Flexible claw thorn capable of being repeatedly assembled, pressing tool and manufacturing process

Abstract

The invention provides a flexible claw thorn capable of being repeatedly assembled, a pressing tool and a manufacturing process, the flexible claw thorn comprises a base body unit, a flexible unit and a claw thorn unit, the base body unit comprises a claw thorn piece and two fixing pieces arranged on the left side of the claw thorn piece, and the claw thorn piece is connected with each fixing piece through the flexible unit; a detachable installation claw thorn unit is arranged on the right side of the claw thorn piece. According to the flexible claw thorn capable of being repeatedly assembled, the pressing tool and the manufacturing process, a fixing structure of a traditional flexible claw thorn is broken through, self-adaptive molded surface grabbing after dynamic attachment is achieved when the multiple flexible claw thorns are combined for use is supported, and the application scene is expanded.

Description

Technical Field

[0001] The present invention belongs to the field of robot grasping, and particularly relates to a flexible claw thorn, a pressing tooling and a manufacturing process that can be repeatedly assembled. Background Art

[0002] The claw thorn structure has wide applications in the fields of robot grasping, climbing equipment, medical devices, etc. However, most of the existing claw thorns have the following limitations: 1. Disposable or non-reusable: Due to the fixed structure or material loss of traditional claw thorns, it is difficult to disassemble and recombine them, resulting in waste of resources; 2. Poor adaptability of rigid structure: The rigid claw thorns have insufficient fitting ability for complex surfaces (such as rough and curved surfaces), which easily leads to grasping failure; 3. Complex manufacturing process: The existing manufacturing methods (such as precision casting, multi-layer composite, and welding manufacturing) have high costs and low efficiency. Especially for the welding process of small-sized claw thorn structures, it is mostly carried out manually, which requires high skills of workers and is difficult to achieve large-scale production. To address the above problems, it is urgent to develop a new type of claw thorn technology with flexible adaptability, repeatable assembly characteristics, and low-cost manufacturing process. Summary of the Invention

[0003] In view of this, the present invention aims to provide a flexible claw thorn, a pressing tooling and a manufacturing process that can be repeatedly assembled to solve at least one of the above technical problems.

[0004] To achieve the above object, the technical solution of the present invention is realized as follows:

[0005] A flexible claw thorn that can be repeatedly assembled includes a base unit, a flexible unit, and a claw thorn unit. The base unit includes a claw thorn piece and two fixing pieces arranged on the left side thereof. The claw thorn piece and each fixing piece are connected through a flexible unit, and the claw thorn unit is detachably installed on the right side of the claw thorn piece.

[0006] Further, the flexible unit is a flexible spring, and the flexible spring is used to connect and fix the claw thorn unit and the base unit.

[0007] Further, the claw thorn unit is a needle-like object.

[0008] Further, the claw thorn unit is a tail needle.

[0009] Further, the fixing piece is a rectangular sheet-like body with one side being arc-shaped, and the fixing piece is provided with a through hole and an insertion hole for inserting the flexible unit.

[0010] Further, the claw thorn piece is an integral structure, and the claw thorn piece is provided with a flexible unit connection portion for installing the flexible unit and a claw thorn connection portion for installing the claw thorn unit. The end of the claw thorn connection portion is provided with a mounting hole for inserting or screwing the claw thorn unit, and the flexible unit connection portion is provided with a connection hole for inserting the flexible unit.

[0011] Further, a weight-reducing hole is also provided in the middle of the claw thorn piece.

[0012] Compared with the prior art, the reusable and flexible claw thorn of the present invention has the following advantages:

[0013] (1) The reusable and flexible claw thorn of the present invention breaks through the fixed structure of the traditional flexible claw thorn, supports the use of multiple flexible claw thorns in combination to achieve adaptive surface grasping after dynamic fitting, and expands the application scenarios.

[0014] (2) The reusable and flexible claw thorn of the present invention, the claw thorn unit and the flexible unit can be independently disassembled, which is convenient for quick replacement after wear.

[0015] A pressing tooling for forming a reusable and flexible claw thorn includes an upper die and a lower die which are press-connected on both sides. A plurality of positioning pins for positioning are provided on both the upper die and the lower die. A plurality of first pressing needles are provided on the upper die, and a plurality of second pressing needles are provided on the lower die, and the positions of the first pressing needles and the second pressing needles are symmetrical. A backing plate is also provided on the outside of the upper die and the lower die.

