Flexible clamping device for spaceflight parts
By introducing the claw elastic skin and multiple swing plates into the claw assembly, combined with the wire rope and a motor-driven slide column structure, the clamping difficulties and loosening problems of the existing clamping devices for heavier parts are solved, and multi-angle bending and stable clamping are achieved.
Patent Information
- Application Number
- CN202422112164.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-29
- Publication Date
- 2025-08-01
- Estimated Expiration
- 2034-08-29
AI Technical Summary
The existing flexible clamping devices are difficult to clamp heavy parts and are easy to loosen, and the clamping jaws are curved and have a single shape.
The jaw assembly includes a jaw elastic outer skin, multiple swing plates and wire rope structure. Through the motor driving the fit of the slide post and wire rope, the jaws are bending and clamped in multiple angles, enhancing clamping strength and adaptability.
It improves the load-bearing strength and adaptability of the jaws, can firmly clamp parts with heavier weights, and adapt to parts with different special-shaped structures.
Smart Images
Figure CN223172998U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of aerospace component assembly, and more specifically, to a flexible clamping device for aerospace components. Background Art
[0002] A flexible clamping device is a device that can flexibly grasp and manipulate objects of different shapes and sizes. Such a device usually has multiple flexible elements, such as airbags, soft rubber, or shape memory alloys, etc., and can easily adapt to various object shapes.
[0003] The existing flexible clamping devices generally use pneumatic finger grippers to continue grasping and clamping. The inside of the gripper is hollow and connected to a pneumatic device. By ventilating or deflating, the flexible change of the gripper is realized, and flexible clamping of precision components is carried out.
[0004] Although it can clamp parts with special-shaped structures without damage, due to its own pneumatic drive structure and soft gripper body, it can only clamp components with relatively light weights, and it is very difficult to clamp components with relatively heavy weights, and it is easy to become loose. Summary of the Utility Model
[0005] The purpose of this application is to provide a flexible clamping device for aerospace components, which solves the technical problems in the flexible clamping device that the gripper cannot grasp overly heavy objects, and the bending shape of the gripper is single, and the clamping piece is easy to break away.
[0006] To solve the above technical problems, the solution adopted in this application is as follows:
[0007] A flexible clamping device for aerospace components includes a protective housing, and two gripper assemblies are symmetrically arranged at the bottom of the protective housing.
[0008] Preferably, the gripper assembly includes a gripper elastic outer skin, a tail swing plate, a middle swing plate, a head swing plate, and a rotating shaft.
[0009] Preferably, the gripper elastic outer skin is fixedly connected to the protective housing, and a head swing plate is arranged inside the gripper elastic outer skin, and the head swing plate is close to the protective housing.
[0010] Preferably, both ends of the tail swing plate, the middle swing plate, and the head swing plate are connected with a rotating shaft. One end of the head swing plate is rotatably connected to the protective housing through the rotating shaft, and the other end is rotatably connected to the middle swing plate through the rotating shaft, and the middle swing plate is rotatably connected to the tail swing plate through the rotating shaft.
[0011] Preferably, a steel wire rope is arranged beside each rotating shaft, and the heads of the steel wire ropes are respectively fixed on the inner side edges of the tail swing plate, the middle swing plate, and the head swing plate.
[0012] Preferably, a first motor is arranged inside the protective housing. A rotating disk is fixed on the driving shaft of the first motor. A plurality of sliding columns are arranged on the rotating disk. A third motor is arranged inside the protective housing, and the third motor is located at the symmetric center of the two jaw assemblies.
[0013] Preferably, the number of the sliding columns corresponds to the number of the rotating shafts. The steel wire rope is wound and connected with the sliding columns. The tail of the steel wire rope is wound and connected with the driving shaft of the third motor. The winding directions of the steel wire ropes symmetrically distributed on both sides of the third motor are the same.
[0014] Preferably, a plurality of waist-shaped notches are arranged on the rotating disk. The sliding columns are slidably arranged in the waist-shaped notches. The number of the waist-shaped notches corresponds to the number of the sliding columns. Each sliding column is connected with the push rod of a corresponding air cylinder, and the air cylinder is fixed on the surface of the rotating disk.
