TWI772061B - Outwardly folded clamping device - Google Patents

Abstract

An outward-folding clamping device includes a driving unit, a body, and a clamping unit. The driving unit includes a moving member that can move along an axis. The body includes two pivot components. Each pivot element set has a first pivot element and a second pivot element. The clamping unit includes a two-link set. Each connecting rod group has a power transmission rod, an output rod, an output rod, and a parallel rod connected in sequence. The output rod has a first output section and a second output section. The second output section is deflected in a direction deviating from the axis relative to the first output section. The present invention adopts the outward folding design of the output rod, which greatly reduces the variation of the clamping force with the clamping distance and always maintains high output efficiency during the clamping process.

Description

Outwardly folded clamping device

The present invention relates to an automatic equipment, in particular to an outwardly folded clamping device.

Referring to FIG. 1 and FIG. 2 , an existing clamping device adopts an inward folding design. In detail, the existing clamping device includes a body 91 , a clamping unit 92 installed on the body 91 and suitable for clamping objects, and a drive installed in the body 91 and used to drive the clamping unit 92 Unit 93.

The driving unit 93 includes a motor 931 and a moving member 932 driven by the motor 931 to move along an axis L. Taking the axis L as a dividing line, the clamping unit 92 includes two link groups 921 located on opposite sides of the axis L, respectively, and the body 91 includes two pivot assemblies 911 located on two opposite sides of the axis L respectively. Each pivot set 911 has a first pivot 912 adjacent to the axis L, and a second pivot 913 away from the axis L. Each connecting rod set 921 has a power transmission rod 922 , an output rod 923 , an output rod 924 , and a parallel rod 925 connected in sequence.

One end of the power transmission rod 922 is pivotally connected to the moving member 932 , and the other end is pivotally connected to the output rod 923 . The output rod 923 has a first output section 926 pivotally connected between the power transmission rod 922 and the respective second pivot member 913 , and a first output section 926 pivotally connected between the respective second pivot member 913 and the output rod 924 The second output section 927. The second output section 927 is deflected in the direction of the axis L relative to the first output section 926 . If the axis L is regarded as the center, the output rod 923 can also be said to be deflected inward, so this design can be called an inward folding design. The output rod 924 has a first output section 928 pivotally connected between the second output section 927 and the parallel rod 925 , and a first output section 928 and the parallel rod 925 are pivoted along the parallel to The second output section 929 protrudes in the direction of the axis L. The parallel rods 925 are pivotally connected between the first output sections 928 and the respective first pivot members 912 and are parallel to the second output sections 927 .

The existing clamping device is movable between an unfolded position and a clamped position. In the open position (as shown in FIG. 1 ), the moving member 932 moves away from the motor 931 so that the second output sections 929 of the output rods 924 move away from each other. In the clamping position (as shown in FIG. 2 ), the moving member 932 is close to the motor 931 , so that the second output sections 929 of the output rods 924 are clamped to each other. In this way, the existing clamping device can make the clamping unit 92 complete the clamping action by operating the motor 931 .

In addition, when the existing clamping device is used to clamp the object, a clamping force will be generated between the second output sections 929 and the clamped object. The clamping force varies with the clamping distance (the distance between the second output sections). Ideally, however, the amount of change in this gripping force with gripping distance should be minimized so as not to have different gripping forces when gripping objects of different sizes, or compress objects in a gripping manner Unstable application of force.

In addition, a driving torque provided by the motor 931 is converted into a thrust force of the moving element, and further converted into the clamping force, and the ratio between the clamping force and the driving torque can be regarded as the output efficiency. If the same or higher clamping force can be generated with a smaller driving torque (ie, higher output efficiency), the load of the motor 931 can be reduced or the specification requirements for the motor 931 can be reduced.

Therefore, the purpose of the present invention is to provide an outwardly folded clamping device that greatly reduces the variation of the clamping force with the clamping distance and always maintains high output efficiency during the clamping process.

Therefore, the outward-folding clamping device of the present invention includes a driving unit, a body, and a clamping unit.

The driving unit includes a motor, and a moving member driven by the motor to move along an axis. The body is used for installing the motor, and includes two sets of pivot components which are respectively located on opposite sides of the axis with the axis as the dividing line. Each pivot set has a first pivot close to the axis and a second pivot away from the axis.