[0016] Further, the upper die and the lower die of the pressing tooling are made of pre-hardened die steel, the backing plate is made of cold-work die steel, the positioning pins are made of hot-work die steel, and the first pressing needles and the second pressing needles are made of high-speed steel.

[0017] Compared with the prior art, the pressing tooling for the reusable and flexible claw thorn of the present invention has the following advantages:

[0018] (1) For the pressing tooling of the reusable and flexible claw thorn of the present invention, for different pressing objects, the pressing tooling can be arbitrarily made into corresponding grooves to place new products, and the diameter size of the pressing needles and the number of pressing holes can also be arbitrarily changed and replaced according to requirements, so as to be applicable to various pressing objects; for the same pressing object, the overall structure of the pressing tooling can be reused, and the assembly is simple, and the pressing operation is convenient, meeting the requirements of fast and high-quality pressing.

[0019] A manufacturing process for forming a reusable and flexible claw thorn includes the following steps:

[0020] S1. Insert the flexible unit and the claw thorn unit into the corresponding holes of the claw thorn piece and the fixing piece in sequence;

[0021] S2. Separate the upper and lower dies of the pressing tooling, place the flexible claw thorn sample in the groove of the lower die, adjust the position of the sample to make it fit with the inner surface of the lower die groove, and then fasten the upper die and the lower die through the positioning pins to complete the assembly of the pressing tooling and the flexible claw thorn sample;

[0022] S3. Insert six No. 1 pressing pins and six No. 2 pressing pins into the pressing holes of the upper and lower molds respectively to form a mold assembly. Cover both sides of the mold assembly with pads and place the entire assembly into a vise.

[0023] S4. Adjust the torque wrench to the appropriate torque, tighten the vise with the torque wrench, squeeze the backing plate through the vise, and then press the exposed part of the pressing needle in the mold into the backing plate, so that the pressing needle applies force to flatten the flexible unit and the claw unit at the corresponding position, and maintain this state for 5 seconds; remove the pressing tool from the vise, reverse the assembly, repeat the pressing once, and maintain it for 5 seconds; remove the pre-compression force and remove the sample from the tool; at this point, the pressing is completed;

[0024] S5. Use a pointed micrometer to check whether the pressed parts on the flexible unit and the claw unit meet the requirements. Then check whether the pressed parts have cracks or other damage under a 30x microscope. If there are any dimensional deviations or cracks, the sample will be scrapped.

[0025] Compared with the prior art, the manufacturing process of the re-assembled flexible claw spines of the present invention has the following advantages:

[0026] (1) The manufacturing process of the re-assembled flexible claws described in the present invention completes the fixation between parts in a small-sized structure by applying physical pressure, which requires low technical skills of the operator and avoids the problem of high product scrap rate caused by process methods such as welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings, which constitute part of the present invention, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0028] Figure 1 A schematic diagram of a re-assembled flexible claw spike according to an embodiment of the present invention;

[0029] Figure 2 The overall schematic diagram of the pressing tool according to the embodiment of the present invention is as follows Figure 1 ;

[0030] Figure 3 The overall schematic diagram of the pressing tool according to the embodiment of the present invention is as follows Figure 2 ;

[0031] Figure 4 This is a schematic diagram of the interior of a pressing tool according to an embodiment of the present invention;

[0032] Description of reference numerals:

[0033] 1 - Upper die; 2 - Lower die; 3 - Positioning pin; 4 - First pressing pin; 5 - Second pressing pin; 6 - Claw thorn piece; 7 - Fixed piece; 8 - Flexible unit; 9 - Claw thorn unit. Detailed implementation mode

[0034] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0035] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0036] In the description of the present invention, it should be noted that, unless otherwise clearly defined and limited, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific situations.

[0037] The present invention will be described in detail below with reference to the drawings and in combination with embodiments.

[0038] A flexible claw thorn that can be repeatedly assembled, as Figure 1 shown, includes a base unit, a flexible unit 8 and a claw thorn unit 9. The base unit includes a claw thorn piece 6 and two fixed pieces 7 arranged on the left side thereof. The claw thorn piece 6 and each fixed piece 7 are connected through a flexible unit 8, and the claw thorn unit 9 is detachably installed on the right side of the claw thorn piece 6.

[0039] The flexible claw thorn that can be repeatedly assembled in this application breaks through the fixed structure of the traditional flexible claw thorn, supports the dynamic fitting and adaptive surface grabbing after the combined use of multiple flexible claw thorns, and expands the application scenarios.

[0040] The flexible unit 8 is a flexible spring, which is used to connect the fixed claw unit 9 and the base unit, and can adjust its configuration to adapt to different surfaces during grasping.

