CN206690117U - A kind of magnetic assisted electric clamping jaw - Google Patents
A kind of magnetic assisted electric clamping jaw Download PDFInfo
- Publication number
- CN206690117U CN206690117U CN201720366098.1U CN201720366098U CN206690117U CN 206690117 U CN206690117 U CN 206690117U CN 201720366098 U CN201720366098 U CN 201720366098U CN 206690117 U CN206690117 U CN 206690117U
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- China
- Prior art keywords
- clamping jaw
- magnet
- connecting plate
- transverse slat
- screw nut
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Abstract
It the utility model is related to a kind of magnetic assisted electric clamping jaw, including drive mechanism, transmission mechanism, clip claw mechanism and controlling organization, it is characterised in that：Described transmission mechanism is magnet transmission mechanism, including the magnet B being arranged on the riser of the first clamping jaw connecting plate and the magnet A being arranged in the first screw nut connection plate, the magnet C being arranged on the riser of the second clamping jaw connecting plate and magnet D being arranged in the second screw nut connection plate, first straight line slide rail and second straight line slide rail, first sliding block A and the second sliding block A, first slide block B and the second slide block B, first sliding block A and the first slide block B are slidably matched with first straight line slide rail, second sliding block A and the second slide block B are slidably matched with second straight line slide rail, the transverse slat of the transverse slat of first clamping jaw connecting plate and the second clamping jaw connecting plate is placed between two line slide rails.The utility model power of motor is small, total quality compared with it is small, stroke is big, simple in construction, manufacturing cost is low, and controlled motor direct drive speed is fast, and flexibility is high.
Description
Technical field
The utility model belongs to mechanical device intelligence manufacture field, more particularly to applied to automatic production line manipulator
On, realize a kind of magnetic assisted electric clamping jaw of Automation of Manufacturing Process.
Background technology
Clamping jaw is manipulator front end executing agency.Conventional machinery clamping jaw has hydraulic pressure, air pressure, vacuum, electronic etc., wherein before
Using more, its main advantage is clamping force for three clamping jaws（Suction）Greatly, cost is low, and major defect is that volume is big, displacement and folder
The difficult control of clamp force is, it is necessary to which related match mechanism, some applications are limited.
Robot application replaces manual operation at present, raises labour efficiency, and lowers product cost, be current industry 4.0 most
Promising industry.
Chinese patent 2016105179680 discloses a kind of electronic clamping jaw, including drive division and clamping jaw, the clamping jaw installation
In the bottom of drive division, the clamping jaw includes the first clamping jaw and the second clamping jaw, and the first clamping jaw and the second clamping jaw are connected to drive
Motivation structure, is equipped with sliding detection sensor-based system and deformation sensor-based system on the clamping jaw, and the patent aims to provide one kind can be with
The automatic electronic clamping jaw for calculating and adjusting clamping force.But the shortcomings that electronic clamping jaw of this structure is that quality is big, clamping force has
Limit, complicated etc..
The content of the invention
The utility model is to provide that a kind of stroke is big, clamping force is big, small volume, simple in construction, manufacturing cost is low, response
It hurry up, reliability is high, easy for installation and control accurately magnetic assisted electric clamping jaw.
A kind of magnetic assisted electric clamping jaw of the present utility model, including drive mechanism, transmission mechanism, clip claw mechanism and control
Mechanism, its drive mechanism include motor, respectively the first leading screw and the second leading screw with motor connection, with the first described leading screw and
The first feed screw nut and the second feed screw nut of second threads of lead screw connection, it is characterised in that：
The first described feed screw nut and the second feed screw nut respectively with the first screw nut connection plate and the second leading screw spiral shell
Female connecting plate is fixedly connected,
Described clip claw mechanism is arranged on the bottom of drive mechanism, and described clip claw mechanism includes the be symmetrical set
One clamping jaw and the second clamping jaw, the first clamping jaw connecting plate and the second clamping jaw connecting plate, the first described clamping jaw is by the first clamping jaw transverse slat
Formed with the first clamping jaw riser, the second clamping jaw is made up of the second clamping jaw transverse slat and the second clamping jaw riser, the described second folder
Pawl connecting plate is made up of the riser connected as one with this transverse slat bending of transverse slat, the structure and second of the first clamping jaw connecting plate
The structure of clamping jaw connecting plate is identical, and is symmetrical arranged, the transverse slat point of the transverse slat of the first clamping jaw connecting plate and the second clamping jaw connecting plate
It is not fixed on the first clamping jaw transverse slat and the second clamping jaw transverse slat；
Described transmission mechanism is magnet transmission mechanism, including the magnet B being arranged on the riser of the first clamping jaw connecting plate
With the magnet A being arranged in the first screw nut connection plate, the magnet C being arranged on the riser of the second clamping jaw connecting plate and setting
Magnet D in the second screw nut connection plate, the first straight line slide rail and second straight line slide rail being fixed on housing end face, point
The the first sliding block A and the second sliding block A not being symmetrically and fixedly mounted on the first clamping jaw transverse slat, on the second clamping jaw transverse slat
First slide block B and the second slide block B, the first sliding block A and the first slide block B are slidably matched with first straight line slide rail, the second sliding block A and
Second slide block B is slidably matched with second straight line slide rail, and the transverse slat of the transverse slat of the first clamping jaw connecting plate and the second clamping jaw connecting plate is put
Between two line slide rails.
