CN109794928A - A kind of electric automatization clamping device - Google Patents
A kind of electric automatization clamping device Download PDFInfo
- Publication number
- CN109794928A CN109794928A CN201910181511.0A CN201910181511A CN109794928A CN 109794928 A CN109794928 A CN 109794928A CN 201910181511 A CN201910181511 A CN 201910181511A CN 109794928 A CN109794928 A CN 109794928A
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- electric pushrod
- clamp arm
- steering engine
- electric
- support arm
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Abstract
The present invention relates to field of automated mechanical technology, disclose a kind of electric automatization clamping device, comprising: cylinder, the first support arm, the first electric pushrod, the second support arm, the second electric pushrod, the first steering engine, connecting plate, clamping driving box, servo motor, scroll bar, first bearing, two gears, two gear shafts, two the first clamp arm, two the second clamp arm, control system and two third electric pushrods；Control system includes: air pump, power module, single-chip microcontroller and display screen, air pump is connect by gas piping and the first solenoid valve with cylinder, air pump, the first solenoid valve, pressure sensor, infrared inductor, the first electric pushrod, the second electric pushrod, the first steering engine, servo motor, third electric pushrod and display screen are connect with single-chip microcontroller respectively, this electric automatization clamping device, the object of different size size can be clamped, object is avoided to fall, easy to use and flexible.
Description
Technical field
The present invention relates to field of automated mechanical technology, in particular to a kind of electric automatization clamping device.
Background technique
With the development of science and technology, automated production mode is more and more extensive, the electric automatization for automatic production line
The demand of clamping device is more and more, however existing electronic clamper is inflexible, does not adapt to various sizes of object, also
Have the defects that occurring object in clamping process falls, it is therefore desirable to improve to existing electric automatization clamping device.
Summary of the invention
The present invention provides a kind of electric automatization clamping device, can solve the above problem in the prior art.
The present invention provides a kind of electric automatization clamping devices, comprising: cylinder, the first support arm, the first electric pushrod,
Second support arm, the second electric pushrod, the first steering engine, connecting plate, clamping driving box, servo motor, scroll bar, first bearing, two
A gear, two gear shafts, two the first clamp arm, two the second clamp arm, control system and two third electric pushrods；
Cylinder is fixed vertically, and upward, the piston rod part of cylinder and one end of the first support arm are hinged for piston rod, and first
The other end of brace and the second support arm are hinged, and the end of the second support arm connects the fixing end of the first steering engine, the first steering engine
Turntable is fixedly connected by connecting plate with clamping driving box, and the piston rod and the first support arm of cylinder is arranged in the first electric pushrod
Between, the second electric pushrod is hinged between the first support arm and the second support arm, servo motor, scroll bar, first bearing, two
Gears and gears axis be arranged at clamping driving box in, servo motor be fixed on clamping driving box top, servo motor it is defeated
Shaft is fixedly connected with the upper end of scroll bar by shaft coupling, and the bottom of clamping driving box is arranged in by first bearing for the lower end of scroll bar
Portion, two gears are symmetricly set on the two sides of scroll bar, and connection is engaged with scroll bar, and two gears are fixed with gear shaft respectively to be connected
It connects, the front and back end of gear shaft passes through respectively on the front and rear sides face that second bearing is arranged in clamping driving box, two first folders
The upper end of arm is symmetrical, and correspond be fixed on two gear shafts, the lower end of two the first clamp arm be pierced by clamping driving box with
Two the second clamp arm correspond hingedly, and third electric pushrod is arranged between hinged the first clamp arm and the second clamp arm, and first
It is equipped with pressure sensor and infrared inductor on the clamping face of clamp arm and the second clamp arm,
The control system includes: air pump, power module, single-chip microcontroller and display screen, and air pump passes through gas piping and first
Solenoid valve is connect with cylinder, air pump, the first solenoid valve, pressure sensor, infrared inductor, the first electric pushrod, second electronic
Push rod, the first steering engine, servo motor, third electric pushrod, single-chip microcontroller and display screen pass through conducting wire respectively and connect with power module,
First solenoid valve, pressure sensor, infrared inductor, the first electric pushrod, the second electric pushrod, the first steering engine, servo motor,
Third electric pushrod and display screen are connect with single-chip microcontroller respectively.
It further include the second steering engine and pedestal, the second steering engine is fixed on pedestal, the steering wheel of the second steering engine and cylinder
Cylinder barrel bottom is fixedly connected, and the second steering engine is connect with power module and single-chip microcontroller respectively.