[0041] The claw unit 9 is a needle-like object, and the tip structure of the needle-like object can enhance the hooking force.

[0042] In one or more embodiments, the claw unit 9 is a tail needle.

[0043] In one or more embodiments, the fixing piece 7 is a rectangular sheet with one side being arc-shaped, and there are through holes on the fixing piece 7. There are also plug holes on the fixing piece 7 for plugging with the flexible unit 8.

[0044] In one or more embodiments, the claw piece 6 is an integral structure. There are a flexible unit connection part for installing the flexible unit 8 and a claw connection part for installing the claw unit 9 on the claw piece 6. There is an installation hole at the end of the claw connection part, and the installation hole is used for plugging or screwing connection with the claw unit 9. The flexible unit connection part is provided with a connection hole for plugging with the flexible unit. This detachable connection method enables both the claw unit 9 and the flexible unit 8 to be independently disassembled, facilitating quick replacement after wear.

[0045] Preferably, in order to reduce weight and save materials, there are also weight reduction holes in the middle of the claw piece 6.

[0046] A pressing tooling for a flexible claw that can be repeatedly assembled, as Figures 2 to 3 shown, includes an upper die 1, a lower die 2, positioning pins 3, a first pressing needle 4, a second pressing needle 5 and a backing plate. The two sides of the upper die 1 and the lower die ② are crimped. There are several positioning pins 3 for positioning on both the upper die 1 and the lower die 2. There are several first pressing needles 4 on the upper die 1, and several second pressing needles 4 on the lower die 2, and the positions of the first pressing needle 4 and the second pressing needle 5 are symmetrical. There is also a backing plate outside the upper die 1 and the lower die 2.

[0047] Both the upper die 1 and the lower die 2 are rectangular shell structures with one side open, and the right angles are all chamfered.

[0048] The upper die 1 and the lower die 2 of the pressing tooling are made of pre-hardened die steel, the backing plate is made of cold-work die steel, the positioning pins 3 are made of hot-work die steel, and the first pressing needle 4 and the second pressing needle 5 are made of high-speed steel.

[0049] For different pressing objects, the pressing tooling can be freely made into corresponding grooves to place new products, and the diameter size of the pressing needle and the number of pressing holes can also be freely changed and replaced according to requirements, so as to be applicable to various pressing objects; for the same pressing object, the overall structure of the pressing tooling can be reused, and the assembly is simple, and the pressing operation is convenient, meeting the requirements of fast and high-quality pressing.

[0050] Before using the pressing tooling for the reusable assembled flexible claw spines, use a special go-no-go gauge to detect the dimensions of the claw spine piece, fixed piece, and tail pin installation groove, and visually inspect the surface for no damage or cracks.

[0051] A manufacturing process for reusable assembled flexible claw spines includes the following steps:

[0052] S1. Insert the flexible unit 8 and the claw spine unit 9 into the corresponding holes of the claw spine piece 6 and the fixed piece 7 in sequence.

[0053] S2. Then separate the upper and lower molds of the pressing tooling, place the flexible claw spine sample into the groove of the lower mold 2, adjust the position of the sample to make it fit the inner surface of the groove of the lower mold 2, and then fasten the upper mold 1 and the lower mold 2 with the positioning pin 3 to complete the assembly of the pressing tooling and the flexible claw spine sample.

[0054] S3. Insert 6 first pressing pins 4 and 6 second pressing pins 5 into the pressing holes of the upper and lower molds respectively to form a mold assembly, cover the two sides of the mold assembly with backing plates respectively, and install the whole into a vise.

[0055] S4. Adjust the torque wrench to the appropriate torque, tighten the vise through the torque wrench, squeeze the backing plate by the vise, and then press the exposed part of the pressing pins in the mold into the flexible unit 8 and the claw spine unit 9 at the corresponding positions by the backing plate, so that the pressing pins apply force to flatten the flexible unit 8 and the claw spine unit 9, and keep in this state for 5 s. Take out the pressing tooling from the vise and assemble it in reverse, repeat the pressing once, and keep for 5 s. Remove the pre-tightening force and disassemble the sample from the tooling. Thus, the pressing is completed.

[0056] S5. Use a pointed micrometer to detect whether the pressed parts on the flexible unit 8 and the claw spine unit 9 meet the requirements, and then check whether there are cracks or other damages on the pressed parts under a 30-fold microscope. If there are dimensional tolerances exceeding the standard or cracks, the sample shall be scrapped.

