Fractal self-adaptive clamp

Abstract

The utility model discloses a fractal self-adaptive clamp, and mainly relates to the technical field of tool clamps. Comprising two clamping assemblies and an adjusting mechanism used for adjusting the distance between the two clamping assemblies, each clamping assembly comprises a plurality of clamping units, the left end and the right end of the front side of the Nth clamping unit are each hinged to an (N + 1) th clamping unit, and N is a natural number larger than 0; the clamp can firmly clamp articles, is particularly suitable for clamping irregular articles, and can be used for clamping and fixing articles in different shapes.

Description

Technical Field

[0001] This utility model relates to the field of tooling and fixture technology, specifically to fractal adaptive fixtures. Background Technology

[0002] Grippers are used in fields such as garbage collection and cargo handling to hold and move objects. Most common grippers are designed for objects with regular shapes, such as some existing robotic arms. However, when using existing robotic arms to hold irregular objects, the limited gripping area leads to unstable gripping. While some existing specialized grippers for specific objects can ensure gripping stability, they can only be used for one type of object. Different objects require different specialized grippers, which increases the cost of use. Utility Model Content

[0003] The purpose of this invention is to solve the problems existing in the prior art and provide a fractal adaptive clamp that can firmly clamp items, especially suitable for clamping irregular items, and can be used for clamping and fixing items of different shapes.

[0004] To achieve the above objectives, this utility model employs the following technical solution:

[0005] The fractal adaptive clamp includes two clamping components and an adjustment mechanism for adjusting the distance between the two clamping components. Each clamping component includes several levels of clamping units, wherein the left and right ends of the front side of the Nth level clamping unit are respectively hinged to an (N+1)th level clamping unit, where N is a natural number greater than 0.

[0006] Preferably, the first-stage clamping unit includes a mounting base for connection with the adjustment mechanism. Both ends of the mounting base are provided with connecting seats that extend obliquely towards the front side of the mounting base. The thickness of the connecting seats is less than the thickness of the mounting base. A second-stage clamping unit is hinged to each of the connecting seats.

[0007] Preferably, in each of the clamping components, except for the first-level clamping unit, the remaining clamping units all include a triangular prism-shaped main body structure.

[0008] Preferably, in each of the clamping components, except for the first-level clamping unit and the last-level clamping unit, the remaining clamping units are provided with hinge seats at both ends and with mounting grooves on the back of the clamping unit, and the thickness of the hinge seats is less than the thickness of the clamping units.

[0009] Preferably, a rubber pad is provided on the front side of the last stage clamping unit.

[0010] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0011] 1. Each clamping component of this utility model includes several levels of clamping units. When one side of any level is subjected to force, because it can rotate freely around the hinge axis, the other side will tend to come closer to the object being gripped. When multiple layers work together, they can achieve the effect of adhering to the surface of the object. Only clamping force is needed to convert the force in a single direction into a wrapping force, resulting in a more secure grip. Force and torque can be distributed independently. It has the advantage of a large gripping range; as long as the object is within the range of the clamp, it can wrap around the target object without the need for positioning, greatly reducing the difficulty of gripping and positioning.

[0012] 2. This utility model uses a triangle as the fractal basis, and has the characteristics of simple structure, easy manufacturing and maintenance, and good force transmission characteristics. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of this utility model;

[0014] Figure 2 This is a schematic diagram of the clamping assembly;

[0015] The following are the reference numerals in the attached diagram: 1. Clamping assembly; 11. Mounting base; 12. Connecting base; 13. Second-stage clamping unit; 14. Hinge base; 15. Mounting slot; 16. Third-stage clamping unit; 2. Adjustment mechanism; 21. Connecting arm; 22. Bidirectional lead screw; 23. Guide rod; 24. Motor. Detailed Implementation

[0016] The present invention will be further illustrated below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the present invention, and these equivalent forms also fall within the scope defined in this application.

[0017] Example: As attached Figure 1-2 As shown, the present invention relates to a fractal adaptive gripper, comprising two gripping components 1 and an adjustment mechanism 2 for adjusting the distance between the two gripping components 1. The adjustment mechanism 2 can be a cylinder, with each gripping component 1 equipped with a set of cylinders, each set of cylinders including two cylinders. The two gripping components 1 are arranged symmetrically, with the cylinders positioned on the side of the two gripping components 1 furthest apart. One end of each cylinder is connected to a gripping component 1, and the other end is connected to the main body of the device. The main body of the device can be a mobile robot, and the adjustment mechanism 2 can also be other linear motion mechanisms. Figure 1The diagram describes a lead screw and nut structure, including a connecting arm 21, a bidirectional lead screw 22, a guide rod 23, and a motor 24. The motor 24 is connected to the bidirectional lead screw 22 via a coupling, driving the bidirectional lead screw 22 to rotate. The bidirectional lead screw 22 is mounted on the main body of the equipment and is rotatably connected to it. The guide rod 23 is fixed to the main body of the equipment, located on one side of the bidirectional lead screw 22 and parallel to it. The connecting arm 21 has a guide hole adapted to the guide rod 23. The threads at both ends of the bidirectional lead screw 22 have opposite directions, with each thread segment corresponding to a connecting arm 21. A corresponding nut is embedded in the connecting arm 21. One end of the connecting arm 21 is fixed to the clamping assembly 1 by a screw. When the motor 24 is started, it can drive the two clamping assemblies 1 to move closer or further apart, completing the clamping and releasing.

