Flexible clamp

Abstract

The utility model discloses a flexible clamp which comprises a gas circuit connecting seat and a flexible clamping jaw fixed on the gas circuit connecting seat, the flexible clamping jaw comprises a clamping part and a connecting part which are made of elastic materials, and the clamping part comprises at least two finger parts which are matched with each other and used for clamping. The connecting part is provided with a driving cavity, the top of the connecting part is provided with a mounting plate, the mounting plate is provided with a communication port communicated with the driving cavity, the gas circuit connecting seat is fixed in the communication port, the gas circuit connecting seat is provided with a gas circuit connecting port used for being connected with a gas circuit connector, and the gas circuit connector is connected with the driving cavity. The gas circuit connecting base is further provided with an installation screw hole and a positioning pin hole which are convenient to be connected with an external connecting piece in a positioning mode, and the gas circuit connecting base is further provided with a detachable connecting structure used for detachably installing the detection sensor. The flexible clamp can be installed and fixed more accurately, and the high-precision installation requirement is met.

Description

TECHNICAL FIELD

[0001] The utility model relates to flexible clamping technical field especially uses a kind of flexible clamp of flexible gripper. BACKGROUND

[0002] In the field of industrial automation, flexible clamp is a new clamp, its main structure includes gas circuit connecting seat and the flexible gripper fixed on the gas circuit connecting seat, the flexible gripper includes the clamping part and connecting part made of elastic material, the clamping part includes at least two fingers for clamping, the connecting part is provided with driving chamber and the top is provided with mounting plate, the mounting plate is provided with the communicating port communicated with driving chamber, and the gas circuit connecting seat is fixed in the communicating port. For example, the utility model patent with the publication number CN217572945U discloses a negative pressure flexible clamp, and the mounting seat or the flexible gripper of the negative pressure flexible clamp is provided with a detection device for detecting whether an object is clamped.

[0003] However, the flexible clamp still has the following defects: 1. The flexible clamp generally needs to be positioned during installation to ensure that the flexible clamp is accurately oriented and positioned during installation. However, the current flexible clamp can only be roughly positioned by the relative position between the side surface of the mounting seat and the end of the mechanical hand, and the positioning accuracy is not high enough to meet the high-precision positioning requirements of small objects; 2. The installation position of the detection device of the current flexible clamp is single, especially the installation position of the external detected sheet is fixed, so the adaptability is poor, and a separate position is needed for the detected sheet and the deflection detection sensor in the use environment. UTILITY MODEL CONTENT

[0004] The technical problem to be solved by the utility model is to provide a flexible clamp that can be more accurately installed and fixed to meet high-precision installation requirements.

[0005] To solve the above technical problems, the technical scheme of the utility model is as follows: a flexible clamp includes a gas circuit connecting seat and a flexible gripper fixed on the gas circuit connecting seat, the flexible gripper includes a clamping part and a connecting part made of elastic material, the clamping part includes at least two fingers for clamping, the connecting part is provided with a driving chamber and a mounting plate on the top, the mounting plate is provided with a communicating port communicated with the driving chamber, and the gas circuit connecting seat is fixed in the communicating port, the gas circuit connecting seat is provided with a gas circuit connecting port for connecting a gas circuit connector, the gas circuit connecting seat is also provided with mounting screw holes and positioning pin holes for positioning and connecting external connecting members, and the gas circuit connecting seat is also provided with a detachable connecting structure for detachably installing a detection sensor.

[0006] As a preferred scheme, the detachable connecting structure comprises connecting screw holes arranged on at least one side of the gas path connecting base, and the detection sensor is detachably fixed on the gas path connecting base by connecting bolts arranged in the connecting screw holes.

[0007] As a preferred scheme, at least two surfaces of the gas path connecting base are provided with the gas path connecting ports, and one of the gas path connecting ports is connected with the gas path connector, and the remaining gas path connecting ports are connected with the plugging heads.

[0008] As a preferred scheme, the part of the gas path connecting base outside the flexible clamping jaw is in the shape of a cuboid.

[0009] As a preferred scheme, the upper surface of the gas path connecting base is provided with the mounting screw holes and the positioning pin holes, and the mounting screw holes and the positioning pin holes are arranged in a rectangular array.

[0010] As a preferred scheme, the detection sensor is a flexible probe, one end of the flexible probe is fixed on the side of the gas path connecting base by the connecting bolts, and the other end of the flexible probe is bent and directed to the clamping area of the flexible clamping jaw.

