CN109129529A - A kind of automated machine grip device and clamping method - Google Patents
A kind of automated machine grip device and clamping method Download PDFInfo
- Publication number
- CN109129529A CN109129529A CN201811065254.6A CN201811065254A CN109129529A CN 109129529 A CN109129529 A CN 109129529A CN 201811065254 A CN201811065254 A CN 201811065254A CN 109129529 A CN109129529 A CN 109129529A
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- piston
- control panel
- clamping
- chucking power
- relay control
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 239000012530 fluid Substances 0.000 claims abstract description 25
- 239000007788 liquid Substances 0.000 claims abstract description 9
- 230000001105 regulatory effect Effects 0.000 claims abstract description 9
- 239000000463 material Substances 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 claims description 2
- 230000005484 gravity Effects 0.000 claims description 2
- 230000003068 static effect Effects 0.000 claims description 2
- 230000009969 flowable effect Effects 0.000 abstract description 6
- 238000009434 installation Methods 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000001976 improved effect Effects 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000000518 rheometry Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The present invention relates to mechanical clamp field, a kind of automated machine grip device and clamping method, including support rod are disclosed, the sliding block with guide rod is installed on support rod, there are two the intermediate plates for having chucking power regulating mechanism for installation on guide rod；Chucking power regulating mechanism includes multiple hydraulic cylinders with piston, and conductive coil is wound on the barrel of hydraulic cylinder, and the free end of piston is provided with pressure sensor, and conductive coil is provided with relay control panel, and relay control panel and pressure sensor are electrically connected；The liquid medium of hydraulic cylinder is magnetorheological fluid.The present invention passes through when chucking power reaches the threshold value that relay control panel is set, conductive coil circuit is connected in relay control panel, apply magnetic field for magnetorheological fluid, magnetorheological fluid is set to be changed into high viscosity, low flowable state by flowable state, to make chucking power stablize, meet to the clamping of clamping object, it is mobile while, the chucking power that can evade application is excessive and the problem of cause the damage of clamping object or damage.
Description
Technical field
The present invention relates to mechanical clamp fields, and in particular to a kind of automated machine grip device and clamping method.
Background technique
Manipulator is a kind of certain movements and function that can imitate manpower and arm.Currently, due to enterprise's production requirement
It improves, the requirement to equipment performance also increases accordingly, and production capacity is significantly increased.In the case, having for production capacity is improved
Effect approach first is that largely use manipulator, be especially widely used in flow line production.It is produced using mechanical Hand supplementary, first is that
In order to improve efficiency, reduce mistake；Second is that cost is reduced in order to increase benefit, to coordinate to get up with production capacity.
Clamping object is moved to designated position mainly by mechanical clamp crawl, carrying clamping object by existing manipulator,
But for mechanical clamp in the clamping and moving process of clamping object, often cannot achieve can not carry out to control the chucking power of clamping object
System is easy to cause to damage or damage to the surface of clamping object.
Summary of the invention
Based on problem above, the present invention provides a kind of automated machine grip device and clamping method, the present invention by
When chucking power reaches the threshold value of relay control panel setting, the circuit of conductive coil is connected relay control panel, is magnetorheological
Liquid applies magnetic field, and magnetorheological fluid is made to be changed into high viscosity, low flowable state by flowable state, so that chucking power be made to stablize, meets to folder
Take object clamping, it is mobile while, the chucking power that can evade application is excessive and the problem of cause the damage of clamping object or damage.
In order to solve the above technical problems, the present invention provides a kind of automated machine grip devices, including vertical support
Bar, lateral guide rod can be fixed on support rod middle shaft rotation and the sliding block moved up and down, sliding block by being equipped on support rod,
The intermediate plate that can be slided on the guide bar there are two being installed on guide rod, and two intermediate plates are respectively arranged with and intermediate plate can be made in guide rod
The driving mechanism of upper sliding or stopping；Chucking power regulating mechanism is respectively arranged on two intermediate plates, chucking power regulating mechanism includes
Multiple hydraulic cylinders with piston, hydraulic cylinder are connected with hydraulic pump by conduit, and the piston of the hydraulic cylinder on two intermediate plates is opposite
Setting；Conductive coil is wound on the barrel of hydraulic cylinder, the free end of piston is provided with pressure sensor along piston axis direction,
Each conductive coil is provided with relay control panel, and relay control panel in the pressure signal that pressure sensor transmits for reaching
When to a threshold value set, the circuit of conductive coil is connected；Liquid medium in hydraulic pump is magnetorheological fluid.
