An adaptive wire flexible clamping device based on a slide column array

Abstract

The application provides a kind of self-adapting wire flexible clamping device based on slide column array, belongs to flexible clamping device technical field, including symmetrically arranged clamping seat, the slide column array module is installed on the clamping seat, the slide column array module includes: base, several slide columns, guide structure, suppression structure and synchronous control assembly.The self-adapting wire flexible clamping device based on slide column array, in the process of clamping wire, first, the wire is preliminarily adaptively wrapped, then the slide column is uniformly limited and clamped by the relative movement of the limiting hole base plate, the slide column sliding is inhibited to further compress the elastic return element, and then in the process of stable clamping wire, the uneven degree of stress on the surface of the wire is sufficiently reduced, thereby effectively improving the stability and reliability of the clamping effect on the basis of ensuring the degree of adaptation, and the overall structure is simple, and the clamping work is stably and reliably executed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of flexible clamping devices, in particular to a self-adaptive wire flexible clamping device based on an array of slide columns. BACKGROUND

[0002] At present, the wire clamping equipment in the field of industrial automation mostly adopts rigid clamping jaws or fixed-form pneumatic clamps. The former has a limited contact area with the wire during clamping, which is prone to unstable clamping due to uneven contact area. The latter is difficult to adapt to wires of different diameters and different bending radii due to its fixed structure, and its application range is limited.

[0003] To solve the above problems, some technical solutions use an array slide column clamp. The array slide column cooperates with the elastic structure to achieve a wrapping clamping of the wire by sliding according to the profile of the wire during clamping, which significantly improves the adaptability of the clamp and also has a certain stability. However, there is a significant defect in its actual application: the clamping force control is unreliable. During clamping, the compression amount of each slide column and the rebound force generated by the elastic structure vary significantly depending on the contact position with the wire, which leads to uneven pressure on the wire at different contact points, and the wire is prone to damage due to excessive force in some local areas.

[0004] If the clamping force applied by the local slide column is too small, it may cause the wire to loosen, displace, or even fall off.

[0005] Therefore, although the existing array slide column clamp improves the adaptability to wire specifications to some extent, it is still difficult to achieve stable and reliable clamping effect. SUMMARY

[0006] The application provides a self-adaptive wire flexible clamping device based on a slide column array, which comprises symmetrically arranged clamping seats, wherein a slide column array module is arranged on each clamping seat, the clamping seats are synchronously moved relative to each other, and the wire is clamped through the slide column array module, the slide column array module comprises: a base, a plurality of slide columns which are arranged in an array on the base, a guide structure which is arranged on the base and cooperates with the slide columns and is used for restricting the slide columns to move only in the axial direction, an elastic reset element which is arranged in the base and is used for providing the slide columns with a rebound force for resetting, and a suppression structure which is used for uniformly restricting the slide columns to slide, wherein the suppression structure comprises at least two base plates which are arranged in sequence from the base to the guide structure, the adjacent base plates are synchronously and reversely moved in the direction parallel to the base, and the base plates are provided with a limiting hole corresponding to each slide column, a synchronous control assembly is used for controlling the adjacent base plates to synchronously and reversely move, and in the process of the synchronous relative movement of the clamping seats for clamping, the slide columns are first moved adaptively according to the profile of the wire until the wire is preliminarily wrapped, then the adjacent base plates are synchronously and reversely moved, the limiting holes in the base plates limit and clamp the corresponding slide columns, and the slide columns are suppressed to slide and compress the corresponding elastic reset elements in the process of the continuous relative movement of the clamping seats.

[0007] In a possible implementation manner, the synchronous control assembly comprises a wedge-shaped limiting unit, the wedge-shaped limiting unit comprises two symmetrically arranged wedge-shaped blocks, one of the wedge-shaped blocks is fixedly connected with one of the adjacent base plates, and the other wedge-shaped block is fixedly connected with the other of the adjacent base plates, a moving seat is slidably arranged on the base, and the moving seat is provided with a control unit corresponding to the wedge-shaped limiting unit, the control unit comprises a first limiting head and a second limiting head, the first limiting head is corresponding to the symmetric wedge-shaped blocks and is located on the side opposite to the symmetric wedge-shaped blocks, the moving seat is positively moved, the first limiting head pushes the symmetric wedge-shaped blocks to synchronously and oppositely move, and the second limiting head is located between the symmetric wedge-shaped blocks, the moving seat is reversely moved, and the second limiting head pushes the symmetric wedge-shaped blocks to synchronously and oppositely move.

