A flexible clamping device

Abstract

The application discloses the technical field of clamping devices, and particularly relates to a flexible clamping device, which comprises a bearing mechanism, a artificial muscle and a locking piece, the bearing mechanism comprises a fixed table, a movable slide table and the locking piece, the movable slide table is arranged at the end of the fixed table, and the movable slide table is used in cooperation with the locking piece; the artificial muscle is arranged on the movable slide table through the locking piece, and the object at the end of the movable slide table is clamped and placed through the contraction state change of the artificial muscle, the contraction of the artificial muscle material controlled by electricity is adopted to clamp the object, the clamping device made of the artificial muscle material is uniformly contracted inward through the temperature rise caused by the electrification, so that the clamping of the object is realized, the temperature is reduced after the electrification is cut off, so that the clamping device is expanded to release the clamped object, and the above setting can make the artificial muscle and the clamped object have a larger contact area and a more uniform stress.

Description

Technical Field

[0001] This invention relates to the technical field of clamping devices, and more particularly to a flexible clamping device. Background Technology

[0002] Clamping devices are equipment used to hold and manipulate objects. They are widely used in daily life and industrial production. For example, in machining, they are special fixtures used on machine tools to fix the parts being processed. Ordinary clamping devices use the relative movement between mechanical components to mimic the movement of fingers to clamp and release objects. In this clamping method, the mechanical components used to apply clamping force are generally rigid. There is a small contact area between the mechanical components and the clamped object (especially irregularly shaped objects). Therefore, a large local stress will be generated at the contact point. For some low-strength or fragile objects, when the local stress exceeds their strength, large deformation or even damage will occur. Summary of the Invention

[0003] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0004] In view of the problem that existing clamps can cause large deformation or even damage when clamping low-strength or fragile objects, the present invention is proposed.

[0005] Therefore, the object of the present invention is to provide a flexible clamping device.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a bearing mechanism, including a fixed platform, a movable slide, and a locking member, wherein the movable slide is disposed at the end of the fixed platform and the movable slide is used in conjunction with the locking member; an artificial muscle, wherein the artificial muscle is disposed on the movable slide via the locking member, and the object at the end of the movable slide is clamped by the change of the contraction state of the artificial muscle.

[0007] In a preferred embodiment of the flexible clamping device of the present invention, a lead screw is provided at the end of the fixed platform, and an operating handwheel is provided at the end of the lead screw.

[0008] In a preferred embodiment of the flexible clamping device of the present invention, a fixing hook is provided at the end of the fixed platform away from the operating handwheel, and a lead screw support is also provided at the end of the fixed platform away from the operating handwheel.

[0009] As a preferred embodiment of the flexible clamping device of the present invention, the movable slide is provided with a first groove and a second groove at one end near the locking member, and a connecting seat is also provided at the end of the movable slide.

[0010] In a preferred embodiment of the flexible clamping device of the present invention, the locking member is disposed on the connecting seat.

[0011] In a preferred embodiment of the flexible clamping device of the present invention, one end of the artificial muscle is disposed on the fixing hook, and the other end of the artificial muscle passes through the first groove and the second groove and is connected to the locking member.

[0012] In a preferred embodiment of the flexible clamping device of the present invention, the locking member is used to adjust the length of the artificial muscle at the end of the moving slide.

[0013] In a preferred embodiment of the flexible clamping device of the present invention, the artificial muscle is made of a conductive material and the artificial muscle can change its contractile force according to temperature changes.

[0014] In a preferred embodiment of the flexible clamping device of the present invention, the bottom end of the movable slide is provided with a support base, and multiple sets of support bases are provided, with the lead screw passing through multiple sets of support bases simultaneously.

[0015] In a preferred embodiment of the flexible clamping device of the present invention, the locking member includes a movable plate disposed within the connecting seat, a screw fixedly connected to the end of the movable plate, and an adjusting wheel fixedly connected to the end of the screw; the screw passes through the end of the connecting seat, and the movable plate can move up and down along the inner wall of the connecting seat.