Further, the free end of piston is provided with locating piece, and the groove along piston axis direction is provided on locating piece,
Telescopic rod with contact head is installed in groove；Pressure sensor is installed on bottom portion of groove, telescopic rod and pressure sensor it
Between be provided with spring.
Further, driving mechanism includes the reverse-flighted screw that can be rotated along central axis, and reverse-flighted screw is driven by motor；
The through-hole parallel with guide rod is provided on sliding block, reverse-flighted screw is installed in through-hole；Two intermediate plates are installed by screw hole respectively
In on the two sides screw thread of reverse-flighted screw.
Further, hydraulic fluid tank is provided between hydraulic cylinder and hydraulic pump, hydraulic fluid tank is fixed on intermediate plate, and hydraulic cylinder is fixed
In on hydraulic fluid tank, and hydraulic cylinder is interconnected with hydraulic box cavity, and conduit is connected to hydraulic pump.
In order to solve the above technical problems, the present invention also provides a kind of clamping method of automated machine grip device, packets
Include following steps:
S1: the pressure threshold of relay control panel is uniformly set according to the material of clamping object and weight；
S2: adjusting slider height, the angle of rotary steering bar make to clamp level between two intermediate plates；
S3: adjusting the relative position of two intermediate plates on the guide bar, will after contacting piston free end with clamping object surface
Slide position is fixed on the guide bar；
S4: starting hydraulic pump moves towards the piston of two sides to clamping object application chucking power, when any one pressure passes
When sensor reaches threshold value set in S1, the circuit of the relay control panel automatic switching on conductive coil；
S5: after threshold value as defined in reaching, closing hydraulic pump, keeps clamping object arrival specified by rotating or moving up and down sliding block
Position；
S6: the position for adjusting two intermediate plates makes piston free end be detached from clamping object surface.
Further, the calculation formula for the pressure threshold that relay control panel is set in step S1 is F=mg/f0, wherein F
For pressure threshold, m is the quality for clamping object, and g is acceleration of gravity, f0For the static friction system between clamping object and piston free end
Number.
Compared with prior art, the beneficial effects of the present invention are: the present invention is by setting the threshold value of relay control panel
For F=mg/f0, can satisfy the clamping and movement of clamping object, while when chucking power reaches the threshold value of relay control panel setting
When, the circuit of conductive coil is connected relay control panel, applies magnetic field for magnetorheological fluid, changes magnetorheological fluid by flowable state
For high viscosity, low flowable state, so that chucking power be made to stablize, the chucking power that can evade application it is excessive and cause the damage of clamping object or
The problem of damage；Meanwhile the direction of rotation by adjusting reverse-flighted screw, it can be realized and the spacing of two intermediate plates is adjusted,
Control is simple, easily operated.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the automated machine grip device in embodiment 1；
Fig. 2 is the structural schematic diagram of chucking power regulating mechanism in embodiment 1；
Fig. 3 is the connection schematic diagram of hydraulic cylinder, hydraulic fluid tank and the locating piece with telescopic rod in embodiment 1；
Wherein: 1, support rod；2, sliding block；3, guide rod；4, intermediate plate；5, piston；6, hydraulic cylinder；7, conduit；8, conductor wire
Circle；9, pressure sensor；10, relay control panel；11, locating piece；12, contact head；13, telescopic rod；14, spring；15, two-way
Screw rod；16, motor；17, hydraulic fluid tank；18, magnetorheological fluid；19, object is clamped.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below with reference to embodiment and attached drawing, to this
Invention is described in further detail, and exemplary embodiment of the invention and its explanation for explaining only the invention, are not made
For limitation of the invention.
Embodiment 1:
Referring to Fig. 1-3, a kind of automated machine grip device, including vertical support rod 1, being equipped on support rod 1 can
Along 1 middle shaft rotation of support rod and the sliding block 2 moved up and down, it is fixed with lateral guide rod 3 on sliding block 2, is equipped on guide rod 3
Two intermediate plates 4 that can be slided on guide rod 3, and two intermediate plates 4 be respectively arranged with can make intermediate plate 4 slided on guide rod 3 or
The driving mechanism of stopping；Chucking power regulating mechanism is respectively arranged on two intermediate plates 4, chucking power regulating mechanism includes multiple has
The hydraulic cylinder 6 of piston 5, hydraulic cylinder 6 are connected with hydraulic pump by conduit 7, and 5 opposite direction of piston of the hydraulic cylinder 6 on two intermediate plates 4 is set
It sets；Conductive coil 8 is wound on the barrel of hydraulic cylinder 6, the free end of piston 5 is provided with pressure sensing along 5 axis direction of piston
Device 9, each conductive coil 8 are provided with relay control panel 10, what relay control panel 10 was used to transmit in pressure sensor 9
When pressure signal reaches the threshold value of a setting, the circuit of conductive coil 8 is connected；Liquid medium in hydraulic pump is magnetorheological
Liquid 18.
