CN210633694U - Electromagnetic drive's parallel clamping device - Google Patents
Electromagnetic drive's parallel clamping device Download PDFInfo
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- CN210633694U CN210633694U CN201921809044.3U CN201921809044U CN210633694U CN 210633694 U CN210633694 U CN 210633694U CN 201921809044 U CN201921809044 U CN 201921809044U CN 210633694 U CN210633694 U CN 210633694U
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Abstract
The utility model particularly discloses an electromagnetic drive's parallel clamping device includes: the device comprises a shaft rotation electromagnetic driver, a rotating shaft, a double-transmission-shaft folding and unfolding mechanism, a first transmission shaft, a second transmission shaft, a linear guide rail, a first clamping finger and a second clamping finger; one end part of the rotating shaft is arranged in the shaft rotating electromagnetic driver; the other end of the rotating shaft extends out of the shaft rotating electromagnetic driver; the rotating shaft is fixedly connected with the middle part of the bottom surface of the double-transmission shaft folding and unfolding mechanism; one end of the first transmission shaft is connected with one side part of the double-transmission-shaft folding and unfolding mechanism; one end of the second transmission shaft is connected with the other side part of the double-transmission-shaft folding and unfolding mechanism; one end part of the first clamping finger is fixedly connected with the other end of the first transmission shaft; one end part of the second clamping finger is fixedly connected with the other end of the second transmission shaft. The utility model overcomes the shortcoming of pneumatic or hydraulic manipulator, have the advantage that control performance is good.
Description
Technical Field
The utility model relates to a manipulator technical field, concretely relates to electromagnetic drive's parallel clamping device.
Background
The continuous development of modern science and technology greatly promotes the crossing and penetration of different disciplines, resulting in the technical revolution and transformation of the engineering field. The manipulator is a new technology appearing in the field of modern automatic control and becomes an important component in a modern mechanical manufacturing production system. This new technology is developing rapidly, gradually forming an emerging disciplinary manipulator project. The manipulator is an important automation device which appears in the late fifties of the last century and is developed rapidly in recent years, and the manipulator is important equipment for realizing industrial automation. What the manipulator it is indispensable is that its finger of getting article has got, along with the development of manipulator at present, mechanical finger is also diversified, mainly is pneumatic at present, or hydraulic pressure. The movement modes of the manipulator driven by pneumatic or hydraulic pressure all need working media, and a large air pump or hydraulic pump is needed, so that a large installation space is needed; the pneumatic manipulator is characterized in that the action speed of the cylinder is easy to change due to the change of load because the gas has compressibility; because working media of pneumatic and hydraulic devices have higher pressure, a rubber part is needed to realize sealing, and the service life of the pneumatic and hydraulic devices can be failed or the use effect is reduced due to the abrasion of the rubber part; because the pneumatic or hydraulic pressure has a fluid filling process in the using process, the response speed has a relatively large hysteresis effect; because the pneumatic or hydraulic pressure needs the solenoid valve to use in coordination in the control process, the service life and the response speed of the solenoid valve can also seriously restrict the application of the pneumatic or hydraulic pressure finger.
