Gripping device and operation machinery

Abstract

The present application relates to the technical field of smart mechanical apparatuses. Disclosed are a gripping device and operation machinery. The gripping device of the present application comprises a support assembly, at least two bistable elements and a driving assembly. Further, each bistable element is provided with a fixed end and a gripping end; and all the fixed ends are supported on the support assembly, and the gripping ends are cooperatively arranged. Further, the driving assembly is connected to all the gripping ends and used for driving the gripping ends to move away from each other. The gripping device and the operation machinery of the present application have operational compliance, high energy efficiency and simplified drive strategies.

Description

Clamping device and operating machinery

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on November 30, 2023, with application number 202311627114.4 and invention name “Clamping device and operating machinery”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present application relates to the technical field of intelligent mechanical equipment, and in particular to a clamping device and an operating machine. Background Art

[0004] With the development of intelligent mechanical equipment, the application of rigid manipulators is limited due to their lack of flexibility and the potential harm they may cause to the objects being grasped.

[0005] Soft manipulators are a new type of gripper that is flexible and safe. However, such manipulators often require continuous driving force, and suffer from low energy efficiency and complex driving strategies.

[0006] In order to solve the problem that the current manipulator is difficult to achieve flexibility, high energy efficiency and simplified driving strategy, a clamping device and an operating machine are provided.

[0007] Summary of the Invention

[0008] In view of this, the present application provides a clamping device and an operating machine to solve the problem that existing manipulators are difficult to achieve flexibility, high energy efficiency and simplified driving strategy.

[0009] In a first aspect, the present application provides a clamping device comprising a support assembly, at least two sets of bistable elements, and a drive assembly. Furthermore, the bistable elements have fixed ends and clamping ends, wherein the fixed ends are each supported on the support assembly, and the clamping ends are arranged in a cooperative manner. Furthermore, the drive assembly is connected to each clamping end to drive the clamping ends away from each other.

[0010] Beneficial effects: It should be noted that in this solution, the bistable element has a stable state and a substable state, and during the deformation process from the stable state to the substable state, the bistable structure will deform and accumulate energy under the action of external force; when the external force is removed, the bistable element will deform rapidly and release energy, and finally maintain a stable state.

[0011] In this solution, the clamping ends of the bistable element are cooperatively arranged for clamping items. First, the compliance of the bistable element is improved compared to a rigid manipulator. Secondly, the driving component only needs to provide a driving force for the clamping ends so that each clamping end is deformed from a stable state to a substable state, thereby moving the clamping ends away from each other. At this time, the clamping device is in an open state and can be used to approach and wrap the item to be clamped. When the driving component removes the driving force, the bistable element quickly deforms from a substable state to a stable state, completing the clamping action. At this time, the clamping device is in a closed state. Therefore, the clamping device of this solution only needs the driving component to provide a driving force to move the clamping ends away from each other. During the clamping action, no driving force is required, which greatly improves energy efficiency and the driving strategy is simple.

[0012] In an optional embodiment, the drive assembly includes a flexible drive structure having a traction end and at least two drive ends, each drive end is respectively connected to a clamping end of a bistable element, and the traction end drives the clamping ends away from each other through the drive end.

[0013] Beneficial effects: In the flexible drive structure, the traction end can simultaneously drive each clamping end through the driving end, so that each bistable element is deformed at the same time, thereby realizing rapid opening of the clamping device and simple and convenient operation.

[0014] In an optional embodiment, the flexible drive structure includes a first drive rope and at least two connected second drive ropes, wherein the end of the first drive rope away from the second drive rope forms a traction end, and the end of the second drive rope away from the first drive rope forms a drive end.

[0015] Beneficial effect: the first driving rope and the second driving rope are respectively used to form the traction end and the driving end, the material is simple, and the production is easy.

[0016] In an optional embodiment, the flexible driving structure further includes a lifting member, and the first driving rope is connected to the second driving rope via the lifting member.

