CN109794957A - A kind of modular mechanical clamp hand and working method - Google Patents
A kind of modular mechanical clamp hand and working method Download PDFInfo
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- CN109794957A CN109794957A CN201910182711.8A CN201910182711A CN109794957A CN 109794957 A CN109794957 A CN 109794957A CN 201910182711 A CN201910182711 A CN 201910182711A CN 109794957 A CN109794957 A CN 109794957A
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Abstract
A kind of modular mechanical clamp hand and working method.Its composition of this product includes: matrix, the matrix is rectangular block, preceding rectangular recess and rear rectangular recess are provided at the top of the matrix, the preceding rectangular recess is parallel to each other with the rear rectangular recess, and the side of the matrix is longitudinally provided with through slot, and the other side of the matrix is longitudinally provided with rectangular opening, the rectangular opening is provided with coil, the coil connects PLC controller, and the preceding rectangular recess is provided with preceding spring, and the rear rectangular recess is provided with rear spring.The present invention is used for modular mechanical clamp hand.
Description
Technical field:
The present invention relates to a kind of modular mechanical clamp hand and working methods.
Background technique:
It during automated production, is widely used as a kind of automation equipment manipulator, to realize crawl, mobile lower part
Etc. functions, helping people to complete, those are dangerous, repeat and scissors and paste, reduce the risk and hardships of human labour, promote
Into the raising of productivity.The workpiece of universal manipulator, clamping is varied, does not need design hand clamper, only needs
Want the structure of a virtual clamper, and then torque needed for determining mechanical wrist part.Using modular practical theory, will press from both sides
Holder is separated with wrist, becomes a kind of knockdown manipulator.It realizes the machine construction multiplicity of clamping jaw open and close movement: having gear teeth
Formula, Worm-gear type or chuck form etc..To heavy load manipulator, it is most important that reduction energy consumption as far as possible, worm and gear
The mechanical efficiency of formula mechanism is very low, unsuitable heavy load machine work；Pinion and-rack mechanism take up space it is larger, running not
It is convenient；Wedge type air spider can substantially reduce required torque when pitching, control it is also fairly simple, but application space compared with
Small, direction change is limited.
Summary of the invention:
The object of the present invention is to provide a kind of structures a kind of simple, response quickly modular mechanical clamp hand and working method.
Above-mentioned purpose is realized by following technical scheme:
A kind of modular mechanical clamp hand, composition includes: matrix, and the matrix is rectangular block, is opened at the top of the matrix
There are preceding rectangular recess and rear rectangular recess, the preceding rectangular recess is parallel to each other with the rear rectangular recess, the base
The side of body is longitudinally provided with through slot, and the other side of the matrix is longitudinally provided with rectangular opening, and the rectangular opening is provided with coil,
The coil connects PLC controller, and the preceding rectangular recess is provided with preceding spring, after the rear rectangular recess is provided with
Spring.
A kind of modular mechanical clamp hand, the interior insertion of the matrix execute frame, and the execution frame includes rectangle
Frame, one end connection clamping plate of the rectangular frame, the other end of the rectangular frame connect armature block, the square
It is connected between shape frame and the armature block, the clamping plate for surface perpendicular rigid, the rectangular frame connection is convex
Block, the convex block are used cooperatively with the clamping plate.
A kind of modular mechanical clamp hand, the clamping plate pass through the through slot, and the armature block is mounted in
In the rectangular opening, the rectangular frame is respectively embedded into the preceding rectangular recess and the rear rectangular recess.
A kind of working method of modular mechanical clamp hand, when the work of individual module machinery clamp hand, outside robotic arm control
Matrix processed reaches designated position, programs the given electric signal of setting coil by PLC；When matrix interior loop generates magnetic field, hold
The armature of row frame is mobile to coil direction by magnetic fields, integrally slides in matrix so that executing frame, that is, realizes clamping plate
The clamping work matched with matrix convex block；When the coil is de-energized, spring pulls rectangular frame to restore origin-location.
The utility model has the advantages that
1. the configuration of the present invention is simple, response quickly being capable of specific aim clamping different small product by adjusting rectangular frame size；
Multiple modular mechanical clamp hands are applied in combination, and can realize that single-point clamps in a set product；The machinery clamp hand is readily disassembled, and is accounted for
It is small with space, it is used cooperatively convenient for assembling.
Detailed description of the invention:
Attached drawing 1 is the structural schematic diagram of this product.
Attached drawing 2 is the structural schematic diagram of this product matrix.
Attached drawing 3 is the top view of attached drawing 2.
Attached drawing 4 is the structural schematic diagram that this product executes frame structural representation.
Attached drawing 5 is the top view of attached drawing 4.
Attached drawing 6 is the left view of attached drawing 4.
Specific embodiment:
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clearly and completely
Description.