[0015] Preferably, the waist-shaped notches are vertically arranged on one side of the surface of the rotating disk, and the same distance is spaced between the waist-shaped notches.
[0016] Preferably, the end swing plate is located on the outer side edge at the end of the jaw assembly and fixedly connects the head of a steel wire rope. The tail of the steel wire rope is wound and connected with the driving take-up of the second motor. The third motor is fixed in the protective housing and is located outside the jaw assembly.
[0017] Preferably, the end swing plate, the middle swing plate and the head swing plate are symmetrically distributed at both ends of their corresponding rotating shafts. Baffles are arranged on both sides of the plates of the end swing plate, the middle swing plate and the head swing plate. A hollow space is formed between the middle part of the rotating shaft and the baffle, and the steel wire rope is located in the hollow space.
[0018] Preferably, a spring tube is arranged in the hollow space, and both ends of the spring tube are respectively fixed on the rotating shaft at the outermost end and the rotating shaft at the outermost head end in the jaw assembly.
[0019] Preferably, a mounting plate is fixedly installed on the top of the protective housing, and mounting holes are arranged on the mounting plate.
[0020] The technical solution of the present application has at least the following advantages and beneficial effects:
[0021] In the present utility model, by wrapping a rigid swing plate inside the elastic outer skin of the jaw, while not damaging its clamping flexibility, the structural strength of the jaw is increased, and the bendability of the jaw is maintained by a plurality of swingable swing plates to ensure the bending flexibility of the jaw;
[0022] In the present utility model, different swing plates are connected by a plurality of steel wire ropes to drive them to swing at an angle, so as to realize the flexible clamping of the jaw. The extremely strong bearing capacity of the steel wire rope itself can improve the bearing strength of the jaw, so as to facilitate clamping heavier parts;
[0023] In the present utility model, the pulled length of the steel wire rope is changed by an adjustable sliding column, so as to adjust different swing plates to bend at different angles, thereby forming clamping jaws with different bending shapes to adapt to different special-shaped structural parts. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] Figure 1 It is a schematic structural diagram of the present utility model.
[0025] Figure 2 It is a schematic cross-sectional structural diagram of the present utility model.
[0026] Figure 3 It is a schematic cross-sectional structural diagram of the elastic outer skin of the clamping jaw in the present utility model.
[0027] Figure 4 It is a schematic cross-sectional structural diagram of the clamping jaw assembly in the present utility model.
[0028] In the figure: 100 - protective housing, 200 - elastic outer skin of the clamping jaw, 300 - end swing plate, 400 - middle swing plate, 500 - head swing plate, 600 - rotating shaft, 700 - steel wire rope, 800 - first motor, 900 - rotating disc, 110 - waist-shaped notch, 120 - sliding column, 130 - cylinder, 140 - second motor, 150 - third motor, 160 - spring tube, 170 - baffle, 180 - mounting plate. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0029] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.
[0030] It should be noted that similar reference numerals and letters indicate similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. If terms such as "center", "upper", "lower", "inner", "outer", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of this application is usually placed during use. This is only for the convenience of describing this application 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 to this application. It should also be noted that unless otherwise clearly specified and limited, if terms such as "set", "installed", "connected" are used, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0031] Embodiment
[0032] Please refer to Figures 1 - 4 , the utility model provides a flexible clamping device for aerospace parts, including a protective housing 100, a jaw assembly, a steel wire rope 700, a first motor 800, a rotating disk 900, a sliding column 120, and a third motor 150.
[0033] Furthermore, two jaw assemblies are symmetrically arranged at the bottom of the protective housing 100 to clamp aerospace parts through the jaw assemblies.
[0034] The jaw assembly includes a jaw elastic outer skin 200, a terminal swing plate 300, a middle swing plate 400, a head swing plate 500, and a rotating shaft 600.
[0035] Specifically, the jaw elastic outer skin 200 is fixedly connected to the protective housing 100. The jaw elastic outer skin 200 is made of high-elastic rubber and can be bent and stretched at large angles. Due to the elasticity of the rubber at the connection between the jaw elastic outer skin 200 and the protective housing 100, the connection can swing and stretch freely, without restricting the movement of the jaw elastic outer skin 200.
