Flexible shape follow-up clamping jaw

Abstract

The invention discloses a flexible shape follow-up clamping jaw which comprises a base, a clamping jaw body and a clamping jaw body. Three supporting legs are evenly distributed and fixed to the bottom of the base. The main motor is fixed to the upper end of the base, a driving shaft of the main motor penetrates through the lower end of the base, and a worm is fixed to the end; the upper ends of the three clamping arms are rotationally connected with the lower ends of the three supporting legs correspondingly, a turbine is fixed to the upper end of each clamping arm, and the three turbines are located on the peripheral side of the worm and connected with the worm in a meshed mode; the upper ends of the three flexible end effectors are fixedly connected with the lower ends of the three clamping arms respectively, and each flexible end effector comprises a support fixedly connected with the lower ends of the clamping arms; the elastic clamping bag is fixed to the support, and a containing cavity used for containing magnetorheological fluid is formed in the elastic clamping bag; and the transverse moving mechanism is installed on the support, and a permanent magnet is fixed to the moving end of the transverse moving mechanism. The clamping jaw has the effects that the mechanical structure is simpler and more convenient, and use and maintenance are more convenient.

Description

Technical Field

[0001] The invention relates to the technical field of clamping jaws, and more particularly to a flexible conformable clamping jaw. Background Art

[0002] In the fields of automated production, crop picking, mechanical manufacturing and assembly, grippers are an indispensable part. They can replace human labor to improve production efficiency and accuracy. In the manufacturing process of non-standard parts, due to differences in the shape, material, coating, etc. of the parts, when clamping the parts, the grippers need to meet the gripping of parts with different shapes, hardness, and surface strength as much as possible. This poses a huge challenge to the structure of the grippers and the shape and construction of the end effector. There are many limitations to using traditional grippers, including low efficiency and high damage rate.

[0003] In order to solve these problems, the solution of a flexible three-finger gripper with a flexible end is introduced. Currently, most grippers on the market have rigid ends. When clamping parts of different shapes, the end effector needs to be replaced. At the same time, when clamping parts with a coated surface and low hardness, it is easy to cause damage to the parts. In addition, some grippers use flexible ends, but their mechanical structures still have certain defects. For example, the grippers with belt drive will produce certain vibrations, and the transmission ratio of the pulley drive is not constant, which can easily affect the accuracy of the clamping action; the grippers with screw drive need to convert the motor rotation into the forward and backward movement of the connecting rod, which is slow and not suitable for application scenarios that require fast clamping, placement, and re-gripping; the use of parallel two-finger grippers cannot control the posture of the parts well, and there is a possibility of slippage.

[0004] Furthermore, magnetorheological fluid technology has become one of the most promising new materials with its advantages of fast response speed, large dynamic range, and low energy consumption. Therefore, some existing flexible grippers use magnetorheological fluid technology to change the characteristics of fluid stiffness through magnetic fields. By combining magnetorheological fluid technology with soft manipulators, a manipulator with a wider range of uses and adaptable to more working environments is invented, which conforms to the trend of the development of automation equipment and provides a tool for improving production efficiency.

[0005] For example, CN114700981B is a variable stiffness flexible clamp based on magnetorheological fluid, in which the adsorption mechanism includes an annular magnet, a connecting plate is provided at the upper end of the annular magnet, and a thin rubber layer is provided at the lower end of the annular magnet, so that a closed cavity is formed inside the annular magnet, and magnetorheological fluid is contained in the closed cavity; the rubber thin layer is directly used to contact the object to utilize the fluidity of the liquid to adapt to its shape and wrap the object, and then the annular magnet is energized to generate an external magnetic field, so that the stiffness of the magnetorheological fluid in the closed cavity changes, thereby grasping the object, thereby achieving the purpose of assisting in clamping the object or clamping some smaller objects.

[0006] It can be seen that the annular magnet of the above-mentioned variable stiffness flexible clamp can control the magnetic field by the current size, thereby affecting the flow yield stress of the magnetorheological fluid. However, the magnetic field strength of the electromagnet is positively correlated with the number of windings of the conductor coil and the current passing through the conductor. For small clamps, the internal space is small. If an electromagnet is used, the number of windings of the conductor coil is limited. If the same magnetic field strength as a permanent magnet is to be achieved, a larger current needs to be passed. This leads to higher requirements for circuit design, control, and heat dissipation of the conductor coil under the same volume, making the design more complex and the energy consumption higher.

