CN102862133A - Mechanical clamping device based on lead screw-toggle force amplifier - Google Patents

Mechanical clamping device based on lead screw-toggle force amplifier Download PDF

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Publication number
CN102862133A
CN102862133A CN2012103749319A CN201210374931A CN102862133A CN 102862133 A CN102862133 A CN 102862133A CN 2012103749319 A CN2012103749319 A CN 2012103749319A CN 201210374931 A CN201210374931 A CN 201210374931A CN 102862133 A CN102862133 A CN 102862133A
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CN
China
Prior art keywords
screw
platen
servomotor
lead
leading screw
Prior art date
Application number
CN2012103749319A
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Chinese (zh)
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CN102862133B (en
Inventor
陆新娟
顾军
钟以波
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苏州大学
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Priority to CN201210374931.9A priority Critical patent/CN102862133B/en
Publication of CN102862133A publication Critical patent/CN102862133A/en
Application granted granted Critical
Publication of CN102862133B publication Critical patent/CN102862133B/en

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Abstract

A mechanical clamping device comprises a lead screw driving device, a toggle force amplifier and a press plate. The toggle force amplifier comprises a force amplifying rod and a force exerting rod which are movably hinged onto the lead screw driving device through a connection sheet in the horizontal direction. The press plate is hinged onto the force exerting rod and movably arranged in a vertical guide rail in the vertical direction, and a clamping surface of the press plate is exposed. By additionally arranging the toggle force amplifier, the original force on a lead screw is amplified secondarily and the reliability degree of mechanical clamping is improved.