[0036] Because some aerospace parts are used in the connection and assembly positions of aerospace devices and are precision parts, therefore, through the elastic surface of the jaw elastic outer skin 200, no scratch marks will be caused on the surface of the aerospace parts during the clamping process, which will affect their precision.
[0037] Inside the elastic outer skin 200 of the jaw, there are an end swing plate 300, a middle swing plate 400, a head swing plate 500 and a rotating shaft 600. The head swing plate 500 is close to the protective housing 100, and the end swing plate 300 is close to the grasping end of the jaw assembly. There is a middle swing plate 400 between the head swing plate 500 and the end swing plate 300, arranged in sequence.
[0038] Rotating shafts 600 are rotatably arranged at both ends of the three swing plates, so that each swing plate can swing at an angle. One end of the head swing plate 500 is rotatably connected to the protective housing 100 through the rotating shaft 600, and the rotating shaft 600 at this end is fixed in the protective housing 100. The other end of the head swing plate 500 is rotatably connected to the middle swing plate 400 through the rotating shaft 600, and the middle swing plate 400 is rotatably connected to the end swing plate 300 through the rotating shaft 600.
[0039] Except for the rotating shaft 600 at the protective housing 100, the other rotating shafts 600 are only connected to the corresponding swing plates, making the rotating shaft 600 at the protective housing 100 serve as the swing fulcrum of the entire jaw assembly.
[0040] A steel wire rope 700 is arranged beside each rotating shaft 600. The heads of the steel wire ropes 700 are respectively fixed on the inner side edges of the end swing plate 300, the middle swing plate 400, and the head swing plate 500. When the steel wire rope 700 is pulled, one end of the corresponding swing plate will be pulled and swing inward; when multiple steel wire ropes 700 are pulled, the swing plates will all swing inward, so that the jaw assembly swings inward to achieve the clamping action.
[0041] The steel wire rope 700 is a single-strand flexible steel wire, which can be bent arbitrarily, but has extremely strong bearing capacity and toughness. Since aerospace components are generally made of special steel, some parts are relatively heavy. By arranging the steel wire rope 700 in the jaw assembly, the clamping weight of the entire jaw can be increased.
[0042] Furthermore, a first motor 800 is arranged inside the protective housing 100. A rotating disk 900 is fixed on the drive shaft of the first motor 800. Multiple sliding columns 120 are arranged on the rotating disk 900. The sliding columns 120 are vertically arranged on one side of the surface of the rotating disk 900. The steel wire rope 700 is wound around the sliding columns 120. Among them, the steel wire rope 700 located on the end swing plate 300 is wound around the sliding column 120 farthest from the axis of the rotating disk 900, and the steel wire rope 700 located on the head swing plate 500 is wound around the sliding column 120 closest to the axis of the rotating disk 900.
[0043] Preferably, when the first motor 800 drives the rotating disk 900 to rotate, the sliding column 120 moves in a circular motion around the axis of the rotating disk 900. Among them, the farther the sliding column 120 is from the axis of the rotating disk 900, the greater the amplitude of its swing, and the longer the displacement distance of the wound steel wire rope 700 is driven, so that the swing amplitude of the end swing plate 300 is the largest and the swing amplitude of the head swing plate 500 is the smallest, so as to make the entire jaw assembly achieve a grasping effect similar to that of a human hand and grasp aerospace parts with special-shaped structures.
[0044] In addition, the tail of the steel wire rope 700 is wound and connected to the drive shaft of the third motor 150, and the winding directions of the steel wire ropes 700 symmetrically distributed on both sides of the third motor 150 are the same.
[0045] The above-mentioned steel wire ropes 700 are all wound in the same direction on the drive shaft of the third motor 150 to prevent the phenomenon of winding relaxation of the steel wire rope 700 after several clamping operations. Through the regular small-angle rotation of the third motor 150, the winding of the steel wire ropes 700 on both sides is maintained in a relatively tight state to ensure the clamping function.
[0046] In some feasible embodiments, there are also waist-shaped notches and a cylinder 130.
[0047] Specifically, a plurality of waist-shaped notches are provided on the rotating disk 900, and sliding columns 120 are slidably arranged in the waist-shaped notches. The number of waist-shaped notches corresponds to the number of sliding columns 120. The waist-shaped notches are vertically arranged on one side of the surface of the rotating disk 900, and the distance between adjacent waist-shaped notches is the same.