[0007] Therefore, how to provide a flexible conformable clamp that is easier to operate, more convenient to use and maintain, and can use a mechanical structure to control the flow yield stress of a magnetorheological fluid is an issue that needs to be urgently addressed by those skilled in the art. Summary of the invention

[0008] In view of this, the present invention provides a flexible conformable clamping jaw which is easier to operate, more convenient to use and maintain, and can control the flow yield stress of a magnetorheological fluid by using a mechanical structure.

[0009] In order to achieve the above object, the present invention adopts the following technical solution:

[0010] A flexible conformable clamping jaw, comprising:

[0011] A base, wherein three supporting legs are evenly distributed and fixed on the bottom of the base;

[0012] A main motor, the main motor is fixed to the upper end of the base, the driving shaft of the main motor passes through the lower end of the base and a worm is fixed to the lower end;

[0013] Clamping arms, the number of the clamping arms being three, the upper ends of which are rotatably connected to the lower ends of the three supporting feet respectively, a turbine is fixed to the upper end of each clamping arm, the three turbines are located on the outer peripheral side of the worm, and the three turbines are meshingly connected to the worm;

[0014] Flexible end effectors, there are three flexible end effectors, the upper ends of which are fixedly connected to the lower ends of the three clamping arms respectively,

[0015] Each of the flexible end effectors comprises:

[0016] A bracket, wherein the bracket is fixedly connected to the lower end of the clamping arm;

[0017] An elastic clamping bag, wherein the elastic clamping bag is fixed on the bracket and has a receiving cavity for containing magnetorheological fluid;

[0018] A transverse movement mechanism is installed on the bracket, and a permanent magnet is fixed on the moving end of the transverse movement mechanism to change the distance between the permanent magnet and the accommodating cavity.

[0019] It can be known from the above technical scheme that compared with the prior art, the present invention discloses a flexible conformable clamping claw. When clamping an object, the main motor first drives the worm to rotate, and the worm drives the three turbines to rotate, so that the three clamping arms rotate clockwise to realize the opening of the three flexible end effectors. When the opening degree is greater than the clamped object, the main motor starts to drive the worm to rotate in the opposite direction to realize the closing of the three flexible end effectors. When the elastic clamping capsule on the flexible end effector contacts the clamped object, the main motor stops working, and the transverse movement mechanism starts working, driving the permanent magnet to move toward the receiving cavity containing the magnetorheological fluid. As the permanent magnet approaches the magnetorheological fluid, the magnetorheological fluid is strengthened in rigidity under the action of the magnetic field, so that the elastic clamping capsule is fully in contact with the clamped object, so that the clamped object can be clamped and the clamping action is completed. When the shape of the clamped object is irregular, the three transverse movement mechanisms stop rotating after their respective elastic clamping capsules contact the clamped object. When it is necessary to adjust the direction and posture of the clamped object, the distance between the permanent magnet and the accommodating cavity can be controlled by the transverse movement mechanism, thereby controlling the magnetic field strength of the magnetorheological fluid in the elastic clamping bag to control the shear strength of the contact surface of the elastic clamping bag, so that the three elastic clamping bags can exhibit forces of different sizes and directions when clamping the object to meet the needs.

[0020] Therefore, the flexible conformable clamp adopted by the present invention has a certain contact flexibility, and the clamping force of its end actuator can be independently controlled, which can adapt to the clamping of objects of different shapes and support the clamping of fragile objects. In addition, the present invention adopts the mechanical structure of the transverse movement mechanism to control the distance between the permanent magnet and the magnetorheological fluid, and then changes the stiffness of the elastic clamping capsule through the magnetic field phase change of the magnetorheological fluid to improve its ability to adapt to the surface strength and conformity of the object. Its mechanical structure is simpler, and it is more convenient to use and maintain, thereby avoiding the use of the existing electromagnet to control the magnetic field through the current size, which affects the flow yield stress of the magnetorheological fluid, resulting in higher requirements for the required circuit design, control and heat dissipation of the conductor coil, more complex design, and higher energy consumption. In addition, the three-finger arrangement adopted by the present invention, i.e., three elastic clamping capsules, has a self-centering function on the basis of the existing two fingers, which can better control the posture of the clamped object.