[0017] Beneficial effect: The lifting member is provided between the first driving rope and the second driving rope, which can improve the transmission efficiency of the driving force and avoid the driving force being offset by the tension between the second driving ropes.

[0018] In an optional embodiment, the driving assembly further includes a support, a limiting cavity is constructed in the support, and the lifting member is liftably arranged in the limiting cavity.

[0019] Beneficial effect: The limiting cavity can limit the lifting member, so that the lifting member moves in a predetermined direction, thereby improving the transmission efficiency of the driving force.

[0020] In an optional embodiment, the drive assembly further includes at least two sets of pulleys, which are rotatably disposed on the support assembly, and the outer peripheral wall of each pulley is respectively in contact with a second drive rope.

[0021] Beneficial effect: Each second driving rope abuts against the pulley, which reduces the friction encountered by the second driving rope when it moves, reduces the wear of the driving rope, and further ensures the transmission efficiency of the driving force.

[0022] In an optional embodiment, the clamping device further includes at least two groups of flexible elements, and the flexible elements are coated on the inner side of the bistable element.

[0023] Beneficial effect: The flexible element is coated on the inner side of the bistable element. When clamping an object, the flexible element first contacts the object, further improving the flexibility of the clamping device.

[0024] In an optional embodiment, the flexible element is elastic and is tensioned and fixed between the fixed end and the clamping end; a bent portion is formed in the middle of the flexible element, and the bent portion is fixed to the outer side of the bistable element.

[0025] Beneficial Effects: In this solution, the flexible element is tensioned and fixed between the fixed end and the clamping end. When the drive assembly drives the clamping ends away from each other, the flexible element further stretches and accumulates energy. When the driving force is removed, the high strain force generated by the stretched flexible element on the surface of the object effectively prevents the grasped object from slipping or falling out of the clamping device due to external forces.

[0026] In an optional embodiment, the support assembly includes a first support member and at least two second support members, the first support member is circumferentially spaced apart with at least two support arms, each support arm is respectively passed through a second support member, and the fixed end of each bistable element is respectively abutted between a support arm and the second support member.

[0027] Beneficial effect: The first support member fixes the fixed ends of each bistable element by providing a support arm and cooperating with the second support member, and provides reliable support for the bistable element, so that the clamping device is constituted as an integral structure with high reliability.

[0028] In a second aspect, the present application further provides a working machine comprising a clamping device, a power unit, and a control unit as described in any of the above embodiments. Furthermore, the power unit is connected to a drive assembly for providing or removing driving force for the drive assembly. Furthermore, the control unit is used to control the power unit.

[0029] Beneficial effect: Because the operating machine includes the clamping device of the present application, it has the same effect as the clamping device, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0031] FIG1 is a schematic structural diagram of a clamping device in a closed state according to an embodiment of the present application;

[0032] FIG2 is a schematic structural diagram of a clamping device in an open state according to an embodiment of the present application;

[0033] FIG3 is a schematic diagram of the installation of a bistable element and a flexible element according to an embodiment of the present application;

[0034] FIG4 is an exploded view of a partial structure of a clamping device according to an embodiment of the present application.

[0035] Explanation of the accompanying drawings: 1. Support assembly; 11. First support member; 111. Support arm; 112. First straight slot hole; 12. Second support member; 121. Long strip hole; 122. Second straight slot hole; 123. Mounting slot; 13. Limiting member; 2. Bistable element; 21. Fixed end; 22. Clamping end; 3. Drive assembly; 31. First drive rope; 32. Lifting member; 321. Through hole; 33. Second drive rope; 34. Support; 341. Center hole; 35. Pulley; 4. Flexible element; 41. Bending portion; 5. Pressing member. DETAILED DESCRIPTION

[0036] To make the purpose, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of this application.

[0037] Rigid manipulators are currently the most commonly used gripping tools in industry, widely used due to their advantages such as high force and precise control. However, rigid parts are not the mainstream objects grasped. Whether grasping food and daily necessities in everyday scenarios, gripping a wide variety of products in industrial production, or collaborating between manipulators and humans in human-machine interaction, the lack of flexibility and potential damage to the grasped objects caused by rigid manipulators cannot be ignored.