[0048] Each sliding column 120 is connected to the push rod of a corresponding cylinder 130, and the cylinder 130 is fixed on the surface of the rotating disk 900. When the cylinder 130 pushes the sliding column 120 to slide in the waist-shaped notch, the relative distance between the sliding column 120 and the axis of the rotating disk 900 can be changed, so that the displacement of the wound steel wire rope 700 on the sliding column will change when the rotating disk 900 rotates subsequently.
[0049] Preferably, when it is necessary to clamp and close to the external protruding surface of some aerospace parts, the positions of some sliding columns 120 can be changed. When the steel wire rope 700 pulls the ends of each swing plate, one end of some swing plates will become longer or shorter due to the distance between its corresponding sliding column 120 and the axis of the rotating disk 900, so that the swing amplitude of the sliding column 120 becomes larger or smaller, resulting in a larger or smaller swing amplitude of the corresponding end of the swing plate. Thus, the jaw assembly bends at this position to clamp and fit the special-shaped surface of different aerospace parts, realizing flexible clamping, increasing the clamping points, and improving the clamping stability.
[0050] In some feasible embodiments, there are also a baffle 170 and a spring tube 160.
[0051] Specifically, the end swing plate 300, the middle swing plate 400, and the head swing plate 500 are symmetrically distributed at both ends of their corresponding rotating shafts 600, making the middle space of the rotating shaft 600 hollow. On both sides of the plate surface of each symmetrically arranged swing plate, there is a baffle 170. The baffle 170 is located at the middle position of the rotating shaft 600. A hollow space is formed between the middle space of the rotating shaft 600 and the baffle 170. The steel wire rope 700 is located in the hollow space and is connected to each swing plate through the hollow space.
[0052] Due to the blocking of the baffle 170, when each swing plate swings, the steel wire rope 700 only moves within the hollow space and will not move outside each baffle 170 to contact the elastic outer skin 200 of the jaw, avoiding the steel wire rope 700 from cutting the elastic outer skin 200 of the jaw, or the steel wire rope 700 being stirred by the sliding column 120 and stretching straight without the blocking of the baffle 170, resulting in bulges on the inner side of the jaw and affecting the clamping.
[0053] In addition, a spring tube 160 is also provided in the hollow space. The two ends of the spring tube 160 are respectively fixed on the rotating shaft 600 at the outermost end and the rotating shaft 600 at the outermost head end in the jaw assembly.
[0054] Preferably, the spring tube 160 not only has elasticity when stretching and contracting, but also has elasticity when bending. Therefore, when the jaw assembly bends inward under the pulling of the steel wire rope 700 to achieve the clamping action, at this time, the spring tube 160 also bends synchronously with the jaw assembly. When the jaw assembly needs to return to the unclamped open state, the steel wire rope 700 resets, and the jaw assembly is no longer subjected to the pulling force of the steel wire rope 700. At this time, the elastic force generated after the spring tube 160 bends will drive the swing shaft in the jaw assembly to reset and return to the vertical state of the spring tube 160, and at this time, it can drive the jaw assembly to reset to the open state.
[0055] In some feasible embodiments, there is also a second motor 140.
[0056] Specifically, the end swing plate 300 is located at the grasping end of the jaw assembly. The outer side of the end swing plate 300 is fixedly connected to the head of a steel wire rope 700. The tail of the steel wire rope 700 is wound around the drive of the second motor 140. The third motor 150 is fixed in the protective housing 100 and is located outside the jaw assembly.
[0057] Preferably, when the second motor 140 rotates to wind the steel wire rope 700, it will drive the end swing plate 300 to swing outward, causing the grasping end of the jaw assembly to bend outward, so that some large aerospace components can be lifted. Such aerospace components are difficult to clamp due to their large volume, such as pipe parts or cover-shaped plate parts. Therefore, the jaw assembly can be inserted into the lumen or through hole of the large aerospace component to lift it, so as to increase the applicability to the clampable aerospace components.
[0058] In some feasible embodiments, an installation plate 180 is further included.
[0059] The installation plate 180 is fixedly installed on the top of the protective housing 100, and installation holes are provided on the installation plate 180.
