A clamp

Abstract

The present application provides a kind of clamp, it is related to shoe processing technical field.The clamp includes driving structure and the gripper structure of transmission connection in driving structure, the clamping end of gripper structure has elastic finger, and elastic finger is at least provided with two and is obtuse angle open and forms open mouth;Gripper structure is at least provided with two, and the open mouth of each gripper structure is all towards inboard and is collectively enclosed into clamping space;Driving structure is configured: drive each gripper structure mutually close to tighten clamping space, or mutually far away to expand clamping space.The clamp when clamping shoes, elastic finger can adapt to the shoe width of clamping position and the outwards bending deformation of vamp curvature, so that multiple elastic fingers can be applied to the appropriate clamping force on the outside of shoes, to ensure that each clamping point effectively clamps shoes, ensure clamping stability, reduce the occurrence of shoes deviation even off during clamping process, and reduce the occurrence of local contact point clamping force too large, damage to vamp.

Description

Technical Field

[0001] This invention relates to the field of shoe manufacturing technology, and more particularly to a clamp. Background Technology

[0002] In shoe manufacturing, clamps are typically used to hold, position, or transfer the shoes. Related technologies generally employ gripper-type clamps, with the gripping surfaces of the grippers being fixed planes or fixed curved surfaces. However, due to the differences in curvature between the toe and heel of a shoe, and the uneven weight distribution between them, existing clamps can easily cause shoes to shift or even fall off, or result in excessive localized clamping force that damages the shoe upper, thus affecting shoe manufacturing.

[0003] Therefore, improving the clamping stability of the shoe while reducing damage to the shoe upper is a pressing technical problem that needs to be solved. Summary of the Invention

[0004] The purpose of this invention is to provide a clamp to solve the technical problem in the related art that the clamp has poor clamping stability for shoes and is prone to damaging the shoe surface.

[0005] To solve the above problems, the present invention provides a clamp, including a drive structure and a gripper structure connected to the drive structure. The gripper structure has elastic gripping fingers at its gripping end. At least two elastic gripping fingers are provided and open at an obtuse angle to form an opening. The gripper structure has at least two grippers, and the openings of each gripper structure face inward to jointly form a gripping space. The driving structure is configured to drive each gripper structure to move closer to each other to tighten the gripping space, or to move away from each other to expand the gripping space.

[0006] Optionally, the gripper structures are arranged in pairs, with the two gripper structures in a pair facing each other; the elastic gripping fingers of each gripper structure are arranged in pairs, with the two elastic gripping fingers in a pair opening at an obtuse angle to form an opening. The drive structure is configured to drive the two pairs of gripper structures to move closer to or away from each other.

[0007] Optionally, the inward tilt angle of the elastic clip is greater than or equal to 8° and less than or equal to 15°.

[0008] Optionally, in the gripper structure, the elastic gripper finger has a strip-shaped opening extending along its length direction, with one end of the strip-shaped opening near the other elastic gripper finger closed and the other end away from the other elastic gripper finger open.

[0009] Optionally, the gripper structure includes a connecting arm having a first end and a second end disposed opposite to each other. The first end is tractively connected to the drive structure, and the second end is provided with a connecting body having multiple inclined surfaces extending at an angle. The two elastic grippers are connected one-to-one to one of the inclined surfaces.

[0010] Optionally, the middle region of the connecting arm is provided with a strip-shaped hole, the length direction of which is consistent with the length direction of the connecting arm.

[0011] Optionally, the clamp further includes a carrier and multiple transmission structures, each of which corresponds to a gripper structure. The transmission structure includes a sliding rack and a first gear. The sliding rack slides on the carrier in a direction pointing toward the clamping space, and the first gear is rotatably connected to the carrier and meshes with the sliding rack. The gripper structure is connected to the corresponding sliding rack; the drive structure is located on the carrier and is connected to the first gear, configured to drive the first gear to rotate, thereby driving the sliding rack to move the gripper structure along its sliding direction.

[0012] Optionally, the clamp further includes a carrier and a pair of transmission structures, the transmission structures corresponding one-to-one with the gripper structures, and the two pairs of gripper structures are arranged along a first direction; the transmission structure includes a sliding rack and a first gear, the sliding rack slidingly contacting the carrier along the first direction, and the first gear rotatably connecting to the carrier and meshing with the sliding rack; The gripper structure is connected to the corresponding sliding rack; the drive structure is disposed on the carrier and is connected to the first gear, configured to drive the first gear to rotate, thereby driving the sliding rack to move the gripper structure closer to or away from the other gripper structure in the pair; The two sliding racks in pairs are arranged in parallel.