[0021] Furthermore, the support comprises:

[0022] A U-shaped plate, a closing plate of the U-shaped plate being fixedly connected to the lower end of the clamping arm;

[0023] A vertical plate, the vertical plate is fixed between the two side plates of the U-shaped plate, the vertical plate is provided with a first through hole and a second through hole, and the elastic clamping bag is fixed on the vertical plate;

[0024] The traverse mechanism comprises:

[0025] Auxiliary motor, the auxiliary motor is fixed on the closing plate, and a driving bevel gear is fixed on the driving shaft of the auxiliary motor;

[0026] A driven bevel gear, the two ends of the wheel shaft of the driven bevel gear are rotatably connected to the two side plates respectively, and the driven bevel gear is meshed and connected with the driving bevel gear;

[0027] A driving gear, wherein the driving gear is sleeved on the wheel shaft;

[0028] A first transverse rod, the first transverse rod is inserted into the first through hole, a rack is fixed on the first transverse rod, and the rack is meshed and connected with the driving gear;

[0029] A connecting rod, one end of which is fixedly connected to an end of the first transverse rod away from the rack;

[0030] A second transverse rod, wherein the second transverse rod is inserted into the second through hole, one end of the second transverse rod is fixedly connected to the other end of the connecting rod, and the other end of the second transverse rod is fixed with the permanent magnet.

[0031] The beneficial effect of adopting the above technical solution is: when the elastic clamping bag on the flexible end effector contacts the clamped object, the main motor stops working and the transverse movement mechanism starts working, that is, the auxiliary motor drives the active bevel gear to rotate, and the active bevel gear drives the driven bevel gear to rotate, thereby causing the wheel axle to rotate, the driving gear on the wheel axle to rotate, and the driving gear drives the rack to move, thereby causing the first transverse movement rod, the connecting rod, and the second transverse movement rod to move together, and finally realizing the permanent magnet on the second transverse movement rod to move in the direction of the containing cavity containing the magnetorheological fluid. As the permanent magnet approaches the magnetorheological fluid, the rigidity of the magnetorheological fluid is enhanced under the action of the magnetic field, thereby causing the elastic clamping bag to fully contact with the clamped object, thereby clamping the clamped object and completing the clamping action.

[0032] Therefore, the gear rack transmission used in the present invention has a faster horizontal movement speed than the lead screw, and can be used in work scenarios that require fast clamping. In addition, the bevel gear transmission used in the present invention has smaller mechanical vibration and more accurate transmission ratio than the pulley, and the movement control of the traverse rod can be more accurate, thereby ensuring the accuracy of the permanent magnet moving position, and thus making the control of the strength of the magnetorheological fluid more accurate.

[0033] Furthermore, a mounting tube is fixed on one side wall of the vertical plate at the position of the second through hole, the elastic clamping bag is an open sleeve, and its open sleeve is fixed on the mounting tube, the permanent magnet is located in the mounting tube, and the permanent magnet is spaced apart from the accommodating cavity.

[0034] The beneficial effect of adopting the above technical solution is that the elastic clamping bag is an open bag, which can be directly mounted on the installation tube through the opening, which is convenient for disassembly and assembly of the elastic clamping bag, so that the elastic clamping bag that is easy to wear and damage can be replaced in time later.

[0035] Furthermore, the opening of the elastic clamping bag is fixed on the mounting tube through a pressure ring.

[0036] The beneficial effect of adopting the above technical solution is that the elastic clamping bag can be stably installed on the installation sleeve through the pressure ring to prevent it from slipping.

[0037] Furthermore, each of the supporting feet comprises: a first supporting ear plate and a second supporting ear plate arranged at intervals, and upper ends of the first supporting ear plate and the second supporting ear plate are fixedly connected to the bottom outer wall of the base;

[0038] Each of the clamping arms comprises:

[0039] A rotating shaft, two ends of which are rotatably connected between the first supporting ear plate and the second supporting ear plate, and the turbine sleeve is fixed on the rotating shaft;

[0040] Connecting support plates, there are two connecting support plates, the upper ends of the two connecting support plates are both sleeved on the rotating shaft, the lower ends of the two connecting support plates are both fixedly connected to the top of the closing plate, and the two connecting support plates are respectively located on both sides of the turbine.

[0041] The beneficial effects of adopting the above technical solution are: the supporting foot and the clamping arm have a simple structure, are easy to process and manufacture, and have a low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0043] Figure 1 This is a schematic diagram of the front structural view of a flexible conformable clamp provided by the present invention.