SUMMERY OF THE UTILITY MODEL
In view of the above, it is desirable to provide an electromagnetically driven parallel clamping device to solve the above-mentioned drawbacks of the prior art.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
an electromagnetically driven parallel clamping device comprising: the device comprises a shaft rotation electromagnetic driver, a rotating shaft, a double-transmission-shaft folding and unfolding mechanism, a first transmission shaft, a second transmission shaft, a linear guide rail, a first clamping finger and a second clamping finger;
one end part of the rotating shaft is arranged in the shaft rotating electromagnetic driver; the other end of the rotating shaft extends out of the shaft rotating electromagnetic driver; the double-transmission shaft folding and unfolding mechanism is arranged above the rotating shaft, and the rotating shaft is fixedly connected with the middle part of the bottom surface of the double-transmission shaft folding and unfolding mechanism; one end of the first transmission shaft is connected with one side part of the double-transmission-shaft folding and unfolding mechanism and is arranged above one side part of the double-transmission-shaft folding and unfolding mechanism; one end of the second transmission shaft is connected with the other side part of the double-transmission-shaft folding and unfolding mechanism and is arranged above the other side part of the double-transmission-shaft folding and unfolding mechanism; one end part of the first clamping finger is fixedly connected with the other end of the first transmission shaft, and the first clamping finger is arranged above the first transmission shaft; one end part of the second clamping finger is fixedly connected with the other end of the second transmission shaft, and the second clamping finger is arranged above the second transmission shaft; one side part of the first clamping finger and one side part of the second clamping finger are in sliding guide connection with the linear guide rail;
the shaft rotation electromagnetic driver is used for driving the rotating shaft to rotate forwards or reversely;
the rotating shaft is used for driving the double-transmission-shaft folding and unfolding mechanism to rotate;
the double-transmission-shaft folding and unfolding mechanism is used for driving the first transmission shaft and the second transmission shaft so as to enable the first transmission shaft to perform contraction movement or expansion movement relative to the second transmission shaft;
the first transmission shaft is used for driving the first clamping finger;
the second transmission shaft is used for driving the second clamping finger;
the linear guide rail is used for limiting the first clamping finger and the first clamping finger to move linearly;
the first clamping finger is used for being matched with the second clamping finger to carry out parallel clamping;
the second clamping finger is used for being matched with the first clamping finger to perform parallel clamping.
Furthermore, the double-transmission-shaft retracting and expanding mechanism is a double-sliding-groove limiting turntable; the double-chute limiting turntable is provided with two arc chutes; one end of the first transmission shaft is movably connected in an arc-shaped sliding chute; one end of the second transmission shaft is movably connected in the other arc-shaped sliding groove.
Further, two arc spout are the annular symmetric distribution.
Furthermore, two side walls of each arc-shaped sliding chute are provided with connecting grooves; one end of the first transmission shaft is provided with a first connecting round head; the first connecting round head is movably connected in an arc-shaped sliding groove; a second connecting round head is arranged at one end of the second transmission shaft; the second connecting round head is movably connected in the other arc-shaped sliding groove.
Furthermore, the double-transmission-shaft folding and unfolding mechanism is a double-hinge rotating mechanism; the other end of the rotating shaft drives the double-hinge rotating mechanism to rotate; one movable hinge of the double-hinge rotating mechanism is fixedly connected with one end of the first transmission shaft, and the other movable hinge of the double-hinge rotating mechanism is fixedly connected with one end of the second transmission shaft.
Further, the double-hinge rotating mechanism comprises a main hinge rotating block, a first auxiliary hinge, a second auxiliary hinge, a first hinge connecting column and a second hinge connecting column; the other end of the rotating shaft is fixedly connected with the middle part of the bottom surface of the main hinge rotating block; one side part of the top surface of the main hinge rotating block is hinged with the bottom surface of one side part of the first auxiliary hinge through a first hinge connecting column; the other side part of the top surface of the main hinge rotating block is hinged with the bottom surface of one side part of the first auxiliary hinge through a second hinge connecting column; the top surface of the other side part of the first auxiliary hinge is fixedly connected with one end of the first transmission shaft, and the top surface of the other side part of the second auxiliary hinge is fixedly connected with one end of the second transmission shaft.
Further, the shaft rotation electromagnetic driver comprises an iron core stator, a permanent magnet rotor, a first electromagnetic coil, a second electromagnetic coil and a shell; the first electromagnetic coil is arranged at one side part of the iron core stator; the second electromagnetic coil is arranged at the other side part of the iron core stator; the permanent magnet rotor can be rotatably arranged in the iron core stator; the permanent magnet rotor is fixedly sleeved on the periphery of one end part of the rotating shaft; the rotating shaft is mounted on the housing through a bearing.
Further, the first clamping finger comprises a first linear guide part and a first clamping part positioned above the first linear guide part; the second clamping finger comprises a second linear guide part and a second clamping part positioned above the second linear guide part; the first clamping part is matched with the second clamping part for parallel clamping; the first linear guide part and the second linear guide part are in sliding guide connection with the linear guide rail.