[0038] Soft manipulators are a new type of gripper that is flexible and safe. However, such manipulators often require continuous driving force, and have problems such as low energy efficiency and complex driving strategies.

[0039] Based on this, the present application provides a clamping device and an operating machine to solve the problem that existing manipulators are difficult to achieve flexibility, high energy efficiency and simplified driving strategy.

[0040] 1 to 4 , embodiments of the clamping device and the operating machine of the present application will be described below.

[0041] According to an embodiment of the present application, in one aspect, a clamping device is provided, comprising a support assembly 1, at least two sets of bistable elements 2, and a drive assembly 3. Furthermore, the bistable elements 2 have fixed ends 21 and clamping ends 22, wherein the fixed ends 21 are each supported on the support assembly 1, and the clamping ends 22 are arranged in a cooperative manner. Furthermore, the drive assembly 3 is connected to each clamping end 22 to drive the clamping ends 22 away from each other.

[0042] It should be noted that the bistable element 2 has a stable state and a substable state, and during the deformation process from the stable state to the substable state, the bistable structure will deform and accumulate energy under the action of external force; when the external force is removed, the bistable element 2 will deform rapidly and release energy, and finally maintain a stable state.

[0043] In this embodiment, each clamping end 22 of the bistable element 2 is cooperatively arranged for clamping an object. First, the compliance of the bistable element 2 is improved compared to a rigid manipulator. Secondly, the driving component 3 only needs to provide a driving force for the clamping end 22 so that each clamping end 22 is deformed from a stable state to a substable state, thereby moving the clamping ends 22 away from each other. At this time, as shown in FIG2 , the clamping device is in an open state and can be used to approach and wrap the object to be clamped. When the driving component 3 removes the driving force, the bistable element 2 quickly deforms from a substable state to a stable state and completes the clamping action. At this time, as shown in FIG1 , the clamping device is in a closed state. Therefore, the compliance of the clamping device of this solution is improved, and there is no need to continuously provide a driving force, which greatly improves energy efficiency, and the driving strategy is simple, and objects can be grasped quickly. The clamping device relies on the strain energy of the bistable element 2 to clamp the object. If the clamped object wants to leave the clamping device, it needs to overcome the strain energy of the bistable element 2. Therefore, the clamping device provided by the present application has high clamping reliability, does not require external force to maintain the clamping action, has high energy efficiency, and further simplifies the driving strategy of the clamping device.

[0044] The present application does not impose any specific restrictions on the magnitude of the driving force provided by the drive assembly 3, as long as the clamping device can realize the function of grasping an object. The driving force provided by the drive assembly 3 is only used to offset the strain energy of the bistable element 2. Therefore, the magnitude of the driving force provided by the drive assembly 3 can be adaptively adjusted according to the material, size, etc. of the bistable element 2 to minimize the driving energy and restoring force, thereby achieving high efficiency and energy saving. It should be noted that in the present application, the driving force provided by the drive assembly 3 to the clamping end 22 should be less than the critical value at which the bistable element 2 deforms into another stable state.

[0045] For example, referring to Figures 3 and 4, the fixed end 21 of the bistable element 2 is supported on the top of the support assembly 1 and is arranged to extend in a direction away from the support assembly 1. For example, the bistable element 2 can be provided in three groups. For example, the bistable element 2 can be an elastic metal sheet with bistable characteristics. For example, the elastic metal sheet can be constructed as an arc-shaped structure. It is understood that the number of bistable elements 2 provided in the present application can also be 2 groups, 4 groups, 5 groups, or other numbers; the bistable element 2 in the present application can also be a composite material or other material with bistable characteristics.

[0046] Furthermore, in some embodiments, the drive assembly 3 includes a flexible drive structure having a traction end and at least two drive ends. Each drive end is connected to a clamping end 22 of a bistable element 2, and the traction end drives the clamping ends 22 away from each other via the drive end. In the flexible drive structure, the traction end can simultaneously drive each clamping end 22 via the drive end, causing each bistable element 2 to deform simultaneously, thereby achieving rapid opening of the clamping device and simple and convenient operation.