Preferably, described electric machine built-in or the outer encoder for being used in the detection of clamping jaw shift position.
Preferably, sliding detection sensor is equipped with the clip claw mechanism and transmission mechanism.
Preferably, described magnet is electromagnet.
The utility model in the electronic clamping jaw course of work, in unclamped state both the side clamping jaw of clip claw mechanism open or
When withdrawing idle stroke, magnet A and magnet B adhesive, magnet C and magnet D adhesives.Motor drives the first leading screw, the rotation of the second leading screw
Turn, drive the first feed screw nut, the second feed screw nut to move along a straight line respectively, pass through transmission mechanism, electromagnetic mechanism and clamping jaw machine
Power is passed to the first clamping jaw, the second clamping jaw by structure, and the first clamping jaw is opposite with the second clamping jaw to move（Open）.In the drive of transmission mechanism
When jaw side jaw action is to given coordinate position, whether the sliding detection sensor detection set on clip claw mechanism is grabbed object
In place, as motionless without object clamping jaw, if any object, motor drives the first leading screw, the rotation of the second leading screw, drives first respectively
Thick stick nut, the second feed screw nut are moved along a straight line, and power is passed into the first clamping jaw by transmission mechanism, electromagnetic mechanism and clip claw mechanism
Mechanism, the second clip claw mechanism, the first clip claw mechanism and the second clip claw mechanism relative motion（Clamp）.After promptly object, magnet B
With magnet C coil electricities, seamless applying magnet A and magnet B together is made by control electric current direction, magnet C and magnet D it
Between due to electromagnetism principle of same-sex repulsion, produce powerful electromagnetic repulsion force, promote the first clamping jaw, the second clamping jaw to tighten up and further firmly grasp
Grabbed object；Meanwhile produced between magnet B and magnet C due to magnet principle of opposite sex attraction compared with strong suction（Magnet B and magnet C
Gap very little）Strengthen clamping jaw clamping force.The electronic clamping jaw electromagnetic force in object transmit process is captured one remain it is larger
Clamping force, prevent that object comes off during mechanical arm high-speed motion.Treat that mechanical arm drives jaw action to given transmission coordinate position
When, magnet B and magnet C power-off, magnet A and magnet B adhesive, magnet C and magnet D adhesives, the controlled motor rotation, driving are pressed from both sides
Pawl mechanism opening movement, grabbed object is put down, repeat next circulation.The controlled motor direction of rotation, position control and electromagnetism
Iron conduction time can be controlled by system program.Motor of the present utility model uses below 20W low-power machine.
The utility model has following characteristics：The precise displacement of motor lead screw and magnetic power-assisted are clamped control and melted by the utility model
Be integrated, using small-power can not only drive screw transmission mechanism precise displacement, but also drive magnet mechanism is synchronized with the movement.It is real
Show magnet A magnet B, be seamlessly connected between magnet C magnet D, ensure that magnetic field force is sufficiently strong；Using magnet, identical charges repel each other in clamping process
Power, clamping force is considerably increased, solve that conventional automatically controlled clamping jaw clamping force is smaller, the less problem of confining force；Controlled motor is driven
It is dynamic to ensure clamping jaw displacement accuracy, electromagnet coil power electric current is controlled, ensure that the size of clamping force accurately controls.This practicality is new
Type uses the slider designs of two-orbit 4, improves bending resistance square ability in X, Y, Z axis direction in high-speed motion, has cut down between rail slider
Gap；The electronic clamping jaw power of motor of the utility model is small, total quality compared with it is small, stroke is big, simple in construction, manufacturing cost is low,
Reliability is high, and controlled motor direct drive speed is fast, and flexibility is high.