[0057] The manufacturing process of the reusable assembled flexible claw spines deforms the flexible spring and the end position of the tail pin by extrusion, so that they cannot break away from the holes on the claw spine piece and the fixed piece, achieving the fixing effect.

[0058] The present invention completes the fixation between parts in a small-size structure by a physical pressing method, has low requirements for the technical level of operators, and avoids problems such as high product rejection rates caused by process methods such as welding.

[0059] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A flexible claw thorn that can be repeatedly assembled, characterized in that: It includes a matrix unit, a flexible unit and a barb unit. The matrix unit includes a barb piece and two fixing pieces arranged on the left side thereof. The barb piece and each fixing piece are connected through a flexible unit, and the barb unit is detachably installed on the right side of the barb piece.

2. The flexible claw thorn that can be repeatedly assembled according to claim 1 is characterized in that: The flexible unit is a flexible spring, and the flexible spring is used to connect the fixed barb unit and the matrix unit.

3. The flexible claw thorn capable of being repeatedly assembled according to claim 1, characterized in that: The barb unit is a needle-like object.

4. The flexible claw thorn that can be repeatedly assembled according to claim 3, characterized in that: The barb unit is a tail needle.

5. A flexible claw thorn that can be repeatedly assembled according to claim 1, characterized in that: The fixing piece is a rectangular sheet with one side being arc-shaped, and through holes are provided on the fixing piece. Plugging holes for plugging with the flexible unit are also provided on the fixing piece.

6. The flexible claw thorn capable of being repeatedly assembled according to claim 1, characterized in that: The barb piece is an integral structure. A flexible unit connecting portion for installing the flexible unit and a barb connecting portion for installing the barb unit are provided on the barb piece. An installation hole is provided at the end of the barb connecting portion, and the installation hole is used for plugging or screwing connection with the barb unit. A connection hole is provided on the flexible unit connecting portion, and the connection hole is used for plugging with the flexible unit.

7. The flexible claw thorn capable of being repeatedly assembled according to claim 6, wherein: A weight-reducing hole is also provided in the middle of the barb piece.

8. A pressing tool for forming the repeatedly assembled flexible claw spines described in any one of claims 1 to 7, characterized in that: It includes an upper mold and a lower mold which are press-connected on both sides. A plurality of positioning pins for positioning are provided on both the upper mold and the lower mold. A plurality of first pressing needles are provided on the upper mold, and a plurality of second pressing needles are provided on the lower mold, and the positions of the first pressing needles and the second pressing needles are symmetrical. A backing plate is also provided on the outer sides of the upper mold and the lower mold.

9. The pressing tooling for the repeatable assembled flexible claw thorn according to claim 8, wherein: The upper mold and the lower mold of the pressing tooling are made of pre-hardened die steel, the backing plate is made of cold-work die steel, the positioning pins are made of hot-work die steel, and the first pressing needles and the second pressing needles are made of high-speed steel.

10. A manufacturing process for forming the repeatedly assemblable flexible claw spurs described in any one of claims 1 to 7, characterized in that: It includes the following steps: S1. Insert the flexible unit and the barb unit into the corresponding holes of the barb piece and the fixing piece in sequence; S2. Separate the upper and lower molds of the pressing tooling, load the flexible barb specimen into the groove of the lower mold, adjust the position of the specimen to make it fit with the inner surface of the lower mold groove, and then fasten the upper mold and the lower mold through the positioning pins to complete the assembly of the pressing tooling and the flexible barb specimen; S3. Insert 6 first pressing needles and 6 second pressing needles into the pressing holes of the upper and lower molds respectively to form a mold assembly, cover the backing plates on both sides of the mold assembly respectively, and load the whole into a vise; S4. Adjust the torque wrench to a suitable torque, tighten the vise through the torque wrench, squeeze the backing plate through the vise, and then press the exposed part of the pressing needle in the mold into the flexible unit and the barb unit at the corresponding positions by the backing plate to flatten the flexible unit and the barb unit by the pressing needle applying force. Keep in this state for 5 s; Take out the pressing tooling from the vise and assemble it in reverse, repeat pressing once, and keep for 5 s; Remove the pre-tightening force and disassemble the specimen from the tooling; Thus, the pressing is completed; S5. Use a pointed micrometer to detect whether the pressed parts on the flexible unit and the barb unit meet the requirements, and then check whether there are cracks and other damages on the pressed parts under a 30-fold microscope. If there are dimensional tolerances exceeding the standard or cracks, the specimen shall be scrapped.

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