[0008] In a possible implementation manner, a stopper is arranged on any one of the two symmetric wedge-shaped blocks, the stopper is used for limiting the minimum distance of the relative movement of the symmetric wedge-shaped blocks, and the stopper indirectly limits the maximum distance of the opposite movement of the symmetric wedge-shaped blocks by limiting the second limiting head.

[0009] In a possible implementation manner, the base comprises a base body provided with a plurality of holes and grooves, the holes and grooves correspond to the slide columns and the slide columns are inserted into the corresponding holes and grooves, the elastic reset elements correspond to the slide columns and are arranged in the corresponding holes and grooves.

[0010] In a possible implementation, the base is provided with a mounting guide column, and the substrate is provided with a mounting hole, which is matched with the mounting guide column to limit the freedom of the substrate in a direction perpendicular to the substrate and parallel to the base.

[0011] In a possible implementation, limit balls are arranged between adjacent substrates, between the corresponding substrate and the guide structure, and between the corresponding substrate and the base, so that the adjacent substrates, the corresponding substrate and the guide structure, and the corresponding substrate and the base are gap-distributed.

[0012] In a possible implementation, the substrate is made of plastic.

[0013] The one or more technical solutions in the embodiments of the present application have at least one of the following technical effects: the self-adaptive wire flexible clamping device based on the slide column array provided by the embodiments of the present application can preliminarily and adaptively wrap the wire during clamping the wire, then uniformly limit and clamp the slide column through relative movement of the substrate provided with the limit hole, inhibit the slide column from sliding to further compress the elastic return element, and then sufficiently reduce the uneven degree of stress on the surface of the wire during subsequent stable clamping of the wire, thereby effectively improving the stability and reliability of the clamping effect on the basis of ensuring the adaptability, and the overall structure is simple, facilitating stable and reliable clamping work. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 FIG. 1 is a schematic diagram of the overall structure of the self-adaptive wire flexible clamping device based on the slide column array provided by the embodiments of the present application.

[0015] Figure 2 FIG. 2 is a schematic diagram of the state of the slide column array of the self-adaptive wire flexible clamping device based on the slide column array provided by the embodiments of the present application.

[0016] Figure 3 FIG. 3 is a schematic diagram of the structure of the synchronous control assembly of the self-adaptive wire flexible clamping device based on the slide column array provided by the embodiments of the present application.

[0017] Figure 4 FIG. 4 is a schematic diagram of the structure of the base and the guide structure of the self-adaptive wire flexible clamping device based on the slide column array provided by the embodiments of the present application.

[0018] Figure 5 FIG. 5 is a schematic diagram of the structure of the elastic return element of the self-adaptive wire flexible clamping device based on the slide column array provided by the embodiments of the present application.

[0019] Figure 6 FIG. 6 is a schematic diagram of the structure of the limit hole and the substrate of the self-adaptive wire flexible clamping device based on the slide column array provided by the embodiments of the present application.

[0020] Figure 7 is a schematic diagram of the state change of the limiting hole to the slide post limiting and clamping process of the self-adapting wire flexible clamping device based on the slide post array provided by the embodiment of the application.

[0021] Figure 8 is a structural schematic diagram of the first limiting head, the second limiting head and the wedge-shaped block of the self-adapting wire flexible clamping device based on the slide post array provided by the embodiment of the application.

[0022] In the figure: 1, clamping seat; 2, slide post array module; 21, base; 211, hole groove; 212, base body; 22, slide post; 23, guide structure; 231, through hole; 232, plate body; 24, elastic reset element; 25, suppression structure; 251, base plate; 252, limiting hole; 26, synchronous control assembly; 261, wedge-shaped block; 262, moving seat; 263, first limiting head; 264, second limiting head; 265, stop piece; 3, mounting seat; 4, wire; 5, mounting guide column; 6, mounting hole; 7, limiting ball. DETAILED DESCRIPTION

[0023] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below. In the following description, a large number of specific details are set forth in order to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from the following description, and those skilled in the art can make similar improvements without departing from the concept of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0024] Please refer to Figure 1 , a self-adapting wire flexible clamping device based on a slide post array, comprising a mounting seat 3 symmetrically provided with clamping seats 1, and the symmetric clamping seats 1 are synchronously and reversely slidably installed on the mounting seat 3, and the slide post array modules 2 are installed on the clamping seats 1, in the process of clamping the wire 4, the clamping seats 1 are relatively moved, and the wire 4 is wrapped and clamped by the slide post array modules 2, so that the wire 4 of different diameters can be stably and reliably clamped.

