CN205766201U - A kind of electronic jaw of band force feedback - Google Patents
A kind of electronic jaw of band force feedback Download PDFInfo
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- CN205766201U CN205766201U CN201620651679.5U CN201620651679U CN205766201U CN 205766201 U CN205766201 U CN 205766201U CN 201620651679 U CN201620651679 U CN 201620651679U CN 205766201 U CN205766201 U CN 205766201U
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- force feedback
- jaw
- measuring device
- micro
- displacement measuring
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Abstract
The utility model discloses the electronic jaw of a kind of band force feedback, including jaw main body and finger, described jaw main body includes guide frame, motion transmission structure, gear reduction unit, driving motor, force feedback mechanism, control circuit plate and track base；Described force feedback mechanism is provided with micro-displacement measuring device, micro-displacement measuring device uses hall sensing type micro-displacement measuring device, described driving motor and gear reduction unit are fixed on the decelerator installing plate of L-type, described finger and the fixing connection of guide frame, and guide frame is slidably connected on track base, described force feedback mechanism is formed the leverage of displacement equations by two axles being fixed on shell.The electronic jaw of this band force feedback is reasonable in design, and simple in construction is easy to operate；Use failure rate is low, safety in utilization and good operation stability；Solve the problem that cannot accurately control gripping power, it is possible to the size of Real-time Feedback gripping power.
Description
Technical field
This utility model relates to a kind of electronic jaw, the electronic jaw of a kind of band force feedback.
Background technology
Industrial automation industry, mobile robot can use mechanical arm arrange to the carrying carrying out material, such as sorting
Robot, explosive-removal robot.In medical treatment automation equipment, such as blood analyser, biochemistry analyzer, blood smear preparing instrument,
It is also adopted by mechanical hand to carry out the scheduling of test tube, test tube rack and microscope slide, delivery, in some above application, mechanical hand end
End clamper the most all uses Pneumatic clamping jaw to realize.But Pneumatic clamping jaw needs to use air pump, has very in some of the above occasion
Many restrictions, additionally Pneumatic clamping jaw also can produce noise, so having occurred as soon as electronic jaw, having abandoned source of the gas, having simplified factory, connecing electricity
I.e. use.
Electronic jaw of the prior art generally uses servomotor or step motor drive to control, it is achieved the folder of jaw
Hold.After clamping object, existing electronic jaw is all without strong Real-time Feedback device, it is impossible to know the dynamics of gripping object, more
Cannot accurately control the size of gripping power, punching crossed by motor can produce impact to caught object, damages object, also can be to jaw transmission
System produces impact, such as gear, shaft coupling, causes lifetime of system to decline.
Utility model content
The purpose of this utility model is to provide the electronic jaw of a kind of band force feedback, to solve to carry in above-mentioned background technology
The problem gone out.
For achieving the above object, the following technical scheme of this utility model offer:
The electronic jaw of a kind of band force feedback, including jaw main body and finger, described jaw main body includes guide frame, fortune
Dynamic drive mechanism, gear reduction unit, driving motor, force feedback mechanism, control circuit plate and track base；Described force feedback mechanism sets
Being equipped with micro-displacement measuring device, micro-displacement measuring device uses hall sensing type micro-displacement measuring device, described driving motor
It is fixed on the decelerator installing plate of L-type with gear reduction unit；Described motion transmission structure is by two ladder types to band nut
Screw mandrel forms；Described finger and guide frame are fixed and are connected, and guide frame is slidably connected on track base；Described force feedback machine
Structure is formed the leverage of displacement equations by two axles being fixed on shell, and described leverage is provided with Magnet.
As further program of the utility model: described finger uses stainless steel.
As further program of the utility model: described driving motor uses servomotor.
Compared with prior art, the beneficial effects of the utility model are:
The electronic jaw of this band force feedback is reasonable in design, and simple in construction is easy to operate；Use failure rate is low, use peace
Full property and good operation stability, can avoid crossing punching due to motor simultaneously and caught object produces impact and produces drive system
Impact, improves service life；Solving the problem that cannot accurately control gripping power, the electronic jaw of this band force feedback is integrated with
Power displacement converted mechanism and micro-displacement measuring device based on Hall element thereof, it is possible to the size of Real-time Feedback gripping power.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the electronic jaw of band force feedback；
Fig. 2 is the agent structure schematic diagram of the electronic jaw of band force feedback；
Wherein: 1-jaw main body；2-finger；3-guide frame；4-motion transmission structure；5-gear reduction unit；6-drives
Motor；7-force feedback mechanism；8-control circuit plate；9-track base.
Detailed description of the invention
Below in conjunction with detailed description of the invention, the technical scheme of this patent is described in more detail.
Referring to Fig. 1-2, the electronic jaw of a kind of band force feedback, including jaw main body 1 and finger 2, finger 2 is as clamping
Part, directly or indirectly clamps object, and described jaw main body 1 includes guide frame 3, motion transmission structure 4, gear reduction unit 5, drives
Galvanic electricity machine 6, force feedback mechanism 7, control circuit plate 8 and track base 9；Described force feedback mechanism 7 is provided with micro-displacement measuring device,
Micro-displacement measuring device uses hall sensing type micro-displacement measuring device, described driving motor 6 and gear reduction unit 5 to install solid
It is scheduled on the decelerator installing plate of L-type, forms motor reducer module；Described motion transmission structure 4 is by two ladders to band nut
Type screw mandrel forms, and the rotary motion of T-shaped screw mandrel is transformed into the linear motion of nut by motion transmission structure 4；Described finger 2 and leading
To the fixing connection of structure 3, and guide frame 3 is slidably connected on track base 9, constitutes transmission module with track base 9；Described power is anti-
Feedback mechanism 7 is made up of the leverage of displacement equations two axles being fixed on shell, and described leverage is provided with Magnet,
It is used for producing the magnetic field of movement.As preferentially, described finger 2 uses stainless steel；As preferably, described driving motor 6 is adopted
Use servomotor.