[0011] As a preferred scheme, the end of the finger is detachably fixed with a profiled clamping block.

[0012] As a preferred scheme, the end of the finger is embedded with at least two embedded nuts, and correspondingly, the profiled clamping block is detachably fixed in the embedded nuts by bolts.

[0013] As a preferred scheme, the outer side of the embedded nut is provided with a flange edge, and correspondingly, the end of the finger is provided with a groove accommodating the flange edge of the embedded nut, and the outer surface of the flange edge is flush with the outer surface of the end of the finger.

[0014] As a preferred scheme, the inside of the finger is embedded with a reinforcing plate, the reinforcing plate is provided with connecting holes, and the embedded nuts are embedded into the connecting holes.

[0015] The utility model discloses the effect is: because the flexible clamp's air path connecting seat is provided with the air path connecting port for connecting the air path joint, the air path connecting seat still is provided with the mounting screw hole and the positioning pin hole convenient for positioning connection with external connecting piece, the air path connecting seat still is provided with the detachable connecting structure for the removable installation detection sensor, when the flexible clamp installation can be fixed with external connecting piece through mounting screw hole and bolt, and simultaneously, utilize positioning pin hole to realize the accurate positioning between external connecting piece and air path connecting seat, satisfy the assembly requirement of high accuracy, and simultaneously, the air path connecting seat still sets up the detachable connecting structure for installing detection sensor, makes the flexible clamp can detect whether clamping to have the article.

[0016] And because the detachable connecting structure includes the connecting screw hole setting in at least one side of the air path connecting seat, the detection sensor is detachably fixed on the air path connecting seat through the connecting bolt installed in the connecting screw hole, therefore, the detection sensor can select the appropriate side and detachable installation, and the adaptability is stronger.

[0017] And because the air path connecting seat has at least two faces setting the air path connecting port, when one air path connecting port installs the air path joint, the remaining air path connecting port is connected with the plugging head, so that the installation position of the air path joint can also be selected according to actual situation, and the adaptability is stronger.

[0018] And because the detection sensor is a flexible probe, one end of the flexible probe is fixed on the side of the air path connecting seat through the connecting bolt, and the other end of the flexible probe is bent and points to the clamping area of the flexible clamp jaw, therefore, the flexible probe can detect whether there is an article in the clamping area, when the clamping area has an article, the flexible probe will trigger a detection signal, thereby realizing the detection of the clamping state of the article.

[0019] And because the end of the finger is detachably fixed with a profiled clamp block, some special-shaped articles can be clamped by using the profiled clamp block, for example, when clamping shaft articles, a cylindrical groove adapted to the shaft articles can be arranged on the profiled clamp block, and when clamping spherical objects, the profiled clamp block can be provided with a spherical groove, the profiled clamp block can be replaced, and the clamping requirements of different-shaped articles can be met.

[0020] And since the end of the finger is embedded with at least two embedded nuts, the corresponding profiled clamping block is detachably fixed in the embedded nuts by bolts. The outer side of the embedded nut is provided with a flange, and the end of the finger is provided with a groove accommodating the flange of the embedded nut, and the outer surface of the flange is flush with the outer surface of the end of the finger. In this way, the embedded nut can be better embedded in the end of the finger, and the flange on the embedded nut can also better contact the finger, and the embedded degree is better.

[0021] And since the inside of the finger is embedded with a reinforcing plate, the reinforcing plate is provided with a connecting hole, and the embedded nut is embedded into the connecting hole, so that the embedded nut can be embedded more firmly by using the connecting hole on the reinforcing plate, providing stronger connecting force, and the reinforcing plate can also strengthen the strength of the finger, making the clamping force of the flexible clamp larger. BRIEF DESCRIPTION OF DRAWINGS

[0022] The utility model will be further described below in combination with the drawings and embodiments.

[0023] Figure 1 is the structure perspective drawing of the utility model embodiment;

[0024] Figure 2 is the overhead view of the flexible clamping jaw and the air path connecting seat;

[0025] Figure 3 is Figure 2 the section view at A-A;

[0026] Figure 4 is Figure 2 the section view at B-B;

[0027] Figure 5 is Figure 4 the enlarged schematic view at C;

[0028] In the drawings: 1, flexible clamping jaw;11, connecting part;12, finger;121, nut mounting hole;13, driving chamber;14, communication port;15, reinforcing plate;16, mounting plate;2, connecting plate;3, positioning pin;4, air path connector;5, flexible probe;6, connecting bolt;7, air path connecting seat;71, plugging head;72, positioning pin hole;73, mounting screw hole;74, connecting screw hole;75, air path connecting port;8, profiled clamping block;9, embedded nut;91, flange. DETAILED DESCRIPTION

[0029] The utility model will be further described below in combination with the drawings and embodiments.