[0025] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 , the slide post array module 2 comprises a base 21, a guide structure 23 and a plurality of slide posts 22, the slide posts 22 are distributed in an array form and arranged on the base 21, such as Figure 4As shown, the base 21 comprises a base body 212 provided with a plurality of holes 211, the base body 212 is detachably and fixedly installed on the corresponding clamping seat 1, the holes 211 correspond to the slide columns 22 one by one and the elastic reset elements 24 (such as springs) are installed in the holes 211. Figure 5 As shown, the guide structure 23 comprises a plate body 232 provided with a plurality of through holes 231, the through holes 231 correspond to the slide columns 22 one by one, the plate body 232 is detachably and fixedly installed on the base body 212, one end of the slide column 22 is inserted into the corresponding hole 211 and the other end passes through the corresponding through hole 231 to form a clamping surface, the gap between the hole 211 and the slide column 22 is in the micron level, which ensures that the slide column 22 can only move along the axial direction, the elastic reset element 24 in the hole 211 provides an elastic force to the slide column 22, in the initial state, the clamping surface is in a flat state, during the clamping of the wire 4, the clamping seat 1 moves synchronously, the clamping surface contacts the wire 4 and the area contacting the wire 4 will change adaptively to form a wrapping state according to the contour of the wire 4, thereby stably clamping and fixing the wire 4, that is, the slide column 22 contacting the wire 4 will slide adaptively according to the contour of the clamping area of the wire 4 to always abut on the wire 4 during the clamping process, and after the clamping work is completed, the slide column 22 will automatically reset under the action of the elastic reset element 24.

[0026] Referring to Figure 3 , Figure 4 , Figure 6 and Figure 7 , the suppression structure 25 is arranged between the base body 212 and the plate body 232, the suppression structure 25 comprises at least two base plates 251, the base plates 251 are slidingly arranged and sequentially distributed from the base body 212 to the plate body 232, the adjacent base plates 251 synchronously and reversely slide, the base plates 251 are all provided with limiting holes 252 corresponding to the slide columns 22 one by one, the slide columns 22 sequentially pass through the corresponding limiting holes 252 on the base plates 251, in the initial state, the base plates 251 are completely overlapped, the limiting holes 252 thereon are also overlapped and are coaxial with the corresponding slide columns 22, and during the clamping of the wire 4, when the slide column 22 in the contact area of the clamping surface abuts on the wire 4 and adaptively slides, the clamping surface changes to wrap the corresponding area of the wire 4 to the initial wrapping state, the base plates 251 are controlled to synchronously and reversely move, the limiting holes 252 thereon limit the slide columns 22 and form a clamping and fixing structure to clamp and fix the slide columns 22, combined with Figure 3 , Figure 7 and Figure 8 , the number of the base plates 251 is three, the middle base plate 251 moves downward (according to Figure 7The upper limiting hole 252 of the base plate 251 limits the corresponding slide column 22 from above, and the limiting holes 252 on both sides of the base plate 251 are synchronously moved upwards, and the limiting holes 252 thereon limit the corresponding slide column 22 from below, so as to form a clamping and fixing state to clamp and fix the slide column 22 to inhibit the freedom degree of the slide column 22 in the axial direction. At this time, during the process of continuously moving the clamping seat 1 in the same direction to apply a clamping force to stably clamp and fix the wire 4, the slide column 22 will no longer continuously compress the corresponding elastic return element 24, sufficiently reduce the fluctuation range of the surface stress difference of the wire 4 in a stable clamping state, effectively avoid the case that the local clamping force is too large to damage the wire 4 or the local clamping force is too small to reduce the stability of the wire 4, facilitate the control of the clamping force, stably and reliably clamp and fix, and the limiting and clamping fixing manner not only has a simple structure, but also can simultaneously clamp and fix all the slide columns 22, and can stably clamp and fix during clamping wires 4 of different diameters. The base plate 251 is made of plastic material, so as to meet the needs of high-precision machining of the limiting hole 252 and stably clamp and fix the slide column 22, increase the friction force on the surface of the limiting hole 252, reduce the clamping pressure applied in the radial direction on the slide column 22, reduce the risk of deformation of the slide column 22 during clamping and fixing, and will not damage the surface of the slide column 22.