Description

Mechanical gripping means based on leading screw-Toggle Force Amplifier
Technical field
The present invention relates to a kind of mechanical gripping means, mainly is a kind of mechanical gripping means based on leading screw-shed stick force-increasing mechanism.
Background technology
In the present mechanical gripping means, as the drive unit that clamping force is provided, mainly be surge, pneumatic and Mechanical Driven is main.A major defect that surges is that the leakage of hydraulic oil liquid medium causes environmental pollution; Pneumatic major defect is that system pressure is lower, generally can only reach 0.5MPa-0.7MPa; The technical problem underlying that the Mechanical Driven clamping device exists is: automatization level is lower, and the element of using in the mechanism is more, thereby so that integrated model seems very complicated.
Along with factors such as automaticity height, the mechanical gripping means of environmental type more and more is subject to people's favor, and people begin to try every possible means to solve the shortcoming that exists in the above-mentioned mechanical gripping means.
Someone proposes a kind of clamping device based on screw mechanism.See also Fig. 1, Fig. 1 is a kind of existing screw rod type Mechanical Driven clamping device, and this clamping device comprises leading screw 1, servomotor 2 and platen 3, and wherein servomotor 2 provides driving force, by rotating threaded shaft 1 platen 3 is moved, thereby pressed object so that platen 3 can clamp or unclamp.The clamping device of this screw mechanism, advantage are simple in structure, and control is convenient, only need rotary speed and the time of control servomotor 2, just can accurately control the dynamics of pressing the space of clamping device.Shortcoming is owing to only have this a kind of force-increasing mechanism of leading screw, so the clamping force of output is less, generally is used for workpiece occasion hour.
For addressing the above problem, design and a kind ofly export that clamping force is large, automaticity is high and the mechanical gripping means of economic environmental protection, have great significance for improving the machine-building level.
In view of this, the present invention uses screw mechanism and Toggle Force Amplifier and servomotor to design a kind of novel mechanical gripping means.
Summary of the invention
Goal of the invention of the present invention provides a kind of take leading screw as the main bilateral device of mechanical grip, by structure is improved, good stability, clamps the large and economic environmental protection of power output, and can bilaterally clamp simultaneously two workpiece, enhances productivity.
To achieve the above object of the invention, the technical solution used in the present invention is: a kind of mechanical gripping means, comprise lead-screw driving device, shed stick step-up system, and platen, described shed stick step-up system comprises reinforcement bar and force application rod, and both are articulated on the described lead-screw driving device in the horizontal direction by a connecting piece actively, and described platen is hinged on the described force application rod, this platen actively is arranged in the upright guide rail at vertical direction, and exposes the clamping area of this platen.
Further, an end of described reinforcement bar is hinged on the stationary plane, forms the fixed point rotary structure.
Further, described lead-screw driving device comprises servomotor, shaft coupling, leading screw and feed screw nut, described leading screw is connected on the servomotor by shaft coupling, this leading screw be connected feed screw nut and intert connect by screw thread, this feed screw nut is hinged on the brace simultaneously.
Further, described feed screw nut is arranged in the horizontal guide rail in the horizontal direction actively.
Further, this mechanical gripping means also comprises motor control assembly, is connected on the described servomotor.
Further, above-mentioned mechanical gripping means also can be designed to bilateral clamping device, should comprise lead-screw driving device by the bilateral clamping device of machinery this moment, and symmetrical shed stick step-up system and the platen that is arranged at described lead-screw driving device both sides of two covers, the shed stick step-up system of described each side comprises reinforcement bar and force application rod, both are articulated on the described lead-screw driving device by a connecting piece in the horizontal direction actively, described platen is hinged on the described force application rod, this platen actively is arranged in the upright guide rail at vertical direction, and exposes the clamping area of this platen.
Further, described lead-screw driving device comprises servomotor and symmetrical shaft coupling, leading screw and the feed screw nut that is arranged at described servomotor both sides of two covers, the leading screw of described each side is connected on the servomotor by shaft coupling, this leading screw be connected feed screw nut and intert connect by screw thread, this feed screw nut is hinged on the brace of a corresponding side simultaneously.
Further, described symmetrical two leading screws are respectively left-handed leading screw and dextrorotation leading screw.
The course of work of mechanical gripping means of the present invention is as follows:
(1) motor control assembly sends an instruction to servomotor, and motor begins to rotate, and drives leading screw by shaft coupling and rotates simultaneously;
(2) two leading screws left-handed and dextral motion of difference under the effect of shaft coupling, itself also carries out the power amplification first time;
(3) power output is by the transmission of connecting rod, and conduction is to Toggle Force Amplifier mechanism, and this moment, pressure angle α diminished gradually, and the reinforcement bar carries out the power amplification second time;
(4) the reinforcement bar is delivered to power on the platen by force application rod, and platen carries out operation to workpiece;
(5) after work was finished, motor control assembly sent instruction, and servomotor reverses rapidly, and all elements all reset, and finish a process.
Because technique scheme is used, the present invention compared with prior art has following advantages:
1. to adopt servo electric rotating machine be power source in the present invention, compares with hydraulic pressure, Pneumatic Transmission, have green non-pollution a bit, and be connected with motor control assembly, easily be automated.
