Self-adaptive clamping mechanism

Abstract

The utility model discloses a self-adaptive clamping mechanism and belongs to the technical field of manipulators. Comprising a driving assembly and a clamping assembly, the clamping assembly is arranged on the driving assembly, and the driving assembly drives the clamping assembly to approach a target object; an elastic piece is arranged between the clamping assembly and the driving assembly, or the clamping assembly has elasticity, after the driving assembly drives the clamping assembly to make contact with a target object and the driving assembly continues to act, the clamping assembly displaces or deforms relative to the driving assembly, and when the driving assembly drives the clamping assembly to be separated from the target object, the clamping assembly is separated from the target object. The elastic piece pushes the clamping assembly to restore to the initial position or shape; even if machining or mounting errors exist, it can be ensured that the clamping assemblies can clamp articles such as gloves, particularly when the multiple clamping assemblies clamp multiple gloves at the same time, all the clamping assemblies can clamp target articles such as gloves, and the clamping assemblies are not affected by other clamping assemblies; therefore, the problem that the clamping of the target object fails due to the installation angle difference of the clamping assemblies can be solved.

Description

TECHNICAL FIELD

[0001] The adaptive clamping mechanism belongs to the technical field of mechanical hands. BACKGROUND

[0002] In the production processing or packaging industry, it is often necessary to use a mechanical hand to clamp products, however, when installing the equipment, multiple adjustments need to be made to ensure that the clamping jaws or clamping plates of the mechanical hand accurately clamp the objects to be clamped, especially when a driving component drives multiple clamping jaws or clamping plates to work, there are processing and installation errors between the clamping jaws or clamping plates, and it takes a lot of time and effort to adjust all the clamping jaws or clamping plates to be consistent, and during the operation of the equipment, it is easy to occur that one or more clamping plates cannot be in place, and even one clamping plate may affect the work of all the remaining clamping plates, which requires re-adjustment. CONTENT OF THE UTILITY MODEL

[0003] The technical problem to be solved by the utility model is to overcome the shortcomings of the prior art, and provide an adaptive clamping mechanism which can automatically adjust the clamping unit to a clamping position without spending a lot of effort on adjustment.

[0004] The utility model adopts the technical scheme that the adaptive clamping mechanism comprises a driving assembly and a clamping assembly, the clamping assembly is arranged on the driving assembly, and the driving assembly drives the clamping assembly to move towards a target object.

[0005] An elastic member is arranged between the clamping assembly and the driving assembly, and the clamping assembly is configured in such a manner that when the driving assembly drives the clamping assembly to contact the target object, the elastic member is compressed when the driving assembly continues to act, the clamping assembly is displaced relative to the driving assembly, and when the driving assembly drives the clamping assembly to separate from the target object, the elastic member pushes the clamping assembly to return to the initial position.

[0006] Alternatively, the clamping assembly has elasticity, and the clamping assembly is configured in such a manner that when the driving assembly drives the clamping assembly to contact the target object, the clamping assembly is deformed relative to the driving assembly when the driving assembly continues to act, and when the driving assembly drives the clamping assembly to separate from the target object, the clamping assembly returns to the initial shape.

[0007] Preferably, the driving assembly comprises a driving shaft and a power unit driving the driving shaft to rotate, and a plurality of clamping assemblies are arranged at intervals on the driving shaft.

[0008] Preferably, the clamping assembly comprises a floating sleeve and a clamping execution member, the floating sleeve is rotationally arranged on the driving assembly, and the clamping execution member is fixed on the floating sleeve.

[0009] Preferably, the elastic member is a torsional spring, one end of the torsional spring is fixed opposite the floating sleeve, and the other end of the torsional spring is fixed opposite the driving shaft.

[0010] Preferably, the floating sleeve is provided with a first spring connecting groove and a second spring connecting groove, one end of the torsion spring is arranged in the first spring connecting groove, and the other end is arranged in the second spring connecting groove.

[0011] Preferably, the elastic member has a pre-tightening force, which makes the clamping assembly stay in the initial position.