Operation principle of the present utility model is: when finger 2 grip objects, and this chucking power can be transmitted by guide frame 3
On motion 4, then it is delivered on force feedback mechanism 7 chucking power is converted into micrometric displacement by motion 4, finally by
Hall element on control circuit plate 8 detects the size of displacement, can by the change of voltage swing on Hall element
Know the change of displacement size, then the change by displacement with the equivalence change acquisition chucking power size of chucking power size, thus logical
Cross increase or reduce electric current to control chucking power size, it is achieved the accurate control to chucking power.
The electronic jaw of this band force feedback is reasonable in design, and simple in construction is easy to operate；Use failure rate is low, use peace
Full property and good operation stability, can avoid crossing punching due to motor simultaneously and caught object produces impact and produces drive system
Impact, improves service life；Solving the problem that cannot accurately control gripping power, the electronic jaw of this band force feedback is integrated with
Power displacement converted mechanism and micro-displacement measuring device based on Hall element thereof, it is possible to the size of Real-time Feedback gripping power.
It is obvious to a person skilled in the art that this utility model is not limited to the details of above-mentioned one exemplary embodiment, and
And in the case of without departing substantially from spirit or essential attributes of the present utility model, it is possible to realize this practicality in other specific forms new
Type.Therefore, no matter from the point of view of which point, all should regard embodiment as exemplary, and be nonrestrictive, this practicality is new
The scope of type is limited by claims rather than described above, it is intended that by the containing of equivalency in claim that fall
All changes in justice and scope are included in this utility model.Should not be considered as any reference in claim limiting
Involved claim.
Although moreover, it will be appreciated that this specification is been described by according to embodiment, but the most each embodiment only wraps
Containing an independent technical scheme, this narrating mode of description is only that for clarity sake those skilled in the art should
Description can also be formed those skilled in the art through appropriately combined as an entirety, the technical scheme in each embodiment
May be appreciated other embodiments.
Claims (3)
1. the electronic jaw of a band force feedback, it is characterised in that include jaw main body (1) and finger (2), described jaw main body
(1) include guide frame (3), motion transmission structure (4), gear reduction unit (5), drive motor (6), force feedback mechanism (7), control
Circuit board processed (8) and track base (9)；Described force feedback mechanism (7) is provided with micro-displacement measuring device, and micro-displacement measuring device is adopted
With hall sensing type micro-displacement measuring device, described driving motor (6) is fixed on subtracting of L-type with gear reduction unit (5)
On speed device installing plate；The ladder type screw mandrel of band nut is formed by described motion transmission structure (4) by two；Described finger (2) and guiding
Structure (3) is fixing to be connected, and guide frame (3) is slidably connected on track base (9)；Described force feedback mechanism (7) is solid by two
The leverage of the axle composition displacement equations being scheduled on shell, described leverage is provided with Magnet.
The electronic jaw of band force feedback the most according to claim 1, it is characterised in that described finger (2) uses rustless steel
Material.
The electronic jaw of band force feedback the most according to claim 1, it is characterised in that described driving motor (6) uses and watches
Take motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620651679.5U CN205766201U (en) | 2016-06-27 | 2016-06-27 | A kind of electronic jaw of band force feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620651679.5U CN205766201U (en) | 2016-06-27 | 2016-06-27 | A kind of electronic jaw of band force feedback |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205766201U true CN205766201U (en) | 2016-12-07 |
Family
ID=58128174
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620651679.5U Active CN205766201U (en) | 2016-06-27 | 2016-06-27 | A kind of electronic jaw of band force feedback |
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| CN (1) | CN205766201U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584443A (en) * | 2016-12-22 | 2017-04-26 | 苏州元谋智能机器人系统有限公司 | Modularized electric actuator |
| CN108326885A (en) * | 2017-01-17 | 2018-07-27 | 慧灵科技（深圳）有限公司 | A kind of electronic clamping jaw of big stroke of built-in controller |
| CN110658913A (en) * | 2018-06-29 | 2020-01-07 | 深圳市掌网科技股份有限公司 | Pressure unit and force feedback data glove based on electromagnetic effect |
| CN112873262A (en) * | 2021-03-17 | 2021-06-01 | 江苏龙城精锻有限公司 | Electric clamping jaw |
-
2016
- 2016-06-27 CN CN201620651679.5U patent/CN205766201U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584443A (en) * | 2016-12-22 | 2017-04-26 | 苏州元谋智能机器人系统有限公司 | Modularized electric actuator |
| CN108326885A (en) * | 2017-01-17 | 2018-07-27 | 慧灵科技（深圳）有限公司 | A kind of electronic clamping jaw of big stroke of built-in controller |
| CN108326885B (en) * | 2017-01-17 | 2023-10-13 | 慧灵科技（深圳）有限公司 | Large-stroke electric clamping jaw with built-in controller |
| CN110658913A (en) * | 2018-06-29 | 2020-01-07 | 深圳市掌网科技股份有限公司 | Pressure unit and force feedback data glove based on electromagnetic effect |
| CN110658913B (en) * | 2018-06-29 | 2023-04-18 | 深圳市掌网科技股份有限公司 | Pressure unit and force feedback data glove based on electromagnetic effect |
| CN112873262A (en) * | 2021-03-17 | 2021-06-01 | 江苏龙城精锻有限公司 | Electric clamping jaw |
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| GR01 | Patent grant |