Furthermore, a groove-shaped opening is formed in the middle of the linear guide rail; two symmetrical groove side walls of the groove-shaped opening are provided with first ball grooves; second ball grooves are formed in the two sides of the first linear guide part; third ball grooves are formed in the two sides of the second linear guide part; the first linear guide part is in rolling connection with the two first ball grooves through the two second ball grooves and the plurality of balls; and the second linear guide part is in rolling connection with the two first ball grooves through the two third ball grooves and the plurality of balls.
The utility model has the advantages that:
1. the traditional control mode of parallel mechanical fingers is broken through, the electromagnetic principle is used, and the mechanical fingers are controlled to move by electromagnets;
2. compared with the use conditions of the mechanical fingers controlled pneumatically or hydraulically, the use conditions of the mechanical fingers do not need an air source or a hydraulic source, and only a circuit for controlling the positive and negative rotation of the electromagnet is needed;
3. the pipeline of contrast hydraulic pressure and atmospheric pressure need to bear certain pressure, the utility model discloses a wiring only needs to distribute the low voltage electric wire, the required voltage of electro-magnet is not high, safe in utilization, does not have the hidden danger of gas leakage or oil leak, so its security also improves greatly compared with traditional control element;
4. the movable part of the electromagnet is a deep groove ball bearing, so the service life of the electromagnet is as long as over 1000 ten thousand times, and the service life of the finger is greatly prolonged;
5. because the principle of electromagnetism is used for control, the response speed of the electromagnetism is far higher than that of the fluid, and the clamping finger of the utility model is suitable for the occasions of high-frequency response;
6. because the double-sliding-groove limiting turntable of the utility model adopts a special curve, the double-sliding-groove limiting turntable and the movement of the first clamping finger and the second clamping finger form two groups of work pair mechanisms similar to worm gears and worms, a certain speed change effect can be realized through the work pair, the clamping force is increased, and a certain self-locking effect can be realized under the condition that the electromagnet is not electrified;
7. under the outage state, there is the attraction of permanent magnetism between rotation axis, the single antipodal radial permanent magnet rotor that bonds the constitution and the iron core stator, constitutes a bistable electro-magnet, produces certain two-way holding power, so the utility model discloses the product is under the outage state, and the centre gripping finger can keep the operating condition before the outage.
Drawings
Fig. 1 is a front sectional view of an electromagnetically driven parallel clamping device according to embodiment 1 of the present invention;
fig. 2 is a schematic structural installation diagram of a dual transmission shaft retracting and expanding mechanism according to embodiment 1 of the present invention;
fig. 3 is a schematic structural installation diagram of a dual transmission shaft retracting and expanding mechanism according to embodiment 2 of the present invention;
fig. 4 is a schematic structural installation diagram of the first clamping finger, the second clamping finger and the linear guide rail of the present invention;
fig. 5 is a schematic structural view of a second clamping finger of the present invention;
description of reference numerals:
shaft rotation electromagnetic drive-1; a rotating shaft-2; a double-transmission shaft retracting and expanding mechanism-3; a first drive shaft-4; a second drive shaft-5; linear guide-6; a first gripping finger-7; a second gripping finger-8; double-chute limit turntable-31; an arc chute-311; first engagement round head-41; a second engagement round-head-51; a double-hinge rotation mechanism-32; main hinge rotation block-321; a first secondary hinge-322; a second secondary hinge-323; a first hinge connection post-324; a second hinge connection post-325; core stator-11; a permanent magnet rotor-12; a first electromagnetic coil-13; a second electromagnetic coil-14; a housing-15; a first linear guide-71; a first clamp-72; a second linear guide-81; a second clamping portion-82; a slot-shaped opening-61; a first ball groove-611; a second ball groove-711; a third ball groove-811.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, embodiments of the present invention are combined below to describe the technical solutions of the present invention clearly and completely. It should be noted that the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
It is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like, are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element so indicated must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention.
The terms "first," "second," "third," "fourth," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, the definitions of "first", "second", "third", "fourth" features may explicitly or implicitly include one or more of such features.