[0044] Figure 2 A schematic diagram of the top structure of a flexible conformable clamp provided by the present invention.

[0045] Figure 3 The present invention is a schematic diagram of a bottom-up structure of a flexible conformable clamping jaw provided by the present invention.

[0046] Figure 4 A schematic diagram of a first-perspective three-dimensional structure of a flexible end effector of a flexible conformable gripper provided by the present invention.

[0047] Figure 5 A schematic diagram of a second viewing angle of the three-dimensional structure of a flexible end effector of a flexible conformable gripper provided by the present invention.

[0048] Figure 6 A left side schematic diagram of a flexible end effector of a flexible conformable gripper provided by the present invention.

[0049] Figure 7 A schematic front view of a flexible end effector of a flexible conformable gripper provided by the present invention.

[0050] Figure 8 A right side schematic view of a flexible end effector of a flexible conformable gripper provided by the present invention.

[0051] Fig. 9 for Figure 8 Schematic cross-section of the middle section EE. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] like Figure 1-Figure 9 As shown, an embodiment of the present invention discloses a flexible conformable clamping jaw, comprising:

[0054] A base 1, with three supporting legs 2 evenly distributed and fixed at the bottom of the base 1;

[0055] A main motor 3 is fixed to the upper end of the base 1, and a driving shaft of the main motor 3 passes through the lower end of the base 1 and a worm 4 is fixed to the lower end;

[0056] Clamping arms 5, there are three clamping arms 5, the upper ends of which are rotatably connected to the lower ends of the three supporting feet 2 respectively, and a turbine 6 is fixed to the upper end of each clamping arm 5, the three turbines 6 are located on the outer peripheral side of the worm 4, and the three turbines 6 are meshed and connected with the worm 4;

[0057] There are three flexible end effectors 7, and the upper ends of the flexible end effectors 7 are fixedly connected to the lower ends of the three clamping arms 5, respectively.

[0058] Each flexible end effector 7 comprises:

[0059] A bracket 71, the bracket 71 is fixedly connected to the lower end of the clamping arm 5;

[0060] An elastic clamping capsule 72, which is made of rubber and is fixed on the bracket 71. The elastic clamping capsule 72 has a receiving cavity 721 for containing magnetorheological fluid;

[0061] The transverse movement mechanism 73 is installed on the bracket 71 . A permanent magnet 74 is fixed on the moving end of the transverse movement mechanism 73 to change the distance between the permanent magnet 74 and the accommodating cavity 721 .

[0062] In a specific embodiment, the bracket 71 includes:

[0063] A U-shaped plate 711, a closing plate 7111 of the U-shaped plate 711 is welded or screwed to the lower end of the clamping arm 5;

[0064] The vertical plate 712 is welded or screwed between the two side plates 7112 of the U-shaped plate 711. The vertical plate 712 is provided with a first through hole 7121 and a second through hole 7122. The elastic clamping bag 72 is fixed on the vertical plate 712.

[0065] The traverse mechanism 73 comprises:

[0066] Auxiliary motor 731, the auxiliary motor 731 can be fixed on the closing plate 7111 by screws, and a driving bevel gear 732 is fixed on the driving shaft of the auxiliary motor 731 by a key;

[0067] A driven bevel gear 733, two ends of a wheel shaft 7331 of the driven bevel gear 733 are rotatably connected to the two side plates 7112 respectively, and the driven bevel gear 733 is meshedly connected with the driving bevel gear 732;

[0068] A driving gear 734, which can be fixed to the axle 7331 by a key;

[0069] A first transverse rod 735, which is inserted into the first through hole 7121, and a rack 736 is fixed to the first transverse rod 735, and the rack 736 is meshed and connected with the driving gear 734;

[0070] A connecting rod 737, one end of the connecting rod 737 is welded and fixedly connected to the rod end of the first transverse rod 735 away from the rack 736;

[0071] The second transverse rod 738 is inserted into the second through hole 7122 , one end of the second transverse rod 738 is welded and fixedly connected with the other end of the connecting rod 737 , and the other end of the second transverse rod 738 is fixed (can be fixed by bonding, screws, etc.) with a permanent magnet 74 .