[0047] Specifically, referring to Figures 1 and 2, in some embodiments, the flexible drive structure includes a first drive rope 31 and at least two second drive ropes 33 connected to each other. The end of the first drive rope 31 distal from the second drive ropes 33 forms a traction end, and the end of the second drive rope 33 distal from the first drive rope 31 forms a driving end. Using the first drive rope 31 and the second drive rope 33 to form the traction end and the driving end, respectively, reduces material requirements and facilitates manufacturing. The first drive rope 31 and the second drive rope 33 can be directly connected or indirectly connected via other structures, as long as the first drive rope 31 can drive the second drive rope 33, thereby driving the clamping end 22 of the bistable element 2.

[0048] In some embodiments, the flexible driving structure further includes a lifting member 32 , and the first driving rope 31 is connected to the second driving rope 33 via the lifting member 32 to improve the transmission efficiency of the driving force and avoid the driving force being offset by the tension between the second driving ropes 33 .

[0049] In some embodiments, the drive assembly 3 further includes a support 34 having a limiting cavity formed therein, and the lift member 32 is disposed within the limiting cavity so as to be liftable. The limiting cavity can limit the lift member 32, allowing it to move in a predetermined direction, thereby improving the transmission efficiency of the driving force.

[0050] Exemplarily, the bistable element 2 is supported on the top of the support assembly 1, and the support 34 is connected to the bottom of the support assembly 1. Optionally, the support 34 and the support assembly 1 are coaxially arranged. The support 34 and the support assembly 1 can be fixedly connected or detachably connected; optionally, the support 34 is bolted to the bottom of the support assembly 1.

[0051] Specifically, as shown in Figure 1, the clamping device comprises three groups of bistable elements 2, spaced apart, and optionally evenly spaced, along the circumference of the support assembly 1. Accordingly, three second drive ropes 33 are provided, each with its driving end connected to the clamping end 22 of a bistable element 2. The second drive ropes 33 and bistable elements 2 may be bonded, or the clamping end 22 of the bistable element 2 may be provided with a perforation, through which the second drive ropes 33 are passed and tied.

[0052] For example, referring to Figure 2 , three through-holes 321 are evenly spaced around the circumference of the lifting member 32, along its lifting direction. Each second drive rope 33 has one end, distal from the driving end, connected to one of the through-holes 321. For example, the second drive rope 33 can be bonded to the through-hole 321; for example, the second drive rope 33 can be passed through the through-hole 321 and tied into a knot.

[0053] Furthermore, a first drive rope 31 is provided. One end of the first drive rope 31, which is adjacent to the second drive rope 33, is connected to the middle portion of the lifting member 32. The first drive rope 31 is arranged along the lifting direction of the lifting member 32 and is located at the bottom of the lifting member 32. For example, a center hole 341 is also provided at the bottom of the support 34. One end of the first drive rope 31 is connected to the middle portion of the lifting member 32, while the other end vertically passes through the center hole 341 and extends out of the support 34, forming a traction end of the flexible drive structure. With this drive assembly structure, the traction end of the first drive rope 31 can apply a stable and balanced driving force to the second drive rope 33 and the clamping end 22 of the bistable element 2 through the lifting member 32, allowing the clamping ends 22 to move away from each other more smoothly and uniformly, thereby improving the reliability of the clamping operation of the clamping device.

[0054] It should be noted that, taking FIG. 1 as an example, the lifting direction of the lifting member 32 is the height direction of the support 34 .

[0055] In some embodiments, the drive assembly 3 also includes at least two sets of pulleys 35, which are rotatably arranged on the support assembly 1. The outer wall of each pulley 35 abuts against a second drive rope 33 respectively, reducing the friction encountered by the second drive rope 33 during movement, reducing the wear of the second drive rope 33, and further ensuring the transmission efficiency of the driving force.