In the present embodiment, one is preset in relay control panel 10 can clamp clamping object 19 and can just mention
It rises, mobile pressure threshold, relay control panel 10 connects the circuit of conductive coil 8, conductive coil 8 when pressure being made to reach threshold value
It is powered.Make to clamp object 19 between two intermediate plates 4 in the height on support rod 1, rotary steering bar 3 by adjusting slider 2, adjusts
Spacing between section intermediate plate 4 contacts intermediate plate 4 just with clamping 19 outer surface of object；Start hydraulic pump, is pressed into hydraulic cylinder
Magnetorheological fluid 18, piston 5 persistently apply chucking power to clamping object 19 under the impetus of magnetorheological fluid 18, work as pressure sensor
When 9 chucking powers detected are equal to the threshold value of setting, relay control panel 10 is connected, and conductive coil 8, which is powered, generates magnetic field；Because of magnetic
Rheology liquid 18 shows the Newtonian fluid characteristic of low viscosity under zero magnetic field condition, and under magnetic fields, then it shows high viscous
Degree, low-flow；So that the chucking power of 5 pairs of the piston of hydraulic cylinder 6 clamping objects 19 is maintained always in set threshold range,
To make chucking power stablize, the chucking power that can evade application is excessive and the problem of cause the damage of clamping object 19 or damage.Pass through
Position of the mobile sliding block 2 on support rod 1, rotary steering bar 3 will clamp object 19 and clamp and be moved to designated position.
The free end of piston 5 is provided with locating piece 11, and the groove along 5 axis direction of piston is provided on locating piece 11, recessed
Telescopic rod 13 with contact head 12 is installed in slot；Pressure sensor 9 is installed on bottom portion of groove, telescopic rod 13 and pressure sensing
Spring 14 is provided between device 9.The setting of spring 14 can play one during 5 pairs of clamping objects 19 of piston apply chucking power
Fixed buffer function is provided with contact head 12 on simultaneous retractable bar 13, can increase and clamp the contact area of object 19, reduces pair
The pressure for clamping object 19 prevents the instantaneous excessive damage for causing clamping object 19 of chucking power, has certain protective effect；It can also be with
The stabilization that chucking power is maintained in moving process, plays the role of damping.
Driving mechanism includes the reverse-flighted screw 15 that can be rotated along central axis, and reverse-flighted screw 15 is driven by motor 16；It is sliding
The through-hole parallel with guide rod 3 is provided on block 2, reverse-flighted screw 15 is installed in through-hole；Two intermediate plates 4 are pacified by screw hole respectively
On two sides screw thread loaded on reverse-flighted screw 15.Directly the spacing between intermediate plate 4 can be adjusted by rotating reverse-flighted screw 15
Section, control is relatively simple, is also conducive to operation.
Hydraulic fluid tank 17 is provided between hydraulic cylinder 6 and hydraulic pump, hydraulic fluid tank 17 is fixed on intermediate plate 4, and hydraulic cylinder 6 is fixed on
On hydraulic fluid tank 17, and hydraulic cylinder 6 is interconnected with 17 inner cavity of hydraulic fluid tank, and conduit 7 is connected to hydraulic pump.By the way that hydraulic fluid tank 17 is arranged
Hydraulic cylinder 6 is uniformly controlled, has been evaded and hydraulic cylinder 6 is individually controlled and has been caused pipeline mistake using multiple hydraulic pumps
More problems.
Embodiment 2:
Referring to Fig. 1-3, a kind of clamping method of automated machine grip device, operating procedure are as follows:
S1: according to the material and weight of clamping object 19, formula Pressure threshold calculations formula F=mg/f is utilized0Calculate institute
The pressure threshold to be set；
S2: adjusting slider 2 height, angle of rotary steering bar 3 on support rod 1 make clamping object 19 be located at two intermediate plates 4
Between；
S3: starting motor 16 rotates reverse-flighted screw 15, carries out the tune of relative position of two intermediate plates 4 on guide rod 3
Section contacts 5 free end of piston with clamping 19 surface of object, stops the rotation of motor 16；
S4: starting hydraulic pump moves towards the piston 5 of two sides, applies chucking power to clamping object 19, when any one pressure
When force snesor 9 reaches calculated F value, the circuit of the 10 automatic switching on conductive coil 8 of relay control panel；
S5: closing hydraulic pump, makes to clamp the arrival of object 19 designated position by rotating or moving up and down sliding block 2；
S6: being again started up motor 16, and spacing when its rotation between two intermediate plates 4 is made to become larger, and 5 free end of piston is de- at this time
From clamping 19 surface of object.
