CN207930685U - a kind of flexible clamping system - Google Patents
a kind of flexible clamping system Download PDFInfo
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- CN207930685U CN207930685U CN201820092406.0U CN201820092406U CN207930685U CN 207930685 U CN207930685 U CN 207930685U CN 201820092406 U CN201820092406 U CN 201820092406U CN 207930685 U CN207930685 U CN 207930685U
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Abstract
The utility model is related to a kind of flexible clamping systems, set on the end of manipulator, for clamped part to be clamped, include the gear unit of the fixed cell for connecting the manipulator, at least one set of power unit and clamping unit on the fixed cell, and power unit and the clamping unit described in same group of connection.Wherein, the power-conversion that gear unit exports power unit at clamping unit linear motion；Power unit controls the stroke of its corresponding clamping unit；Clamping unit sends open command according to preset value to its corresponding control unit.Flexible clamping system provided by the present application has stable speed, and convenient for adjusting the size of retentivity, to solve the technical issues of being clamped part damage in handling process, is suitable for various clamped parts.
Description
Technical field
The utility model is related to the stretch system of mechanical arm, more particularly to a kind of flexible clampings on mechanical arm
System.
Background technology
Industrial age, pursuing efficiency and quality just becomes a kind of trend.As going up for cost of labor is climing with industry 4.0
Prolong, automation is more and more universal, and manipulator is using more and more common, but much fine work only can not be straight by manipulator
Realization is connect, thus needs that corresponding mechanical system is installed in the end of manipulator.For simulating human hand aid carrying, need to rely on
In the end of manipulator, installation grasping system realizes the work accurately carried.Grasping system is mainly by aid cylinder or suction at present
Disk clamps clamped part, but the aid power and retentivity of cylinder are directly proportional, and then retentivity is big greatly for aid power, excessive guarantor
Holding force is unfavorable for being clamped；And the speed of cylinder is unstable, and aid speed is too fast, be easy to cause carrying damage；Sucker requires object
Product surface is smooth, while gripping strength is small, therefore applicable surface is narrow.
Utility model content
The purpose of this utility model is to provide a kind of flexible clamping systems, have stable speed, and protect convenient for adjusting
The size of holding force is suitable for various clamped parts to solve the technical issues of being clamped part damage in handling process.
To solve the above-mentioned problems, the technical solution of the utility model is：
A kind of flexible clamping system is set to the end of manipulator, for clamped part, including the connection manipulator to be clamped
Fixed cell, institute at least one set of power unit being set on the fixed cell and clamping unit, and same group of connection
State the gear unit of power unit and the clamping unit；
The power-conversion that the gear unit exports power unit at clamping unit linear motion；
The power unit controls the stroke of its corresponding clamping unit；
It is equipped with preset value in the clamping unit, and open command is sent to its corresponding control unit according to preset value；
The clamped part is placed on fixed cell, and the power unit drives clamping unit laterally to move by gear unit
Dynamic, so that clamping unit clamping is clamped part, clamping unit reaches sends the open command after preset value to power unit, moves
Power unit receives the open command and is stopped, and clamping unit keeps the retentivity to being clamped part.
Preferably, the clamping unit includes the guide part being set on fixed cell and is movably connect with the guide part
Clamp assemblies；
The gear unit connects the clamp assemblies, and controls the lateral displacement of clamp assemblies.
Preferably, the clamp assemblies include elastic component, and the elastic component is for providing the retentivity.
Preferably, the clamp assemblies include the first link block and the second link block being slidably connected, and are connected to described
Clamping piece on two link blocks；
The clamping piece is slidably connected with guide part,；The elastic component is set to first link block and described second and connects
It connects between block；When clamping, gear unit drives the first link block, and by the second link block of resilient element urges, and clamping piece is with the
Two link blocks move laterally together, and are finally clamped with clamped part.
Preferably, the clamp assemblies further include the sensor being set on the first link block,
The sensor is provided with the preset value, and sensor detects the movable information of clamp assemblies, and controls power list
The disconnection of member.