Example 1
As shown in fig. 1, 2, 4, and 5, an electromagnetically driven parallel clamping apparatus includes: the device comprises a shaft rotation electromagnetic driver 1, a rotating shaft 2, a double-transmission-shaft folding and unfolding mechanism 3, a first transmission shaft 4, a second transmission shaft 5, a linear guide rail 6, a first clamping finger 7 and a second clamping finger 8;
one end part of the rotating shaft 2 is arranged in the shaft rotating electromagnetic driver 1; the other end of the rotating shaft 2 extends out of the shaft rotating electromagnetic driver 1; the double-transmission-shaft folding and unfolding mechanism 3 is arranged above the rotating shaft 2, and the rotating shaft 2 is fixedly connected with the middle part of the bottom surface of the double-transmission-shaft folding and unfolding mechanism 3; one end of the first transmission shaft 4 is connected with one side part of the double-transmission-shaft folding and unfolding mechanism 3 and is arranged above one side part of the double-transmission-shaft folding and unfolding mechanism 3; one end of the second transmission shaft 5 is connected with the other side part of the double-transmission-shaft folding and unfolding mechanism 3 and is arranged above the other side part of the double-transmission-shaft folding and unfolding mechanism 3; one end part of the first clamping finger 7 is fixedly connected with the other end of the first transmission shaft 4, and the first clamping finger 7 is arranged above the first transmission shaft 4; one end part of the second clamping finger 8 is fixedly connected with the other end of the second transmission shaft 5, and the second clamping finger 8 is arranged above the second transmission shaft 5; one side part of the first clamping finger 7 and one side part of the second clamping finger 8 are in sliding guide connection with the linear guide rail 6;
the shaft rotation electromagnetic driver 1 is used for driving a rotating shaft 2 to rotate forwards or reversely;
the rotating shaft 2 is used for driving the double-transmission-shaft folding and unfolding mechanism 3 to rotate;
the double-transmission-shaft folding and unfolding mechanism 3 is used for driving the first transmission shaft 4 and the second transmission shaft 5 so as to enable the first transmission shaft 4 to perform contraction movement or expansion movement relative to the second transmission shaft 5;
the first transmission shaft 4 is used for driving the first clamping finger 7;
the second transmission shaft 5 is used for driving the second clamping finger 8;
the linear guide rail 6 is used for limiting the first clamping finger 7 and the first clamping finger 7 to move linearly;
the first clamping finger 7 is used for being matched with the second clamping finger 8 to carry out parallel clamping;
the second clamping finger 8 is used for matching with the first clamping finger 7 to carry out parallel clamping.
Further, the double-transmission-shaft retracting and expanding mechanism 3 is a double-sliding-groove limiting turntable 31; the double-chute limiting turntable 31 is provided with two arc chutes 311; one end of the first transmission shaft 4 is movably connected in an arc-shaped sliding groove 311; one end of the second transmission shaft 5 is movably connected in the other arc-shaped sliding groove 311.
Further, the two arc chutes 311 are symmetrically distributed in a ring shape.
Further, two side walls of each arc-shaped sliding chute 311 are provided with a connecting groove; one end part of the first transmission shaft 4 is provided with a first connecting round head 41; the first connecting round head 41 is movably connected in an arc-shaped sliding groove 311; a second connecting round head 51 is arranged at one end part of the second transmission shaft 5; the second engaging round head 51 is movably engaged in the other arc-shaped sliding slot 311.
Further, the shaft-rotating electromagnetic driver 1 includes a core stator 11, a permanent magnet rotor 12, a first electromagnetic coil 13, a second electromagnetic coil 14, and a housing 15; the first electromagnetic coil 13 is disposed at one side of the core stator 11; the second electromagnetic coil 14 is arranged at the other side part of the iron core stator 11; the permanent magnet rotor 12 is rotatably arranged in the iron core stator 11; the permanent magnet rotor 12 is fixedly sleeved on the periphery of one end part of the rotating shaft 2; the rotary shaft 2 is mounted on the housing 15 through a bearing.
Further, the first clamping finger 7 includes a first linear guide portion 71 and a first clamping portion 72 located above the first linear guide portion 71; the second clamping finger 8 comprises a second linear guide part 81 and a second clamping part 82 positioned above the second linear guide part 81; the first clamping part 72 is matched with the second clamping part 82 for parallel clamping; the first linear guide portion 71 and the second linear guide portion 81 are slidably guided and connected to the linear guide 6.