[0013] Optionally, the transmission structure further includes a second gear, which is coaxially arranged with the first gear and spaced apart along the axial direction; The drive structure is connected to a drive rack, and the drive rack has meshing teeth on both sides of its side walls along the first direction; the two pairs of drive structures are arranged symmetrically about the axis of the drive rack at 180° rotation, and the meshing teeth on both sides of the drive rack mesh with the second gear on the same side.

[0014] Optionally, the pitch circle radius of the first gear is larger than that of the second gear.

[0015] Optionally, the transmission structure further includes a slide rail disposed on the carrier and a slide block slidably engaged with the slide rail, the slide rail extending along the first direction; the gripper structure and the sliding rack are both connected to the slide block.

[0016] Optionally, the slide rails of the two pairs of transmission structures are integrally formed.

[0017] Optionally, the carrier or the slide rail is provided with a stop member, which is located at one end of the slide rail along its length and is configured to restrict the slide from sliding off the slide rail.

[0018] Optionally, the slide includes a first seat and a second seat connected to each other, the first seat being slidably engaged with the slide rail, and the second seat having two connecting portions extending out from both sides of the first seat; The gripper structure includes a connecting arm with a first end and a second end disposed opposite to each other. The elastic gripper finger is connected to the second end. The first end of the connecting arm has two spaced-apart extension arm segments, and a clearance opening is formed between the two extension arm segments. The two extension arm segments are respectively connected to one of the connecting parts. The connecting arm and the first seat are located on the same side of the second seat. The slide rail can pass through the clearance opening. The sliding rack is located on the side of the second seat opposite to the first seat.

[0019] Optionally, the interior of the carrier forms an accommodating space, and the sidewall of the carrier has a transmission opening, which corresponds one-to-one with the sliding rack; the transmission structure is housed within the accommodating space, and the sliding rack can extend outward through the corresponding transmission opening.

[0020] The clamp provided by this invention features elastic gripping fingers. On one hand, when clamping a shoe, the elastic gripping fingers can adapt to the outward bending deformation of the shoe width and upper curvature at the clamping position, allowing each elastic gripping finger to apply appropriate clamping force to the shoe. This ensures effective clamping of the shoe at each clamping point, maintains clamping stability, reduces shoe displacement or even detachment during clamping, and minimizes damage to the shoe upper caused by excessive clamping force at local contact points. On the other hand, the elastic deformation properties of the elastic gripping fingers allow for adaptation to the shoe width and upper curvature. The elastic gripping fingers are also resistant to aging, have a long service life, and are suitable for high-frequency industrial environments. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the specific embodiments or related technologies of the present invention, the drawings used in the description of the specific embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is a front view of the fixture provided in an embodiment of the present invention; Figure 2 A left view of the fixture provided in an embodiment of the present invention; Figure 3 An isometric view of the fixture provided in an embodiment of the present invention; Figure 4 for Figure 3 A schematic diagram showing the removal of the drive structure and cover from the middle clamp.

[0023] Explanation of reference numerals in the attached figures: 100-Drive structure; 200-Gripper structure; 210-Connecting arm; 211-Strip hole; 212-Extension arm section; 213-Allowing opening; 220-Elastic gripper finger; 221-Opening opening; 222-Strip opening; 223-Connecting end; 224-Opening end; 225-Elastic pad; 230-Connecting body; 231-Inclined surface; 20-Clamping space; 300-Carrier; 310-Transmission opening; 320-Base plate; 330-Cover; 400-Transmission structure; 410-Sliding rack; 420-First gear; 430-Second gear; 440-Drive rack; 450-Slide rail; 460-Slide seat; 461-First seat body; 462-Second seat body; 462a-Connecting part; 470-Stop component. Detailed Implementation

[0024] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0026] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0027] This embodiment provides a clamp, such as Figures 1-3 As shown, the device includes a drive structure 100 and a gripper structure 200 connected to the drive structure 100. The gripping end of the gripper structure 200 has elastic gripping fingers 220. There are at least two elastic gripping fingers 220, which open at an obtuse angle to form an opening 221. There are at least two gripper structures 200, and the openings 221 of each gripper structure 200 face inward to jointly form a gripping space 20. The drive structure 100 is configured to drive each gripper structure 200 to move closer to each other to tighten the gripping space, or to move away from each other to expand the gripping space.

