CN103203737A - Electromagnetic drive type micro-clamping device - Google Patents
Electromagnetic drive type micro-clamping device Download PDFInfo
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- CN103203737A CN103203737A CN2013100844797A CN201310084479A CN103203737A CN 103203737 A CN103203737 A CN 103203737A CN 2013100844797 A CN2013100844797 A CN 2013100844797A CN 201310084479 A CN201310084479 A CN 201310084479A CN 103203737 A CN103203737 A CN 103203737A
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- tong arm
- base
- clamping device
- arm holder
- solenoid
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Abstract
An electromagnetic drive type micro-clamping device is a mechanical device for clamping a micro machine part and driving the micro machine part to move and to assemble. The device achieves opening and closing of clamping arms in an electromagnetic drive mode, can ensure enough clamping force and opening-closing degree to a clamped object and is high in response speed. The device is fixed on a four-dimensional mobile platform, and movement of the four-dimensional mobile platform is controlled through a control system so as to drive the micro-clamping device to move accurately. The electromagnetic drive type micro-clamping device comprises a fixing assembly, a clamping tong arm assembly and an electromagnetic drive power assembly. The fixing assembly comprises an upper tong arm fixing seat, a lower tong arm fixing seat, a base, a fixing contact pin and an electromagnetic coil base. The clamping tong arm assembly comprises an upper tong arm and a lower tong arm. The electromagnetic drive power assembly comprises three electromagnetic coils and three armatures corresponding to the three electromagnetic coils. The opening-closing degree and the clamping force of the micro-clamping device are large and easy to control, action response is quick, a process is simple, and product integrity is good.
Description
Technical field
" Electromagnetic Drive decline clamping device " is a kind of for clamping milli machine part and drive the mechanical device that it moves and assembles, this device is realized the opening and closing of clamping limb by the mode of Electromagnetic Drive, can guarantee chucking power and the displacement opening and closing amount of gripped object enough greatly, and response speed is fast.This device is fixed on the four-dimensional mobile platform, thus by the movement that control system is partly controlled four-dimensional mobile platform drive little clamping device whole realize accurately mobile.
Background technology
Along with the development of Micrometer-Nanometer Processing Technology, microelectric technique etc., the size of micro part is more and more littler, in order gripped object to be unlikely to have bigger distortion and damage, the operation of micro part has been proposed more and more higher requirement.The appropriate design of little clamping device and manufacturing are the key links that realizes the micro part operation.Little clamping device not only can become the paw of Micro-Robot as a kind of typical microactuator, and in the fields such as processing, assembling, biomedical engineering and optics of micromechanical parts good application prospects is arranged all.Little clamping device is broadly divided into mechanical type and absorption type two big classes.According to the principle of generation driving force, the clamping device that machinery can be declined is divided into marmem and drives that miniature clamp, the miniature clamp of Piezoelectric Ceramic, electrostatic force drive miniature clamp, electromagnetic force drives miniature clamp etc.; The absorption affinity that the miniature clamper of absorption type utilizes vacuum, liquid etc. to produce grasps miniature parts, and it has strict requirement to shape, the material of operated part, mainly comprises modes such as vacuum suction, liquid adsorption, Electrostatic Absorption.The present invention's " Electromagnetic Drive decline clamping device " is fixed on the four-dimensional mobile platform, thereby the movement of partly controlling four-dimensional mobile platform by control system drives whole accurate movement of little clamping device, clamping limb displacement opening and closing amount is big, response speed is fast, control is simple, bearing capacity is big, be applicable to accurate movement and assembling to micro parts, and gripped object can not be out of shape or damage, and clamping limb and gripped object do not produce adhesion.
Summary of the invention
The present invention proposes a kind of Electromagnetic Drive clamping device that declines, this device belongs to and adopts the power-actuated machinery of the electromagnetism clamping device that declines.Existing multiple little clamping device as the static clamping device that declines, is easy to realize miniaturization and microminiaturization, but is difficult to realize output more energetically, and displacement output is also less; The piezoelectric ceramics clamping device that declines, its resolution ratio height, no fretting wear, low in energy consumption, but the displacement that piezoelectric produces is little, and since the lagging characteristics of piezoelectric ceramics itself be difficult to high accuracy is controlled; The little clamping device of marmem, made by the marmem functional material, through after the certain heat treatment and memory training, original shape had memory capability, utilize this memory function to realize functions such as gripping, release, but its same chucking power and less drawback of displacement opening and closing amount that has output, and control loaded down with trivial details, complex process.The power-actuated Electromagnetic Drive of employing electromagnetism that the present invention the proposes clamping device that declines, its purpose is to overcome that existing little clamping device displacement opening and closing amount is less, action response is slow, chucking power is not enough and control too deficiency such as complexity, displacement opening and closing amount and the chucking power of this little clamping device are bigger, be easy to control, action response is fast, and technology is simple.