Furthermore, the middle part of the linear guide rail 6 is provided with a groove-shaped opening 61; two symmetrical groove side walls of the groove-shaped opening 61 are provided with first ball grooves 611; second ball grooves 711 are formed in both sides of the first linear guide portion 71; third ball grooves 811 are formed on both sides of the second linear guide portion 81; the first linear guide part 71 is in rolling engagement with the two first ball grooves 611 through the two second ball grooves 711 and the plurality of balls; the second linear guide 81 is engaged with the two first ball grooves 611 by rolling through the two third ball grooves 811 and the plurality of balls.
Example 2
As shown in fig. 3, 4, and 5, an electromagnetically driven parallel clamping apparatus includes: the device comprises a shaft rotation electromagnetic driver 1, a rotating shaft 2, a double-transmission-shaft folding and unfolding mechanism 3, a first transmission shaft 4, a second transmission shaft 5, a linear guide rail 6, a first clamping finger 7 and a second clamping finger 8;
one end part of the rotating shaft 2 is arranged in the shaft rotating electromagnetic driver 1; the other end of the rotating shaft 2 extends out of the shaft rotating electromagnetic driver 1; the double-transmission-shaft folding and unfolding mechanism 3 is arranged above the rotating shaft 2, and the rotating shaft 2 is fixedly connected with the middle part of the bottom surface of the double-transmission-shaft folding and unfolding mechanism 3; one end of the first transmission shaft 4 is connected with one side part of the double-transmission-shaft folding and unfolding mechanism 3 and is arranged above one side part of the double-transmission-shaft folding and unfolding mechanism 3; one end of the second transmission shaft 5 is connected with the other side part of the double-transmission-shaft folding and unfolding mechanism 3 and is arranged above the other side part of the double-transmission-shaft folding and unfolding mechanism 3; one end part of the first clamping finger 7 is fixedly connected with the other end of the first transmission shaft 4, and the first clamping finger 7 is arranged above the first transmission shaft 4; one end part of the second clamping finger 8 is fixedly connected with the other end of the second transmission shaft 5, and the second clamping finger 8 is arranged above the second transmission shaft 5; one side part of the first clamping finger 7 and one side part of the second clamping finger 8 are in sliding guide connection with the linear guide rail 6;
the shaft rotation electromagnetic driver 1 is used for driving a rotating shaft 2 to rotate forwards or reversely;
the rotating shaft 2 is used for driving the double-transmission-shaft folding and unfolding mechanism 3 to rotate;
the double-transmission-shaft folding and unfolding mechanism 3 is used for driving the first transmission shaft 4 and the second transmission shaft 5 so as to enable the first transmission shaft 4 to perform contraction movement or expansion movement relative to the second transmission shaft 5;
the first transmission shaft 4 is used for driving the first clamping finger 7;
the second transmission shaft 5 is used for driving the second clamping finger 8;
the linear guide rail 6 is used for limiting the first clamping finger 7 and the first clamping finger 7 to move linearly;
the first clamping finger 7 is used for being matched with the second clamping finger 8 to carry out parallel clamping;
the second clamping finger 8 is used for matching with the first clamping finger 7 to carry out parallel clamping.
Further, the double-transmission-shaft folding and unfolding mechanism 3 is a double-hinge rotating mechanism 32; the other end of the rotating shaft 2 drives the double-hinge rotating mechanism 32 to rotate; one movable hinge of the double-hinge rotating mechanism 32 is fixedly connected with one end of the first transmission shaft 4, and the other movable hinge of the double-hinge rotating mechanism 32 is fixedly connected with one end of the second transmission shaft 5.