[0028] In the clamp provided in this embodiment, the elastic gripper 220 extends in an approximately straight line, with one end serving as the connecting end 223 and the other end as the opening end 224 in its length direction. The elastic gripper 220 has a certain elastic deformation capability under force. The same jaw structure 200 has at least two elastic grippers 220, and the connecting ends 223 of the two elastic grippers 220 are connected to form a bend. Correspondingly, the two elastic grippers 220 are bend-angled, and the angle between the two elastic grippers 220 is greater than 90° and less than 180°, forming an obtuse angle. The end of the two elastic grippers 220 that is away from each other along its length direction serves as the opening end 224, and a flared opening 221 is formed between the two opening ends 224. Each jaw structure 200 forms at least one opening 221, and the openings 221 all face inward and together enclose the clamping space 20.

[0029] Multiple elastic grippers 220 form a clamping space 20 whose outline matches the outer outline of the object to be clamped. Taking a shoe as an example, when a shoe needs to be clamped, the drive structure 100 drives the gripper structures 200 to move away from each other to expand the clamping space 20, making it able to accommodate the shoe to be clamped. The orientation of the clamp is adjusted so that the gripper structures 200 are all positioned around the outside of the shoe, and the shoe is located within the clamping space 20 and corresponds to the outline orientation of the clamping space 20. Since the opening angle of the two elastic grippers 220 in the gripper structure 200 is relatively large, it is ensured that the inner wall of the elastic gripper 220 faces the shoe surface. The height of each elastic gripper 220 can be similar, and the height of the elastic gripper 220 is adjusted to match the lower area of ​​the shoe.

[0030] Subsequently, the drive structure 100 drives multiple gripper structures 200 to approach each other until the inner wall of the opening end 224 of each elastic gripper finger 220 contacts the shoe upper; the drive structure 100 continues to drive the gripper structures 200 to converge, and the compression of the shoe by the elastic gripper fingers 220 increases. Correspondingly, each elastic gripper finger 220 is subjected to the reverse compression of the shoe and undergoes a certain degree of bending deformation outward. The degree of deformation is related to the shoe width and the curvature of the shoe upper at the contact position until each elastic gripper finger 220 clamps the corresponding part of the shoe with an appropriate clamping force, thereby stabilizing or transmitting the shoe.

[0031] As can be seen, in the clamp provided in this embodiment, the elastic clamping fingers 220 have the following advantages: First, when clamping a shoe, the elastic clamping fingers 220 can adapt to the outward bending deformation of the shoe width and the curvature of the shoe surface at the clamping position, so that each elastic clamping finger 220 can apply an appropriate clamping force to the shoe, thereby ensuring the effective clamping of the shoe at each clamping point, ensuring clamping stability, reducing the occurrence of shoe displacement or even falling off during clamping, and reducing the occurrence of excessive clamping force at local contact points, which may cause damage to the shoe surface. Second, through the elastic deformation performance of the elastic clamping fingers 220, the adaptation to the curvature of the shoe surface is achieved. The elastic clamping fingers 220 are not prone to aging, have a long service life, and are suitable for high-frequency industrial field environments.

[0032] In this embodiment, the gripper structures 200 are arranged in pairs, and the two gripper structures 200 in a pair are arranged opposite each other; the elastic gripping fingers 220 of each gripper structure 200 are arranged in pairs, and the two elastic gripping fingers 220 in a pair open at an obtuse angle to form an opening 221; the driving structure 100 is configured to drive the two gripper structures 200 in a pair to move closer to or away from each other.

[0033] The gripper structure 200 is divided into two groups, left and right, with each group having at least one gripper structure 200. When the shoe needs to be gripped, the drive structure 100 drives the two groups of gripper structures 200 to move away from each other so that the distance between them is greater than the width of the shoe. The orientation of the gripper is adjusted so that the two groups of gripper structures 200 are located on both sides of the shoe along the width of the shoe, and the line connecting the open ends 224 of the two elastic gripping fingers 220 in the gripper structure 200 is approximately consistent with the length of the shoe. The height of the elastic gripping fingers 220 is adjusted to be consistent with the lower part of the shoe.

[0034] Subsequently, the drive structure 100 drives the two sets of gripper structures 200 to move closer to each other until the inner wall of the open end 224 of the elastic gripper fingers 220 contacts the shoe upper. The drive structure 100 continues to drive the two sets of gripper structures 200 to move towards each other, and the pressure of the elastic gripper fingers 220 on the shoe increases. Correspondingly, each elastic gripper finger 220 is subjected to the reverse pressure of the shoe and undergoes a certain degree of bending deformation outward. The degree of deformation is related to the shoe width and the curvature of the shoe upper at the contact position until each elastic gripper finger 220 clamps the two sides of the shoe with a suitable clamping force, thereby stabilizing or transmitting the shoe.