To achieve these goals, the present invention has taked following technical scheme.The Electromagnetic Drive clamping device that declines comprises fixation kit, gripper clamp arm component, magnetic driving force assembly.Fixation kit comprises tong arm holder 2, following tong arm holder 6, base 4, fixing plug pin 8 and solenoid base 9, and last tong arm holder 2 and following tong arm holder 6 are fixed on the base 4 by fixing plug pin 8, and solenoid base 9 is fixed on the base 4; The gripper clamp arm component comprises tong arm 1 and following tong arm 7; Magnetic driving force assembly comprises three identical solenoids 5 and three armature 3 corresponding with solenoid 5, and solenoid 5 is fixed on the solenoid base 9, by common three armature 3 that attract of three solenoids, 5 energisings are produced driving forces.The armature standing part 17 of last tong arm 1 is cross, is welded with three identical armature 3, can apply electromagnetic force simultaneously by three solenoids 5, thereby add large driving force.
Described fixation kit comprises tong arm holder 2, following tong arm holder 6, base 4, fixing plug pin 8 and solenoid base 9.All be equipped with pad 14 and second via hole 11 on last tong arm holder 2 and the following tong arm holder 6.Pad 14 on last tong arm holder 2 and the following tong arm holder 6 is respectively applied to weld tong arm 1 and following tong arm 7.Have the 4th via hole 13 on the base 4, be fixed on the four-dimensional mobile platform by the screw mode, thus by the movement that control system is partly controlled four-dimensional mobile platform drive little clamping device whole realize accurately mobile.Second via hole 11 fixes base 4 respectively by fixing plug pin 8 with last tong arm holder 2 and following tong arm holder 6.Lead-in wire and 10 conductings of first via hole when the 3rd via hole 12 passes through plate-making, first via hole 10 is connected with the circuit board of control system part, carries out the electric control of cut-offfing to solenoid 5.
Described gripper clamp arm component comprises tong arm 1 and following tong arm 7, the stiff end 15 of last tong arm is welded on the tong arm holder 2, design has flexible structure 16 between last tong arm stiff end 15 and the armature standing part 17, resistance in the time of can reducing magnetic driving force assembly attraction tong arm, thus the flexibility of tong arm 1 increases chucking power in the increasing.Following tong arm stiff end 19 is welded to down on the tong arm holder 6.Last tong arm 1 pincers point 18 and following tong arm 7 pincers points 20 adopt v-shaped structure, can suitably increase clamping contact area and frictional force.
Described magnetic driving force assembly comprises that three solenoids 5 and three armature 3, three solenoids 5 corresponding with solenoid 5 externally produce electromagnetic force under the effect of drive circuit, attracts three armature 3 jointly and drive to go up tong arm 1 and move down.
The present invention can conveniently process, little clamping device displacement opening and closing amount and chucking power enough big, action response is fast, controls easyly, the product integrality is good, service life is longer.
Description of drawings
Fig. 1 is the schematic diagram of the little clamping device structure of the present invention
Fig. 2 is the structure chart of the little clamping device base of the present invention
Fig. 3 is the structure chart of the little clamping device tong arm of the present invention holder
Fig. 4 is the structure chart of tong arm on the little clamping device of the present invention
Fig. 5 is the structure chart of tong arm under the little clamping device of the present invention
Among the figure: 1, go up tong arm; 2, go up the tong arm holder; 3, armature; 4, base; 5, solenoid; 6, following tong arm holder; 7, following tong arm; 8, fixing plug pin; 9, solenoid base; 10, first via hole; 11, second via hole; 12, the 3rd via hole; 13, the 4th via hole; 14, pad; 15, go up the tong arm stiff end; 16, flexible structure; 17, armature standing part; 18, go up tong arm pincers point; 19, following tong arm stiff end; 20, the tong arm pincers are sharp down.
The specific embodiment
The present invention will be further described in conjunction with Fig. 1-Fig. 5:
As shown in Figure 1, the Electromagnetic Drive clamping device that declines comprises fixation kit, gripper clamp arm component, magnetic driving force assembly.Fixation kit comprises tong arm holder 2, following tong arm holder 6, base 4, fixing plug pin 8 and solenoid base 9, and last tong arm holder 2 and following tong arm holder 6 are fixed on the base 4 by fixing plug pin 8, and solenoid base 9 is fixed on the base 4; The gripper clamp arm component comprises tong arm 1 and following tong arm 7, and last tong arm 1 and following tong arm 7 are welded in respectively on the pad 14 of tong arm holder 2 and following tong arm holder 6; Magnetic driving force assembly comprises solenoid 5 and armature 3, and solenoid 5 is fixed on the solenoid base 9, and armature 3 fixes with last tong arm 1, attracts armature 3 to produce driving force by solenoid 5 energisings.
