A flexible clamping device

Abstract

The utility model discloses a flexible clamping device, including clamping seat, flexible clamp, push -and -pull rod, reverser, pressure head and spring, the lower part of clamping seat has the accommodation cavity and the big taper hole of small, the upper end of push -and -pull rod is connected with pressure head through reverser, and its lower end passes through clamping seat and stretches into the accommodation cavity, and the lower part of flexible clamp is located in the taper hole, and its upper part stretches into the accommodation cavity and is solid -connected with the lower end of push -and -pull rod, and the spring is located in the accommodation cavity, and pressure head moves up and down relative to clamping seat under the action of external force. The utility model can realize " press loose, release clamping", to realize the reliable clamping and quick taking of workpiece and placing.

Description

Technical Field

[0001] This utility model relates to the field of gyroscope manufacturing technology, specifically to a flexible clamping device. Background Technology

[0002] A hemispherical resonator gyroscope is a high-precision inertial navigation element. Its core component, the hemispherical resonator, is made of high-purity fused silica material, which has extremely high brittleness and requires a high degree of surface finish. During the manufacturing, leveling, testing, and assembly of the hemispherical resonator, it needs to be clamped by a central anchor to achieve fixation and movement. Traditional mechanical clamping methods are prone to causing stress concentration, dirt, and scratches on the surface of the anchor, leading to a decline in the performance of the hemispherical resonator or even its scrapping.

[0003] In existing technologies, some clamping structures utilize flexible deformation and conical surface engagement to achieve clamping by converting axial movement into radial contraction. However, these devices typically operate with a "press down to clamp, release to unload" logic. In applications requiring rapid and frequent pick-and-place operations, the operator must continuously apply pressure to maintain the clamped state. This not only easily leads to operator fatigue but also poses a risk of workpiece loosening due to accidental loss of force. Furthermore, existing clamping devices often have complex structures and poor centering, making it difficult to meet the extremely high requirements of hemispherical harmonic oscillators for clamping concentricity and stability. Utility Model Content

[0004] To address the problems in the background technology, this utility model proposes a flexible clamping device that can achieve "press to release and release clamping" to realize reliable clamping and rapid pick-up and drop of workpieces. It is particularly suitable for occasions where workpieces need to be picked up and dropped frequently or where only one hand can pick up and drop workpieces.

[0005] The present invention adopts the following technical solution: A flexible clamping device includes a clamping seat, a flexible clamp, a push-pull rod, a reverser, a pressure head, and a spring. The lower part of the clamping seat has a receiving cavity and a tapered hole that is wider at the top and narrower at the bottom. The upper end of the push-pull rod is connected to the pressure head through the reverser. The lower end of the push-pull rod passes through the clamping seat and extends into the receiving cavity. The lower part of the flexible clamp mates with the tapered hole and slides within it. Its upper part extends into the receiving cavity and is fixedly connected to the lower end of the push-pull rod. The spring is located within the receiving cavity and is compressed between the top wall of the receiving cavity and the flexible clamp. When the pressure head moves downward relative to the clamping seat under the action of external force, it can drive the reverser to drive the push-pull rod to move upward relative to the clamping seat, and then drive the flexible clamp to move upward relative to the clamping seat until the flexible clamp opens radially. The spring is further compressed during the upward sliding of the flexible clamp. When the external force acting on the pressure head is removed, the compressed spring drives the flexible clamp to move downward relative to the clamping seat. During the downward movement of the flexible clamp, the wall of the tapered hole drives the flexible clamp to close radially to clamp the workpiece.

[0006] Optionally, the lower end face of the pressure head is provided with a clearance hole that mates with the push-pull rod. The reverser is located on one side of the push-pull rod in the radial direction and below the pressure head. An insertion hole is provided on the side wall of the push-pull rod at a position corresponding to the reverser. The reverser includes a plug and a stop. The plug is inserted into the socket, and the stop abuts against the pressure head. The top surface of the plug faces the end of the push-pull rod and slopes downward to form a first inclined surface. The top surface of the socket forms a second inclined surface that matches the first inclined surface. The top surface of the stop faces away from the push-pull rod and slopes downward to form a third inclined surface. The position where the bottom surface of the pressure head abuts against the stop forms a fourth inclined surface that matches the third inclined surface.