[0012] Preferably, the elastic member is a spring sheet, one end of the spring sheet is fixed opposite to the driving assembly, and the other end is arranged on one side of the clamping assembly.

[0013] Preferably, a bearing is arranged between the clamping assembly and the driving assembly.

[0014] Compared with the prior art, the adaptive clamping mechanism has the beneficial effects of:

[0015] The elastic member is arranged between the clamping assembly and the driving assembly, or the clamping assembly has elasticity, when the driving assembly continues to act after contacting the target object, the clamping assembly is displaced or deformed relative to the driving assembly, even if there is a machining or installation error, it can also ensure that the clamping assembly can clamp gloves and other objects, especially when multiple clamping assemblies clamp multiple gloves at the same time, all clamping assemblies can clamp gloves and other target objects, and will not be affected by other clamping assemblies, thereby overcoming the problem of target object clamping failure caused by the installation angle difference of each clamping assembly. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a perspective view of the adaptive clamping mechanism embodiment 1.

[0017] Figure 2 It is a perspective view of the adaptive clamping mechanism after being turned over in embodiment 1.

[0018] Figure 3 It is a side view of the adaptive clamping mechanism.

[0019] Figure 4 It is Figure 3 It is a sectional view at A-A in the adaptive clamping mechanism.

[0020] Figure 5 It is a perspective view of the adaptive clamping mechanism embodiment 2.

[0021] Figure 6 It is a front view of the adaptive clamping mechanism embodiment 2.

[0022] Figure 7 It is a side view of the adaptive clamping mechanism embodiment 2.

[0023] Figure 8 It is a perspective view of the adaptive clamping mechanism embodiment 3.

[0024] Wherein: 1, drive shaft 2, floating sleeve 3, clamping plate 4, torsional spring 5, first spring connecting groove 6, second spring connecting groove 7, spring piece. DETAILED DESCRIPTION

[0025] Figures 1-4 It is the best embodiment of the adaptive clamping mechanism, the following will be described in detail with reference to the accompanying drawings Figures 1-8 Further described the utility model.

[0026] Embodiment 1

[0027] Refer to Figures 1-4 The adaptive clamping mechanism, including drive assembly, positioning assembly and elastic piece, clamping assembly is relatively active and is set on the drive assembly, the positioning assembly is set between the clamping assembly and the drive assembly, the positioning assembly is used for limiting the initial position of the clamping assembly on the drive assembly, the elastic piece is set between the clamping assembly and the positioning assembly, the elastic piece pushes the clamping assembly, so that the clamping assembly has the tendency of being fixed in the initial position, thereby ensuring that the clamping assembly can be accurately reset each time, and ensuring that the clamping assembly is accurate and reliable each time.

[0028] The drive assembly in the embodiment includes a drive shaft 1 and a power unit (such as a speed reducer motor, etc.) for rotating the drive shaft 1, and a plurality of clamping assemblies are arranged at intervals on the drive shaft 1. The clamping assembly includes a floating sleeve 2 and a clamping execution member, the floating sleeve 2 is rotatably arranged on the drive assembly, and the clamping execution member is fixed on the floating sleeve 2. A bearing is provided between the floating sleeve 2 and the drive shaft 1.

[0029] The clamping execution member in the embodiment is taken as a clamping plate 3 of a clamping glove for introduction and description. The clamping plate 3 will cooperate with other clamping components to clamp the two sides of the glove, but regardless of whether the other clamping components are fixedly arranged or swingingly arranged, only the swingingly arranged clamping plate 3 needs to be arranged as a floating structure to automatically adjust the clamping plate 3, ensure reliable clamping of the glove, and achieve the purpose of not needing to spend a lot of effort to debug, so the embodiment does not elaborate on the other clamping components cooperating with the clamping plate 3.