[0027] Referring to Figure 3 and Figure 8 , the base 21 and the base body 212 are provided with a synchronous control assembly 26 for synchronously controlling the synchronous reverse movement of adjacent base plates 251. As shown in Figure 3 , the synchronous control assembly 26 includes a wedge limiting unit and a moving seat 262. The number of wedge limiting units is two and they are symmetrically distributed. The symmetrically distributed wedge limiting units are respectively located on both sides of the base plate 251. The wedge limiting unit includes two symmetrically distributed wedge blocks 261 (as shown in Figure 8As shown in the drawings, one wedge-shaped block 261 is fixedly connected with the middle base plate 251, another wedge-shaped block 261 is fixedly connected with the two base plates 251 on the two sides, the moving seat 262 is slidingly installed on the base 21, the moving seat 262 slides along the thickness direction of the base 21, and the moving seat 262 is provided with a control unit corresponding to the wedge-shaped limiting unit, the control unit comprises a first limiting head 263 and a second limiting head 264, the first limiting head 263 corresponds to the symmetrically distributed wedge-shaped blocks 261 and is located on the side opposite to the symmetric wedge-shaped blocks 261, the moving seat 262 moves forward, the first limiting head 263 pushes the symmetric wedge-shaped blocks 261 to synchronously move oppositely, so that the adjacent base plates 251 synchronously move reversely, and then the originally coincident limiting holes 252 are misaligned to clamp and fix the slide column 22, so as to inhibit the freedom degree of the slide column 22 in the axial direction; the second limiting head 264 is located in the middle of the symmetric wedge-shaped blocks 261, the moving seat 262 reversely moves, the second limiting head 264 pushes the symmetric wedge-shaped blocks 261 to synchronously move oppositely, so that the base plates 251 are reset, and the corresponding misaligned limiting holes 252 restore the coincident state, wherein the first limiting head 263 and the second limiting head 264 do not simultaneously tightly abut against the wedge-shaped blocks 261, so as to avoid mutual interference.

[0028] As shown in the drawings, Figure 3 and Figure 8 , among the symmetric wedge-shaped blocks 261, any one is provided with a stop piece 265 for limiting the minimum distance of the symmetric wedge-shaped blocks 261 during relative movement, and the stop piece 265 indirectly limits the maximum distance of the symmetric wedge-shaped blocks 261 during opposite movement by limiting the second limiting head 264, as shown in the drawings, Figure 8 during the synchronous relative movement of the symmetric wedge-shaped blocks 261, when the symmetric wedge-shaped blocks 261 move to the minimum distance, the stop piece 265 limits the symmetric wedge-shaped blocks 261 to stop continuing to move oppositely, and when the second limiting head 264 moves downward to make the symmetric wedge-shaped blocks 261 synchronously reversely move, when the symmetric wedge-shaped blocks 261 move to the maximum distance, the second limiting head 264 abuts against the stop piece 265 and cannot continue to move downward, so that the symmetric wedge-shaped blocks 261 cannot continue to move oppositely, thereby ensuring the reliability of the synchronous reverse movement of the base plates 251, avoiding the deformation of the slide column 22 due to excessive force, and improving the stability and reliability of the working process of the application.

[0029] As shown in the drawings, Figure 4 and Figure 6 , the base body 212 is fixedly provided with a plurality of installation guide columns 5, the installation guide columns 5 are distributed at the corners of the base body 212 and the middle positions of the side edges, the base plate 251 is provided with installation holes 6, the installation holes 6 are matched with the installation guide columns 5 to limit the freedom degree of the base plate 251 in the direction perpendicular to the base plate 251 and parallel to the base 21, and in the assembly process, the installation holes 6 on the base plate 251 are directly aligned with the installation guide columns 5, so that the base plate 251 can be quickly installed.

[0030] Referring to Figure 3 and Figure 6 The limiting ball 7 is arranged between the adjacent substrates 251, between the corresponding substrate 251 and the guide structure 23, and between the corresponding substrate 251 and the base 21, so that the adjacent substrates 251, the corresponding substrate 251 and the guide structure 23, and the corresponding substrate 251 and the base 21 are all gap-distributed. As shown in FIG. 4, the limiting ball 7 is embedded in the substrate 251, and the limiting ball 7 limits the adjacent substrate 251 on the surface of the embedded limiting ball 7, so that the adjacent substrate 251 is kept with a certain gap, thereby reducing the friction during the movement of the substrate 251. Here, a limiting groove for the movement of the limiting ball 7 is formed in the adjacent substrate 251, which can further improve the stability and reliability during the movement of the adjacent substrate 251. Figure 6

[0031] In the embodiments of the present application, unless specifically defined and limited otherwise, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature can be directly above or obliquely above the second feature, or only means that the horizontal height of the first feature is higher than that of the second feature. The first feature can be directly below or obliquely below the second feature, or only means that the horizontal height of the first feature is lower than that of the second feature.