Embodiment 1:
A kind of modular mechanical clamp hand, composition include: matrix 2, and the matrix is rectangular block, the top of the matrix
It is provided with preceding rectangular recess 12 and rear rectangular recess 13, the preceding rectangular recess is parallel to each other with the rear rectangular recess, institute
The side for the matrix stated longitudinally is provided with through slot 7, and the other side of the matrix is longitudinally provided with rectangular opening 4, in the rectangular opening
Equipped with coil 3, the coil connects PLC controller, and the preceding rectangular recess is provided with preceding spring 9, the rear rectangle
Groove is provided with rear spring 11.
Embodiment 2:
A kind of modular mechanical clamp hand described in embodiment 1, the interior insertion of the matrix execute frame 1, and the execution frame includes
Rectangular frame 10, one end connection clamping plate 8 of the rectangular frame, the other end of the rectangular frame connect armature block 5,
It is connected between the rectangular frame and the armature block, the clamping plate for surface perpendicular rigid, the rectangle frame
Frame connects convex block 6, and the convex block is used cooperatively with the clamping plate.
Embodiment 3:
A kind of modular mechanical clamp hand as described in example 2, the clamping plate pass through the through slot, and the armature is packaged
In the rectangular opening, the rectangular frame is respectively embedded into the preceding rectangular recess and the rear rectangular recess.
Embodiment 4:
A kind of modular mechanical clamp hand described in embodiment 3, including frame, matrix and coil are executed, frame is executed by armature block, clamping
Plate and rectangular frame composition, clamp plate and armature block are located at rectangular frame both ends, and connect with frame surface perpendicular rigid,
Matrix is a rectangular block, and for upper surface both lateral sides there are preceding rectangular recess and rear rectangular recess, matrix one end is longitudinal there are through slot,
Other end longitudinal direction is there are rectangular opening and installs coil, and coil is connected with PLC controller.When the execution frame is inserted into matrix, folder
Plate is taken to pass through through slot, armature block is placed in rectangular opening, and rectangular frame is then embedded in preceding rectangular recess and rear rectangular recess, and executes
Frame can slide laterally in the base.
Embodiment 5:
A kind of modular mechanical clamp hand described in embodiment 3, including execute frame, matrix, coil and control device；Frame is executed by holding in the mouth
Iron block, clamping plate and frame composition, clamp plate and armature block are located at frame both ends；There are preceding for body upper surface both lateral sides
Rectangular recess and rear rectangular recess, matrix one end is longitudinal, and there are through slots, and matrix other end longitudinal direction is there are rectangular opening and installs wired
Circle executes frame and is inserted into matrix, and clamping plate passes through through slot, and armature block is placed in rectangular opening, and frame is embedded in preceding rectangular recess and rear square
In connected in star, executing frame can slide laterally in the base, and controller is connected with coil.
Frame and groove are rectangle；Clamping plate and armature block rigidly connect perpendicular to rectangular frame surface and with rectangular frame
It connects；Controller is PLC；Clamping plate is several.
Embodiment 6:
A kind of modular mechanical clamp hand described in embodiment 3, including execute frame, matrix, coil and control device；Frame is executed by holding in the mouth
Iron block, clamping plate and frame composition, clamp plate and armature block are located at frame both ends；There are recessed for body upper surface both lateral sides
Slot, matrix one end is longitudinal, and there are through slots, and matrix other end longitudinal direction is there are rectangular opening and is equipped with coil, execute frame and are inserted into matrix,
It clamps plate and passes through through slot, armature block is placed in rectangular opening, and frame is embedded in groove, and executing frame can slide laterally in the base, is controlled
Device processed is connected with coil.Structure is simple, response quickly, can specific aim clamping different small production by adjusting rectangular frame size
Product；Multiple modular mechanical clamp hands are applied in combination, and can realize that single-point clamps in a set product；The machinery clamp hand is readily disassembled,
It occupies little space, is used cooperatively convenient for assembling.
Embodiment 7:
A kind of modular mechanical clamp hand described in embodiment 3, the modular mechanical clamp hand are the cuboid of rule, are easy to multiple moulds
The assembling of block machinery clamp hand is used cooperatively, and the orientation single-point of achievable one group of multiple product clamps task.
Embodiment 8:
A kind of working method of modular mechanical clamp hand, when the work of individual module machinery clamp hand, outside robotic arm controls base
Body reaches designated position, programs the given electric signal of setting coil by PLC；When matrix interior loop generates magnetic field, frame is executed
Armature it is mobile to coil direction by magnetic fields integrally slided in matrix so that executing frame, that is, realize clamping plate and base
The clamping work that body convex block matches；When the coil is de-energized, spring pulls rectangular frame to restore origin-location.