[0035] Specifically, there can be two gripper structures 200, which are arranged in pairs; there can also be two elastic gripping fingers 220 at the gripping end of the gripper structure 200, which are arranged in pairs to form an opening 221; during gripping, the angle between the two elastic gripping fingers 220 in the same gripper structure 200 can be located in the middle area of ​​the shoe along its length; the two elastic gripping fingers 220 located on the left and right sides of the toe abut against the toe, and the two elastic gripping fingers 220 located on the left and right sides of the heel abut against the heel, so as to achieve four-point contact gripping of the shoe. Through a single drive structure 100 and multiple simple elastic gripping fingers 220, multi-point stable and non-destructive gripping of the shoe can be achieved, with a simpler structure, stronger functionality, and lower cost.

[0036] Among them, the elastic clip 220 can be made of spring steel sheet (65Mn) with a length of 38~52mm and a thickness of about 1mm.

[0037] In this embodiment, as Figure 3 and Figure 4As shown, the inward tilt angle α of the elastic gripper 220 is greater than or equal to 8° and less than or equal to 15°. The side of the gripper structure 200 facing the gripping space 20 is the inner side, and the side facing away from the gripping space 20 is the outer side. For a pair of gripper structures 200, the two gripper structures 200 are arranged opposite each other along the first direction, with the side facing each other being the inner side and the side facing away from each other being the outer side. One of the planes perpendicular to the first direction is defined as the target vertical plane, and the angle α between the length extension direction of the elastic gripper 220 and the target vertical plane ranges from [8°, 15°]. Therefore, the gripper structure 200... In 0, the included angle between the two elastic clips 220 is [150°, 164°]. This included angle range ensures that when the elastic clips 220 clamp the shoe upper, the inner wall of the elastic clips 220 contacts the shoe upper, while the open end 224 of the non-elastic clips 220 presses against the shoe upper. This ensures that when the elastic clips 220 are subjected to the reverse compression of the shoe upper, they can bend outward to adapt to the shoe width and the curvature of the shoe upper, thus playing an effective role in elastic adaptation and reducing scratches and other damage to the shoe upper caused by the open end 224.

[0038] In this embodiment, for the paired gripper structures 200, the two elastic gripper fingers 220 are arranged symmetrically about the axis extending along the first direction, that is, the inward tilt angles of the two elastic gripper fingers 220 are approximately equal.

[0039] In this embodiment, as Figures 1-4 As shown, in the gripper structure 200, the elastic gripper finger 220 has a strip-shaped opening 222 extending along its length. The end of the strip-shaped opening 222 near the other elastic gripper finger 220 is closed, while the end away from the other elastic gripper finger 220 is open. The strip-shaped opening 222 does not penetrate the connecting end 223 of the elastic gripper finger 220, but penetrates the open end 224 of the elastic gripper finger 220, thereby improving the elastic deformation capability of the elastic gripper finger 220. This allows it to better adapt to the width and curvature of the shoe surface when gripping the shoe, ensuring the stability and firmness of the gripping, and reducing damage to the shoe surface.

[0040] In this embodiment, an elastic pad 225 is provided on the inner side of the elastic clip 220. The elastic pad 225 at least covers the area of ​​the inner wall of the elastic clip 220 near the open end 224. When clamping the shoe, in addition to the elastic clip 220 adapting to deformation, the elastic pad 225 is in direct contact with the shoe upper, and can adapt to the deformation of the shoe upper shape to ensure sufficient contact between the elastic pad 225 and the shoe upper, and ensure the effective contact area between the elastic pad 225 and the shoe upper, thereby further ensuring the clamping stability of the elastic clip 220 on the shoe.

[0041] In this embodiment, as Figures 1-4As shown, the gripper structure 200 includes a connecting arm 210, which has a first end and a second end that are disposed opposite to each other. The first end is connected to the drive structure 100, and the second end is provided with a connecting body 230. The connecting body 230 has a plurality of inwardly inclined surfaces 231, and the elastic gripper fingers 220 are connected to one of the inclined surfaces 231 in a corresponding manner.

[0042] Taking two elastic grippers 200 arranged in pairs as an example, the connector 230 has two inclined surfaces 231 extending at an angle. In the gripper structure 200, two elastic grippers 220 are arranged along a second direction, and both elastic grippers 220 extend inward from their connecting end 223 toward their opening end 224. The two inclined surfaces 231 of the connector 230 are arranged along the second direction, and both inclined surfaces 231 are inclined inward. During assembly, the areas of the two elastic grippers 220 near the connecting end 223 can be respectively attached to one of the inclined surfaces 231 and connected to the connector 230 by connectors, etc., thereby facilitating the installation of the two elastic grippers 220 and ensuring the orientation accuracy and connection stability of the elastic grippers 220.