Further, the dual hinge rotating mechanism 32 includes a main hinge rotating block 321, a first auxiliary hinge 322, a second auxiliary hinge 323, a first hinge connecting column 324 and a second hinge connecting column 325; the other end of the rotating shaft 2 is fixedly connected with the middle part of the bottom surface of the main hinge rotating block 321; one side of the top surface of the main hinge rotation block 321 is hinge-connected to the bottom surface of one side of the first auxiliary hinge 322 via a first hinge connection post 324; the other side of the top surface of the main hinge rotation block 321 is hinged with the bottom surface of one side of the first auxiliary hinge 322 through a second hinge connection column 325; the top surface of the other side portion of the first auxiliary hinge 322 is fixedly connected to one end of the first transmission shaft 4, and the top surface of the other side portion of the second auxiliary hinge 323 is fixedly connected to one end of the second transmission shaft 5.
Further, the shaft-rotating electromagnetic driver 1 includes a core stator 11, a permanent magnet rotor 12, a first electromagnetic coil 13, a second electromagnetic coil 14, and a housing 15; the first electromagnetic coil 13 is disposed at one side of the core stator 11; the second electromagnetic coil 14 is arranged at the other side part of the iron core stator 11; the permanent magnet rotor 12 is rotatably arranged in the iron core stator 11; the permanent magnet rotor 12 is fixedly sleeved on the periphery of one end part of the rotating shaft 2; the rotary shaft 2 is mounted on the housing 15 through a bearing.
Further, the first clamping finger 7 includes a first linear guide portion 71 and a first clamping portion 72 located above the first linear guide portion 71; the second clamping finger 8 comprises a second linear guide part 81 and a second clamping part 82 positioned above the second linear guide part 81; the first clamping part 72 is matched with the second clamping part 82 for parallel clamping; the first linear guide portion 71 and the second linear guide portion 81 are slidably guided and connected to the linear guide 6.
Furthermore, the middle part of the linear guide rail 6 is provided with a groove-shaped opening 61; two symmetrical groove side walls of the groove-shaped opening 61 are provided with first ball grooves 611; second ball grooves 711 are formed in both sides of the first linear guide portion 71; third ball grooves 811 are formed on both sides of the second linear guide portion 81; the first linear guide part 71 is in rolling engagement with the two first ball grooves 611 through the two second ball grooves 711 and the plurality of balls; the second linear guide 81 is engaged with the two first ball grooves 611 by rolling through the two third ball grooves 811 and the plurality of balls.
The utility model discloses a theory of operation:
when the electromagnetic driver 1 is electrified in the positive direction when the shaft rotates, the first electromagnetic coil 13 generates an S-pole magnetic field, the second electromagnetic coil 14 generates an N-pole magnetic field, the generated magnetic field and the single-antipodal radial permanent magnet rotor 12 generate repulsive force (homopolar repulsion and heteropolar attraction), so that the permanent magnet rotor 12 has the trend of high-speed anticlockwise rotation, the rotating shaft 2 is fixed on the single-antipodal radial permanent magnet rotor 12, the rotating shaft and the permanent magnet rotor 12 synchronously rotate anticlockwise for a certain angle, the rotating shaft 2 is fixed with the double-transmission-shaft tension mechanism 3, and the double-transmission-shaft tension mechanism 3 rotates anticlockwise for a certain angle along with the rotating shaft 2; when the double-transmission-shaft retracting and expanding mechanism 3 is specifically a double-sliding-groove limiting turntable 31, the double-sliding-groove limiting turntable 31 is provided with two arc-shaped sliding grooves 311, the two arc-shaped sliding grooves 311 respectively correspond to the movement tracks of the first transmission shaft 4 and the second transmission shaft 5, and the first clamping finger 7 and the second clamping finger 8 are respectively fixedly connected to the first transmission shaft 4 and the second transmission shaft 5 through threads to drive the two clamping fingers to perform closed movement; and then the electrifying direction of the rotating electromagnetic driver 1 is changed, similarly, when the rotating electromagnetic driver 1 is electrified in the positive direction, the first electromagnetic coil 13 generates an N-pole magnetic field, the second electromagnetic coil 14 generates an S-pole magnetic field, so that the rotating shaft 2 has the tendency of rotating clockwise at a high speed, and similarly, the two clamping fingers do opening motion. When the dual transmission shaft retracting and expanding mechanism 3 is specifically a dual hinge rotating mechanism 32, a