[0016] The beneficial effects of the present invention are as follows: The present invention uses the contraction of an electrothermally controlled artificial muscle material to clamp an object. By heating up the electric current, the clamping device made of artificial muscle material uniformly contracts inward to clamp the object. After the power is turned off, the temperature drops, causing the clamping device to expand and release the clamped object. This design allows for a larger contact area and more uniform force between the artificial muscle and the clamped object. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments 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 these drawings without creative effort. Wherein:

[0018] Figure 1This is a schematic diagram of the overall structure of the flexible clamping device of the present invention.

[0019] Figure 2 This is a partial structural schematic diagram of the flexible clamping device of the present invention.

[0020] Figure 3 This is a schematic diagram of the locking component of the flexible clamping device of the present invention.

[0021] Figure 4 This is a diagram showing the performance of the spiral structure polymer fiber artificial muscle of the flexible clamping device of the present invention.

[0022] In the diagram: 100, bearing mechanism; 101, fixed platform; 102, movable slide; 103, locking element; 103a, movable plate; 103b, screw; 103c, adjusting wheel; 104, lead screw; 105, operating handwheel; 106, fixed hook; 107, lead screw support; 108, connecting seat; 200, artificial muscle. Detailed Implementation

[0023] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0024] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0025] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0026] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0027] Example 1, referring to Figures 1 to 2The first embodiment of the present invention provides a flexible clamping device, including a support mechanism 100, comprising a fixed platform 101, a movable slide 102, and a locking member 103. The movable slide 102 is disposed at the end of the fixed platform 101 and is used in conjunction with the locking member 103. An artificial muscle 200 is disposed on the movable slide 102 via the locking member 103, and the object at the end of the movable slide 102 is clamped by the change of the contraction state of the artificial muscle 200.

[0028] Specifically, a lead screw 104 is provided at the end of the fixed platform 101, and an operating handwheel 105 is provided at the end of the lead screw 104.

[0029] Furthermore, a fixing hook 106 is provided at the end of the fixed platform 101 away from the operating handwheel 105, and a lead screw 104 support is also provided at the end of the fixed platform 101 away from the operating handwheel 105.

[0030] It should be noted that, as Figure 1 One end of the artificial muscle 200 shown is fixed to the fixed hook 106, which is rigidly connected to the fixed platform 101. The other end of the artificial muscle 200 passes through the movable slide 102 and is locked by the locking device on the right side of the movable slide 102. After the locking device is released, the length of the artificial muscle 200 on the movable slide 102 can be adjusted by pulling. The movable slide 102 can be moved left and right relative to the fixed platform 101 by the screw 104 to adapt to the clamping needs of objects of different sizes.

[0031] After the positive and negative terminals of DC power are connected to both ends of the artificial muscle 200, the electrical energy is converted into heat energy in the artificial muscle 200, causing the temperature to rise. This causes the artificial muscle 200 to contract, wrap around the object between it and the movable slide 102, and generate a clamping force.

[0032] Example 2, refer to Figure 1 Figure 3 The difference between this embodiment and the first embodiment is that the movable slide 102 has a first groove and a second groove at one end near the locking member 103, and a connecting seat 108 is also provided at the end of the movable slide 102.

[0033] Specifically, the locking element 103 is disposed on the connecting seat 108.

[0034] Furthermore, one end of the artificial muscle 200 is mounted on the fixing hook 106, and the other end of the artificial muscle 200 passes through the first and second grooves and is connected to the locking member 103.