[0043] For example, the connector 230 can be located outside the connector arm 210; the first direction is defined as the X direction, the second direction as the Y direction, and the length direction of the connector arm 210 is defined as the third direction, the Z direction. The X, Y, and Z directions can be arranged perpendicularly to each other, such as... Figure 1 Based on the viewpoint, the left and right directions are the X-axis, the inside and outside directions are the Y-axis (not shown in the figure), and the up and down directions are the Z-axis.

[0044] Of course, in some other embodiments, the two elastic gripping fingers 220 of the gripper structure 200 can also be an integral structure, and its folded part is connected to the first end of the connecting arm 210.

[0045] In this embodiment, as Figures 1-4 As shown, a strip-shaped hole 211 is provided in the middle region of the connecting arm 210, and the length direction of the strip-shaped hole 211 is consistent with the length direction of the connecting arm 210. The connecting arm 210 can be made of rigid material. The setting of the strip-shaped hole 211 can improve the elastic deformation capability of the connecting arm 210, so that the gripper structure 200 can hold the shoe. When the gripping width of the two gripping structures is small, the connecting arm 210 can have a certain elastic deformation capability to adapt to the outward bending deformation of the shoe width, thereby further improving the applicability of the gripper structure 200 and further reducing the squeezing damage to the shoe caused by excessive clamping force.

[0046] In this embodiment, as Figure 4As shown, the fixture also includes a carrier 300 and multiple transmission structures 400, with each transmission structure 400 corresponding to a multiple gripper structures 200. Each transmission structure 400 includes a sliding rack 410 and a first gear 420. The sliding rack 410 is slidably connected to the carrier 300 in the direction pointing towards the clamping space 20, and the first gear 420 is rotatably connected to the carrier 300 and meshes with the sliding rack 410. Each gripper structure 200 is connected to a corresponding sliding rack 410. A drive structure 100 is disposed on the carrier 300 and is drively connected to the first gear 420, configured to drive the first gear 420 to rotate, thereby driving the sliding rack 410 to move the gripper structure 200 along its sliding direction.

[0047] In the transmission structure 400, the axial direction of the first gear 420 is perpendicular to the length direction of the sliding rack 410. In use, the drive structure 100 can drive the first gear 420 to rotate, and drive the sliding rack 410 to move toward or away from the area where the clamping space 20 is located. Correspondingly, the gripper structures 200 move closer to each other to tighten the clamping space 20 to clamp the shoe, or expand the clamping space 20 to place the shoe. The driving force of the drive structure 100 can be converted into the horizontal clamping force of the gripper structure 200 on the shoe surface, thereby achieving stable clamping of the shoe. Furthermore, by adopting a gear and rack transmission, the driving stroke of the drive structure 100 can be stably and accurately transmitted to the gripper structure 200, thereby ensuring the driving accuracy of the drive structure 100 on the clamping width of the clamping structure, reducing the deviation between the actual clamping force and the theoretical output force, and improving the clamping reliability.

[0048] When the gripper structures 200 are set in pairs, the drive structure 100 can drive the first gear 420 of the two transmission structures 400 to rotate in opposite directions, and drive the two sliding racks 410 to move towards each other or away from each other in opposite directions, thereby driving the two gripper structures 200 to move towards each other or away from each other in a translational direction, thereby achieving stable gripping of the shoe.

[0049] Among them, the two gripper structures 200 clamp the shoe on the left and right sides by translation, and are not affected by the height of the shoe upper or the tapering of the shoe upper, making them more versatile.

[0050] In this embodiment, as Figure 4 As shown, the two sliding racks 410 of the paired gripper structures 200 are arranged in parallel. Both sliding racks 410 extend along the first direction and are not collinear to prevent collision and interference during transmission, thus ensuring that the two sliding racks 410 have a large sliding stroke. This, in turn, ensures the gripping stroke of the gripper structure 200 connected to the sliding racks 410, and ensures the stable gripping and placement of the shoe by the gripper structure 200.

[0051] In this embodiment, as Figure 4 As shown, the transmission structure 400 further includes a second gear 430, which is coaxially arranged with the first gear 420 and spaced apart along the axial direction; the drive structure 100 is connected to a drive rack 440, which has meshing teeth on both sides of its sidewalls along the first direction; the two paired transmission structures 400 are arranged symmetrically about the axis of the drive rack 440 at 180° rotation, and the meshing teeth on both sides of the drive rack 440 respectively mesh with the second gear 430 on the same side. For example, as... Figure 4 As shown, the sliding rack 410 extends along the first direction X; the axial directions of the first gear 420 and the second gear 430 are aligned with the second direction Y and perpendicular to the first direction X, and the first gear 420 and the second gear 430 are arranged sequentially along the Y direction; the axial direction (length direction) of the drive rack 440 is perpendicular to the XY plane and aligned with the third direction Z; the two transmission structures 400 are arranged centrally symmetrically about the axis of the drive rack 440, wherein the two second gears 430 are arranged at intervals along the first direction and clamp the drive rack 440 between them, respectively meshing with the meshing teeth on the corresponding sides of the drive rack 440; the two first gears 420 and the two sliding racks 410 are respectively located on both sides of the drive rack 440 along the second direction Y.