[0060] The device can be assembled to a multi-axis robotic arm through the installation plate 180, or installed on a multi-axis displacement platform to perform processes such as conveying, fixing, or assembling aerospace components, with a wide range of applicable environments.
[0061] So far, the embodiments of the present invention have been described in detail. To avoid obscuring the concept of the present invention, some details well known in the art have not been described. Those skilled in the art can clearly understand how to implement the technical solutions of the present invention based on the above description, and the scope of the present invention is defined by the appended claims.
Claims
1. A flexible clamping device for aerospace parts, comprising a protective housing (100), characterized in that, Two jaw components are symmetrically arranged at the bottom of the protective housing (100); The jaw component includes a jaw elastic outer skin (200), a tail swing plate (300), a middle swing plate (400), a head swing plate (500) and a rotating shaft (600); The jaw elastic outer skin (200) is fixedly connected to the protective housing (100), and a head swing plate (500) is arranged inside the jaw elastic outer skin (200), and the head swing plate (500) is close to the protective housing (100); Both ends of the tail swing plate (300), the middle swing plate (400), and the head swing plate (500) are connected with a rotating shaft (600). One end of the head swing plate (500) is rotatably connected to the protective housing (100) through the rotating shaft (600), and the other end is rotatably connected to the middle swing plate (400) through the rotating shaft (600), and the middle swing plate (400) is rotatably connected to the tail swing plate (300) through the rotating shaft (600); A steel wire rope (700) is arranged beside each rotating shaft (600), and the heads of the steel wire ropes (700) are respectively fixed on the inner side edges of the tail swing plate (300), the middle swing plate (400), and the head swing plate (500); A first motor (800) is arranged inside the protective housing (100), a rotating disk (900) is fixed on the driving shaft of the first motor (800), and a plurality of sliding columns (120) are arranged on the rotating disk (900). A third motor (150) is arranged inside the protective housing (100), and the third motor (150) is located at the symmetry center of the two jaw components; The number of the sliding columns (120) corresponds to the number of the rotating shafts (600). The steel wire rope (700) is wound and connected with the sliding column (120), and the tail of the steel wire rope (700) is wound and connected with the driving shaft of the third motor (150). The winding directions of the steel wire ropes (700) symmetrically distributed on both sides of the third motor (150) are the same.
2. The flexible clamping device for aerospace components according to claim 1, wherein, A plurality of kidney-shaped notches are arranged on the rotating disk (900), and the sliding columns (120) are slidably arranged in the kidney-shaped notches. The number of the kidney-shaped notches corresponds to the number of the sliding columns (120). Each sliding column (120) is connected with the push rod of a corresponding cylinder (130), and the cylinder (130) is fixed on the surface of the rotating disk (900); The kidney-shaped notches are vertically arranged on one side of the surface of the rotating disk (900), and the intervals between the kidney-shaped notches are the same; 3. A flexible clamping device for aerospace components according to claim 1, characterized in that, The tail swing plate (300) is located on the outer side edge at the end of the jaw component and is fixedly connected to the head of a steel wire rope (700). The tail of the steel wire rope (700) is wound and connected with the driving take-up of the second motor (140). The third motor (150) is fixed in the protective housing (100) and is located outside the jaw component.
4. A flexible clamping device for aerospace components according to claim 1, characterized in that, The end swing plate (300), the middle swing plate (400), and the head swing plate (500) are symmetrically distributed at both ends of their corresponding rotating shafts (600). Baffles (170) are provided on both sides of the plate surfaces of the end swing plate (300), the middle swing plate (400), and the head swing plate (500). A hollow space is formed between the middle part of the rotating shaft (600) and the baffle (170), and the steel wire rope (700) is located in the hollow space.
5. A flexible clamping device for aerospace parts according to claim 4, characterized in that, A spring tube (160) is provided in the hollow space, and both ends of the spring tube (160) are respectively fixed on the rotating shaft (600) at the outermost end and the rotating shaft (600) at the head end in the jaw assembly.
6. The flexible clamping device for aerospace parts according to claim 1, characterized in that A mounting plate (180) is fixedly installed on the top of the protective housing (100), and mounting holes are provided on the mounting plate (180).