Fixation kit comprises tong arm holder 2, following tong arm holder 6, base 4, fixing plug pin 8 and solenoid base 9.Last tong arm holder 2 and following tong arm holder 6 adopt the thick plastic-steel glass material of 1.7mm to make, long 11mm, and wide 6mm, it is second via hole 11 of 1.5mm that 4 diameters are arranged above, the homonymy via pitch is 2.5mm.Last tong arm holder 2 and following tong arm holder 6 can fix by fixing plug pin 8 and base 4.All be equipped with pad 14 on last tong arm holder 2 and the following tong arm holder 6, be used for welding tong arm up and down.Base 4 is the T font, and a close end of tong arm holder 6 down is front end, adopts the thick plastic-steel glass material of 1.7mm, overall length 35mm, width 30mm.Having four diameters on the base 4 is the 4th via hole 13 of 1.5mm, is fixed on the four-dimensional mobile platform by the screw mode.The diameter of second via hole 11 of base 4 rear ends is 0.8mm, by fixing plug pin 8 base 4 and last tong arm holder 2 is fixed.The diameter of second via hole 11 of base 4 front ends also is 0.8mm, by fixing plug pin 8 base 4 and following tong arm holder 6 is fixed.Solenoid 5 is fixed on the solenoid base 9, and solenoid base 9 is fixed on the base 4.Lead-in wire and 10 conductings of first via hole when the 3rd via hole 12 passes through plate-making, first via hole 10 is connected with the circuit board of control system part, carries out the electric control of cut-offfing to solenoid 5.
The gripper clamp arm component comprises tong arm 1 and following tong arm 7, and tong arm can adopt materials such as phosphorus bronze sheet, latten(-tin), bronze flake to be made.Last tong arm 1 is cross, overall long 40mm, wide 25mm, the wide 5mm of tong arm, thick 0.3mm.Design has flexible structure 16 between last tong arm stiff end 15 and the armature standing part 17, the resistance in the time of can reducing magnetic driving force assembly attraction tong arm, thus the flexibility of tong arm 1 increases chucking power in the increasing.Last tong arm 1 pincers point 18 long 4mm, tapering is 3/40.Last tong arm stiff end 15 is welded on the pad 14 of tong arm holder 2.The center that the center of three armature 3 faces three solenoids 5 respectively is welded to armature standing part 17 positions of tong arm 1, and armature 3 is 0.5mm with the distance of solenoid 5.Following tong arm 7 long 20mm, wide 5mm, thick 0.3mm.Following tong arm 7 pincers points 20 long 4mm, tapering is 3/40.Following tong arm stiff end 19 is welded to down on the pad 14 on the tong arm holder 6.The solenoid of little clamping device is switched on when producing electromagnetic force, up and down the tong arm closure.
Magnetic driving force assembly comprises solenoid 5 and armature 3, and solenoid 5 selects for use 6 pin mechanical relay transformations to form, and model is CHANSIN JRC-21F-12VDC.Armature 3 also is the relay matching component.Solenoid 5 externally under the effect of drive circuit energising produce electromagnetic force, attract armature 3 and drive to go up tong arm 1 and move down, this moment is the tong arm closure up and down, finishes the holding action to small items.
Claims (3)
1. the Electromagnetic Drive clamping device that declines is characterized in that: comprise fixation kit, gripper clamp arm component, magnetic driving force assembly.Fixation kit comprises tong arm holder (2), following tong arm holder (6), base (4), fixing plug pin (8) and solenoid base (9), last tong arm holder (2) and following tong arm holder (6) are fixed on the base (4) by fixing plug pin (8), and solenoid base (9) is fixed on the base (4); The gripper clamp arm component comprises tong arm (1) and following tong arm (7); Magnetic driving force assembly comprises three identical solenoids (5) and three armature (3) corresponding with solenoid (5), solenoid (5) is fixed on the solenoid base (9), by common three armature (3) that attract of three solenoids (5) energising are produced driving force.The armature standing part (17) of last tong arm (1) is cross, is welded with three identical armature (3).