[0052] In use, the drive structure 100 drives the drive rack 440 to move up and down along the third direction Z, thereby driving the second gears 430 on both sides to rotate in the opposite direction. The two first gears 420 rotate synchronously with the corresponding second gears 430, thereby driving the two sliding racks 410 to move towards each other or away from each other along the first direction X through high transmission efficiency. Correspondingly, the two gripper structures 200 are driven to move towards each other in the first direction X to clamp the shoes, or move away from each other to place the shoes.

[0053] This type of transmission structure 400 can realize the transmission drive of a single drive structure 100 to a pair of two gripper structures 200, and the sliding racks 410 of the two transmission structures 400 are arranged at intervals, which can effectively prevent collision and interference between the two, and ensure the transmission stroke of the transmission structure 400 and the clamping stroke of the gripper structure 200.

[0054] In this embodiment, as Figure 4As shown, the pitch circle radius of the first gear 420 is larger than that of the second gear 430. During the process of the drive rack 440 driving the second gear 430 to rotate, the first gear 420 rotates synchronously with the second gear 430, and the angular velocities of the first gear 420 and the second gear 430 are equal. Since the pitch circle radius of the first gear 420 is set larger than that of the second gear 430, the linear velocity of the first gear 420 is greater than that of the second gear 430. This correspondingly increases the sliding speed of the sliding rack 410. That is, when the drive stroke of the drive rack 440 is transmitted to the sliding rack 410 via the second gear 430 and the first gear 420, the sliding stroke of the sliding rack 410 and the clamping stroke of the gripper structure 200 it drives are greater than the drive stroke of the drive rack 440. Thus, the short drive stroke of the drive structure 100 achieves a large clamping stroke of the gripper structure 200, reducing the requirements for the drive stroke of the drive structure 100, reducing the overall size of the fixture, and improving the structural compactness and functionality of the fixture.

[0055] In this embodiment, as Figures 2-4 As shown, the transmission structure 400 also includes a slide rail 450 disposed on the carrier 300 and a slide block 460 slidably engaged with the slide rail 450, the slide rail 450 extending along a first direction; the first end of the connecting arm 210 and the sliding rack 410 in the gripper structure 200 are both connected to the slide block 460. The slide rail 450 can guide and limit the slide block 460, the sliding rack 410 connected to the slide block 460, and the gripper structure 200, to ensure the stable meshing of the sliding rack 410 with the first gear 420, and the stability of the gripper structure 200 in translating along the first direction, thereby ensuring the gripping stability and firmness of the gripper structure 200 on the shoe.

[0056] In this embodiment, as Figure 4 As shown, the slide rails 450 of the two transmission structures 400 are integrated. The two transmission structures 400 share a long strip slide rail 450 extending along the first direction to improve the structural compactness of the transmission structure 400 and further reduce the overall size of the fixture. Specifically, the carrier 300 is provided with a single slide rail 450, and the slide seats 460 of the two transmission structures 400 are respectively slidably engaged with the two sections of the slide rail 450 along the first direction. By arranging sliding racks 410 and gripper structures 200 connected to the positions of the corresponding carriers 300, the parallel arrangement of the two sliding racks 410 and the relative arrangement of the two gripper structures 200 are achieved.

[0057] Specifically, the transmission efficiency of this type of transmission structure 400 can be maintained at over 92%.

[0058] In this embodiment, as Figures 1-4As shown, the carrier 300 or the slide rail 450 is provided with a stop member 470, which is located at one end of the slide rail 450 along its length and is configured to restrict the slide block 460 from slipping off the slide rail 450. The stop member 470 can act as a stop and barrier against the slide block 460 at the outer end of the slide rail 450 along its length, thereby limiting the sliding stroke of the slide block 460 and preventing the slide block 460 from slipping outward off the slide rail 450, thus ensuring the use of the transmission structure 400.

[0059] For example, such as Figure 4 As shown, the stop member 470 can be connected to the carrier 300 and extend to the outer end of the slide rail 450 in the length direction; or, the stop member 470 can be directly connected to the outer end of the slide rail 450.