[0030] The elastic piece in the embodiment is a torsional spring 4, the torsional spring 4 is arranged on the inner side of the floating sleeve 2, the floating sleeve 2 is provided with a first spring connecting groove 5 and a second spring connecting groove 6, one end of the torsional spring 4 is arranged in the first spring connecting groove 5, and the other end of the torsional spring 4 is arranged in the second spring connecting groove 6. One end of the torsional spring 4 is fixed relative to the floating sleeve 2, and the other end of the torsional spring 4 is fixed relative to a positioning plate 5. When the torsional spring 4 is installed in the embodiment, a pre-tightening force f is applied to the torsional spring 4, and the floating sleeve 2 and the clamping plate 3 are pushed to the initial position in the initial state.

[0031] The driving shaft 1 is usually provided with a plurality of floating sleeves 2, and each floating sleeve 2 is provided with a clamping plate 3. Due to the angle difference between the clamping plates 3 during installation, part of the clamping plates 31 contact the gloves, and the other part of the clamping plates 31 do not contact the gloves. If the clamping plate 3 is completely fixedly connected with the driving shaft 1, the clamping of the gloves will fail due to the angle difference between the clamping plates 3.

[0032] When the adaptive clamping mechanism works, under the action of the pre-tightening force f, the counterclockwise rotation of the driving shaft 1 drives the synchronous rotation of the floating sleeves 2 and the clamping plates 3. When the clamping plates 3 rotate to the clamping position of the gloves (at this time, a plurality of gloves are located at a horizontal height), the clamping of the gloves is started. Due to the angle difference, part of the clamping plates 3 contact the gloves, and the other part of the clamping plates 3 do not contact the gloves. At this time, the driving shaft 1 continues to rotate, the force F received by the clamping plate 3 that has contacted the glove gradually increases, and when F is greater than the pre-tightening force f, the torsional spring 4 further deforms. At this time, the clamping plate 3 that has contacted the glove produces relative displacement with the driving shaft 1, the position of the floating sleeve 2 connected with the clamping plate 3 does not change, the driving shaft 1 continues to rotate counterclockwise, and the other clamping plates 3 that have not contacted the glove continue to rotate, thereby completing the clamping action of the gloves, and eliminating the problem that the clamping of the gloves fails due to the angle difference between the clamping plates 3 when a plurality of clamping plates 3 simultaneously clamp a plurality of gloves. When the driving shaft 1 rotates back, the torsional spring 4 drives the clamping plate 3 to return to the initial position.

[0033] Embodiment 2

[0034] Referring to Figures 5-7 The difference between the present embodiment and embodiment 1 is that the elastic member in the present embodiment is a spring sheet 7. One end of the spring sheet 7 penetrates through the floating sleeve 2 and is fixedly connected with the driving shaft 1, and the other end is arranged on one side of the clamping plate 3. The other end of the spring sheet 7 can be directly fixedly connected with the clamping plate 3, or can be in contact connection.

[0035] When the clamping of the gloves is started, the driving shaft 1 drives the synchronous rotation of the floating sleeves 2 and the clamping plates 3 through the spring sheet 7. Due to the angle difference, part of the clamping plates 3 contact the gloves, and the other part of the clamping plates 3 do not contact the gloves. At this time, the driving shaft 1 continues to rotate, the force received by the clamping plate 3 that has contacted the glove gradually increases, and the spring sheet 7 deforms. At this time, the clamping plate 3 that has contacted the glove produces relative displacement with the driving shaft 1, the position of the floating sleeve 2 connected with the clamping plate 3 does not change, the driving shaft 1 continues to rotate counterclockwise, and the other clamping plates 3 that have not contacted the glove continue to rotate, thereby completing the clamping action of the gloves, and eliminating the problem that the clamping of the gloves fails due to the angle difference between the clamping plates 3 when a plurality of clamping plates 3 simultaneously clamp a plurality of gloves. When the driving shaft 1 rotates back, the spring sheet 7 drives the clamping plate 3 to return to the initial position.