2. the Electromagnetic Drive according to claim 1 clamping device that declines is characterized in that: all be equipped with pad (14) and second via hole (11) on the last tong arm holder (2) in the described fixation kit and the following tong arm holder (6).Pad (14) on last tong arm holder (2) and the following tong arm holder (6) is respectively applied to weld tong arm (1) and following tong arm (7).Have the 4th via hole (13) on the base (4), be fixed on the four-dimensional mobile platform by the screw mode, thus by the movement that control system is partly controlled four-dimensional mobile platform drive little clamping device whole realize accurately mobile.Second via hole (11) fixes base (4) respectively by fixing plug pin (8) with last tong arm holder (2) and following tong arm holder (6).Lead-in wire and first via hole (10) conducting when the 3rd via hole (12) passes through plate-making, first via hole (10) is connected with the circuit board of control system part, carries out the electric control of cut-offfing to solenoid (5).
3. the Electromagnetic Drive according to claim 1 clamping device that declines, it is characterized in that: the stiff end (15) of the last tong arm in the described gripper clamp arm component is welded on the tong arm holder (2), and design has flexible structure (16) between last tong arm stiff end (15) and the armature standing part (17).Following tong arm stiff end (19) is welded to down on the tong arm holder (6).Last tong arm (1) pincers points (18) and following tong arm (7) pincers points (20) all adopt v-shaped structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100844797A CN103203737A (en) | 2013-03-15 | 2013-03-15 | Electromagnetic drive type micro-clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100844797A CN103203737A (en) | 2013-03-15 | 2013-03-15 | Electromagnetic drive type micro-clamping device |
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| Publication Number | Publication Date |
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| CN103203737A true CN103203737A (en) | 2013-07-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2013100844797A Pending CN103203737A (en) | 2013-03-15 | 2013-03-15 | Electromagnetic drive type micro-clamping device |
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| CN (1) | CN103203737A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103737586A (en) * | 2014-01-12 | 2014-04-23 | 北京工业大学 | Pneumatic type micro clamp for clamping lead of micro motor |
| CN110978041A (en) * | 2020-01-03 | 2020-04-10 | 广州大学 | Electromagnet-driven flexible micro-clamping device |
| CN113459134A (en) * | 2021-07-05 | 2021-10-01 | 吉林大学 | SMA wire drive holder with resistance self-sensing force and displacement |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4700584A (en) * | 1986-02-15 | 1987-10-20 | Narishige Corporation, Ltd. | Manipulator usable for a glass electrode or the like |
| DE19939930A1 (en) * | 1999-08-23 | 2001-04-05 | Ipr Intelligente Peripherien F | Miniature gripper unit has two gripper fingers, activator unit, miniature electric motor/gear unit, spindle drive and guide profile arrangement |
| CN1527756A (en) * | 2002-09-12 | 2004-09-08 | ������������ʽ���� | Tongs |
| CN1623740A (en) * | 2004-12-13 | 2005-06-08 | 华中科技大学 | Mini clamp with dual-chip |
| CN101417427A (en) * | 2008-08-04 | 2009-04-29 | 北京理工大学 | Large-range multi-dimension integrated micro-power detection and wireless feedback twin-lamella micro clamping device |
| CN202508875U (en) * | 2012-03-09 | 2012-10-31 | 北京工业大学 | Automatic wire arrangement microclamping device for micromotor |
-
2013
- 2013-03-15 CN CN2013100844797A patent/CN103203737A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4700584A (en) * | 1986-02-15 | 1987-10-20 | Narishige Corporation, Ltd. | Manipulator usable for a glass electrode or the like |
| DE19939930A1 (en) * | 1999-08-23 | 2001-04-05 | Ipr Intelligente Peripherien F | Miniature gripper unit has two gripper fingers, activator unit, miniature electric motor/gear unit, spindle drive and guide profile arrangement |
| CN1527756A (en) * | 2002-09-12 | 2004-09-08 | ������������ʽ���� | Tongs |
| CN1623740A (en) * | 2004-12-13 | 2005-06-08 | 华中科技大学 | Mini clamp with dual-chip |
| CN101417427A (en) * | 2008-08-04 | 2009-04-29 | 北京理工大学 | Large-range multi-dimension integrated micro-power detection and wireless feedback twin-lamella micro clamping device |
| CN202508875U (en) * | 2012-03-09 | 2012-10-31 | 北京工业大学 | Automatic wire arrangement microclamping device for micromotor |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103737586A (en) * | 2014-01-12 | 2014-04-23 | 北京工业大学 | Pneumatic type micro clamp for clamping lead of micro motor |
| CN110978041A (en) * | 2020-01-03 | 2020-04-10 | 广州大学 | Electromagnet-driven flexible micro-clamping device |
| CN113459134A (en) * | 2021-07-05 | 2021-10-01 | 吉林大学 | SMA wire drive holder with resistance self-sensing force and displacement |
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| PB01 | Publication | ||
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| C05 | Deemed withdrawal (patent law before 1993) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20130717 |