[0007] Optionally, the bottom surface of the flexible clamp is provided with a clamping hole, and the lower part of the side wall of the flexible clamp is provided with a plurality of through slots. The through slots extend along the wall thickness direction of the flexible clamp to communicate with the clamping hole, and the through slots extend downward to penetrate the lower end face of the flexible clamp. The plurality of through slots are arranged at intervals along the circumference of the flexible clamp to divide the lower part of the flexible clamp into a plurality of clamping segments.

[0008] Optionally, the upper part of the clamping seat has a sliding cavity, the lower part of the pressure head cooperates with the sliding cavity and slides in the sliding cavity, the upper part of the pressure head passes through the clamping seat, the upper end of the push-pull rod extends into the sliding cavity, and the reverser is located in the sliding cavity.

[0009] Optionally, the lower part of the pressure head extends radially outward relative to its upper part, so that the lower part of the pressure head is confined within the sliding cavity.

[0010] Optionally, the clamping seat has a sliding hole that mates with the push-pull rod, the sliding hole extending upward to communicate with the sliding cavity, and the sliding hole extending downward to communicate with the receiving cavity.

[0011] Optionally, the clamping seat includes an upper limit seat, a middle limit seat, and a lower limit seat that are detachably connected from top to bottom. The bottom surface of the upper limit seat has a first hole, which, together with the top surface of the middle limit seat, forms the sliding cavity. The bottom surface of the middle limit seat has a second hole, which, together with the top surface of the lower limit seat, forms the receiving cavity. A sliding hole is formed on the middle limit seat, and a tapered hole is formed on the lower limit seat.

[0012] Alternatively, the spring may be mounted on the push-pull rod.

[0013] Optionally, the upper end of the flexible clamp extends radially outward to form a stop portion, which is confined within the receiving cavity.

[0014] Optionally, the top surface of the flexible clamp is provided with a threaded hole, and the lower end of the push-pull rod has an external thread that mates with the threaded hole. The lower end of the push-pull rod extends into the threaded hole and is threadedly connected to the flexible clamp.

[0015] Compared with the prior art, the advantages of this utility model are: The flexible clamping device of this utility model uses a reverser structure to convert the vertical downward pressure into a precise linear pulling motion of the flexible clamp. By means of the conical surface cooperation between the flexible clamp and the clamping seat, a "press to release, release to clamp" working mode can be realized, so as to achieve reliable clamping and rapid pick-up and drop-off. It is especially suitable for occasions where workpieces need to be picked up and dropped frequently or where only one hand can pick up and drop workpieces. Attached Figure Description

[0016] To facilitate understanding of this invention, it will be described in more detail with reference to the specific embodiments shown in the accompanying drawings. These drawings depict only typical embodiments of this invention and should not be considered as limiting the scope of protection of this invention.

[0017] Figure 1 This is a schematic diagram of the flexible clamping device for clamping a hemispherical resonator according to an embodiment of the present invention.

[0018] Figure 2 This is a cross-sectional structural diagram of the flexible clamping device according to an embodiment of the present invention.

[0019] Figure 3 This is a three-dimensional structural diagram of the inverter in an embodiment of the present invention.

[0020] Figure 4 This is a front view schematic diagram of the push-pull rod in an embodiment of this utility model.

[0021] Figure 5 This is a cross-sectional structural diagram of the push-pull rod in an embodiment of the present utility model.

[0022] Figure 6 This is a cross-sectional structural diagram of the pressure head in an embodiment of this utility model.

[0023] Figure 7 This is a three-dimensional structural diagram of the flexible clamp in an embodiment of the present utility model.

[0024] Figure 8 This is a cross-sectional structural diagram of the clamping seat in an embodiment of the present utility model.

[0025] Figure 9 This is a cross-sectional structural diagram of the lower limit seat in an embodiment of this utility model.

[0026] Figure 10 This is a cross-sectional structural diagram of the flexible clamping device releasing the workpiece according to an embodiment of the present invention (part of the structure of the clamping seat is omitted).