Air cushion layer is equipped on the clamping face of first clamp arm and the second clamp arm, pressure sensor is arranged in air cushion layer
Interior, air cushion layer is equipped with gas bleeder valve, and air cushion layer is connect by second solenoid valve and gas piping with air pump, second solenoid valve difference
It is connect with power module and single-chip microcontroller.
It is equipped with cavity in second clamp arm, is equipped with the 4th electric pushrod in cavity, the lower end of the 4th electric pushrod is fixed
Equipped with supporting rod, the 4th electric pushrod is connect with power module and single-chip microcontroller respectively, after the elongation of the 4th electric pushrod, supporting rod
Cavity is stretched out, is extended along the direction of the second clamp arm, after the 4th electric pushrod is shunk, supporting rod is retracted in cavity.
Compared with prior art, the beneficial effects of the present invention are:
The present invention is led to by adjusting the height of gripping objects by cylinder, the first electric pushrod and the second electric pushrod
The first steering engine is crossed to change the level angle of gripping objects, changes the horizontal position of object by the second steering engine, by infrared
Whether inductor detects between the first clamp arm and the second clamp arm with the presence of object, detects the first clamp arm and the by pressure sensor
Two clamp arm drive scroll bar to rotate forward or backwards, scroll bar drives two gears opposite the chucking power of object by servo motor
Or opposite rotation realizes the clamping to object to drive the first clamp arm and the clamping of the second clamp arm or separate, it is electronic by the 4th
Push rod adjusts the angle of the first clamp arm and the second clamp arm, and this electric automatization clamping device can clamp different size size
Object, the horizontal position of object, vertical position and level angle can be changed, object is avoided to fall, easy to use and flexible.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of electric automatization clamping device provided by the invention.
Fig. 2 is the structural schematic diagram of a-quadrant amplification in a kind of electric automatization clamping device provided by the invention.
Fig. 3 is a kind of control principle block diagram of electric automatization clamping device provided by the invention.
Description of symbols:
1- cylinder, the first support arm of 2-, the first electric pushrod of 3-, the second support arm of 4-, the second electric pushrod of 5-, 6- rudder
Machine, 7- connecting plate, 8- clamp driving box, 9- servo motor, 10- scroll bar, 11- first bearing, 12- gear, 13- gear shaft, 14-
First clamp arm, the second clamp arm of 15-, 16- third electric pushrod, 17- air cushion layer, 18- infrared sensor, the 4th electric pushrod of 19-,
20- supporting rod, the second steering engine of 21-, 22- pedestal.
Specific embodiment
With reference to the accompanying drawing, the specific embodiment of the present invention is described in detail, it is to be understood that of the invention
Protection scope be not limited by the specific implementation.
As shown in Figure 1, Figure 2 and Figure 3, a kind of electric automatization clamping device provided in an embodiment of the present invention, comprising: cylinder
1, the first support arm 2, the first electric pushrod 3, the second support arm 4, the second electric pushrod 5, the first steering engine 6, connecting plate 7, clamping
Driving box 8, servo motor 9, scroll bar 10, the first clamp arm 14, two of gear shaft 13, two of gear 12, two of first bearing 11, two
A second clamp arm 15, control system and two third electric pushrods 16；
Cylinder 1 is fixed vertically, and upward, the piston rod part of cylinder 1 and one end of the first support arm 2 are hinged for piston rod, the
The other end of one support arm 2 and the second support arm 4 are hinged, and the end of the second support arm 4 connects the fixing end of the first steering engine 6, the
The turntable of one steering engine 6 is fixedly connected by connecting plate 7 with clamping driving box 8, and the piston of cylinder 1 is arranged in the first electric pushrod 3
Between bar and the first support arm 2, the second electric pushrod 5 is hinged between the first support arm 2 and the second support arm 4, servo motor
9, scroll bar 10,11, two gears 12 of first bearing and gear shaft 13 are arranged in clamping driving box 8, and servo motor 9 is fixed on
The top of driving box 8 is clamped, the output shaft of servo motor 9 is fixedly connected with the upper end of scroll bar 10 by shaft coupling, scroll bar 10
The bottom of clamping driving box 8 is arranged in by first bearing 11 for lower end, and two gears 12 are symmetricly set on the two sides of scroll bar 10, and
Connection is engaged with scroll bar 10, two gears 12 are fixedly connected with gear shaft 13 respectively, and the front and back end of gear shaft 13 passes through respectively
Two bearings are arranged on the front and rear sides face in clamping driving box 8, and the upper end of two the first clamp arm 14 is symmetrical, and correspond solid
It is scheduled on two gear shafts 13, the lower end of two the first clamp arm 14 is pierced by clamping driving box 8 and two the second clamp arm 15 1 are a pair of
Should be hinged, third electric pushrod 16 is arranged between hinged the first clamp arm 14 and the second clamp arm 15, the first clamp arm 14 and second
Pressure sensor and infrared inductor 18 are equipped on the clamping face of clamp arm 15,
The control system includes: air pump, power module, single-chip microcontroller and display screen, and air pump passes through gas piping and first
Solenoid valve is connect with cylinder 1, air pump, the first solenoid valve, pressure sensor, infrared inductor 18, the first electric pushrod 3, second
Electric pushrod 5, the first steering engine 6, servo motor 9, third electric pushrod 16, single-chip microcontroller and display screen pass through conducting wire and power supply respectively
Module connection, the first solenoid valve, pressure sensor, infrared inductor 18, the first electric pushrod 3, the second electric pushrod 5, first
Steering engine 6, servo motor 9, third electric pushrod 16 and display screen are connect with single-chip microcontroller respectively.