[0036] Embodiment 3

[0037] Referring to Figure 8 The difference between the embodiment and the embodiment 1 is that the clamping plate 3 itself has elasticity, such as plastic or rubber material, and the clamping plate 3 is directly fixed to the driving shaft 1 through the floating sleeve 2 or directly fixed on the driving shaft 1. When starting to clamp the gloves, the driving shaft 1 drives the clamping plate 3 to rotate synchronously through the floating sleeve 2. Due to the angle difference, part of the clamping plate 3 contacts the gloves, and the other part of the clamping plate 3 does not contact the gloves. At this time, the driving shaft 1 continues to rotate, and the clamping plate 3 that has contacted the gloves will gradually increase the force. Since the clamping plate 3 itself has elasticity, the clamping plate 3 will deform relative to the driving shaft 1. The driving shaft 1 continues to rotate counterclockwise, which can drive the other clamping plate 3 that does not contact the gloves to continue to rotate, thereby completing the clamping action of the gloves, thereby eliminating the problem of failure to clamp the gloves due to the angle difference of each clamping plate 3 when multiple clamping plates 3 clamp multiple gloves at the same time. When the driving shaft 1 rotates, the clamping plate 3 restores to the initial shape under the action of its own elasticity.

[0038] In other embodiments, the driving assembly clamps the gloves in a way that drives the clamping plate 3 to ascend and descend, and the clamping plate 3 floats on the driving assembly through the torsional spring 4. The clamping plate 3 can also be replaced by a rod or a claw structure.

[0039] The above is only a preferred embodiment of the present application, and is not intended to limit the present application in other forms. Any skilled person in the art can modify or change the above disclosed technical content to obtain equivalent embodiments. However, any simple modification, equivalent change and modification of the above embodiments without departing from the technical content of the present application, and according to the technical essence of the present application, still belong to the protection scope of the present application.

Claims

1. An adaptive gripping mechanism, characterized by: The device comprises a driving assembly and a clamping assembly, the clamping assembly is arranged on the driving assembly, and the driving assembly drives the clamping assembly to approach the target object; An elastic member is arranged between the clamping assembly and the driving assembly, the clamping assembly is configured to, when the driving assembly drives the clamping assembly to contact the target object, the elastic member is compressed when the driving assembly continues to act, the clamping assembly is displaced relative to the driving assembly, and the elastic member pushes the clamping assembly to return to the initial position when the driving assembly drives the clamping assembly to separate from the target object. Alternatively, the clamping assembly is elastic, and the clamping assembly is configured to, when the driving assembly drives the clamping assembly to contact the target object, the clamping assembly is deformed relative to the driving assembly when the driving assembly continues to act, and the clamping assembly returns to the initial shape when the driving assembly drives the clamping assembly to separate from the target object.

2. The adaptive gripping mechanism of claim 1, wherein: The driving assembly comprises a driving shaft (1) and a power unit driving the driving shaft (1) to rotate, and a plurality of clamping assemblies are arranged at intervals on the driving shaft (1).

3. The adaptive gripping mechanism according to claim 1 or 2, characterized in that: The clamping assembly comprises a floating sleeve (2) and a clamping execution member, the floating sleeve (2) is rotatably arranged on the driving assembly, and the clamping execution member is fixed on the floating sleeve (2).

4. The adaptive gripping mechanism of claim 3, wherein: The elastic member is a torsion spring (4), one end of the torsion spring (4) is fixed relative to the floating sleeve (2), and the other end of the torsion spring (4) is fixed relative to the driving shaft (1).

5. The adaptive gripping mechanism of claim 4, wherein: The floating sleeve (2) is provided with a first spring connecting groove (5) and a second spring connecting groove (6), one end of the torsion spring (4) is arranged in the first spring connecting groove (5), and the other end of the torsion spring (4) is arranged in the second spring connecting groove (6).

6. The adaptive gripping mechanism of claim 3, wherein: The elastic member has a pre-tightening force, which makes the clamping assembly stay at the initial position.

7. The adaptive gripping mechanism of claim 1, wherein: The elastic member is a spring sheet (7), one end of the spring sheet (7) is fixed relative to the driving assembly, and the other end of the spring sheet (7) is arranged on one side of the clamping assembly.

8. The adaptive gripping mechanism of claim 1 or 7, wherein: A bearing is arranged between the clamping assembly and the driving assembly.

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