It as above is the embodiment of the present invention.Design parameter in above-described embodiment and embodiment is merely to understand table
Invention verification process is stated, the scope of patent protection being not intended to limit the invention, scope of patent protection of the invention is still with it
It is all to change with equivalent structure made by specification and accompanying drawing content of the invention subject to claims, it should all similarly wrap
Containing within the scope of the present invention.
Claims (6)
1. a kind of automated machine grip device, including vertical support rod (1), being equipped on the support rod (1) can be along branch
Strut (1) middle shaft rotation and the sliding block (2) moved up and down, it is characterised in that: be fixed with lateral guide rod on the sliding block (2)
(3), the intermediate plate (4) that can be slided on guide rod (3) there are two being installed on the guide rod (3), and two intermediate plates (4) point
It is not provided with the driving mechanism that intermediate plate (4) can be made to slide or stop on guide rod (3)；It is set respectively on two intermediate plates (4)
It is equipped with chucking power regulating mechanism, the chucking power regulating mechanism includes multiple hydraulic cylinders (6) with piston (5), described hydraulic
Cylinder (6) is connected with hydraulic pump by conduit (7), and the piston (5) of the hydraulic cylinder (6) on two intermediate plates (4) is arranged oppositely；Institute
It states and is wound on the barrel of hydraulic cylinder (6) conductive coil (8), the free end of the piston (5) is arranged along piston (5) axis direction
Have pressure sensor (9), each conductive coil (8) is provided with relay control panel (10), the relay control panel
(10) for reaching the threshold value of a setting in the pressure signal that pressure sensor (9) are transmitted when, by the circuit of conductive coil (8)
It connects；Liquid medium in the hydraulic pump is magnetorheological fluid (18).
2. a kind of automated machine grip device according to claim 1, it is characterised in that: each piston (5)
Free end is provided with locating piece (11), and the groove along piston (5) axis direction, the groove are provided on the locating piece (11)
Telescopic rod (13) with contact head (12) is inside installed；The pressure sensor (9) is installed on bottom portion of groove, the telescopic rod
(13) it is provided between pressure sensor (9) spring (14).
3. a kind of automated machine grip device according to claim 1, it is characterised in that: the driving mechanism includes can
Along the reverse-flighted screw (15) of central axis rotation, the reverse-flighted screw (15) is driven by motor (16)；It is set on the sliding block (2)
It is equipped with the through-hole parallel with guide rod (3), the reverse-flighted screw (15) is installed in through-hole；Two intermediate plates (4) are led to respectively
Screw hole is crossed to be installed on the two sides screw thread of reverse-flighted screw (15).
4. a kind of automated machine grip device according to claim 1, it is characterised in that: the hydraulic cylinder (6) and liquid
It is provided between press pump hydraulic fluid tank (17), the hydraulic fluid tank (17) is fixed on intermediate plate (4), and the hydraulic cylinder (6) is fixed on liquid
It presses on case (17), and hydraulic cylinder (6) is interconnected with hydraulic fluid tank (17) inner cavity, the conduit (7) is connected to hydraulic pump.
5. a kind of clamping method based on automated machine grip device described in any one of claim 1-4, feature exist
In including the following steps:
S1: the pressure threshold of the relay control panel (10) is uniformly set according to the material of clamping object (19) and weight；
S2: adjusting slider (2) height, the angle of rotary steering bar (3) make to clamp object (19) be located at two intermediate plates (4) it
Between；
S3: relative position of two intermediate plates (4) on guide rod (3) is adjusted, piston (5) free end and clamping object (19) are made
After the contact of surface, sliding block (2) position is fixed on guide rod (3)；
S4: starting hydraulic pump moves towards the piston (5) of two sides to clamping object (19) application chucking power, when any one pressure
When sensor (9) reaches threshold value set in S1, the circuit of relay control panel (10) the automatic switching on conductive coil (8)；
S5: after the threshold value for reaching setting, closing hydraulic pump, makes to clamp object (19) arrival by rotating or moving up and down sliding block (2)
Designated position；
S6: the position for adjusting two intermediate plates (4) makes piston (5) free end be detached from clamping object (19) surface.