2. the present invention uses leading screw, has improved the synchronism of mechanical gripping means with motor control assembly, and with the several composite applications of Toggle Force Amplifier, improved the clamping force of device.
3. use the step-up systems such as Toggle Force Amplifier mechanism and screw mechanism among the present invention, improved the clamping force of mechanical gripping means.
4. among the present invention, left and right sides leading screw adopts left-handed and dextrorotation, while rectilinear motion about having guaranteed, and Toggle Force Amplifier mechanism adopts and is arranged symmetrically with, and the mechanical gripping means symmetry that makes is attractive in appearance.
5. the employing bilateral structure can clamp two workpiece simultaneously, enhances productivity.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art, apparently, accompanying drawing in the following describes only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the mechanical clamping device that existing a kind of leading screw drives;
Fig. 2 is the mechanical gripping means of first embodiment of the invention;
Fig. 3 is the mechanical gripping means of second embodiment of the invention.
The specific embodiment
Embodiment one
See also Fig. 2, Fig. 2 is the mechanical gripping means of first embodiment of the invention.As shown in the figure, what present embodiment at first disclosed is a kind of monolateral mechanical gripping means, and this mechanical gripping means comprises be used to the drive system that mechanical grip power is provided with for the platen 30 that mechanical grip power is applied on the workpiece.Drive system comprises lead-screw driving device and shed stick step-up system, and this lead-screw driving device mainly provides the power source, and the power that this shed stick step-up system then plays Jiang Liyuan to be provided is amplified.Wherein, lead-screw driving device comprises servomotor 21, shaft coupling 22, leading screw 23 and feed screw nut 24, leading screw 23 is connected on the servomotor 21 by shaft coupling 22, leading screw 23 is provided with screw thread, this leading screw 23 is connected with feed screw nut by the interspersed connection of screw thread, feed screw nut 24 is arranged in the horizontal guide rail 25, and can do the move left and right on the horizontal direction in this horizontal guide rail 25.Servomotor 21 is connected with the motor control assembly (not shown) of an outside, and this motor control assembly is exported to servomotor 21 and started and shutdown signal.When servomotor 21 received enabling signal, motor began to rotate, and drove leading screw 23 and rotated.Leading screw 23 promotes in the horizontal direction move left and right of feed screw nut 24 by screw thread left-handed (or dextrorotation).
The shed stick step-up system comprises reinforcement bar 11 and force application rod 12, and both are articulated on the described lead-screw driving device in the horizontal direction by a connecting piece 13 actively.One end of reinforcement bar 11 is hinged on the stationary plane, forms the fixed point rotary structure, and this reinforcement bar 11 is during with this fixed point rotary, with the angle mineralization pressure angle α on the vertical direction.The hinged platen 30 of one end of force application rod 12, this platen 30 actively is arranged in the upright guide rail 31 at vertical direction, and exposes the clamping area 32 of this platen 30.The hinged end of reinforcement bar 11 and force application rod 12 is simultaneously hinged with brace 15 again, and 15 of braces are hinged on the feed screw nut 24.When feed screw nut 24 under the drive of leading screw 23 during in horizontal motion, reinforcement bar 11 is driven around fixed point rotary, pressure angle α also increases thereupon or reduces, force application rod 12 promotes platen 30 downwards or rises under the synergy of brace 15 and reinforcement bar 11.
The specific works process of present embodiment is as described below:
(1) servomotor is in off-position, and Toggle Force Amplifier is in pressure angle α maximum rating, and platen 30 is in original state;
(2) motor control assembly sends work order to servomotor 21, and this moment, motor began rotation, drives leading screws 23 by shaft coupling 22 and begins rotation, and leading screw 23 changes moment into power output;
(3) lead-screw driving device passes to brace 15 with cross force by feed screw nut 24, and brace 15 outputs to power on reinforcement bar 11 and the force application rod 12, promotes Toggle Force Amplifier and outwards moves;
When (4) reinforcement bar 11 outwards moved, pressure angle α diminished gradually, and Toggle Force Amplifier has carried out for the second time power amplification, then power output is delivered on the force application rod 12, and at this moment, force application rod 12 drives platen 30, fast downward clamping work pieces is finished the clamping course of work;
(5) after the process of finishing the work, motor control assembly sends instruction, servomotor 21 counter-rotatings, and at this moment, leading screw 23 also begins counter-rotating, drives feed screw nut 24 and moves inwards;
(6) drive two toggle mechanisms by feed screw nut 24, pressure angle α slowly becomes greatly, drives force application rod 12 platens 30 and slowly resets.Finish a complete course of work.
Embodiment two
See also Fig. 3, Fig. 3 is the mechanical gripping means of second embodiment of the invention.As shown in the figure, what present embodiment disclosed is a kind of bilateral mechanical gripping means, comprises lead-screw driving device and symmetrical shed stick step-up system and the platen 30,30 ' that is arranged at described lead-screw driving device both sides of two covers.Identical with embodiment one is, lead-screw driving device is responsible for providing the power source, and the shed stick step-up system is responsible for the power in power source being amplified and offering platen, and platen is applied to the power that is subject on the workpiece again, thereby plays the effect of stepping up.