[0072] A mounting tube 8 is welded and fixed on one side wall of the vertical plate 712 at the position of the second through hole 7122 . The elastic clamping bag 72 is an open sleeve, and its open sleeve is fixed on the mounting tube 8 . The permanent magnet 74 is located in the mounting tube 8 , and the permanent magnet 74 is spaced apart from the accommodating cavity 721 .

[0073] Of course, in order to improve the stability of the elastic clamping bag 72, the opening of the elastic clamping bag 72 can also be fixed on the installation tube 8 through a pressing ring 9.

[0074] Each support foot 2 includes: a first support ear plate 21 and a second support ear plate 22 arranged at intervals, and the upper ends of the first support ear plate 21 and the second support ear plate 22 are fixedly connected to the bottom outer wall of the base 1;

[0075] Each clamping arm 5 comprises:

[0076] A rotating shaft 51, both ends of which are rotatably connected between the first supporting ear plate 21 and the second supporting ear plate 22, and the turbine 6 is sleeved and fixed on the rotating shaft 51;

[0077] There are two connecting support plates 52 , the upper ends of the two connecting support plates 52 are both sleeved on the rotating shaft 51 , the lower ends of the two connecting support plates 52 are both fixedly connected to the top of the closing plate 7111 , and the two connecting support plates 52 are respectively located on both sides of the turbine 6 .

[0078] The principle of clamping an object of the present invention is as follows:

[0079] When clamping an object, the main motor first drives the worm to rotate, and the worm drives the three turbines to rotate, so that the three clamping arms rotate clockwise to realize the rapid opening of the three flexible end effectors. When the opening degree is greater than the clamped object, the main motor starts to drive the worm to rotate in the opposite direction to realize the closing of the three flexible end effectors. When the elastic clamping bag on the flexible end effector contacts the clamped object, the main motor stops working and the transverse movement mechanism starts working, that is, the auxiliary motor drives the active bevel gear to rotate, and the active bevel gear drives the driven bevel gear to rotate, thereby rotating the wheel axle, rotating the driving gear on the wheel axle, and driving the gear to move the rack, thereby making the first transverse movement rod, the connecting rod, and the second transverse movement rod move together, and finally realizing the permanent magnet on the second transverse movement rod moving toward the containing cavity containing magnetorheological fluid. As the permanent magnet approaches the magnetorheological fluid, the rigidity of the magnetorheological fluid is enhanced under the action of the magnetic field, thereby making the elastic clamping bag fully contact with the clamped object, so that the clamped object can be clamped and the clamping action is completed. When the shape of the clamped object is irregular, the three transverse mechanisms stop rotating after their respective elastic clamping capsules clamp the clamped object. When the direction and posture of the clamped object need to be adjusted, the distance between the permanent magnet and the accommodating cavity can be controlled by the transverse mechanisms, thereby controlling the magnitude of the magnetic field strength of the magnetorheological fluid in the elastic clamping capsule, and controlling the shear strength of the contact surface of the elastic clamping capsule, so that the three elastic clamping capsules can exhibit forces of different magnitudes and directions when clamping the object to meet the needs.

[0080] The advantages of the present invention are as follows:

[0081] (1) The flexible end clamp adopted in the present invention has a certain contact flexibility, and its end clamping force can be independently controlled, which can adapt to the clamping of objects of different shapes and support the clamping of fragile objects. At the same time, the magnetorheological fluid can improve the ability to adapt to the surface strength and shape of the object through magnetic field phase change.

[0082] (2) The rack and pinion transmission adopted by the present invention has a faster horizontal movement speed than the lead screw, and can be used in work scenarios that require fast clamping.

[0083] (3) Compared with the pulley, the bevel gear transmission adopted in the present invention has smaller mechanical vibration and more precise transmission ratio, and the movement control of the permanent magnet can be more precise.

[0084] (4) The three-finger arrangement adopted by the present invention, i.e., three elastic clamping bags, has a self-centering function on the basis of the existing two-finger arrangement, which can better control the posture of the clamped object. When combined with the gear rack and bevel gear, the orientation and posture of the object when placed can be made more precise.

[0085] (5) The clamp of the present invention has good clamping ability and more application scenarios. It can adapt to the shape of the parts autonomously. On the basis of realizing the clamping function, the clamp has good performance and efficiency when clamping parts of different shapes and materials. At the same time, it reduces the damage rate of the parts and has higher positioning accuracy when clamping and placing.