main hinge rotating block 321 is fixed on the rotating shaft 2, the main hinge rotating block 321 rotates along with the rotating shaft 2, the main hinge rotating block 321 is connected with a first auxiliary hinge 322 and a second auxiliary hinge 323 through a first hinge connecting column 324 and a second hinge connecting column 325, two holes are formed in the first auxiliary hinge 322 and the second auxiliary hinge 323 respectively, a first transmission shaft 4 and a second transmission shaft 5 are installed respectively, a first clamping finger 7 and a second clamping finger 8 are connected to the first transmission shaft 4 and the second transmission shaft 5 through threads respectively, and the two fingers are driven to do closing motion or closing motion.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (9)
1. An electromagnetically driven parallel clamping device, comprising: the device comprises a shaft rotation electromagnetic driver (1), a rotating shaft (2), a double-transmission-shaft folding and unfolding mechanism (3), a first transmission shaft (4), a second transmission shaft (5), a linear guide rail (6), a first clamping finger (7) and a second clamping finger (8);
one end part of the rotating shaft (2) is arranged in the shaft rotating electromagnetic driver (1); the other end of the rotating shaft (2) extends out of the shaft rotating electromagnetic driver (1); the double-transmission-shaft folding and unfolding mechanism (3) is arranged above the rotating shaft (2), and the rotating shaft (2) is fixedly connected with the middle part of the bottom surface of the double-transmission-shaft folding and unfolding mechanism (3); one end of the first transmission shaft (4) is connected with one side part of the double-transmission-shaft folding and unfolding mechanism (3) and is arranged above one side part of the double-transmission-shaft folding and unfolding mechanism (3); one end of the second transmission shaft (5) is connected with the other side part of the double-transmission-shaft folding and unfolding mechanism (3) and is arranged above the other side part of the double-transmission-shaft folding and unfolding mechanism (3); one end part of the first clamping finger (7) is fixedly connected with the other end of the first transmission shaft (4), and the first clamping finger (7) is arranged above the first transmission shaft (4); one end part of the second clamping finger (8) is fixedly connected with the other end of the second transmission shaft (5), and the second clamping finger (8) is arranged above the second transmission shaft (5); one side part of the first clamping finger (7) and one side part of the second clamping finger (8) are in sliding guide connection with the linear guide rail (6);
the shaft rotation electromagnetic driver (1) is used for driving a rotating shaft (2) to rotate forwards or reversely;
the rotating shaft (2) is used for driving the double-transmission-shaft folding and unfolding mechanism (3) to rotate;
the double-transmission-shaft folding and unfolding mechanism (3) is used for driving the first transmission shaft (4) and the second transmission shaft (5) so as to enable the first transmission shaft (4) to contract or expand relative to the second transmission shaft (5);
the first transmission shaft (4) is used for driving the first clamping finger (7);
the second transmission shaft (5) is used for driving the second clamping finger (8);
the linear guide rail (6) is used for limiting the first clamping finger (7) and the first clamping finger (7) to move linearly;
the first clamping finger (7) is used for being matched with the second clamping finger (8) to carry out parallel clamping;
the second clamping fingers (8) are used for being matched with the first clamping fingers (7) to carry out parallel clamping.
2. The electromagnetically driven parallel clamping device as claimed in claim 1, wherein said dual transmission shaft retracting mechanism (3) is a dual sliding groove limit turntable (31); the double-chute limiting turntable (31) is provided with two arc chutes (311); one end of the first transmission shaft (4) is movably connected in an arc-shaped sliding groove (311); one end of the second transmission shaft (5) is movably connected in the other arc-shaped sliding groove (311).
3. An electromagnetically driven parallel clamping device as claimed in claim 2, wherein the two arc-shaped runners (311) are arranged in a circular symmetrical pattern.
4. The electromagnetically driven parallel clamping device as claimed in claim 2, wherein both side walls of each arc-shaped chute (311) are provided with engaging grooves; one end part of the first transmission shaft (4) is provided with a first connecting round head (41); the first connecting round head (41) is movably connected in an arc-shaped sliding groove (311); one end part of the second transmission shaft (5) is provided with a second connecting round head (51); the second connecting round head (51) is movably connected in the other arc-shaped sliding groove (311).