Wherein lead-screw driving device comprises servomotor 21 and the symmetrical shaft coupling 22,22 ' that is arranged at described servomotor 21 both sides of two covers, leading screw 23,23 ' and feed screw nut 24,24 '.Take in the left side as example, leading screw 23 is connected on the servomotor 21 by shaft coupling 22, leading screw 23 is provided with screw thread, this leading screw 23 is connected with feed screw nut by the interspersed connection of screw thread, feed screw nut 24 is arranged in the horizontal guide rail 25, and can do the move left and right on the horizontal direction in this horizontal guide rail 25, this feed screw nut 24 is hinged on the brace 15 of a corresponding side simultaneously.Servomotor 21 is connected with the motor control assembly (not shown) of an outside, and this motor control assembly is exported to servomotor 21 and started and shutdown signal.When servomotor 21 received enabling signal, motor began to rotate, and drove leading screw 23 and rotated.Leading screw 23 promotes in the horizontal direction move left and right of feed screw nut 24 by screw thread left-handed (or dextrorotation).The shaft coupling 22 ' on right side, leading screw 23 ', feed screw nut 24 ' and horizontal guide rail 25 ' are symmetrical arranged with the left side, repeat no more herein.It is pointed out that the leading screw 23 in left side and the screw thread on the leading screw 23 ' on right side are respectively left-handed leading screw and dextrorotation leading screw, like this when servomotor 21 rotates, by so that about two platens have synchronous rising or down maneuver.
About two cover shed stick step-up systems comprise respectively reinforcement bar 11,11 ' and force application rod 12,12 ', take the left side as example, reinforcement bar 11 and force application rod 12 are articulated on the described lead-screw driving device in the horizontal direction by brace 15 actively.One end of reinforcement bar 11 is hinged on the stationary plane, forms the fixed point rotary structure, and this reinforcement bar 11 is during with this fixed point rotary, with the angle mineralization pressure angle α on the vertical direction.The hinged platen 30 of one end of force application rod 12, this platen 30 actively is arranged in the upright guide rail 31 at vertical direction, and exposes the clamping area 32 of this platen 30.The hinged end of reinforcement bar 11 and force application rod 12 is simultaneously hinged with brace 15 again, and 15 of braces are hinged on the feed screw nut 24.When feed screw nut 24 under the drive of leading screw 23 during in horizontal motion, reinforcement bar 11 is driven around fixed point rotary, pressure angle α also increases thereupon or reduces, force application rod 12 promotes platen 30 downwards or rises under the synergy of brace 15 and reinforcement bar 11.And the connected mode of the reinforcement bar 11 ' on right side, force application rod 12 ', brace 15 ' and platen 30 ' and upright guide rail 31 ' and left side are symmetrical, repeat no more herein.
The specific works process of present embodiment is as described below:
(1) servomotor is in off-position, and Toggle Force Amplifier is in pressure angle α maximum rating, and platen 30,30 ' is in original state;
(2) motor control assembly sends work order to servomotor 21, and this moment, servomotor 21 began rotation, drives leading screw 23,23 ' by shaft coupling 22,22 ' and begins rotation, and leading screw 23,23 ' changes moment into power output;
(3) lead-screw driving device passes to brace 15,15 ' with cross force by feed screw nut 24,24 ', and two reinforcement bars 11 about brace 15,15 ' outputs to power, 11 ' and force application rod 12,12 ' promote two Toggle Force Amplifiers and outwards move;
When (4) reinforcement bar 11,11 ' outwards moves, pressure angle α diminishes gradually, Toggle Force Amplifier has carried out for the second time power amplification, then power output is delivered on the force application rod 12,12 ', at this moment, force application rod 12,12 ' drives platen 30,30 ', and fast downward clamping work pieces is finished the clamping course of work;
(5) after the process of finishing the work, motor control assembly sends instruction, servomotor 21 counter-rotatings, and at this moment, leading screw 23,23 ' also begins counter-rotating, drives feed screw nut 24,24 ' and moves inwards;
(6) drive two Toggle Force Amplifiers by feed screw nut 24,24 ', pressure angle α slowly becomes greatly, drives force application rod 12,12 ' and slowly resets with platen 30,30 '.Finish a complete course of work.
In sum, the present invention proposes the mechanical clamping device that a kind of leading screw drives, by increasing by a cover shed stick step-up system, the power on the script leading screw has been carried out the secondary amplification, increased the degree of reliability that machinery steps up.Compared with prior art, of the present invention somewhat following:
1. to adopt servo electric rotating machine be power source in the present invention, compares with hydraulic pressure, Pneumatic Transmission, have green non-pollution a bit, and be connected with motor control assembly, easily be automated.
2. the present invention uses leading screw, has improved the synchronism of mechanical gripping means with motor control assembly, and with the several composite applications of Toggle Force Amplifier, improved the clamping force of device.
3. use the step-up systems such as Toggle Force Amplifier mechanism and screw mechanism among the present invention, improved the clamping force of mechanical gripping means.
4. among the present invention, left and right sides leading screw adopts left-handed and dextrorotation, while rectilinear motion about having guaranteed, and Toggle Force Amplifier mechanism adopts and is arranged symmetrically with, and the mechanical gripping means symmetry that makes is attractive in appearance.
5. the employing bilateral structure can clamp two workpiece simultaneously, enhances productivity.
To the above-mentioned explanation of the disclosed embodiments, make this area professional and technical personnel can realize or use the present invention.Multiple modification to these embodiment will be apparent concerning those skilled in the art, and General Principle as defined herein can in the situation that does not break away from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention will can not be restricted to embodiment illustrated herein, but will meet the widest scope consistent with principle disclosed herein and features of novelty.To the above-mentioned explanation of the disclosed embodiments, make this area professional and technical personnel can realize or use the present invention.Multiple modification to these embodiment will be apparent concerning those skilled in the art, and General Principle as defined herein can in the situation that does not break away from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention will can not be restricted to embodiment illustrated herein, but will meet the widest scope consistent with principle disclosed herein and features of novelty.