[0032] In the description of the present application, it should be further explained that, unless specifically defined and limited otherwise, the terms "arranged", "connected", "mounted", and "connected" should be understood broadly, for example, which can be fixedly connected, or detachably connected, or integrally connected, or slidingly connected; which can be mechanically connected, or electrically connected; which can be directly connected, or indirectly connected through an intermediate medium, or the communication between two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0033] The embodiments of the specific implementation are the preferred embodiments of the present application, but do not limit the protection scope of the present application, so that: any equivalent changes made according to the structure, shape, principle of the present application should be covered within the protection scope of the present application.​

Claims

1. An adaptive flexible wire clamping device based on a sliding column array, comprising symmetrically arranged clamping seats, characterized in that: The clamping base is equipped with a sliding column array module, and the clamping base moves synchronously relative to the sliding column array module to clamp the wire; The sliding column array module includes: a base; Several sliding columns are distributed in an array on the base; The guide structure, mounted on the base, cooperates with the sliding column to constrain the sliding column to move only along its own axis; An elastic reset element is disposed within the base to provide a restoring force to the slide to reset it; The suppression structure used to uniformly constrain the sliding column includes at least two substrates, which are distributed sequentially from the base to the guide structure. Adjacent substrates are synchronously arranged in opposite directions in a direction parallel to the base. Each substrate has a limiting hole corresponding to a sliding column. Synchronization control component, used to control the synchronous reverse movement of adjacent substrates; The synchronization control component includes: a wedge-shaped limiting unit, which includes two symmetrically distributed wedge-shaped blocks, one of which is fixedly connected to one of the adjacent substrates, and the other wedge-shaped block is fixedly connected to the other of the adjacent substrates; a movable seat, which is slidably mounted on a base, and a control unit corresponding to each of the wedge-shaped limiting units is mounted on the movable seat; the control unit includes a first limiting head and a second limiting head, the first limiting head corresponding to each of the symmetrically distributed wedge-shaped blocks and located on the opposite side of the symmetrical wedge-shaped blocks; when the movable seat moves forward, the first limiting head pushes the symmetrical wedge-shaped blocks to move synchronously relative to each other, and the second limiting head is located in the middle of the symmetrical wedge-shaped blocks; when the movable seat moves in the opposite direction, the second limiting head pushes the symmetrical wedge-shaped blocks to move synchronously opposite to each other; During the clamping process, the sliding column first moves adaptively according to the outline of the wire until it initially wraps around the wire. Then, the adjacent substrate moves synchronously in the opposite direction, so that its upper limit hole limits and clamps the corresponding sliding column, preventing the sliding column from sliding and compressing the corresponding elastic reset element as the clamping base continues to move relative to it.

2. The adaptive flexible wire clamping device based on a sliding column array according to claim 1, characterized in that: One of the two symmetrical wedges is equipped with a stop to limit the minimum distance between the symmetrical wedges when they move relative to each other. The stop also indirectly limits the maximum distance between the symmetrical wedges when they move away from each other by limiting the second limiting head.

3. The adaptive flexible wire clamping device based on a sliding column array according to claim 1, characterized in that: The base includes a base with a plurality of holes and slots, each corresponding to a sliding post, and the sliding post is inserted into the corresponding hole or slot. The elastic reset element corresponds to each sliding post and is installed in the corresponding hole or slot.

4. An adaptive flexible wire clamping device based on a sliding column array according to claim 1 or 3, characterized in that: The base is provided with mounting guide posts, and the substrate is provided with mounting holes. The mounting holes cooperate with the mounting guide posts to restrict the degree of freedom of the substrate in a direction perpendicular to the substrate and parallel to the base.

5. The adaptive flexible wire clamping device based on a sliding column array according to claim 1, characterized in that: Limiting balls are provided between adjacent substrates, between corresponding substrates and guide structures, and between corresponding substrates and bases, so that adjacent substrates, corresponding substrates and guide structures, and corresponding substrates and bases are all spaced apart.

6. The adaptive flexible wire clamping device based on a sliding column array according to claim 1, characterized in that: The substrate is made of plastic.

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