[0060] In this embodiment, as Figure 4 As shown, the slide 460 includes a first seat 461 and a second seat 462 connected to each other. The first seat 461 is slidably engaged with the slide rail 450. The second seat 462 has two connecting portions 462a extending out to both sides of the first seat 461. The first end of the connecting arm 210 has two spaced-apart extension arm segments 212, and a clearance opening 213 is formed between the two extension arm segments 212. The two extension arm segments 212 are respectively connected to one of the connecting portions 462a. The connecting arm 210 and the first seat 461 are located on the same side of the second seat 462, and the slide rail 450 can pass through the clearance opening 213. The sliding rack 410 is provided on the side of the second seat 462 opposite to the first seat 461.

[0061] like Figure 4 From this perspective, the slide block 460 achieves sliding engagement with the slide rail 450 through the smaller first seat 461, and loads the sliding rack 410 and connecting arm 210 through the larger extended second seat 462. The sliding rack 410 and connecting arm 210 are respectively arranged on the upper and lower sides of the second seat 462 to make full use of the space on the upper and lower sides, ensure the arrangement of the sliding rack 410 and the gripper structure 200, and reduce interference between the two. At the same time, the connecting arm 210 is connected to both sides of the second seat 462 in the width direction through two extended arm segments 212 to improve the connection arm 210. The stability of the connection between the 10 and the second seat 462 is ensured, which in turn ensures the stability of the transmission connection between the transmission structure 400 and the gripper structure 200, thereby ensuring the stability of the gripper structure 200 in holding and placing the shoe. In addition, the upper end of the connecting arm 210 is provided to form a clearance opening 213, and the clearance opening 213 is consistent with the extension path of the slide rail 450. On the basis of ensuring that the connecting arm 210 can move with the slide seat 460 relative to the slide rail 450, the compactness of the cooperation between the transmission structure 400 and the gripper structure 200 is improved, and the overall size of the clamp is further reduced, so as to realize the miniaturization and flexibility of the clamp.

[0062] In this embodiment, as Figure 3and Figure 4 As shown, the interior of the carrier 300 forms an accommodating space, and the side walls of the carrier 300 all have transmission openings 310, which correspond one-to-one with the sliding rack 410; the transmission structure 400 is housed in the accommodating space, and the sliding rack 410 can extend outward through the corresponding transmission opening 310. The drive rack 440, first gear 420, second gear 430, sliding rack 410, etc. of the transmission structure 400 are all housed in the accommodating space. The carrier 300 can isolate and protect the transmission structure 400 inside, and at the same time improve the arrangement stability of each structure, thereby ensuring the transmission cooperation of the transmission structure 400. The slide rail 450 is located in the accommodating space, and its two ends extend out through the corresponding transmission openings 310. The setting of the transmission openings 310 can ensure the connection and movement of the gripper structure 200 and the slide 460. The drive structure 100 is located outside the carrier 300, and its drive end extends inward into the accommodating space and connects to the drive rack 440, realizing the connection between the drive structure 100 and the transmission structure 400.

[0063] For example, the carrier 300 includes a base plate 320 and a cover 330 covering the base plate 320. The transmission opening 310 is located in the area near the bottom of the side wall of the cover 330. The slide rail 450 is located on the base plate 320. The first gear 420 and the second gear 430 are rotatably connected to the side wall of the cover 330 via a rotating shaft. The drive structure 100 may be a cylinder.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A clamp, characterized in that, It includes a drive structure (100) and a gripper structure (200) connected to the drive structure (100). The gripper end of the gripper structure (200) has elastic gripper fingers (220). The elastic gripper fingers (220) are provided in at least two and open at an obtuse angle to form an opening (221). The gripper structure (200) is provided in at least two, and the openings (221) of each gripper structure (200) face inward and together form a gripping space (20); the drive structure (100) is configured to drive each gripper structure (200) to move closer to each other to tighten the gripping space (20), or to move away from each other to expand the gripping space (20).

2. The clamp according to claim 1, characterized in that, The gripper structures (200) are arranged in pairs, with the two gripper structures (200) in a pair facing each other; the elastic gripping fingers (220) of each gripper structure (200) are arranged in pairs, with the two elastic gripping fingers (220) in a pair opening at an obtuse angle to form an opening (221). The drive structure (100) is configured to drive the two pairs of gripper structures (200) to move closer to or away from each other.

3. The clamp according to claim 1, characterized in that, The inward tilt angle of the elastic clip (220) is greater than or equal to 8° and less than or equal to 15°.

4. The clamp according to claim 1, characterized in that, In the gripper structure (200), the elastic gripper finger (220) has a strip-shaped opening (222) extending along its length direction. The strip-shaped opening (222) is closed at one end near the other elastic gripper finger (220) and open at the other end away from the other elastic gripper finger (220).