[0056] For example, as shown in Figures 1 and 2, three pulleys 35 are provided, and the three pulleys 35 are respectively arranged corresponding to a bistable element 2, that is, the pulleys 35 are arranged at intervals along the circumference of the support assembly 1, and the driving end of each second driving rope 33 is fixedly connected to the clamping end 22 of the bistable element 2, and the other end is introduced into the limiting cavity of the support 34 through the pulley 35, and is fixedly connected to the through hole of the lifting member 32.

[0057] Furthermore, in some embodiments, the opposing sides of the bistable elements 2 are defined as inner sides, and the opposing sides are defined as outer sides. The clamping device further includes at least two sets of flexible elements 4, which are wrapped around the inner sides of the bistable elements 2. When clamping an object, the flexible elements 4 first come into contact with the object, further improving the flexibility of the clamping device and helping to protect the surface of the gripped object from damage by the rigid bistable elements 2.

[0058] More specifically, the flexible element 4 is elastic and tensioned between the fixed end 21 and the clamping end 22. A bend 41 is formed in the middle of the flexible element 4, which is fixed to the outside of the bistable element 2. In this embodiment, the flexible element 4 is tensioned between the fixed end 21 and the clamping end 22. When the drive assembly 3 drives the clamping ends 22 away from each other, the flexible element 4 further stretches and accumulates energy. When the driving force is removed, the high strain generated by the stretched flexible element 4 on the surface of the object effectively prevents the grasped object from slipping or falling out of the clamping device due to external forces.

[0059] For example, the flexible element 4 can be a silicone rubber sheet. For example, as shown in FIG1 and FIG3 , three flexible elements 4 are provided.

[0060] Specifically, the detailed installation process of the bistable element 2 and the flexible element 4 is shown in Figure 3. One end of the flexible element 4 is supported on the support assembly 1 along with the fixed end 21 of the bistable element 2, while the other end is fixedly connected to the clamping end 22. The flexible element 4 is straightened and tensioned. The middle portions of the two sides of the tensioned flexible element 4 are turned outward and fixed to the outside of the bistable element 2, forming a bend 41. At this point, the flexible element 4 enters a pre-stretched state, and its compliance and non-destructive properties further enhance the flexibility of the clamping device.

[0061] In this embodiment, when the bistable elements 2 are pulled by the drive assembly 3, they deform from a stable state to a metastable state. The drive ends of each bistable element 2 move away from each other, causing the flexible element 4 to further stretch. At this point, the driving force provided by the drive assembly 3 and the elastic force accumulated by the deformation of the bistable elements 2 are balanced, and the clamping device stabilizes in a high-energy metastable state, performing a pre-grasping preparation action close to the target object to be grasped. When the drive assembly 3 removes the driving force, the three groups of bistable elements 2 rapidly close under their own elastic force, and the clamping device returns to its initial stable state of zero deformation and remains in close contact with the target object to be grasped, completing the grasping of the target object.

[0062] Furthermore, in some embodiments, the support assembly 1 includes a first support member 11 and at least two second support members 12. The first support member 11 is circumferentially spaced apart with at least two support arms 111. Each support arm 111 is disposed within a second support member 12, and the fixed end 21 of each bistable element 2 abuts between a support arm 111 and the second support member 12. In this embodiment, the first support member 11, by providing the support arms 111 and cooperating with the second support members 12, secures the fixed end 21 of each bistable element 2 and provides reliable support for the bistable element 2, thereby forming a single unitary structure with high reliability. Optionally, the number of bistable elements 2, second support members 12, and support arms 111 is the same.

[0063] 1 and 2 , the first support member 11 is illustratively provided with three support arms 111 spaced circumferentially, with the angle between two adjacent support arms 111 being 120°. The drive assembly 3 illustratively includes a support 34 bolted to the bottom of the first support member 11 .