[0030] As Figures 1 to 5As shown, a flexible clamp includes an air passage connector 7 and a flexible gripper 1 fixed on the air passage connector 7. The flexible gripper 1 includes a clamping part and a connecting part 11 made of elastic material. The clamping part includes at least two interlocking fingers 12 for clamping. The connecting part 11 is provided with a drive chamber 13 and a mounting plate 16 is provided on the top. The mounting plate 16 is made of a rigid material. Of course, the mounting plate 16 may not be made of a rigid material, but of an elastic material. If the thickness of the mounting plate 16 is sufficient, it can ensure that the mounting plate 16 has sufficient strength to remain undeformed when the clamping part is deflected. The connecting part 11 is connected to the mounting plate 16. The mounting plate 16 is provided with a communication port 14 communicating with the drive chamber 13. The air passage connecting seat 7 is fixed in the communication port 14. The air passage connecting seat 7 is provided with an air passage connecting port 75 for connecting the air passage connector 4. The air passage connecting seat 7 is also provided with a mounting screw hole 73 and a positioning pin hole 72 for convenient positioning and connection with external connecting parts. The air passage connecting seat 7 is also provided with a detachable connection structure for detachably installing the detection sensor.

[0031] like Figure 1 As shown, in this embodiment, the external connector is a connecting plate 2, which can be fixed to the end of the robot. The connecting plate 2 is fixed by bolts in the mounting screw hole 73, and a positioning pin 3 is inserted into the positioning pin hole 72, thereby realizing rapid and precise positioning between the connecting plate 2 and the air circuit connecting seat 7.

[0032] like Figure 1 As shown, the detachable connection structure includes connecting screw holes 74 on at least one side of the gas connection seat 7. The detection sensor is detachably fixed to the gas connection seat 7 by connecting bolts 6 installed in the connecting screw holes 74. The portion of the gas connection seat 7 outside the flexible gripper 1 is cuboid in shape, but other shapes are also possible. A cuboid structure is preferred to facilitate the placement of the connecting screw holes 74 and the gas connection ports 75. The gas connection seat 7 has at least two sides with the gas connection ports 75. When the gas connector 4 is installed in one gas connection port 75, the remaining gas connection ports 75 are connected to a sealing head 71. In this embodiment, the upper surface of the gas connection seat 7 has mounting screw holes 73 and positioning pin holes 72, which are arranged in a rectangular array. The gas connection ports 75 are located on two of the sides and the upper surface, while the remaining two sides have connecting screw holes 74 for easy fixing of the detection sensor.

[0033] The detection sensor is a flexible probe 5, one end of the flexible probe 5 is fixed on the side of the air path connecting seat 7 through a connecting bolt 6, the other end of the flexible probe 5 is bent and points to the clamping area of the flexible jaw 1. The flexible probe 5 can be selected as a conventional reflective light detection probe on the market, when there is an article in the clamping area, the light detection probe can receive a reflected signal, thereby completing the detection of the article. The connecting screw hole 74 is arranged on multiple surfaces to meet the selection of the fixed position of the flexible probe 5.

[0034] As shown in Figure 1 The end of the finger part 12 is detachably fixed with a profiling clamp block 8. The profiling clamp block 8 can be adapted according to the shape of the actual clamped article.

[0035] At least two embedded nuts 9 are embedded in the end of the finger part 12, and correspondingly, the profiling clamp block 8 is detachably fixed in the embedded nut 9 through a bolt.

[0036] As shown in Figure 5 The outer side of the embedded nut 9 is provided with a flange edge 91, and correspondingly, the end of the finger part 12 is provided with a sink groove accommodating the flange edge 91 of the embedded nut 9, and the outer surface of the flange edge 91 is flush with the outer surface of the end of the finger part 12.

[0037] A reinforcing plate 15 is embedded in the inside of the finger part 12, the reinforcing plate 15 is provided with a connecting hole, and the embedded nut 9 is embedded into the connecting hole, and the upper end of the reinforcing plate 15 extends upward to the finger heel of the finger part 12.