5. The clamp according to any one of claims 1-4, characterized in that, The gripper structure (200) includes a connecting arm (210), which has a first end and a second end that are disposed opposite to each other. The first end is connected to the drive structure (100), and the second end is provided with a connecting body (230). The connecting body (230) has a plurality of inwardly inclined surfaces (231), and the elastic gripper finger (220) is connected to one of the inclined surfaces (231) in a corresponding manner.

6. The clamp according to claim 5, characterized in that, The connecting arm (210) has a strip hole (211) in the middle region, and the length direction of the strip hole (211) is consistent with the length direction of the connecting arm (210).

7. The clamp according to any one of claims 1-4, characterized in that, The clamp also includes a carrier (300) and multiple transmission structures (400), each of which corresponds to a gripper structure (200). Each transmission structure (400) includes a sliding rack (410) and a first gear (420). The sliding rack (410) slides on the carrier (300) in a direction pointing toward the clamping space (20), and the first gear (420) is rotatably connected to the carrier (300) and meshes with the sliding rack (410). The gripper structure (200) is connected to the corresponding sliding rack (410); the drive structure (100) is located on the carrier (300) and is connected to the first gear (420) for transmission, and is configured to drive the first gear (420) to rotate so as to drive the sliding rack (410) to drive the gripper structure (200) to move along its sliding direction.

8. The clamp according to any one of claims 2-4, characterized in that, The clamp further includes a carrier (300) and a pair of transmission structures (400), the transmission structures (400) corresponding one-to-one with the gripper structures (200), and the two pairs of gripper structures (200) are arranged along a first direction; the transmission structure (400) includes a sliding rack (410) and a first gear (420), the sliding rack (410) slidingly contacting the carrier (300) along the first direction, and the first gear (420) rotatably connecting to the carrier (300) and meshing with the sliding rack (410). The gripper structure (200) is connected to the corresponding sliding rack (410); the drive structure (100) is disposed on the carrier (300) and is connected to the first gear (420) for transmission, and is configured to drive the first gear (420) to rotate so as to drive the sliding rack (410) to move the gripper structure (200) closer to or away from the other pair of gripper structures; The two sliding racks (410) in pairs are arranged in parallel.

9. The clamp according to claim 8, characterized in that, The transmission structure (400) further includes a second gear (430), which is coaxially arranged with the first gear (420) and spaced apart along the axial direction; The drive structure (100) is connected to a drive rack (440), and the drive rack (440) has meshing teeth on both sides of its side walls along the first direction; the two drive structures (400) in pairs are arranged symmetrically about the axis of the drive rack (440) at 180° rotation, and the meshing teeth on both sides of the drive rack (440) mesh with the second gear (430) on the same side.

10. The clamp according to claim 9, characterized in that, The pitch circle radius of the first gear (420) is greater than that of the second gear (430).

11. The clamp according to claim 8, characterized in that, The transmission structure (400) further includes a slide rail (450) disposed on the carrier (300) and a slide block (460) slidably engaged with the slide rail (450), the slide rail (450) extending along the first direction; the gripper structure (200) and the sliding rack (410) are both connected to the slide block (460).

12. The clamp according to claim 11, characterized in that, The slide rails (450) of the two pairs of transmission structures (400) are integrally formed.

13. The clamp according to claim 11, characterized in that, The carrier (300) or the slide rail (450) is provided with a stop (470), the stop (470) being located at one end of the slide rail (450) along its length and configured to restrict the slide block (460) from sliding off the slide rail (450).

14. The clamp according to claim 11, characterized in that, The slide (460) includes a first seat (461) and a second seat (462) connected to each other. The first seat (461) is slidably engaged with the slide rail (450), and the second seat (462) has two connecting parts (462a) extending out from both sides of the first seat (461). The gripper structure (200) includes a connecting arm (210) having a first end and a second end disposed opposite to each other. The elastic gripper finger (220) is connected to the second end. The first end has two spaced-apart extension arm segments (212), and a clearance opening (213) is formed between the two extension arm segments (212). The two extension arm segments (212) are respectively connected to one of the connecting parts (462a). The connecting arm (210) and the first seat (461) are located on the same side of the second seat (462). The slide rail (450) can pass through the clearance opening (213). The sliding rack (410) is located on the side of the second seat (462) opposite to the first seat (461).

15. The clamp according to claim 7, characterized in that, The carrier (300) forms an accommodating space inside, and the side wall of the carrier (300) has a transmission opening (310), which corresponds one-to-one with the sliding rack (410); the transmission structure (400) is housed in the accommodating space, and the sliding rack (410) can extend outward through the corresponding transmission opening (310).

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