[0027] Figure 11 This is a cross-sectional structural diagram of the flexible clamping device for clamping a workpiece according to an embodiment of the present invention (partial structure of the clamping seat is omitted). Reference numerals: 1. Pressure head; 11. Clearance hole; 12. Fourth inclined surface; 2. Upper limit seat; 21. Sliding cavity; 3. Reversing device; 31. Insertion part; 32. Abutment part; 33. First inclined surface; 34. Third inclined surface; 4. Push-pull rod; 41. Insertion hole; 42. Second inclined surface; 43. External thread; 5. Spring; 6. Flexible clamp; 61. Clamping hole; 62. Through groove; 63. Clamping flap; 64. Threaded hole; 65. Stop part; 7. Lower limit seat; 71. Tapered hole; 8. Middle limit seat; 81. Receiving cavity; 82. Sliding hole. Detailed Implementation

[0028] The embodiments of the present invention are described below with reference to the accompanying drawings, so that those skilled in the art can better understand and implement the present invention. However, the listed embodiments are not intended to limit the present invention. In the absence of conflict, the following embodiments and the technical features in the embodiments can be combined with each other, wherein the same components are indicated by the same reference numerals.

[0029] like Figures 1-11 As shown, this embodiment provides a flexible clamping device, including a clamping seat, a flexible clamp 6, a push-pull rod 4, a reverser 3, a pressure head 1, and a spring 5. The lower part of the clamping seat has a receiving cavity 81 and a tapered hole 71 that is larger at the top and smaller at the bottom. The upper end of the push-pull rod 4 is connected to the pressure head 1 through the reverser 3. The lower end of the push-pull rod 4 passes through the clamping seat and extends into the receiving cavity 81. The lower part of the flexible clamp 6 mates with the tapered hole 71 and slides within the tapered hole 71. Its upper part extends into the receiving cavity 81 and is fixedly connected to the lower end of the push-pull rod 4. The spring 5 is located within the receiving cavity 81 and is compressed between the top wall of the receiving cavity 81 and the flexible clamp 6. When the pressure head 1 moves downward relative to the clamping seat under the action of external force, it can drive the reverser 3 to drive the push-pull rod 4 to move upward relative to the clamping seat, and then drive the flexible clamp 6 to move upward relative to the clamping seat until the flexible clamp 6 opens radially. The spring 5 is further compressed during the upward sliding of the flexible clamp 6. When the external force acting on the pressure head 1 is removed, the compressed spring 5 drives the flexible clamp 6 to move downward relative to the clamping seat. During the downward movement of the flexible clamp 6, the wall of the tapered hole 71 drives the flexible clamp 6 to close radially to clamp the workpiece.

[0030] Therefore, this device uses a reverser structure to convert the vertically downward pressure into a precise linear pulling motion of the flexible clamp. By utilizing the conical surface cooperation between the flexible clamp and the clamping seat, a "press to release, release to clamp" working mode can be achieved, enabling reliable clamping and rapid pick-and-place. This is especially suitable for occasions where frequent workpiece pick-and-place or workpiece pick-and-place can only be done with one hand.

[0031] In this embodiment, the lower end face of the pressure head 1 is provided with a clearance hole 11 that mates with the push-pull rod 4. The reverser 3 is located on one side of the push-pull rod 4 in the radial direction and below the pressure head 1. The side wall of the push-pull rod 4 is provided with an insertion hole 41 at a position corresponding to the reverser 3. The reverser 3 includes a plug-in part 31 and a stop part 32. The plug-in part 31 is inserted into the socket 41, and the stop part 32 abuts against the pressure head 1. The top surface of the plug-in part 31 is inclined downward at the end facing the push-pull rod 4 to form a first inclined surface 33. The top surface of the socket 41 forms a second inclined surface 42 that cooperates with the first inclined surface 33. The top surface of the stop part 32 is inclined downward at the end facing away from the push-pull rod 4 to form a third inclined surface 34. The position where the bottom surface of the pressure head 1 abuts against the stop part 32 forms a fourth inclined surface 12 that cooperates with the third inclined surface 34.