Brief description of the drawings
Fig. 1 is the structural representation of the electronic clamping jaw of the utility model.
Fig. 2 is that the utility model is dismantled the structural representation of a side slide and slide rail.
Fig. 3 is the structural representation of the utility model clamping jaw connecting plate.
Embodiment
As illustrated, a kind of magnetic assisted electric clamping jaw of the present utility model, including drive mechanism, transmission mechanism, clamping jaw machine
Structure and controlling organization, the first leading screw 20 and the second leading screw 3 that its drive mechanism includes motor 1, is connected respectively with motor 1, with institute
The first leading screw 20 stated and the first feed screw nut 21 and the second feed screw nut 2 of the threaded connection of the second leading screw 3, it is characterised in that：
The first described feed screw nut 21 and the second feed screw nut 2 respectively with the first screw nut connection plate 19 and second
Thick stick nut connecting plate 4 is fixedly connected, electric machine built-in of the present utility model or the outer encoder for being used in the detection of clamping jaw shift position.
As shown in figure 3, described clip claw mechanism is arranged on the bottom of drive mechanism, it is right that described clip claw mechanism includes left and right
Claim the first clamping jaw and the second clamping jaw set, the first clamping jaw connecting plate 16 and the second clamping jaw connecting plate 7, the first described clamping jaw by
First clamping jaw transverse slat 13 and the first clamping jaw riser 12 are formed, and the second clamping jaw is by the second clamping jaw transverse slat 12 and the second clamping jaw riser 22
Formed, the 7-2 risers institute group that the second described clamping jaw connecting plate 7 is connected as one by transverse slat 7-1 and the 7-1 bendings of this transverse slat
Into the structure of the first clamping jaw connecting plate is identical with the structure of the second clamping jaw connecting plate, not shown in figure and is symmetrical arranged, the first folder
The transverse slat of the transverse slat of pawl connecting plate and the second clamping jaw connecting plate is separately fixed on the first clamping jaw transverse slat and the second clamping jaw transverse slat；
Described transmission mechanism is magnet transmission mechanism, including the magnet being arranged on the riser of the first clamping jaw connecting plate 16
B17 and the magnet A 18 being arranged in the first screw nut connection plate 19, the magnetic being arranged on the riser of the second clamping jaw connecting plate 7
Iron C6 and the magnet D5 being arranged in the second screw nut connection plate 4, the first straight line slide rail 8 being fixed on housing end face and the
Two line slide rails 9, not shown in its housing figure, the first sliding block A14 for being respectively symmetrically fixedly mounted on the first clamping jaw transverse slat 13
With the second sliding block A15, the first slide block B 11 and the second slide block B 10 on the second clamping jaw transverse slat 12, the first sliding block A14 and
First slide block B 15 is slidably matched with first straight line slide rail 8, and the second sliding block A11 and the second slide block B 10 are slided with second straight line slide rail 9
Dynamic to coordinate, the transverse slat of the transverse slat of the first clamping jaw connecting plate and the second clamping jaw connecting plate is placed between two line slide rails.
The utility model is equipped with sliding detection sensor on described clip claw mechanism and transmission mechanism.It slides detection
Whether in place sensor detection is grabbed object, such as motionless without object clamping jaw, and if any object, motor drives the first leading screw, second
Leading screw rotate, drive the first feed screw nut, the second feed screw nut to move along a straight line respectively, by transmission mechanism, electromagnetic mechanism and
Power is passed to the first clip claw mechanism, the second clip claw mechanism, the first clip claw mechanism and the second clip claw mechanism relative motion by clip claw mechanism
（Clamp）.
Magnet described in the utility model is electromagnet, can also use permanent magnet.By the control coil sense of current, i.e.,
Magnet NS extreme directions can be achieved to change.Controlled motor direction of rotation, Bit andits control and electromagnet conduction time can be by automatically controlling
The system program control of device.After promptly object, magnet B and magnet C coil electricities, seamless paste is made by control electric current direction
The magnet A and magnet B being combined, due to electromagnetism principle of same-sex repulsion between magnet C and magnet D, produce powerful electromagnetism reprimand
Power, promote the first clamping jaw, the second clamping jaw to tighten up and further promptly grabbed object；Meanwhile due to magnet between magnet B and magnet C
Principle of opposite sex attraction, produce compared with strong suction（Magnet B and magnet C gaps very little）Strengthen clamping jaw clamping force.
