clamping arms, forming a receiving space between them. The two fixing mechanisms and the two first deformable beams are all disposed within the receiving space. One fixing mechanism is connected to one clamping arm via one of the first deformable beams, and the other fixing mechanism is connected to the other clamping arm via another first deformable beam, forming a fixing space between the two fixing mechanisms. The driver is used to drive the two clamping arms to move closer together, so that the two fixing mechanisms clamp and fix the valve plate within the fixing space. The two first deformable beams are used to, when an electric wrench drives a bolt to be inserted into the valve body, use the power of the electric wrench to drive the bolt to drive the valve plate held by the two fixing mechanisms to move and adjust, so that the valve plate and the valve body are aligned after the bolt is inserted into the valve body. The first deformable beam includes a first mounting plate, a connecting plate, and at least one first elastic piece. The first mounting plate and the connecting plate are arranged in parallel and spaced apart. Each first elastic piece is disposed between the first mounting plate and the connecting plate. One end of each first elastic piece is connected to the first mounting plate. The first mounting plate is detachably connected to the adjacent clamping arm. The other end of each first elastic piece is connected to the connecting plate. The connecting plate is detachably connected to the adjacent fixing mechanism. The fixing mechanism includes two adjusters and two finger blocks. The two adjusters are spaced apart, and the two finger blocks are disposed between the two adjusters. One adjuster is driven and connected to one of the finger blocks, and the other adjuster is driven and connected to the other finger block. A clamping gap is formed between the two finger blocks. The two adjusters are used to drive the two finger blocks to move closer or further away, so that the two finger blocks adjust the clamping gap and clamp and fix the valve plate located in the fixing space within the clamping gap. The side of the finger block closest to the clamping gap and the fixed space is curved; Two first elastic sheets are disposed between the first mounting plate and the connecting plate, the two first elastic sheets being spaced apart and forming an included angle; the two first elastic sheets and the first mounting plate, as well as the two first elastic sheets and the connecting plate, respectively form a first included angle of the same angle.

2. The flexible adaptive deformation mechanical clamp for bolt assembly according to claim 1, characterized in that, The angle of the first included angle is between 4° and 6°.

3. A flexible adaptive deformation mechanical clamp for bolt assembly according to claim 1 or 2, characterized in that, The adjuster and the finger block are connected by a second deformable beam; the second deformable beam includes two second mounting plates and at least one second elastic piece, the two second mounting plates are arranged in parallel and spaced apart, each second elastic piece is disposed between the two second mounting plates, one end of each second elastic piece is connected to one of the second mounting plates, and the other end of each second elastic piece is connected to the other second mounting plate; one of the second mounting plates is connected to the adjacent adjuster, and the other second mounting plate is connected to the adjacent finger block; each second elastic piece is used to adjust the position of the valve plate by cooperating with each first elastic piece and each second elastic piece when the electric wrench drives the bolt to be inserted into the valve body.

4. A flexible adaptive deformation mechanical clamp for bolt assembly according to claim 3, characterized in that, Two second elastic sheets are disposed between the two second mounting plates, the two second elastic sheets are spaced apart and form an included angle; the two elastic sheets and the two second mounting plates respectively form a second included angle of the same angle.

5. A flexible adaptive deformation mechanical clamp for bolt assembly according to claim 4, characterized in that, The second included angle is between 14° and 16°.

6. A flexible adaptive deformation mechanical clamp for bolt assembly according to claim 3, characterized in that, The connecting plate has a sliding groove on one side facing the clamping gap. The sliding groove extends along one end of the connecting plate connected to one of the first elastic pieces to the other end of the connecting plate connected to the other first elastic piece. The two finger blocks are slidably connected to the sliding groove.

7. A flexible adaptive deformation mechanical clamp for bolt assembly according to claim 6, characterized in that, The adjuster includes a fixing block and an adjusting bolt, the adjusting bolt being disposed on the fixing block and drivingly connected to the adjacent second deformable beam; wherein one of the fixing blocks is disposed at one end of the slide groove and the other fixing block is disposed at the other end of the slide groove.

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