[0032] When the pressure head is pressed down, it pushes the reverser through the fourth inclined surface. The third inclined surface of the reverser, under pressure, pushes the reverser laterally toward the push-pull rod, causing the insertion part to move within the push-pull rod's insertion hole. Due to the cooperation of the third and fourth inclined surfaces, the vertical thrust of the pressure head is converted into the horizontal movement of the reverser. Then, through the cooperation of the first and second inclined surfaces, the horizontal movement of the reverser is further amplified into the upward lifting movement of the push-pull rod. The upward movement of the push-pull rod overcomes the spring force, pulling the flexible clamp upward and disengaging it from the tapered hole wall area of ​​the inner clamping seat. After being released from constraint, the clamping flaps of the flexible clamp open radially due to their own elasticity, thus releasing the workpiece and facilitating one-handed workpiece handling.

[0033] In this embodiment, the inverter is an irregular block structure. The first inclined surface is a long inclined surface with an angle of 110°-140° relative to the top surface of the inverter, and the third inclined surface is a smaller short inclined surface with an angle of 100°-120° relative to the top surface of the inverter.

[0034] In this embodiment, the bottom surface of the flexible clamp 6 is provided with a clamping hole 61, and the lower part of the side wall of the flexible clamp 6 is provided with a plurality of through grooves 62. The through grooves 62 extend along the wall thickness direction of the flexible clamp 6 to communicate with the clamping hole 61. The through grooves 62 extend downward to penetrate the lower end face of the flexible clamp 6. The plurality of through grooves 62 are arranged at intervals along the circumference of the flexible clamp 6 to divide the lower part of the flexible clamp 6 into a plurality of clamping segments 63.

[0035] By using circumferential slotting, the flexible fixture forms multiple circumferentially distributed clamping petals, resulting in excellent overall elasticity and uniform radial expansion and contraction, which ensures precise centering and stable clamping performance.

[0036] In this embodiment, to ensure the vertical movement of the pressure head, the upper part of the clamping seat has a sliding cavity 21, the lower part of the pressure head 1 cooperates with the sliding cavity 21 and slides in the sliding cavity 21, the upper part of the pressure head 1 penetrates the clamping seat, the upper end of the push-pull rod 4 extends into the sliding cavity 21, and the reverser 3 is located in the sliding cavity 21.

[0037] In this embodiment, to prevent the flexible clamp from coming out of the clamping seat during the downward movement of the clamp, the lower part of the pressure head 1 extends radially outward relative to its upper part, so that the lower part of the pressure head 1 is confined within the sliding cavity 21.

[0038] In this embodiment, the clamping seat has a sliding hole 82 that cooperates with the push-pull rod 4. The sliding hole 82 extends upward to communicate with the sliding cavity 21, and extends downward to communicate with the receiving cavity 81.

[0039] In this embodiment, to facilitate the installation and removal of components within the clamping seat, the clamping seat includes an upper limit seat 2, a middle limit seat 8, and a lower limit seat 7 that are detachably connected from top to bottom. The bottom surface of the upper limit seat 2 has a first hole, which, together with the top surface of the middle limit seat 8, forms the sliding cavity 21. The bottom surface of the middle limit seat 8 has a second hole, which, together with the top surface of the lower limit seat 7, forms the receiving cavity 81. A sliding hole 82 is provided on the middle limit seat 8, and a tapered hole 71 is provided on the lower limit seat 7.

[0040] In this embodiment, to prevent the spring from slipping during extension and retraction, the spring 5 is threaded through the push-pull rod 4.

[0041] In this embodiment, the upper end of the flexible clamp 6 extends radially outward to form a stop portion 65, and the stop portion 61 is confined within the accommodating cavity 81.

[0042] In this embodiment, the top surface of the flexible clamp 6 is provided with a threaded hole 64, and the lower end of the push-pull rod 4 has an external thread 43 that mates with the threaded hole 64. The lower end of the push-pull rod 4 extends into the threaded hole 64 and is threadedly connected to the flexible clamp 6.

[0043] During assembly, first, put the spring 5 on the threaded end of the lower part of the push-pull rod 4, then screw the push-pull rod 4 into the flexible clamp 6, and install this component into the receiving cavity 81 of the middle limit seat 8 from below. Next, tighten the lower limit seat 7 on the bottom of the middle limit seat 8. Then, install the reverser 3 from the side onto the push-pull rod 4, so that one end of its insertion part 31 is inserted into the insertion hole 41 at the upper end of the push-pull rod 4. Then, align the clearance hole of the pressure head 1 with the center of the push-pull rod 4 and put it on the push-pull rod 4. Finally, cover the upper limit seat 2 and tighten it with the middle limit seat 8.