Preferably, the clamp assemblies further include the guide holder being slidably connected with the guide part, and the clamping piece passes through
The guide holder is slidably connected with guide part
Preferably, first link block is connected by sliding bar on the second link block and the sliding of the second link block
It connects, the sliding bar runs through the elastic component.
Preferably, the gear unit includes the drive link that both ends are separately connected power unit and the first link block, transmission
Bar is threadedly coupled with the first link block.
Preferably, the clamping unit further includes the locating part being set on fixed cell, and the fixed cell is in the limit
The region placed and be clamped part is formed between position part and clamp assemblies.
Preferably, the power unit includes the motor for connecting gear unit.
Compared with the existing technology, the advantageous effect of the application is：
First, the power unit of the application uses motor, gear unit to use screwed drive link by power unit
Conversion of motion be clamped relative to using cylinder and sucker at the linear motion of clamp assemblies to which clamping is clamped part
Mode, the application has stable speed, therefore the probability of clamped part damage is reduced in clamping process.
Secondly, the clamp assemblies of the application provide the retentivity to it to being clamped part, and retentivity by elastic component
It can be adjusted by controlling the compression degree of elastic component, thus application is more flexible, can be turned down for more crisp clamped part
Retentivity tunes up retentivity, to ensure the stability of the clamped part in handling process for hard, heavier clamped part.
Description of the drawings
Fig. 1 is the structural schematic diagram of the application；
Fig. 2 is the partial enlarged view of Fig. 1.
Wherein, 1, motor, 2, guide part, 3, fixed plate, 4, sensor, 5, sliding bar, the 6, first link block, 7, elasticity
Part, 8, clamping piece, the 9, second link block, 10, guide holder, 11, protective frame, 12, drive link, 13, locating part.
Specific implementation mode
A kind of flexible clamping system that the application proposes is made further specifically below in conjunction with the drawings and specific embodiments
It is bright.According to following explanation and claims, will be become apparent from feature the advantages of the utility model.It should be noted that attached drawing is equal
Non-accurate ratio is used using very simplified form and, only to convenient, lucidly aid illustration the utility model is real
Apply the purpose of example.
It please refers to Fig.1 and Fig. 2, a kind of flexible clamping system is installed on the end of manipulator, for clamped part to be clamped,
Then clamped part is transported to designated position with manipulator.The flexible clamping system includes fixed cell, power list
Member, gear unit and clamping unit.The fixed cell connects manipulator, is placed with clamped part thereon, fixed cell is main
For fixed conveyor unit, power unit and clamping unit；The both ends of the gear unit are separately connected power unit and clamping
Unit, the conversion of motion for exporting power unit are the linear motion of clamping unit；The power unit is grasping system
Power is provided, by controlling the break-make of power unit when clamping, controls the stroke of the clamping unit, wherein power unit is disconnected
Instruction is opened to be sent according to the preset value set in the inner by clamping unit；The clamping unit is kept for clamped part to be clamped
Clamp position solves the phenomenon that clamped part is damaged because of shaking to make clamped part remain stationary as in the handling process.
When clamping, under the action of gear unit, the clamping unit does lateral linear motion, clamping unit gradually with quilt
Clamping piece contact and finally clamped, clamping unit to reach preset value after to control unit send open command, control
Unit is stopped, and clamping unit keeps clamp position, at this point, clamping unit has retentivity to clamped part.
Specifically, fixed cell includes fixed plate 3 and the protective frame 11 set on 3 both sides of fixed plate, wherein protective frame 11 is led
Protective action is played, prevents from being clamped part in handling process due to surprisingly shaking from grasping system landing；Clamped part is placed
According to the determination of the concrete shape of clamped part it is directly placed in fixed plate 3 in fixed plate 3, or it is flat by one
Platform is placed in fixed plate 3, and the application does not limit the specific modes of emplacement for being clamped part.It is fixed at least in fixed plate 3
One group of above-mentioned gear unit, power unit and clamping unit, as shown in Figure 1, in the present embodiment, it is symmetrical in a fixed plate 3
Provided with two groups of gear units, power unit and clamping unit, the middle part of fixed plate 3 by the fasteners such as connecting seat and bolt with
Manipulator is detachably connected.It corresponds to two groups of gear units it should be noted that the application is not limited to a fixed cell, move
Power unit and clamping unit.The technical solution of the application is stated for clarity, as shown in Fig. 2, below with same group of transmission
It is illustrated for unit, power unit and clamping unit.