The clamping unit is mounted on the body, and includes two connecting rod sets, which take the axis as a dividing line and are respectively located on two opposite sides of the axis. Each connecting rod group has a power transmission rod, an output rod, an output rod, and a parallel rod connected in sequence. The force transmission rod has a first force transmission end pivotally connected to the moving member, and a second force transmission end that is farther from the axis relative to the first force transmission end and pivotally connected to the output rod. The output rod has a first output section pivoted between the second power transmission end and the respective first pivot member, and a second output section pivoted between the respective first pivot member and the output rod part. The second output section is deflected in a direction deviating from the axis relative to the first output section. The output rod has a first output section pivotally connected between the second output section and the parallel rod, and a direction parallel to the axis from the pivot joint of the first output section and the second output section Protruding second output section. The parallel rod is pivotally connected between the first output section and the respective second pivot members and is parallel to the second output section.

The effect of the present invention is that the output rod adopts an outwardly folded design, which greatly reduces the variation of the clamping force with the clamping distance and always maintains high output efficiency during the clamping process.

Referring to FIG. 3 and FIG. 4 , an embodiment of the outward-folding clamping device of the present invention includes a driving unit 1 , a body 2 , and a clamping unit 3 .

The driving unit 1 includes a motor 11 and a moving member 12 driven by the motor 11 . The motor has a main body 111 and a driving screw 112 which is driven by the main body 111 and rotates around an axis R all the time. A first thread is formed on the outer side of the driving screw 112 . The moving member 12 is annular around the axis R and has a second thread formed inside. The first thread and the second thread are engaged with each other, so that the moving member 12 also moves along the axis R when the driving screw 112 rotates.

It should be noted that, in this embodiment, the motor 11 is not a commercially available motor, but a self-assembled motor. The drive screw 112 is an integrally formed component directly driven by the body 111 , and simultaneously plays the roles of the motor shaft and the screw, and does not need to use any coupling for auxiliary transmission. The advantage of this design is that it can improve the overall rigidity, reduce the kinetic energy loss caused by the coupling and future maintenance problems. In addition, the size design can also be adjusted arbitrarily to reduce the space occupied by the motor 11 along the axis R and increase the output torque.

The body 2 is for mounting the motor 11 , and includes two pivot assemblies 21 , which take the axis R as a dividing line and are located on opposite sides of the axis R respectively. Each pivot set 21 has a first pivot 211 adjacent to the axis R, and a second pivot 212 away from the axis R. A first distance S1 calculated along the direction parallel to the axis R between the first pivot member 211 and the moving member 12 of each pivot member group 21 is greater than the distance between the second pivot member 212 and the moving member 12 . A second distance S2 obtained by calculation along the direction parallel to the axis R.

The clamping unit 3 is mounted on the body 2 , and includes two connecting rod sets 31 which take the axis R as a dividing line and are located on opposite sides of the axis R respectively. Each connecting rod set 31 has a power transmission rod 32 , an output rod 33 , an output rod 34 , and a parallel rod 35 connected in sequence.

The dowel rod 32 is arc-shaped and bent toward the side away from the moving member 12 . The force transmission rod 32 has a first force transmission end 321 pivotally connected to the moving member 12 , and a second force transmission end 321 that is farther from the axis R and pivotally connected to the output rod 33 relative to the first force transmission end 321 . The power transmission end 322. The output rod 33 has a first output section 331 pivotally connected between the second power transmission end 322 and the respective first pivot member 211 , and a first power output section 331 pivotally connected to the respective first pivot member 211 and the output rod 34 The second output section 332 in between. The second output section 332 is deflected in a direction deviating from the axis R relative to the first output section 331 . If the axis R is regarded as the center, the output rod 33 can also be said to be deflected outwards, so this design can be called an outwardly folded design.

The output rod 34 has a first output section 341 pivotally connected between the second output section 332 and the parallel rod 35 , and a pivoted edge between the first output section 341 and the second output section 332 The second output section 342 protrudes in a direction parallel to the axis R. The parallel rod 35 is pivotally connected between the first output section 341 and the respective second pivot member 212 and is parallel and equal to the second output section 332 , and the first output section 341 is parallel and equal to the length connected to the first pivot member An imaginary straight line between 211 and the second pivot piece 212 .