[0035] It should be noted that the movable slide 102 has a first groove and a second groove at one end near the locking member 103. The artificial muscle 200 passes through the first groove and the second groove and connects to the locking member 103, thereby forming an adjustable clamping mechanism at the end of the movable slide 102. The connecting seat 108 at the end of the movable slide 102 is used to fix the locking member 103 and ensure the stability of the locking member 103 when adjusting the tension of the artificial muscle 200. One end of the artificial muscle 200 is fixed to the fixing hook 106, and the other end is connected to the locking member 103 through the groove. This arrangement allows the artificial muscle 200 to adjust its length on the movable slide 102 as needed, thereby adjusting the clamping force. This allows the flexible clamping device to adapt to objects of different sizes and shapes, while reducing damage to the objects. Especially for low-strength or fragile objects, it provides a gentler and more uniform clamping method. By adjusting the tension of the artificial muscle 200, precise clamping and release of objects can be achieved, improving the flexibility and applicability of the clamping device.

[0036] The rest of the structure is the same as in Example 1.

[0037] Example 3, referring to Figures 1 to 4 The difference between this embodiment and the previous embodiment is that the locking member 103 is used to adjust the length of the artificial muscle 200 at the end of the movable slide 102.

[0038] Specifically, the artificial muscle 200 is made of conductive material and can change its contractile force according to temperature changes.

[0039] Furthermore, the bottom of the movable slide table 102 is provided with a support base, and multiple sets of support bases are provided. The lead screw 104 passes through multiple sets of support bases simultaneously.

[0040] Furthermore, the locking member 103 includes a movable plate 103a disposed in the connecting seat 108, a screw 103b fixedly connected to the end of the movable plate 103a, and an adjusting wheel 103c fixedly connected to the end of the screw 103b.

[0041] The screw 103b passes through the end of the connecting seat 108, and the movable plate 103a can move up and down along the inner wall of the connecting seat 108.

[0042] It should be noted that the main function of the locking member 103 is to adjust the length of the artificial muscle 200 at the end of the movable slide 102 to accommodate objects of different sizes and provide appropriate clamping force. The locking member 103 achieves this function through the cooperation of the movable plate 103a, screw 103b and adjusting wheel 103c inside it. As a conductive material, the artificial muscle 200 can change its contraction force according to temperature changes. This means that by controlling the electrothermal state of the artificial muscle 200, its degree of contraction can be precisely controlled, thereby achieving flexible clamping of objects. The multiple sets of support seats at the bottom of the movable slide 102 and the lead screw 104 passing through them provide stable support and precise movement control for the movable slide 102, so that the movable slide 102 can move smoothly along the fixed platform 101 to meet the needs of different clamping positions. The screw 103b of the locking member 103 passes through the end of the connecting seat 108, allowing the moving plate 103a to move up and down along the inner wall of the connecting seat 108. This arrangement allows the locking member 103 to dynamically adjust the tension of the artificial muscle 200 to adapt to different clamping conditions. Through the above arrangement, the flexible clamping device can flexibly adjust the clamping force and position to adapt to various different operating environments and object characteristics.

[0043] It should also be noted that, such as Figure 2 As shown, the artificial muscle 200 is fixed on the left side, while the right side passes through a strip hole on the movable slide 102 into the lower part and then through another strip hole back to the upper part, and is then pressed by the movable plate 103a. The movable plate 103a is driven by the screw 103b to move up and down, thereby pressing or releasing the artificial muscle 200. The screw 103b is moved up and down by rotating the adjusting wheel 103c.

[0044] As shown in Figure 3, the lower end of the movable slide 102 has multiple sets of lead screw 104 supports, which are rigidly connected together. After the lead screw 104 is rotated by the handwheel, the lead screw 104 nut can drive the movable slide 102 to move left and right. The left side of the artificial muscle 200 is always fixed, while the right side of the artificial muscle 200 moves left and right together with the movable slide 102. The stroke of the movable slide 102 to move left and right is determined according to the size and shape of the object being clamped.

[0045] The temperature rise of the artificial muscle 200 can be controlled by adjusting the voltage and duration of the current, thereby obtaining different degrees of contraction and corresponding clamping force.

[0046] The rest of the structure is the same as in Example 2.