Application method and working principle: first passing through single-chip microcontroller booster air pump and the first solenoid valve according to the height for carrying platform,
To start cylinder 1, the piston cylinder rod of cylinder 1 rises to being highly adjusted, if insufficient height, then electronic pushed away by first
Bar 3 adjusts the height and angle of the first support arm 2, and height and the angle of the second support arm 4 are adjusted finally by the second electric pushrod 5
Degree realizes the change of vertical height so as to adjust the height of clamping driving box 8, changes clamping driving box 8 by the first steering engine
Angle, realize the change of horizontal position upper angle, pressure biography be equipped on the clamping face of the first clamp arm 14 and the second clamp arm 15
Whether sensor and infrared inductor 18, being detected between symmetrical first clamp arm 14 and the second clamp arm 15 by infrared inductor 18 has
Object exists, and if there is object exists, infrared inductor 18 sends a signal to single-chip microcontroller, and single-chip microcontroller passes through motor drive module control
Servo motor 9 processed drives scroll bar rotation, and two gears 12 rotate backward, to drive the first clamp arm 14 and the second clamp arm 15 opposite
Movement, clamps object, and after object is clamped, pressure sensor feedback signal is to single-chip microcontroller, and single-chip microcontroller is according to setting
Pressure is compared with test pressure, and when test pressure reaches setting pressure limit, single-chip microcontroller, which controls servo motor 9, to be stopped turning
It is dynamic, the setting pressure limit of pressure sensor is set according to the stress condition of object, when the pressure of pressure sensor is less than setting
When pressure, single-chip microcontroller controls third electric pushrod 16 and shrinks, and adjusts to the angle between the first clamp arm 14 and the second clamp arm 15
Section, changes the chucking power of object between opposite the first clamp arm 14 and the second clamp arm 15, the shape of the second clamp arm 15 by angle
The shape of shape and object to be held matches, and this electric automatization clamping device can clamp the object of different size size,
The vertical position and level angle that object can be changed, avoid object from falling, easy to use and flexible.
It further include the second steering engine 21 and pedestal 22, the second steering engine 21 is fixed on pedestal 22, the rudder of the second steering engine 21
Disk is fixedly connected with the cylinder barrel bottom of cylinder 1, and the second steering engine 22 is connect with power module and single-chip microcontroller respectively.
When needing to change the horizontal position of object, rotated by the second steering engine of MCU driving 21,21 band of the second steering engine
Cylinder 1 of taking offence turns an angle, and object is transferred to another process from a process, pedestal 22 for fix the second steering engine and
Cylinder 1, naturally it is also possible in the bottom of cylinder 1 setting driving wheel apparatus and corresponding track, carry out the movement of article position.
As shown in Figures 2 and 3, air cushion layer 17 is equipped on the clamping face of the first clamp arm 14 and the second clamp arm 15, pressure passes
Sensor is arranged in air cushion layer 17, and air cushion layer 17 is equipped with gas bleeder valve, air cushion layer 17 by second solenoid valve and gas piping with
Air pump connection, second solenoid valve are connect with power module and single-chip microcontroller respectively.
Application method and working principle: packaging type clamping can be carried out to object by the inflation of air cushion layer 17, avoid object
It falls, particularly with smaller object, gas bleeder valve is convenient for extra gas discharge after the compression of air cushion layer 17, it automatically controls,
It is easy to use.
As shown in Figures 2 and 3, it is equipped with cavity in second clamp arm 15, is equipped with the 4th electric pushrod 19 in cavity, the 4th
The lower end of electric pushrod 19 is fixed with supporting rod 20, and the 4th electric pushrod 19 is connect with power module and single-chip microcontroller respectively, when
After the elongation of 4th electric pushrod 19, supporting rod 20 stretches out cavity, extends along the direction of the second clamp arm 15, when the 4th electric pushrod 19
After contraction, supporting rod 20 is retracted in cavity.