This embodiment is movable between an unfolded position and a clamped position. In the open position (as shown in FIG. 3 ), the moving member 12 is adjacent to the motor 11 so that the second output sections 342 of the output rods 34 are separated from each other. In the clamping position (as shown in FIG. 4 ), the moving member 12 is away from the motor 11 , so that the second output sections 342 of the output rods 34 are clamped with each other. In this way, in this embodiment, the clamping unit 3 can complete the clamping action by manipulating the motor 11 .

Referring to FIG. 5 , the force between the second output sections 342 and the clamped object is defined as a clamping force when the object is clamped in this embodiment, and the distance between the second output sections 342 is defined as a clamp keep distance. Plotting the clamping force against the clamping distance allows a detailed comparison of this embodiment with the prior art. In FIG. 5 , the present embodiment is represented by an “outwardly folded” broken line, while the prior art is represented by an “inwardly folded” broken line. It can be understood that, compared with the tendency of the prior art that the clamping force decreases as the clamping distance decreases, the clamping force of the present embodiment is hardly affected by the clamping distance and can maintain a certain force. That is to say, the present embodiment can maintain the same clamping force when clamping objects of different sizes, or exert a relatively stable force when compressing the objects in a clamping manner.

In addition, the thrust force generated by the moving member 12 will affect the clamping force. To discuss the output efficiency, the comparison should be made under the same thrust conditions. Therefore, in FIG. 5 , the “equivalent outward folded” broken line represents the results of this embodiment under the same thrust conditions as the prior art, and the results are further organized as follows in Table 1: Table 1 type Average clamping force (N) Inward folding (prior art) 254.57 External folding (the present invention) 239.46 Equivalent outward folding (the present invention) 323.97

It can be understood that, under the condition of the same thrust, the output clamping force of this embodiment is higher than that of the prior art on average. That is to say, the present embodiment can more effectively convert the thrust force into the clamping force, so that a higher output efficiency is always maintained during the clamping process. In this way, the load of the motor 11 in this embodiment is small, which can save energy and prolong the service life of the motor 11 . Alternatively, the specification requirements for the motor 11 can be reduced during design, thereby reducing the production cost.

In detail, referring to FIG. 1 and FIG. 2 , observing the configuration of the connecting rod in the open position and the clamping position of the prior art (inward folding design), it can be seen that during the process from the expansion to the clamping, the dowel rod A first included angle θ1 with the output rod will stretch from approximately 90 degrees to approximately 180 degrees in a straight line. However, in terms of the force transmission of the connecting rod, when the first included angle θ1 is 90 degrees, the moment acting on the output rod will be the largest, and the closer it is to 0 degrees and 180 degrees, the smaller it will be. Therefore, in the prior art, the phenomenon of "the clamping force is smaller as the clamping distance is smaller" is obvious.

Also, referring to FIGS. 3 and 4 , observing the configuration of the connecting rod in the open position and the clamped position of the present embodiment (outwardly folded design), it can be seen that in the process from open to clamp, the transmission A second included angle θ2 between the power rod 32 and the output rod 33 decreases from approximately 90 degrees to approximately 0 degrees. According to the above-mentioned theory, the present embodiment should produce the phenomenon that "the clamping force is smaller as the clamping distance is smaller". However, the force transmission of the connecting rod in this embodiment is additionally applied to a third included angle θ3 between the force transmission rod 32 and the moving member 12 . Based on the characteristics of the "toggle mechanism", when the third included angle θ3 is closer to 90 degrees, the output force is smaller, and when the third included angle θ3 is closer to 0 degrees or 180 degrees, the output force is larger. . Therefore, in the process from opening to clamping, the third angle θ3 increases as the clamping distance decreases, and the force transmitted by the dowel rod 32 also increases as the clamping distance decreases. In this way, the combination of “the clamping force is smaller as the clamping distance is smaller” caused by the second angle θ2 and the clamping force caused by the third angle θ2 is “the smaller the clamping distance is, the stronger the clamping force is. The effect of “large” can be adjusted to adjust the connecting rod configuration in which the force is average and the clamping force does not increase or decrease significantly with the change of the clamping distance.