[0044] like Figure 10As shown, when the device is in the released state, the operator presses down on the pressure head 1, which pushes the abutment part 32 of the reverser 3, causing it to move laterally. The insertion part 31 of the reverser 3 moves accordingly. Due to the inclined plane, an upward force is applied to the push-pull rod 4. The push-pull rod 4 overcomes the elastic force of the spring 5 and moves upward, causing the flexible clamp 6 to move upward synchronously. When the clamping petals of the flexible clamp 6 are released from the conical surface constraint of the lower limit seat 7, they open outward based on their own elasticity, releasing the anchor post of the hemispherical resonator 9. At this time, the hemispherical resonator can be taken out or put in. After the pressure head 1 is released, all parts are reset under the action of the spring 5, and the device returns to the clamped state.

[0045] like Figure 11 As shown, the device is in a clamped state. Under the thrust of the spring 5, the push-pull rod 4 and the flexible clamp 6 are maintained in the lower position. The clamping petals of the flexible clamp 6 are squeezed by the conical surface of the conical hole 71 of the lower limit seat 7 and clamp the anchor column of the hemispherical harmonic oscillator 9 placed therein.

[0046] The flexible clamping device of this utility model has the following advantages: 1. Under the preload of the spring, the push-pull rod and the flexible clamp connected to it are pushed down to the lowest position. At this time, the elastic clamping petal of the flexible clamp is embedded in the conical surface of the lower limit seat. As the conical surface gradually becomes smaller, the clamping petal is forced to contract radially towards the center, thereby firmly clamping the hemispherical resonator anchor placed therein. This design ensures that the device is always in a clamped state under natural conditions, which greatly improves operational safety and prevents accidental dislodgement. 2. When the pressure head is pressed down, it pushes the reverser. The reciprocating part of the reverser moves laterally under pressure, causing the insertion part to move within the inclined insertion hole of the push-pull rod. Due to the slope of the first inclined surface, this movement essentially converts the vertical force into a horizontal force. Then, through the cooperation of the first and second inclined surfaces, the horizontal movement is transformed into the upward lifting motion of the push-pull rod. The upward movement of the push-pull rod overcomes the spring force, pulling the flexible clamp upward and separating it from the conical area of ​​the lower limit seat. After being released from constraint, the clamping petals of the flexible clamp open radially due to their own elasticity, thereby releasing the anchor of the hemispherical resonator for easy placement and removal. 3. The flexible clamp is in surface contact with the anchor post, and the clamping force is applied evenly through elastic deformation, avoiding stress concentration and effectively protecting the delicate anchor post surface; 4. The entire device has a high degree of integration. The direct connection between the push-pull rod and the flexible clamp ensures the accuracy of the transmission and excellent alignment during the clamping process, meeting the process requirements of the hemispherical harmonic oscillator. In summary, this utility model, through ingenious mechanical structure design, achieves a safe operating logic that contradicts conventional intuition, and provides a high-precision, non-destructive hemispherical resonator clamping solution.

[0047] The embodiments described above are merely preferred embodiments of this utility model. The terms "in one embodiment," "in another embodiment," "in yet another embodiment," or "in still another embodiment" used in this specification all refer to one or more of the same or different embodiments according to this disclosure. Ordinary variations and substitutions made by those skilled in the art within the scope of this utility model's technical solution should be included within the protection scope of this utility model.

Claims

1. A flexible clamping device, characterized in that, It includes a clamping seat, a flexible clamp (6), a push-pull rod (4), a reverser (3), a pressure head (1), and a spring (5). The lower part of the clamping seat has a receiving cavity (81) and a tapered hole (71) that is larger at the top and smaller at the bottom. The upper end of the push-pull rod (4) is connected to the pressure head (1) through the reverser (3). The lower end of the push-pull rod (4) passes through the clamping seat and extends into the receiving cavity (81). The lower part of the flexible clamp (6) is engaged with the tapered hole (71) and slides in the tapered hole (71). Its upper part extends into the receiving cavity (81) and is fixedly connected to the lower end of the push-pull rod (4). The spring (5) is located in the receiving cavity (81) and is compressed between the top wall of the receiving cavity (81) and the flexible clamp (6). When the pressure head (1) moves downward relative to the clamping seat under the action of external force, it can drive the reverser (3) to drive the push-pull rod (4) to move upward relative to the clamping seat, and then drive the flexible clamp (6) to move upward relative to the clamping seat until the flexible clamp (6) opens radially. The spring (5) is further compressed during the upward sliding of the flexible clamp (6). When the external force acting on the pressure head (1) is removed, the compressed spring (5) drives the flexible clamp (6) to move downward relative to the clamping seat. During the downward movement of the flexible clamp (6), the wall of the tapered hole (71) drives the flexible clamp (6) to close radially to clamp the workpiece.