Specifically, clamping unit includes the guide part 2 being set in fixed plate 3 and the folder movably being connect with the guide part 2
Hold component.The guide part 2 can be simple strip solid, sliding rail etc., as preferred for being oriented to clamp assemblies
, sliding rail is selected in the present embodiment because sliding rail can direct selection standard part, obtain more convenient.In the present embodiment, perpendicular
Sliding rail there are two setting upwards, is fixed on by fasteners such as bolts in fixed plate 3.
The further clamp assemblies connect the gear unit, and realize lateral displacement by gear unit.Its
In, the clamp assemblies include elastic component 7, the first link block 6 being slidably connected and the second link block 9, guide holder 10 and connect
The clamping piece 8 being connected on second link block 9.
In the present embodiment, each guide part 2 each correspondence, one guide holder 10 below the guide holder 10 is led with described
To 2 matched sliding slot of part, an affixed mounting plate above sliding slot, sliding slot is slidably connected with guide part 2, and sliding slot is the prior art, and
And present invention point does not lie in the concrete structure of sliding slot, therefore the application does not state in detail herein.
The mounting plate of guide holder 10 can connect the second link block 9 and clamping piece 8 simultaneously, consider each section parts
Stress and economy problems after, preferably, in the present embodiment, clamping piece 8 is connected to by fasteners such as bolts
On mounting plate, the second link block 9 is connect with grip block.
In clamping process, the clamping piece 8 connects clamped part by way of clamping.The application is not to clamping piece 8
Concrete shape limit, preferably, in the present embodiment clamping piece 8 as shown in Fig. 2, clamping piece 8 be channel steel shape, opening
Towards the side for placing clamped part, bottom connection plate.Clamping piece 8 and the second connecting plate can be removable by fastener mode
Connection is unloaded, also can be affixed by the modes such as welding, riveting, the application does not limit specific connection type, preferably, this
In embodiment, clamping piece 8 is connected with the second connecting plate by fasteners such as bolts, in order to dismantle.
At the relationship of being slidably connected, the application does not do its specific sliding connection structure for first link block 6 and the second link block 9
It limits, preferably, as shown in Fig. 2, in the present embodiment, the both ends of second link block 9 are respectively and fixedly connected with a sliding bar 5,
Sliding bar 5 runs through the first link block 6, therefore the first link block 6 can be slided on sliding bar 5.Further, this implementation
In example, sliding bar 5 is connected with a nut in the threaded one end close to the first link block, in order to pair the first company when accident occurs
Fitting carries out axial limiting.The middle part of first link block 6 is equipped with the tapped through hole of connection gear unit, and the first link block 6 can be
Make laterally linear motion under the action of gear unit.
Elastic component 7 is set between the first link block 6 and the second link block 9, and the sliding bar 5 runs through elastic component 7.The bullet
Property part 7 be mainly used for providing retentivity of the clamp assemblies to being clamped part, the elastic component 7 in the present embodiment selects helical spring,
But the elastic component 7 of the application is not limited to helical spring.In clamping process, the first link block 6 under the action of gear unit to
Active force is transferred to the second link block 9 by the direction movement of clamped part, elastic component 7 from the first link block 6 first, and due to the
Two link blocks 9 connect clamping piece 8, and clamping piece 8 connects guide holder 10, thus the second link block 9, clamping piece 8 and guide holder 10
It is moved together to clamped part direction along guide part 2.As clamp assemblies move closer to, it is placed on clamped in fixed plate 3
Part is slowly caught in the opening of clamping piece 8, realizes clamping function；Then the first link block 6 is in power unit and gear unit
Continue to move under effect, 7 compress energy storage of elastic component, makes that there is interaction force between clamp assemblies and clamped part, work as power
After unit is stopped, elastic component 7 provides clamp assemblies to the active force of clamping piece 8, i.e., above-mentioned retentivity.Further, institute
It needs the size of retentivity to be determined according to the demand of clamped part, realizes that different size of retentivity can be by selecting different shaped
Number helical spring realize, can also be realized by adjusting the compression degree of elastic component 7.