To sum up, the outwardly folded clamping device of the present invention adopts the outwardly folded design of the output rod 33, which greatly reduces the variation of the clamping force with the clamping distance and always maintains high output efficiency during the clamping process. , so it can indeed achieve the purpose of the present invention.

However, the above are only examples of the present invention, and should not limit the scope of implementation of the present invention. Any simple equivalent changes and modifications made according to the scope of the patent application of the present invention and the contents of the patent specification are still included in the scope of the present invention. within the scope of the invention patent.

1: drive unit 11: Motor 111: Ontology 112: Drive screw 12: Moving parts 2: Body 21: Pivot group 211: The first pivot 212: Second pivot 3: Clamping unit 31: Connecting rod group 32: Dowel rod 321: The first power transmission end 322: Second power transmission end 33: Output rod 331: The first output section 332: The second output stage 34: Output rod 341: first output segment 342: Second output segment 35: Parallel bars R: axis S1: first distance S2: Second distance θ1: The first included angle θ2: Second included angle θ3: the third angle

Other features and effects of the present invention will be clearly presented in the embodiments with reference to the drawings, wherein: 1 is a schematic cross-sectional view of a conventional clamping device, illustrating the conventional clamping device in an open position; 2 is a schematic cross-sectional view of the conventional clamping device, illustrating a clamping position of the conventional clamping device; 3 is a schematic cross-sectional structural diagram of an embodiment of the outward-folding clamping device of the present invention, illustrating that the embodiment is in an open position; 4 is a schematic cross-sectional view of the embodiment, illustrating the embodiment in a clamped position; and 5 is a broken line graph of clamping force versus clamping distance, illustrating the variation of clamping force with clamping distance for this embodiment, an equivalent model of this embodiment, and an inwardly folded clamping device.

1: drive unit

11: Motor

111: Ontology

112: Drive screw

12: Moving parts

2: Body

21: Pivot group

211: The first pivot

212: Second pivot

3: Clamping unit

31: Connecting rod group

32: Dowel rod

321: The first power transmission end

322: Second power transmission end

33: Output rod

331: The first output section

332: The second output stage

34: Output rod

341: first output segment

342: Second output segment

35: Parallel bars

R: axis

S1: first distance

S2: Second distance

θ 2: Second included angle

θ 3: The third angle

Claims (4)

An outwardly folded clamping device, comprising: a driving unit, including a motor, and a moving member driven by the motor and movable along an axis; A body, for installing the motor, includes two sets of pivots, which are separated by the axis and located on opposite sides of the axis. a second pivot on that axis; and A clamping unit is installed on the body, and includes two connecting rod sets with the axis as a dividing line and located on two opposite sides of the axis, each connecting rod set has a power transmission rod and an output rod connected in sequence , an output rod, and a parallel rod, the power transmission rod has a first power transmission end pivotally connected to the moving member, and a relative to the first power transmission end farther away from the axis and with the output rod A pivotally connected second power transmission end, the output rod has a first output section pivotally connected between the second power transmission end and the respective first pivot piece, and a first power output segment pivoted between the respective first pivot piece and the respective first pivot piece. A second output section between the output rods, the second output section is deflected in a direction deviating from the axis relative to the first output section, the output rod has a pivot connected between the second output section and the parallel rod A first output section between, and a second output section protruding along the direction parallel to the axis from the pivot point of the first output section and the second output section, the parallel rod is pivoted to the first output section between the segments and the respective second pivot pieces and parallel to the second output segment. The outward-folding clamping device according to claim 1, wherein a first distance calculated in a direction parallel to the axis between the first pivot member of each pivot member group and the moving member is greater than the A second distance calculated along a direction parallel to the axis between the second pivot member and the moving member. The outward-folding clamping device according to claim 1, wherein the motor of the driving unit has a main body, and a driving screw that is driven by the main body to rotate around the axis all the time, and a first thread is formed on the outside of the driving screw, The moving member is annular around the axis and has a second thread formed inside, and the first thread and the second thread are engaged with each other. The outward-folding clamping device according to claim 1, wherein the dowel rod of each link group is arc-shaped and bent toward a side away from the moving member.

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