Transmission mechanism of the present utility model, clip claw mechanism, electronic clamping jaw housing need to select non-magnet material.
The way of realization that content described in embodiment is only conceived to the utility model being enumerated, guarantor of the present utility model
The concrete form for being not construed as being only limitted to embodiment and being stated of scope is protected, the scope of protection of the utility model is also and in this
Art personnel according to the utility model design it is conceivable that equivalent technologies mean.
Claims (4)
1. a kind of magnetic assisted electric clamping jaw, including drive mechanism, transmission mechanism, clip claw mechanism and controlling organization, its drive mechanism
Including motor, the first leading screw and the second leading screw with motor connection respectively, connect with the first described leading screw and the second threads of lead screw
The first feed screw nut and the second feed screw nut connect, it is characterised in that：
The first described feed screw nut and the second feed screw nut connect with the first screw nut connection plate and the second feed screw nut respectively
Fishplate bar is fixedly connected,
Described clip claw mechanism is arranged on the bottom of drive mechanism, and described clip claw mechanism includes the first folder being symmetrical set
Pawl and the second clamping jaw, the first clamping jaw connecting plate and the second clamping jaw connecting plate, the first described clamping jaw is by the first clamping jaw transverse slat and
One clamping jaw riser is formed, and the second clamping jaw is made up of the second clamping jaw transverse slat and the second clamping jaw riser, and the second described clamping jaw connects
Fishplate bar is made up of the riser connected as one with this transverse slat bending of transverse slat, structure and the second clamping jaw of the first clamping jaw connecting plate
The structure of connecting plate is identical, and is symmetrical arranged, and the transverse slat of the transverse slat of the first clamping jaw connecting plate and the second clamping jaw connecting plate is solid respectively
It is scheduled on the first clamping jaw transverse slat and the second clamping jaw transverse slat；
Described transmission mechanism is magnet transmission mechanism, including the magnet B being arranged on the riser of the first clamping jaw connecting plate and is set
The magnet A in the first screw nut connection plate is put, the magnet C being arranged on the riser of the second clamping jaw connecting plate and is arranged on the
Magnet D in two screw nut connection plates, the first straight line slide rail and second straight line slide rail being fixed on housing end face are right respectively
Claim to be fixedly mounted on the first sliding block A and the second sliding block A on the first clamping jaw transverse slat, first on the second clamping jaw transverse slat
Slide block B and the second slide block B, the first sliding block A and the first slide block B are slidably matched with first straight line slide rail, the second sliding block A and second
Slide block B is slidably matched with second straight line slide rail, and the transverse slat of the transverse slat of the first clamping jaw connecting plate and the second clamping jaw connecting plate is placed in two
Between individual line slide rail.
2. magnetic assisted electric clamping jaw according to claim 1, it is characterised in that described electric machine built-in is used in folder outside
The encoder of pawl shift position detection.
3. magnetic assisted electric clamping jaw according to claim 1, it is characterised in that in described clip claw mechanism and transmission mechanism
On be equipped with sliding detection sensor.
4. magnetic assisted electric clamping jaw according to claim 1, it is characterised in that described magnet is electromagnet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720366098.1U CN206690117U (en) | 2017-04-10 | 2017-04-10 | A kind of magnetic assisted electric clamping jaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720366098.1U CN206690117U (en) | 2017-04-10 | 2017-04-10 | A kind of magnetic assisted electric clamping jaw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206690117U true CN206690117U (en) | 2017-12-01 |
Family
ID=60441947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720366098.1U Expired - Fee Related CN206690117U (en) | 2017-04-10 | 2017-04-10 | A kind of magnetic assisted electric clamping jaw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206690117U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106863340A (en) * | 2017-04-10 | 2017-06-20 | 辽宁科技大学 | A kind of magnetic assisted electric clamping jaw |
-
2017
- 2017-04-10 CN CN201720366098.1U patent/CN206690117U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106863340A (en) * | 2017-04-10 | 2017-06-20 | 辽宁科技大学 | A kind of magnetic assisted electric clamping jaw |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171201 Termination date: 20210410 |