Specifically, if clamped part and fixed cell or placement are clamped the frictional force between zero/component of part and expire
When foot requires, retentivity of the clamp assemblies to clamped part can be set, when clamped part and fixed cell or placed clamped
When frictional force between zero/component of part is too small, it is not easy to retentivity of the setting clamp assemblies to clamped part.It is above-mentioned to solve
The clamping unit of problem, the present embodiment further includes locating part 13, and the fixed plate 3 is formed between locating part 13 and clamp assemblies
Place the region for being clamped part.The locating part 13 is used to limit clamped part, can be the parts such as baffle or block.Institute
Stating locating part 13 can be detachably connected by fastener and fixed plate 3, also can be fixed on fixed plate by the modes such as welding, riveting
On 3, kind of connection type before being selected in the present embodiment, in order to dismantle, to replace adaptation in the different clamped parts of clamping
Locating part 13.During aid, as clamp assemblies travel forward, when clamped part is caught in clamping piece 8 and is in contact with it,
Power unit works on, and clamped part is moved together with clamp assemblies, after clamped part contacts locating part 13, is clamped part
It is connected to clamping piece 8, the second link block 9 and guide holder 10 and is not just carrying out transverse shifting, while elastic component 7 starts compression and stores
Can, after the first link block 6 reaches preset position, clamp assemblies send open command to power unit, and power unit connects
Receive to instruct and simultaneously be stopped, gear unit and clamp assemblies enter locking state, the locking state indicate clamp assemblies and
Clamped part remains stationary as, and elastic component 7 provides retentivity of the clamp assemblies to clamped part.
Specifically, preferably, in the present embodiment, clamp assemblies further include the sensor being set on the first link block 6
4, the sensor 4 is detachably connected with the first link block 6 by fastener.Sensor 4 can be range sensor, pressure sensing
Device etc., the application limits not to this, is illustrated with range sensor in the present embodiment.The position of sensor 4 and clamping piece 8
It is corresponding, for detecting the distance between itself and clamping piece 8.The preset value of distance is equipped in sensor 4, when the distance that it is detected
When equal to or less than preset value, sensor 4 sends open command to power unit, and power unit receives to instruct and stops work
Make.Above-mentioned preset value according to clamped part can set, and be breakables if it is clamped part, then can will be pre-
If value tunes up, correspondingly, the retentivity between clamp assemblies and clamped part can be less than normal, thus clamp assemblies can clamp by
Clamping piece, and clamped part will not be damaged because aid power is excessive；If article heavier when clamped part and that matter is hard, can incite somebody to action
Preset value is turned down, correspondingly, the retentivity between clamp assemblies and clamped part can be bigger than normal, thus in clamping piece 8 and this flexibility
During grasping system is moved with manipulator, without departing from clamping piece 8.
Specifically, power unit includes motor 1, the output end of motor 1 can be directly connected to gear unit, can also pass through deceleration
Machine connects gear unit, and the present embodiment selects the former.In the present embodiment, motor 1 is electrically connected with sensor 4, in clamping process
Sensor 4 controls the open command of motor 1.The speed exported relative to the mode driven with cylinder, sucker, motor 1
It is more stable, convenient for control, clamped part will not be hurt.
Specifically, gear unit is used to the convert rotational motion of motor 1 being in line movement, gear unit may be used more
Kind structure is realized, such as gear ＆ rack structure, the application are specifically limited not to this, but in the present embodiment, gear unit includes
Drive link 12, external screw thread is provided on drive link 12, and one end of drive link 12 connects power unit, the other end and the first link block
6 are threadedly coupled.Motor 1 drives drive link 12 to rotate, and the first link block 6 is made to move in a straight line.