[0086] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0087] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A flexible conformable clamp, characterized in that: include: A base (1), wherein three supporting legs (2) are evenly distributed and fixed on the bottom of the base (1); A main motor (3), the main motor (3) being fixed to the upper end of the base (1), the driving shaft of the main motor (3) passing through the lower end of the base (1) and a worm (4) being fixed to the lower end; Clamping arms (5), the clamping arms (5) are three in number, the upper ends of the clamping arms (5) are rotatably connected to the lower ends of the three supporting legs (2), the upper end of each clamping arm (5) is fixed with a turbine (6), the three turbines (6) are located on the outer peripheral side of the worm (4), and the three turbines (6) are meshingly connected to the worm (4); Flexible end effectors (7), the number of the flexible end effectors (7) being three, the upper ends of which are respectively fixedly connected to the lower ends of the three clamping arms (5), Each of the flexible end effectors (7) comprises: A bracket (71), wherein the bracket (71) is fixedly connected to the lower end of the clamping arm (5); An elastic clamping bag (72), wherein the elastic clamping bag (72) is fixed on the bracket (71), and the elastic clamping bag (72) has a containing cavity (721) for containing magnetorheological fluid; A transverse movement mechanism (73), wherein the transverse movement mechanism (73) is mounted on the bracket (71), and a permanent magnet (74) is fixed on the moving end of the transverse movement mechanism (73) for changing the distance between the permanent magnet (74) and the accommodating cavity (721).

2. A flexible conformable clamp according to claim 1, characterized in that: The support (71) comprises: A U-shaped plate (711), a closing plate (7111) of the U-shaped plate (711) being fixedly connected to the lower end of the clamping arm (5); A vertical plate (712), wherein the vertical plate (712) is fixed between two side plates (7112) of the U-shaped plate (711), a first through hole (7121) and a second through hole (7122) are formed on the vertical plate (712), and the elastic clamping bag (72) is fixed on the vertical plate (712); The transverse movement mechanism (73) comprises: An auxiliary motor (731), the auxiliary motor (731) being fixed on the closing plate (7111), and a driving bevel gear (732) being fixed on a driving shaft of the auxiliary motor (731); A driven bevel gear (733), wherein two ends of the wheel shaft (7331) of the driven bevel gear (733) are rotatably connected to the two side plates (7112) respectively, and the driven bevel gear (733) is meshingly connected with the driving bevel gear (732); A driving gear (734), wherein the driving gear (734) is sleeved on the wheel shaft (7331); A first transverse rod (735), the first transverse rod (735) is inserted into the first through hole (7121), a rack (736) is fixed on the first transverse rod (735), and the rack (736) is meshedly connected with the driving gear (734); A connecting rod (737), one end of which is fixedly connected to an end of the first transverse rod (735) away from the rack (736); A second transverse rod (738), the second transverse rod (738) is inserted into the second through hole (7122), one end of the second transverse rod (738) is fixedly connected to the other end of the connecting rod (737), and the other end of the second transverse rod (738) is fixed with the permanent magnet (74).

3. A flexible conformable clamp according to claim 2, characterized in that: A mounting tube (8) is fixed on a side wall of the vertical plate (712) at a position of the second through hole (7122); the elastic clamping bag (72) is an open sleeve, and the open sleeve is fixed on the mounting tube (8); the permanent magnet (74) is located in the mounting tube (8), and the permanent magnet (74) is spaced apart from the accommodating cavity (721).

4. A flexible conformable clamp according to claim 3, characterized in that: The opening of the elastic clamping bag (72) is fixed on the mounting tube (8) through a pressing ring (9).

5. A flexible conformable clamp according to any one of claims 2 to 4, characterized in that: Each of the supporting legs (2) comprises: a first supporting ear plate (21) and a second supporting ear plate (22) arranged at intervals, wherein the upper ends of the first supporting ear plate (21) and the second supporting ear plate (22) are fixedly connected to the bottom outer wall of the base (1); Each of the clamping arms (5) comprises: A rotating shaft (51), two ends of which are rotatably connected between the first supporting ear plate (21) and the second supporting ear plate (22), and the turbine (6) is sleeved on the rotating shaft (51); Connecting support plates (52), there are two connecting support plates (52), the upper ends of the two connecting support plates (52) are both sleeved on the rotating shaft (51), the lower ends of the two connecting support plates (52) are both fixedly connected to the top of the closing plate (7111), and the two connecting support plates (52) are respectively located on both sides of the turbine (6).

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