2. The flexible clamping device according to claim 1, characterized in that, The lower end face of the pressure head (1) is provided with a clearance hole (11) that cooperates with the push-pull rod (4). The reverser (3) is located on one side of the push-pull rod (4) in the radial direction and below the pressure head (1). The side wall of the push-pull rod (4) is provided with an insertion hole (41) at the position corresponding to the reverser (3). The reverser (3) includes a plug (31) and a stop (32). The plug (31) is inserted into the socket (41), and the stop (32) abuts against the pressure head (1). The top surface of the plug (31) is inclined downward at the end facing the push-pull rod (4) to form a first inclined surface (33). The top surface of the socket (41) forms a second inclined surface (42) that matches the first inclined surface (33). The top surface of the stop (32) is inclined downward at the end facing away from the push-pull rod (4) to form a third inclined surface (34). The bottom surface of the pressure head (1) abuts against the stop (32) to form a fourth inclined surface (12) that matches the third inclined surface (34).

3. The flexible clamping device according to claim 1, characterized in that, The bottom surface of the flexible clamp (6) is provided with a clamping hole, and the lower part of the side wall of the flexible clamp (6) is provided with a plurality of through grooves (62). The through grooves (62) extend along the wall thickness direction of the flexible clamp (6) to communicate with the clamping hole. The through grooves (62) extend downward to penetrate the lower end face of the flexible clamp (6). The plurality of through grooves (62) are arranged at intervals along the circumference of the flexible clamp (6) to divide the lower part of the flexible clamp (6) into a plurality of clamping petals (63).

4. The flexible clamping device according to any one of claims 1-3, characterized in that, The upper part of the clamping seat has a sliding cavity (21), the lower part of the pressure head (1) is engaged with the sliding cavity (21) and slides in the sliding cavity (21), the upper part of the pressure head (1) passes through the clamping seat, the upper end of the push-pull rod (4) extends into the sliding cavity (21), and the reverser (3) is located in the sliding cavity (21).

5. The flexible clamping device according to claim 4, characterized in that, The lower part of the pressure head (1) extends radially outward relative to its upper part so that the lower part of the pressure head (1) is confined within the sliding cavity (21).

6. The flexible clamping device according to claim 4, characterized in that, The clamping seat has a sliding hole (82) that mates with the push-pull rod (4). The sliding hole (82) extends upward to communicate with the sliding cavity (21) and extends downward to communicate with the receiving cavity (81).

7. The flexible clamping device according to claim 6, characterized in that, The clamping seat includes an upper limit seat (2), a middle limit seat (8) and a lower limit seat (7) that are detachably connected from top to bottom. The bottom surface of the upper limit seat (2) has a first hole, which together with the top surface of the middle limit seat (8) forms the sliding cavity (21). The bottom surface of the middle limit seat (8) has a second hole, which together with the top surface of the lower limit seat (7) forms the receiving cavity (81). A sliding hole (82) is opened on the middle limit seat (8), and a conical hole (71) is opened on the lower limit seat (7).

8. The flexible clamping device according to claim 1, characterized in that, The spring (5) is inserted through the push-pull rod (4).

9. The flexible clamping device according to claim 1, characterized in that, The upper end of the flexible clamp (6) extends radially outward to form a stop (65), which is confined within the receiving cavity (81).

10. The flexible clamping device according to claim 1, characterized in that, The top surface of the flexible clamp (6) is provided with a threaded hole (64), and the lower end of the push-pull rod (4) has an external thread (43) that mates with the threaded hole (64). The lower end of the push-pull rod (4) extends into the threaded hole (64) and is threadedly connected to the flexible clamp (6).

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