[0064] Taking Figure 4 as an example, the second support member 12 is provided with a receiving cavity into which the support arm 111 passes, and a slot 121 is formed at the top of the second support member 12, communicating with the receiving cavity. The fixed end 21 of the bistable element 2 can pass through the slot 121 and into the receiving cavity, thereby abutting between the top surface of the support arm 111 and the top wall of the receiving cavity. For example, one end of the flexible element 4 and the fixed end 21 pass through the slot 121 into the receiving cavity, abutting between the top surface of the support arm 111 and the top wall of the receiving cavity.

[0065] Illustratively, the support arm 111 is provided with a first straight slotted hole 112, and correspondingly, the second support member 12 is provided with a second straight slotted hole 122. Both the first straight slotted hole 112 and the second straight slotted hole 122 extend along the extension direction of the support arm 111. The first straight slotted hole 112 and the second straight slotted hole 122 can be connected by bolts to secure the fixed end 21 and the flexible element 4 between the support arm 111 and the second support member 12. In addition, by adjusting the position of the bolts within the first straight slotted hole 112 and the second straight slotted hole 122, the distance between the bistable element 2 and the center point of the first support member 11 can be adjusted, thereby improving the adaptability of the clamped object.

[0066] Illustratively, the second support member 12 further defines a mounting slot 123 at one end away from the support arm 111, and the pulley 35 is rotatably mounted within the mounting slot 123. Specifically, the pulley 35 can be mounted within the mounting slot 123 using a screw, with the screw serving as a rotation axis for the pulley 35. Optionally, the rotation axis of the pulley 35 is perpendicular to the extension direction of the support arm 111.

[0067] Furthermore, in some embodiments, the support assembly 1 further includes at least two limiting members 13, each of which is mounted on the second support member 12 and proximate to the bottom of the bistable element 2. When the bistable element 2 is driven by the drive assembly 3 and the clamping ends 22 move away from each other, the limiting members 13 can limit the deformation of the bottom region of the bistable element 2, allowing the upper portion of the bistable element 2 to achieve greater deformation, thereby allowing the bistable element 2 to accumulate greater energy during the deformation process from the stable state to the substable state, thereby improving the gripping ability of the clamping device. For example, using the examples shown in Figures 1 and 2, three limiting members 13 are provided.

[0068] It should be noted that the bottom and the bottom end of the bistable element 2 are different concepts. The bottom specifically refers to the area of ​​the bistable element 2 exposed above and close to the second support member 12, and the bottom end refers to the part of the bistable element 2 that penetrates the second support member 12 and abuts against the accommodating cavity, that is, the fixed end 21 of the bistable element 2.

[0069] Furthermore, in some embodiments, the support assembly 1 further includes a pressing member 5, which is used to press and fix the second support member 12 to the first support member 11. Specifically, a threaded hole is provided on the top of the first support member 11, and the pressing member 5 is bolted to the threaded hole of the first support member 11, and the pressing member 5 presses one end of the second support member 12 close to the center of the first support member 11.

[0070] According to another embodiment of the present application, a working machine is provided, comprising a clamping device, a power unit, and a control unit as described in the above embodiment. Furthermore, the power unit is connected to the drive assembly 3 to provide or remove driving force for the drive assembly 3. Furthermore, the control unit is used to control the power unit.

[0071] Specifically, the power unit can be a servo (not shown), with the traction end of the first drive rope 31 connected to the servo's rocker arm. In actual use, the control unit controls the rocker arm to rotate a certain angle, thereby driving the first drive rope 31 to drive the lifting member 32 downward within the limiting cavity. The lifting member 32, via the second drive rope 33, drives the clamping ends 22 of the bistable element 2 away from each other, opening the clamping device. The clamping device approaches the object to be grasped, and the servo's rocker arm is controlled to rotate back to its original position. The bistable element 2 rapidly deforms toward a stable state, ultimately clamping the object.