[0047] Working principle: In this invention, the artificial muscle 200 material is energized, and the electrical energy on the artificial muscle 200 material is converted into heat energy, which causes the artificial muscle 200 material to expand. At this time, the expansion of the artificial muscle 200 will squeeze the object at the end of the moving slide 102, so that the artificial muscle 200 material is in close contact with the object being clamped over a large area, the force is more even, and no large local stress is generated, so that the object is not easily deformed or damaged during the clamping process.

[0048] Artificial muscle 200 can be woven into strips of different widths, or into special shapes according to the shape of the object, to ensure uniform force over a large area between the artificial muscle and the object being clamped. Artificial muscle 200 refers to a actuator, material or device used to mimic natural muscles, which can respond to external stimuli (such as voltage, current, pressure or temperature) and exhibit reversible contraction or expansion. According to research on the driving performance of carbon nanotube yarn in the prior art, twisted carbon nanotube yarn has a twisted structure and a helical structure. This twisted yarn can generate rotational and contraction responses through electrical, thermal, and electrochemical means, with a maximum contraction strain of 9%. By adding guest materials, the performance of the carbon nanotube yarn artificial muscle 200 is significantly improved. In the prior art, commercial polymer fibers are twisted to form a helical structure to prepare a low-cost electrothermal driven helical polymer fiber artificial muscle 200. By adjusting the helical index of the artificial muscle 200, the contraction strain reaches 34%. In summary, the artificial muscle 200 can achieve the flexible clamping function of our invention. This invention can solve the problem in the prior art where clamps hold low-strength or fragile objects, and large deformation or even damage occurs when the local stress exceeds its strength.

[0049] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of the invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structurally equivalent but also equivalent in structure. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of the invention. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0050] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the currently considered best mode for carrying out the invention, or those features that are not relevant to implementing the invention) may be omitted.

[0051] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0052] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A flexible clamping device, characterized in that: include, The supporting mechanism (100) includes a fixed platform (101), a movable slide (102), and a locking member (103). The movable slide (102) is disposed at the end of the fixed platform (101), and the movable slide (102) cooperates with the locking member (103). The movable slide (102) has a first groove and a second groove at one end near the locking member (103), and a connecting seat (108) is also provided at the end of the movable slide (102). The locking element (103) is disposed on the connecting seat (108); An artificial muscle (200) is mounted on the movable slide (102) via a locking member (103). The artificial muscle (200) clamps and holds an object at the end of the movable slide (102) by changing its contraction state. A fixing hook (106) is provided on one end of the fixed platform (101), and one end of the artificial muscle (200) is provided on the fixing hook (106). The other end of the artificial muscle (200) passes through the first groove and the second groove and is connected to the locking member (103). The locking member (103) is used to adjust the length of the artificial muscle (200) at the end of the movable slide (102).

2. The flexible clamping device as described in claim 1, characterized in that: The fixed platform (101) is provided with a lead screw (104) at one end, and an operating handwheel (105) is provided at the other end of the lead screw (104).

3. The flexible clamping device as described in claim 2, characterized in that: A fixing hook (106) is provided at the end of the fixed platform (101) away from the operating handwheel (105), and a lead screw (104) support is also provided at the end of the fixed platform (101) away from the operating handwheel (105).

4. The flexible clamping device as described in claim 3, characterized in that: The artificial muscle (200) is made of conductive material and can change its contractile force according to temperature changes.

5. The flexible clamping device as described in claim 3, characterized in that: The bottom of the movable slide (102) is provided with a support base, and multiple sets of the support bases are provided. The lead screw (104) passes through multiple sets of the support bases simultaneously.

6. The flexible clamping device as described in claim 5, characterized in that: The locking member (103) includes a movable plate (103a) disposed in the connecting seat (108), a screw (103b) fixedly connected to the end of the movable plate (103a), and an adjusting wheel (103c) fixedly connected to the end of the screw (103b). The screw (103b) passes through the end of the connecting seat (108), and the movable plate (103a) can move up and down along the inner wall of the connecting seat (108).

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