5. The electromagnetically driven parallel clamping device as claimed in claim 1, wherein said dual transmission shaft retracting mechanism (3) is a dual hinge rotating mechanism (32); the other end of the rotating shaft (2) drives the double-hinge rotating mechanism (32) to rotate; one movable hinge of the double-hinge rotating mechanism (32) is fixedly connected with one end of the first transmission shaft (4), and the other movable hinge of the double-hinge rotating mechanism (32) is fixedly connected with one end of the second transmission shaft (5).
6. The electromagnetically driven parallel clamping device as claimed in claim 5, wherein said double hinge rotating mechanism (32) comprises a main hinge rotating block (321), a first auxiliary hinge (322), a second auxiliary hinge (323), a first hinge connecting column (324), and a second hinge connecting column (325); the other end of the rotating shaft (2) is fixedly connected with the middle part of the bottom surface of the main hinge rotating block (321); one side part of the top surface of the main hinge rotating block (321) is hinged with the bottom surface of one side part of the first auxiliary hinge (322) through a first hinge connecting column (324); the other side part of the top surface of the main hinge rotating block (321) is hinged with the bottom surface of one side part of the first auxiliary hinge (322) through a second hinge connecting column (325); the top surface of the other side part of the first auxiliary hinge (322) is fixedly connected with one end of the first transmission shaft (4), and the top surface of the other side part of the second auxiliary hinge (323) is fixedly connected with one end of the second transmission shaft (5).
7. An electromagnetically driven parallel clamping apparatus according to claim 1, wherein said shaft-rotating electromagnetic driver (1) comprises a core stator (11), a permanent magnet rotor (12), a first electromagnetic coil (13), a second electromagnetic coil (14) and a housing (15); the first electromagnetic coil (13) is arranged at one side part of the iron core stator (11); the second electromagnetic coil (14) is arranged at the other side part of the iron core stator (11); the permanent magnet rotor (12) is rotatably arranged in the iron core stator (11); the permanent magnet rotor (12) is fixedly sleeved on the periphery of one end part of the rotating shaft (2); the rotating shaft (2) is mounted on the housing (15) through a bearing.
8. An electromagnetically driven parallel clamping device according to claim 1, wherein said first clamping finger (7) comprises a first linear guide portion (71) and a first clamping portion (72) located at the first linear guide portion (71); the second clamping finger (8) comprises a second linear guide part (81) and a second clamping part (82) positioned above the second linear guide part (81); the first clamping part (72) is matched with the second clamping part (82) for parallel clamping; the first linear guide part (71) and the second linear guide part (81) are in sliding guide connection with the linear guide rail (6).
9. The electromagnetically driven parallel clamping device as claimed in claim 8, wherein a slotted opening (61) is formed in the middle of the linear guide (6); two symmetrical groove side walls of the groove-shaped opening (61) are respectively provided with a first ball groove (611); second ball grooves (711) are formed in the two sides of the first linear guide part (71); third ball grooves (811) are formed in the two sides of the second linear guide part (81); the first linear guide part (71) is in rolling engagement with the two first ball grooves (611) through the two second ball grooves (711) and the plurality of balls; the second linear guide part (81) is in rolling engagement with the two first ball grooves (611) through the two third ball grooves (811) and the plurality of balls.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110653844A (en) * | 2019-10-25 | 2020-01-07 | 广州市威恒电子有限公司 | Electromagnetic drive's parallel clamping device and control system thereof |
| CN112406403A (en) * | 2020-11-13 | 2021-02-26 | 杭州职业技术学院 | Ceramic machining is with colored drawing liquid storage cylinder of drawing device |
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2019
- 2019-10-25 CN CN201921809044.3U patent/CN210633694U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110653844A (en) * | 2019-10-25 | 2020-01-07 | 广州市威恒电子有限公司 | Electromagnetic drive's parallel clamping device and control system thereof |
| CN112406403A (en) * | 2020-11-13 | 2021-02-26 | 杭州职业技术学院 | Ceramic machining is with colored drawing liquid storage cylinder of drawing device |
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