Claims (10)

1. mechanical gripping means, it is characterized in that: comprise lead-screw driving device, shed stick step-up system, and platen, described shed stick step-up system comprises reinforcement bar and force application rod, both are articulated on the described lead-screw driving device by a connecting piece in the horizontal direction actively, described platen is hinged on the described force application rod, and this platen actively is arranged in the upright guide rail at vertical direction, and exposes the clamping area of this platen.
2. mechanical gripping means as claimed in claim 1, it is characterized in that: an end of described reinforcement bar is hinged on the stationary plane, forms the fixed point rotary structure.
3. mechanical gripping means as claimed in claim 1, it is characterized in that: described lead-screw driving device comprises servomotor, shaft coupling, leading screw and feed screw nut, described leading screw is connected on the servomotor by shaft coupling, this leading screw be connected feed screw nut and intert connect by screw thread, this feed screw nut is hinged on the brace simultaneously.
4. mechanical gripping means as claimed in claim 3, it is characterized in that: described feed screw nut is arranged in the horizontal guide rail in the horizontal direction actively.
5. mechanical gripping means as claimed in claim 3 is characterized in that: further comprise motor control assembly, be connected on the described servomotor.
6. bilateral clamping device of machinery, it is characterized in that: comprise lead-screw driving device, and symmetrical shed stick step-up system and the platen that is arranged at described lead-screw driving device both sides of two covers, the shed stick step-up system of described each side comprises reinforcement bar and force application rod, both are articulated on the described lead-screw driving device by a connecting piece in the horizontal direction actively, described platen is hinged on the described force application rod, this platen actively is arranged in the upright guide rail at vertical direction, and exposes the clamping area of this platen.
7. the bilateral clamping device of machinery as claimed in claim 6, it is characterized in that: an end of described reinforcement bar is hinged on the stationary plane, forms the fixed point rotary structure.
8. mechanical gripping means as claimed in claim 6, it is characterized in that: described lead-screw driving device comprises servomotor and symmetrical shaft coupling, leading screw and the feed screw nut that is arranged at described servomotor both sides of two covers, the leading screw of described each side is connected on the servomotor by shaft coupling, this leading screw be connected feed screw nut and intert connect by screw thread, this feed screw nut is hinged on the brace of a corresponding side simultaneously.
9. mechanical gripping means as claimed in claim 8, it is characterized in that: described symmetrical two leading screws are respectively left-handed leading screw and dextrorotation leading screw.
10. mechanical gripping means as claimed in claim 8, it is characterized in that: described feed screw nut is arranged in the horizontal guide rail in the horizontal direction actively.
CN201210374931.9A 2012-09-29 2012-09-29 Mechanical clamping device based on lead screw-toggle force amplifier CN102862133B (en)

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CN102862133B CN102862133B (en) 2015-07-15

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103831640A (en) * 2014-03-06 2014-06-04 安徽禾恒冶金机械股份有限公司 Clamping-reinforced pumper hopper clamping device
CN104084979A (en) * 2013-12-04 2014-10-08 安徽精致机电科技有限公司 Automatic piercing machine for tyre side extruded line
CN105171481A (en) * 2015-09-16 2015-12-23 江苏大学 Gas-liquid reinforcement double-station clamp adopting hinge rod connecting manner
CN111157091A (en) * 2019-12-04 2020-05-15 中机生产力促进中心 Weighing apparatus calibrating device and weighing apparatus calibrating method

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CN202438861U (en) * 2011-11-16 2012-09-19 苏州大学 Gas-liquid composite transmission double-station clamp
CN202964457U (en) * 2012-09-29 2013-06-05 苏州大学 Mechanical clamping device based on lead screw-shed stick force-amplifier

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104084979A (en) * 2013-12-04 2014-10-08 安徽精致机电科技有限公司 Automatic piercing machine for tyre side extruded line
CN103831640A (en) * 2014-03-06 2014-06-04 安徽禾恒冶金机械股份有限公司 Clamping-reinforced pumper hopper clamping device
CN105171481A (en) * 2015-09-16 2015-12-23 江苏大学 Gas-liquid reinforcement double-station clamp adopting hinge rod connecting manner
CN111157091A (en) * 2019-12-04 2020-05-15 中机生产力促进中心 Weighing apparatus calibrating device and weighing apparatus calibrating method

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