The application is illustrated above in association with the drawings and specific embodiments, however, this application is not limited to this, any
What those skilled in the art can think variation, should all fall in the protection domain of the application.
Claims (10)
1. a kind of flexible clamping system is set to the end of manipulator, for clamped part to be clamped, which is characterized in that including connection
The fixed cell of the manipulator, at least one set of power unit being set on the fixed cell and clamping unit, and connection
The gear unit of power unit and the clamping unit described in same group；
The power-conversion that the gear unit exports power unit at clamping unit linear motion；
The power unit controls the stroke of its corresponding clamping unit；
It is equipped with preset value in the clamping unit, and open command is sent to its corresponding control unit according to preset value,
The clamped part is placed on fixed cell, and the power unit drives clamping unit transverse shifting by gear unit,
So that clamping unit clamping is clamped part, clamping unit reaches sends the open command, power after preset value to power unit
Unit receives the open command and is stopped, and clamping unit keeps the retentivity to being clamped part.
2. flexible clamping system as described in claim 1, which is characterized in that the clamping unit includes being set on fixed cell
Guide part and the clamp assemblies that are movably connect with the guide part；
The gear unit connects the clamp assemblies, and controls the lateral displacement of clamp assemblies.
3. flexible clamping system as claimed in claim 2, which is characterized in that the clamp assemblies include elastic component, the bullet
Property part for providing the retentivity.
4. flexible clamping system as claimed in claim 3, which is characterized in that the clamp assemblies include first to be slidably connected
Link block and the second link block, and the clamping piece that is connected on second link block；
The clamping piece is slidably connected with guide part；The elastic component be set to first link block and second link block it
Between；
When clamping, gear unit drives the first link block, and by the second link block of resilient element urges, clamping piece is with the second connection
Block moves laterally together, and is finally clamped with clamped part.
5. flexible clamping system as claimed in claim 4, which is characterized in that the clamp assemblies further include being set to the first connection
Sensor on block,
The sensor is provided with the preset value, and sensor detects the movable information of clamp assemblies, and controls power unit
It disconnects.
6. flexible clamping system as claimed in claim 4, which is characterized in that the clamp assemblies further include and the guide part
The guide holder being slidably connected,
The clamping piece is slidably connected by the guide holder with guide part.
7. flexible clamping system as claimed in claim 4, which is characterized in that first link block is by being set to the second connection
Sliding bar on block is slidably connected with the second link block,
The sliding bar runs through the elastic component.
8. flexible clamping system as claimed in claim 4, which is characterized in that the gear unit include both ends be separately connected it is dynamic
The drive link of power unit and the first link block, the drive link are threadedly coupled with the first link block.
9. such as claim 2-8 any one of them flexible clamping systems, which is characterized in that the clamping unit further includes being set to
Locating part on fixed cell,
The fixed cell forms the region placed and be clamped part between the locating part and clamp assemblies.
10. such as claim 1-8 any one of them flexible clamping systems, which is characterized in that the power unit includes connection
The motor of gear unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820092406.0U CN207930685U (en) | 2018-01-19 | 2018-01-19 | a kind of flexible clamping system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820092406.0U CN207930685U (en) | 2018-01-19 | 2018-01-19 | a kind of flexible clamping system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207930685U true CN207930685U (en) | 2018-10-02 |
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ID=63649783
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820092406.0U Active CN207930685U (en) | 2018-01-19 | 2018-01-19 | a kind of flexible clamping system |
Country Status (1)
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|---|---|
| CN (1) | CN207930685U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108098814A (en) * | 2018-01-19 | 2018-06-01 | 苏州工业职业技术学院 | A kind of flexible clamping system |
-
2018
- 2018-01-19 CN CN201820092406.0U patent/CN207930685U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108098814A (en) * | 2018-01-19 | 2018-06-01 | 苏州工业职业技术学院 | A kind of flexible clamping system |
| CN108098814B (en) * | 2018-01-19 | 2024-03-19 | 苏州工业职业技术学院 | Flexible clamping system |
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