[0072] For example, the control unit may include a JDY-31 Bluetooth module, an Arduino UNO development board, a DC lithium battery, and a mobile smartphone. Specifically, the Arduino UNO development board is used to receive signals, the DC lithium battery is used to provide power to the Arduino UNO development board, and the JDY-31 Bluetooth module is connected to the Arduino UNO development board to connect the UNO development board and the mobile smartphone. The mobile smartphone establishes a Bluetooth connection and uses Bluetooth debugging software to send signals to control the rotation of the servo.

[0073] Furthermore, in some embodiments, the clamping device is provided with two groups of bistable elements 2, the fixed ends 21 of the two groups of bistable elements 2 are respectively supported on the support assembly 11, and the clamping ends 22 of the two groups of bistable elements 2 are arranged opposite to each other to clamp the object together.

[0074] In some other embodiments, the bistable elements 2 of the clamping device may be provided in four groups, and the clamping ends of the four groups of bistable elements 2 are arranged in coordination to clamp the object together.

[0075] It is understandable that, in the present application, the number of bistable elements provided may also be 5 groups, 6 groups or other groups.

[0076] Furthermore, the number of bistable elements 2, second support members 12, and support arms 111 may be the same or different. For example, the number of support arms 111 may be greater than the number of second support members 12 and bistable elements 2, and the extra support arms 111 may be used as a backup.

[0077] Although the embodiments of the present application have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations shall fall within the scope defined by the appended claims.

Claims

1. A clamping device, characterized in that, comprising: a support assembly (1); at least two groups of bistable elements (2), the bistable elements (2) having a fixed end (21) and a clamping end (22), the fixed ends (21) being supported on the support assembly (1), and the clamping ends (22) being cooperatively arranged between each other; a driving assembly (3) connected to each of the clamping ends (22) for driving the clamping ends (22) to move away from each other.

2. The clamping device according to claim 1, characterized in that, the driving assembly (3) includes a flexible driving structure having a traction end and at least two driving ends, each of the driving ends being respectively connected to the clamping end (22) of a bistable element (2), and the traction end driving the clamping ends (22) to move away from each other through the driving ends.

3. The clamping device according to claim 2, characterized in that, the flexible driving structure includes a first driving rope (31) and at least two second driving ropes (33) connected to each other, one end of the first driving rope (31) away from the second driving ropes (33) forming the traction end, and one end of the second driving ropes (33) away from the first driving rope (31) forming the driving ends.

4. The clamping device according to claim 3, characterized in that, the flexible driving structure further includes a lifting member (32), and the first driving rope (31) is connected to the second driving ropes (33) through the lifting member (32).

5. The clamping device according to claim 4, characterized in that, the driving assembly (3) further includes a support (34), a limiting cavity being formed inside the support (34), and the lifting member (32) being arranged in the limiting cavity in a liftable manner.

6. The clamping device according to claim 3, characterized in that, the driving assembly (3) further includes at least two groups of pulleys (35), the pulleys (35) being rotatably arranged on the support assembly (1), and the outer peripheral walls of each of the pulleys (35) being respectively abutted against a second driving rope (33).

7. The clamping device according to claim 1, characterized in that, the clamping device further includes at least two groups of flexible elements (4), the flexible elements (4) being coated on the inner sides of the bistable elements (2).

8. The clamping device according to claim 7, characterized in that, the flexible element (4) has elasticity, and the flexible element (4) is tensioned and fixed between the fixed end (21) and the clamping end (22); a bending portion (41) is formed in the middle of the flexible element (4), and the bending portion (41) is fixed to the outside of the bistable element (2).

9. The clamping device according to any one of claims 1-8, characterized in that, The support assembly (1) includes a first support member (11) and at least two second support members (12). At least two support arms (111) are circumferentially spaced apart on the first support member (11). Each of the support arms (111) is respectively disposed through one of the second support members (12). The fixed ends (21) of the bistable elements (2) respectively abut between one of the support arms (111) and the second support member (12).

10. An earthmoving machine, characterized in that, it includes: a clamping device as described in any one of claims 1-9; a power unit connected to the drive assembly (3) for providing or removing driving force for the drive assembly (3); a control unit for controlling the power unit.

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