Application method and working principle: after being extended by the 4th electric pushrod 19, supporting rod 20 stretches out cavity to clamping
Object is protected, and object is avoided to fall, and additionally is able to clamp more tiny object, easy to use.
The present invention is led to by adjusting the height of gripping objects by cylinder, the first electric pushrod and the second electric pushrod
The first steering engine is crossed to change the level angle of gripping objects, changes the horizontal position of object by the second steering engine, by infrared
Whether inductor detects between the first clamp arm and the second clamp arm with the presence of object, detects the first clamp arm and the by pressure sensor
Two clamp arm drive scroll bar to rotate forward or backwards, scroll bar drives two gears opposite the chucking power of object by servo motor
Or opposite rotation realizes the clamping to object to drive the first clamp arm and the clamping of the second clamp arm or separate, it is electronic by the 4th
Push rod adjusts the angle of the first clamp arm and the second clamp arm, and this electric automatization clamping device can clamp different size size
Object, the horizontal position of object, vertical position and level angle can be changed, object is avoided to fall, easy to use and flexible.
Disclosed above is only several specific embodiments of the invention, and still, the embodiment of the present invention is not limited to this, is appointed
What what those skilled in the art can think variation should all fall into protection scope of the present invention.
Claims (4)
1. a kind of electric automatization clamping device characterized by comprising cylinder (1), the first support arm (2), first electronic push away
Bar (3), the second support arm (4), the second electric pushrod (5), the first steering engine (6), connecting plate (7), clamping driving box (8), servo
Motor (9), scroll bar (10), first bearing (11), two gears (12), two gear shafts (13), two the first clamp arm (14), two
A second clamp arm (15), control system and two third electric pushrods (16)；
Cylinder (1) is fixed vertically, and upward, one end of the piston rod part and the first support arm (2) of cylinder (1) is hinged for piston rod,
Hingedly, the end of the second support arm (4) connects the first steering engine (6) to the other end and the second support arm (4) of first support arm (2)
The turntable of fixing end, the first steering engine (6) is fixedly connected by connecting plate (7) with clamping driving box (8), the first electric pushrod (3)
Be arranged between the piston rod and the first support arm (2) of cylinder (1), the second electric pushrod (5) be hinged on the first support arm (2) with
Between second support arm (4), servo motor (9), scroll bar (10), first bearing (11), two gears (12) and gear shaft (13)
Be arranged at clamping driving box (8) in, servo motor (9) be fixed on clamping driving box (8) top, servo motor (9) it is defeated
Shaft is fixedly connected with the upper end of scroll bar (10) by shaft coupling, and the lower end of scroll bar (10) is being pressed from both sides by first bearing (11) setting
The bottom of driving box (8) is held, two gears (12) are symmetricly set on the two sides of scroll bar (10), and engage connection with scroll bar (10),
Two gears (12) are fixedly connected with gear shaft (13) respectively, and the front and back end of gear shaft (13) is arranged by second bearing respectively
It clamps on the front and rear sides face in driving box (8), the upper end of two the first clamp arm (14) is symmetrical, and corresponds and be fixed on two
On gear shaft (13), the lower end of two the first clamp arm (14) is pierced by clamping driving box (8) and two the second clamp arm (15) one are a pair of
Should be hinged, third electric pushrod (16) is arranged between hinged the first clamp arm (14) and the second clamp arm (15), the first clamp arm
(14) and on the clamping face of the second clamp arm (15) it is equipped with pressure sensor and infrared inductor (18),
The control system includes: air pump, power module, single-chip microcontroller and display screen, and air pump passes through gas piping and the first electromagnetism
Valve is connect with cylinder (1), air pump, the first solenoid valve, pressure sensor, infrared inductor (18), the first electric pushrod (3),
Two electric pushrods (5), the first steering engine (6), servo motor (9), third electric pushrod (16), single-chip microcontroller and display screen pass through respectively
Conducting wire is connect with power module, the first solenoid valve, pressure sensor, infrared inductor (18), the first electric pushrod (3), second
Electric pushrod (5), the first steering engine (6), servo motor (9), third electric pushrod (16) and display screen are connect with single-chip microcontroller respectively.
2. electric automatization clamping device as described in claim 1, which is characterized in that further include the second steering engine (21) and pedestal
(22), the second steering engine (21) is fixed on pedestal (22), and the steering wheel of the second steering engine (21) and the cylinder barrel bottom of cylinder (1) are solid
Fixed connection, the second steering engine (22) are connect with power module and single-chip microcontroller respectively.