[0038] In this embodiment, a reinforcing block is further arranged between the finger heel of the finger part 12 and the driving chamber 13, and the upper end of the reinforcing plate 15 is inclined to extend into the reinforcing block.

[0039] In addition, the inner side of the finger part 12 in this embodiment is further provided with a nut mounting hole 121 for mounting a locking nut, the nut mounting hole 121 is concentrically corresponding to the connecting hole, and then when the embedded nut 9 is screwed into the bolt to fix the profiling clamp block 8, the locking nut can be further mounted in the nut mounting hole 121 to completely fix the profiling clamp block 8 from the inner and outer sides of the finger part 12. At this time, the locking nut is in the nut mounting hole 121, thereby ensuring that the inner surface of the finger part 12 is flush.

[0040] Compared with the conventional flexible clamp, the flexible clamp has at least the following advantages: 1. The flexible clamp can be quickly assembled and precisely positioned; 2. The position of the air path joint 4 and the detection sensor of the flexible clamp can be optimized according to the actual environment; 3. The finger part 12 of the flexible clamp is provided with a profiling clamp block 8, and the profiling clamp block 8 is fixed very firmly.

[0041] The above-described embodiments are only preferred embodiments of the present application, and are not intended to limit the scope of the present application. Various modifications and improvements can be made to the technical solutions of the present application without departing from the design spirit of the present application, and all such modifications and improvements shall fall within the protection scope of the present application as defined by the claims.

Claims

1. A flexible clamp, comprising an air passage connector (7) and a flexible gripper (1) fixed to the air passage connector (7), the flexible gripper (1) comprising a clamping portion and a connecting portion (11) made of elastic material, the clamping portion comprising at least two mutually cooperating fingers (12) for clamping, the connecting portion (11) having a driving chamber (13) and a mounting plate (16) on its top, the mounting plate (16) having a communication port (14) communicating with the driving chamber (13), the air passage connector (7) being fixed within the communication port (14), characterized in that: The gas path connecting seat (7) is provided with a gas path connecting port (75) for connecting a gas path connector (4), and is further provided with a mounting screw hole (73) and a positioning pin hole (72) for positioning and connecting with external connecting members, and is further provided with a detachable connecting structure for detachably mounting a detection sensor.

2. A flexible gripper as claimed in claim 1, wherein: The detachable connecting structure comprises a connecting screw hole (74) provided on at least one side surface of the gas path connecting seat (7), and the detection sensor is detachably fixed on the gas path connecting seat (7) by a connecting bolt (6) mounted in the connecting screw hole (74).

3. A flexible gripper as claimed in claim 2, wherein: At least two surfaces of the gas path connecting seat (7) are provided with the gas path connecting port (75), one of which is mounted with the gas path connector (4), and the remaining gas path connecting port (75) is connected with a plug (71).

4. A flexible gripper as claimed in claim 3, wherein: The part of the gas path connecting seat (7) outside the flexible jaw (1) is in the shape of a cuboid.

5. A flexible gripper as claimed in claim 4, wherein: The upper surface of the gas path connecting seat (7) is provided with the mounting screw hole (73) and the positioning pin hole (72), which are arranged in a rectangular array.

6. A flexible gripper as claimed in claim 2, wherein: The detection sensor is a flexible probe (5), one end of which is fixed on the side surface of the gas path connecting seat (7) by the connecting bolt (6), and the other end of which is bent and directed to the clamping area of the flexible jaw (1).

7. A flexible gripper as claimed in claim 1, wherein: The end of the finger part (12) is detachably fixed with a profiled clamping block (8).

8. A flexible gripper as claimed in claim 7, wherein: The end of the finger part (12) is embedded with at least two embedded nuts (9), and correspondingly, the profiled clamping block (8) is detachably fixed in the embedded nut (9) by a bolt.

9. A flexible gripper as claimed in claim 8, wherein: The outer side surface of the embedded nut (9) is provided with a flange edge (91), and correspondingly, the end of the finger part (12) is provided with a sink groove accommodating the flange edge (91) of the embedded nut (9), and the outer surface of the flange edge (91) is flush with the outer surface of the end of the finger part (12).

10. A flexible gripper as claimed in claim 9, wherein: The inside of the finger part (12) is embedded with a reinforcing plate (15), and the reinforcing plate (15) is provided with a connecting hole, and the embedded nut (9) is embedded into the connecting hole.

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