[0018] Each clamping assembly 1 includes several levels of clamping units, wherein the left and right ends of the front side of the Nth level clamping unit are respectively hinged to an N+1th level clamping unit, where N is a natural number greater than 0. The N+1th level clamping unit and the Nth level clamping unit can be hinged together by a pin. Both the N+1th level clamping unit and the Nth level clamping unit are provided with mounting holes adapted to the pins.

[0019] The two clamping components 1 are arranged symmetrically, with the side of the two clamping components 1 that is close to each other being the front side of the clamping component 1.

[0020] The number of clamping units is determined by the length of the item to be clamped; the longer the item, the more clamping units are needed. Figure 2 The paper presents a clamping assembly 1 for a three-level clamping unit.

[0021] Preferably, the first-stage clamping unit includes a mounting base 11 for connection with the adjustment mechanism 2. The length of the mounting base 11 is determined according to the length of the item to be clamped. Both ends of the mounting base 11 are provided with connecting seats 12 that extend obliquely towards the front side of the mounting base 11. The thickness of the connecting seats 12 is less than the thickness of the mounting base 11. A second-stage clamping unit 13 is hinged to each connecting seat 12. The back of the second-stage clamping unit 13 is provided with a mounting groove 15 that is adapted to the connecting seat 12. The connecting seat 12 is inserted into the mounting groove 15 and then hinged by a pin.

[0022] Preferably, in each of the clamping components 1, except for the first-level clamping unit, the remaining clamping units all include a triangular prism-shaped main structure, which is based on a triangle fractal and has the characteristics of simple structure, easy manufacturing and maintenance, and good force transmission characteristics.

[0023] Preferably, in each of the clamping components 1, except for the first-level clamping unit and the last-level clamping unit, the left and right ends of the remaining clamping units are provided with hinge seats 14 and the back of the clamping unit is provided with a mounting groove 15. The thickness of the hinge seat 14 is less than the thickness of the clamping unit. The hinge seat 14 is inserted into the mounting groove 15 and then hinged by a pin.

[0024] Using perforated pins for connection offers advantages such as low cost, readily available standard parts, easy replacement, and a simple, durable structure. A ±20° rotation limit is set at the connection point of the two-stage clamping units. When a clamping unit deflects excessively, it will contact the next-level clamping unit and be unable to rotate, preventing the clamping unit from slipping and allowing it to return to its correct position.

[0025] Preferably, the front side of the last-stage clamping unit is provided with a rubber pad to enhance the ability to protect the clamped object and the gripping friction.

[0026] This utility model is based on the fractal principle. Through the adaptation and adjustment of a purely mechanical structure, it can achieve the fit to the surface of different objects in order to increase the force-bearing area and reduce the pressure. The clamping component does not require a motor, which means that the replacement of parts is simple, the manufacturing cost is low, and the replacement cost is low. At the same time, the simple structure can adapt to dusty, humid and other environments, and is easy to install. Assembly can be completed by inserting a pin at the connection of each layer.

Claims

1. Fractal self-adapting clamp comprising two clamping assemblies (1) and an adjustment mechanism (2) for adjusting the distance between the two clamping assemblies (1), characterized in that: Each of the clamping assemblies (1) comprises several stages of clamping units, wherein the left and right ends of the front side of the Nth stage of clamping units are respectively hingedly connected with an (N+1)th stage of clamping units, N being a natural number greater than 0.

2. The fractal adaptive clamp of claim 1, wherein: The first stage of clamping units comprises a mounting seat (11) for connecting with the adjusting mechanism (2), both ends of the mounting seat (11) are provided with a connecting seat (12) extending obliquely to the front side of the mounting seat (11), the thickness of the connecting seat (12) is less than the thickness of the mounting seat (11), and each of the connecting seats (12) is hingedly connected with a second stage of clamping units (13).

3. The fractal adaptive clamp of claim 2, wherein: In each of the clamping assemblies (1), except the first stage of clamping units, the remaining clamping units all comprise a triangular prism-shaped main body structure.

4. The fractal adaptive clamp of claim 3, wherein: In each of the clamping assemblies (1), except the first stage of clamping units and the last stage of clamping units, the left and right ends of the remaining clamping units are provided with a hinged seat (14) and a mounting groove (15) on the back of the clamping unit, and the thickness of the hinged seat (14) is less than the thickness of the clamping unit.

5. The fractal adaptive clamp of claim 1, wherein: The front side of the last stage of clamping units is provided with a rubber pad.

Images