6. the clamping method of automated machine grip device according to claim 5, it is characterised in that: relay in step S1
The calculation formula for the pressure threshold that device control panel (10) is set is F=mg/f0, wherein F is pressure threshold, and m is clamping object (19)
Quality, g is acceleration of gravity, f0For the confficient of static friction between clamping object (19) and piston (5) free end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811065254.6A CN109129529B (en) | 2018-09-13 | 2018-09-13 | Automatic mechanical clamp device and clamping method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811065254.6A CN109129529B (en) | 2018-09-13 | 2018-09-13 | Automatic mechanical clamp device and clamping method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109129529A true CN109129529A (en) | 2019-01-04 |
| CN109129529B CN109129529B (en) | 2021-09-21 |
Family
ID=64824867
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811065254.6A Expired - Fee Related CN109129529B (en) | 2018-09-13 | 2018-09-13 | Automatic mechanical clamp device and clamping method |
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| Country | Link |
|---|---|
| CN (1) | CN109129529B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109773824A (en) * | 2019-03-20 | 2019-05-21 | 蔡鹏飞 | A kind of submissive fixture finger of manipulator based on magnetorheological fluid |
| CN109773819A (en) * | 2019-03-20 | 2019-05-21 | 蔡鹏飞 | A kind of submissive fixture of manipulator based on magnetorheological fluid |
| CN111230917A (en) * | 2020-02-21 | 2020-06-05 | 江苏工程职业技术学院 | Industrial robot clamping structure |
| CN111348425A (en) * | 2020-03-10 | 2020-06-30 | 荆门怡盛源环保科技有限公司 | Grabbing device for roller conveying |
| CN113335913A (en) * | 2021-05-21 | 2021-09-03 | 常州大学 | Mechanical shaft gripping device for mechanical manufacturing |
| CN114273239A (en) * | 2022-02-14 | 2022-04-05 | 青岛天科物流装备股份有限公司 | Array type unmanned sorting machine capable of adjusting commercial signals |
| CN117140590A (en) * | 2023-10-25 | 2023-12-01 | 启东海奥华环保科技有限公司 | A fit pressure mechanism that is used for mechanical arm's of sewage treatment plant manufacturing gripper |
| CN118080987A (en) * | 2024-04-17 | 2024-05-28 | 泰兴市瑞之宁金属制品有限公司 | Processing equipment of metal product for fire control |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109773824A (en) * | 2019-03-20 | 2019-05-21 | 蔡鹏飞 | A kind of submissive fixture finger of manipulator based on magnetorheological fluid |
| CN109773819A (en) * | 2019-03-20 | 2019-05-21 | 蔡鹏飞 | A kind of submissive fixture of manipulator based on magnetorheological fluid |
| CN111230917A (en) * | 2020-02-21 | 2020-06-05 | 江苏工程职业技术学院 | Industrial robot clamping structure |
| CN111348425A (en) * | 2020-03-10 | 2020-06-30 | 荆门怡盛源环保科技有限公司 | Grabbing device for roller conveying |
| CN113335913A (en) * | 2021-05-21 | 2021-09-03 | 常州大学 | Mechanical shaft gripping device for mechanical manufacturing |
| CN114273239A (en) * | 2022-02-14 | 2022-04-05 | 青岛天科物流装备股份有限公司 | Array type unmanned sorting machine capable of adjusting commercial signals |
| CN114273239B (en) * | 2022-02-14 | 2024-01-23 | 青岛天科物流装备股份有限公司 | Array unmanned sorting machine capable of adjusting electricity-business signals |
| CN117140590A (en) * | 2023-10-25 | 2023-12-01 | 启东海奥华环保科技有限公司 | A fit pressure mechanism that is used for mechanical arm's of sewage treatment plant manufacturing gripper |
| CN117140590B (en) * | 2023-10-25 | 2023-12-29 | 启东海奥华环保科技有限公司 | A fit pressure mechanism that is used for mechanical arm's of sewage treatment plant manufacturing gripper |
| CN118080987A (en) * | 2024-04-17 | 2024-05-28 | 泰兴市瑞之宁金属制品有限公司 | Processing equipment of metal product for fire control |
| CN118080987B (en) * | 2024-04-17 | 2024-08-23 | 泰兴市瑞之宁金属制品有限公司 | Processing equipment of metal product for fire control |
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|---|---|
| CN109129529B (en) | 2021-09-21 |
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