3. electric automatization clamping device as described in claim 1, which is characterized in that first clamp arm (14) and the second folder
It is equipped on the clamping face of arm (15) air cushion layer (17), in air cushion layer (17), air cushion layer is set on (17) for pressure sensor setting
Have a gas bleeder valve, air cushion layer (17) is connect by second solenoid valve and gas piping with air pump, second solenoid valve respectively with power supply mould
Block is connected with single-chip microcontroller.
4. electric automatization clamping device as described in claim 1, which is characterized in that be equipped with sky in second clamp arm (15)
Chamber, cavity is interior to be equipped with the 4th electric pushrod (19), and the lower end of the 4th electric pushrod (19) is fixed with supporting rod (20), the 4th electricity
Dynamic push rod (19) are connect with power module and single-chip microcontroller respectively, and after the elongation of the 4th electric pushrod (19), supporting rod (20) stretches out
Cavity extends along the direction of the second clamp arm (15), and after the 4th electric pushrod (19) is shunk, supporting rod (20) is retracted in cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910181511.0A CN109794928A (en) | 2019-03-11 | 2019-03-11 | A kind of electric automatization clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910181511.0A CN109794928A (en) | 2019-03-11 | 2019-03-11 | A kind of electric automatization clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109794928A true CN109794928A (en) | 2019-05-24 |
Family
ID=66562686
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910181511.0A Pending CN109794928A (en) | 2019-03-11 | 2019-03-11 | A kind of electric automatization clamping device |
Country Status (1)
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| CN (1) | CN109794928A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110303462A (en) * | 2019-07-12 | 2019-10-08 | 任丽洁 | A kind of snorkel suspension storing unit adapted to entirely |
| CN111452071A (en) * | 2020-04-30 | 2020-07-28 | 广州富港万嘉智能科技有限公司 | In-place induction clamp |
| CN112606030A (en) * | 2020-12-07 | 2021-04-06 | 湖南鸿云钢模科技有限公司 | Exhibition arm adjustable gripper and intelligent robot |
| CN113917098A (en) * | 2021-09-28 | 2022-01-11 | 深圳市长菁环保科技有限公司 | Automatic on-line monitoring water quality alarm |
| CN114755461A (en) * | 2022-04-07 | 2022-07-15 | 苏州浪潮智能科技有限公司 | Testing device |
| CN114986483A (en) * | 2022-08-04 | 2022-09-02 | 杭州骏沃机电科技有限公司 | Fixing device for mechanical arm adsorption mechanism |
| CN115122384A (en) * | 2022-07-05 | 2022-09-30 | 北京工业大学 | Pickup device and pickup arm mechanism |
| CN116488047A (en) * | 2023-06-21 | 2023-07-25 | 安徽博诺思信息科技有限公司 | Electrified mounting tool for insulating sheath |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110303462A (en) * | 2019-07-12 | 2019-10-08 | 任丽洁 | A kind of snorkel suspension storing unit adapted to entirely |
| CN111452071A (en) * | 2020-04-30 | 2020-07-28 | 广州富港万嘉智能科技有限公司 | In-place induction clamp |
| CN112606030A (en) * | 2020-12-07 | 2021-04-06 | 湖南鸿云钢模科技有限公司 | Exhibition arm adjustable gripper and intelligent robot |
| CN113917098A (en) * | 2021-09-28 | 2022-01-11 | 深圳市长菁环保科技有限公司 | Automatic on-line monitoring water quality alarm |
| CN114755461A (en) * | 2022-04-07 | 2022-07-15 | 苏州浪潮智能科技有限公司 | Testing device |
| CN114755461B (en) * | 2022-04-07 | 2024-01-09 | 苏州浪潮智能科技有限公司 | Testing device |
| CN115122384A (en) * | 2022-07-05 | 2022-09-30 | 北京工业大学 | Pickup device and pickup arm mechanism |
| CN114986483A (en) * | 2022-08-04 | 2022-09-02 | 杭州骏沃机电科技有限公司 | Fixing device for mechanical arm adsorption mechanism |
| CN114986483B (en) * | 2022-08-04 | 2022-11-08 | 杭州骏沃机电科技有限公司 | Fixing device for mechanical arm adsorption mechanism |
| CN116488047A (en) * | 2023-06-21 | 2023-07-25 | 安徽博诺思信息科技有限公司 | Electrified mounting tool for insulating sheath |
| CN116488047B (en) * | 2023-06-21 | 2023-09-12 | 安徽博诺思信息科技有限公司 | Electrified mounting tool for insulating sheath |
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Application publication date: 20190524 |