Claims (4)
1. a kind of modular mechanical clamp hand, composition includes: matrix, it is characterized in that: the matrix is rectangular block, it is described
Preceding rectangular recess and rear rectangular recess are provided at the top of matrix, the preceding rectangular recess and the rear rectangular recess are mutually flat
Row, the side of the matrix are longitudinally provided with through slot, and the other side of the matrix is longitudinally provided with rectangular opening, the rectangular opening
It is provided with coil, the coil connects PLC controller, and the preceding rectangular recess is provided with preceding spring, the rear rectangle
Groove is provided with rear spring.
2. a kind of modular mechanical clamp hand according to claim 1, it is characterized in that: insertion executes frame in the matrix,
The execution frame includes rectangular frame, one end of rectangular frame connection clamping plate, the rectangular frame it is another
End connection armature block, connects between the rectangular frame and the armature block, the clamping plate for surface perpendicular rigid,
The rectangular frame connects convex block, and the convex block is used cooperatively with the clamping plate.
3. a kind of modular mechanical clamp hand according to claim 2, it is characterized in that: the clamping plate is across described
Through slot, the armature block in the rectangular opening, the rectangular frame be respectively embedded into the preceding rectangular recess with
In the rear rectangular recess.
4. a kind of working method of modular mechanical clamp hand, it is characterized in that: when the work of individual module machinery clamp hand, it is external
Mechanical arm controls matrix and reaches designated position, programs the given electric signal of setting coil by PLC；When matrix interior loop generates magnetic
When field, the armature for executing frame is mobile to coil direction by magnetic fields, integrally slides, that is, is realized in matrix so that executing frame
The clamping work that clamping plate is matched with matrix convex block；When the coil is de-energized, spring pulls rectangular frame to restore origin-location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910182711.8A CN109794957B (en) | 2019-03-12 | 2019-03-12 | Modularized mechanical clamping arm and working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910182711.8A CN109794957B (en) | 2019-03-12 | 2019-03-12 | Modularized mechanical clamping arm and working method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109794957A true CN109794957A (en) | 2019-05-24 |
| CN109794957B CN109794957B (en) | 2023-10-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910182711.8A Active CN109794957B (en) | 2019-03-12 | 2019-03-12 | Modularized mechanical clamping arm and working method |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07171783A (en) * | 1993-12-17 | 1995-07-11 | Nec Corp | Robot hand |
| CN106514686A (en) * | 2016-11-28 | 2017-03-22 | 山东科技大学 | Electromagnetic mechanical paw with adjustable clamping force and application method thereof |
| CN207578212U (en) * | 2017-12-20 | 2018-07-06 | 宜宾市南溪区科诚机电厂 | Floating tension and compression clamping device outside right-angle position |
| CN207669856U (en) * | 2017-11-01 | 2018-07-31 | 苏州众拓自动化科技有限公司 | Beading cold press multiposition linkage clamp device |
| CN108582024A (en) * | 2018-05-04 | 2018-09-28 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of clamp device of manipulator |
| CN108637777A (en) * | 2018-05-11 | 2018-10-12 | 郑州嘉晨化工科技有限公司 | A kind of digital control mechanical arm clamping device |
| CN108806968A (en) * | 2018-06-16 | 2018-11-13 | 湖北博士隆科技股份有限公司 | A kind of design and production method of electromagnetism self-piercing riveting plate coil |
| CN208575787U (en) * | 2018-06-30 | 2019-03-05 | 伽博尔精密模具配件（大连）有限公司 | A kind of suspension mounting device of nitrogen gas spring component |
-
2019
- 2019-03-12 CN CN201910182711.8A patent/CN109794957B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07171783A (en) * | 1993-12-17 | 1995-07-11 | Nec Corp | Robot hand |
| CN106514686A (en) * | 2016-11-28 | 2017-03-22 | 山东科技大学 | Electromagnetic mechanical paw with adjustable clamping force and application method thereof |
| CN207669856U (en) * | 2017-11-01 | 2018-07-31 | 苏州众拓自动化科技有限公司 | Beading cold press multiposition linkage clamp device |
| CN207578212U (en) * | 2017-12-20 | 2018-07-06 | 宜宾市南溪区科诚机电厂 | Floating tension and compression clamping device outside right-angle position |
| CN108582024A (en) * | 2018-05-04 | 2018-09-28 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of clamp device of manipulator |
| CN108637777A (en) * | 2018-05-11 | 2018-10-12 | 郑州嘉晨化工科技有限公司 | A kind of digital control mechanical arm clamping device |
| CN108806968A (en) * | 2018-06-16 | 2018-11-13 | 湖北博士隆科技股份有限公司 | A kind of design and production method of electromagnetism self-piercing riveting plate coil |
| CN208575787U (en) * | 2018-06-30 | 2019-03-05 | 伽博尔精密模具配件（大连）有限公司 | A kind of suspension mounting device of nitrogen gas spring component |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109794957B (en) | 2023-10-10 |
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