CN219987331U - Clamp with force position feedback and equipment - Google Patents
Clamp with force position feedback and equipment Download PDFInfo
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- CN219987331U CN219987331U CN202320933465.7U CN202320933465U CN219987331U CN 219987331 U CN219987331 U CN 219987331U CN 202320933465 U CN202320933465 U CN 202320933465U CN 219987331 U CN219987331 U CN 219987331U
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- push rod
- shell
- clamping
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- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 230000033001 locomotion Effects 0.000 claims abstract description 8
- 238000006073 displacement reaction Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 4
- 230000008713 feedback mechanism Effects 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000009827 uniform distribution Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Abstract
The utility model discloses a clamp with force position feedback and equipment, and relates to the technical field of clamping devices, wherein the clamp comprises a shell, an electric push rod is arranged in the shell, and the electric push rod is connected with a plurality of clamping jaws through a connecting rod mechanism; the clamping jaws are uniformly distributed along the circumferential direction of the shell and are contracted in the shell in the initial state of the electric push rod; and a position sensor and a pressure sensor are also arranged in the shell. According to the utility model, the clamping jaws are matched with the connecting rod mechanism and the electric push rod in a three-dimensional space, and the opening or closing of the clamping jaws is controlled through the reciprocating motion of the electric push rod, so that the accuracy and the reliability of clamping objects are improved; the position sensor and the pressure sensor are arranged, so that accurate force control and position control can be realized, and accurate grabbing and stable clamping of the clamping jaw on a target object are ensured.
Description
Technical Field
The utility model relates to the technical field of clamping devices, in particular to a clamp with force position feedback and equipment.
Background
Clamps are important tools for securing a workpiece to a processing apparatus to achieve accuracy and stability of processing. Conventional clamps are typically mechanically based to achieve clamping, which is a significant limitation on the precision and stability of the clamp. Some clamp structures with force feedback exist in the prior art, for example, CN 205766201U discloses an electric clamping jaw with force feedback, which comprises a clamping jaw main body and fingers, wherein the clamping jaw main body comprises a guide structure, a motion transmission structure, a gear reducer, a driving motor, a force feedback mechanism, a control circuit board and a guide rail seat; the force feedback mechanism is provided with a micro-displacement measuring device, the micro-displacement measuring device adopts a Hall sensor type micro-displacement measuring device, and the force feedback mechanism consists of a lever mechanism for amplifying displacement, which is formed by two shafts fixed on the shell.
The above-mentioned scheme can realize force feedback, but is not suitable for clamping from inside the part, influences polishing, spraying etc. of part.
Disclosure of Invention
Aiming at the defects existing in the prior art, the utility model aims to provide a clamp and equipment with force position feedback, wherein a plurality of clamping jaws distributed in a three-dimensional space are matched with a connecting rod mechanism and an electric push rod, and the opening or closing of the clamping jaws is controlled through the reciprocating motion of the electric push rod, so that the precision and the reliability of clamping objects are improved; the position sensor and the pressure sensor are arranged, so that accurate force control and position control can be realized, and accurate grabbing and stable clamping of the clamping jaw on a target object are ensured.
In order to achieve the above object, the present utility model is realized by the following technical scheme:
in a first aspect, an embodiment of the present utility model provides a clamp with force feedback, including a housing, in which an electric push rod is disposed, the electric push rod being connected to a plurality of clamping jaws through a link mechanism; the clamping jaws are uniformly distributed along the circumferential direction of the shell and are contracted in the shell in the initial state of the electric push rod; and a position sensor and a pressure sensor are also arranged in the shell.
As a further implementation manner, the link mechanism comprises a first link connected with the end part of the electric push rod, and the first link is connected with a plurality of second links which are in one-to-one correspondence with the clamping jaws.
As a further implementation manner, the device further comprises an end cover, wherein the end cover is fixed at one end of the shell; one end of the second connecting rod is hinged with the end cover, and the other end of the second connecting rod is hinged with the first connecting rod.
As a further implementation, the end cap is connected to the housing by a plurality of screws.
As a further implementation manner, the device further comprises a controller, and the position sensor, the pressure sensor and the electric push rod are respectively connected with the controller through cables.
As a further implementation manner, the controller is installed on one side of the electric push rod, and the position sensor and the pressure sensor are installed on the other side of the electric push rod.
As a further implementation manner, the shell is of a cylindrical structure, and the electric push rod and the shell are coaxially arranged.
As a further implementation manner, the shell is circumferentially provided with a mounting groove for clamping jaw movement.
In a second aspect, embodiments of the present utility model also provide an apparatus with force bit feedback, including the clamp.
As a further implementation, the clamp is mounted to a robotic arm tip.
The beneficial effects of the utility model are as follows:
(1) The clamping jaws are uniformly distributed in an equal manner during clamping, so that the balanced clamping of the target object is realized, the uniform distribution of the force applied to the target object by the clamping jaws in the clamping process can be ensured, and the risk of damaging the target object is reduced; the clamping force and the tension of the clamping jaws can be more stable through three-dimensional space distribution, and the accuracy and the reliability of clamping objects are improved; the clamping jaw, the connecting rod mechanism and the electric push rod are matched to form a main execution part of the clamp, the structure is relatively simple, the reciprocating motion is stable, and shaking and vibration cannot be generated; after the clamp passes through the workpiece, the electric push rod stretches to enable the clamping jaw to open and then retract, so that the clamping of the workpiece is realized, and the clamp is suitable for occasions of clamping from the inside of the part.
(2) The utility model adopts the position sensor and the pressure sensor to measure the distance and the clamping force between the clamping jaw and the target object in real time, and feeds data back to the control system for real-time adjustment, so that the clamping jaw can be adjusted in a self-adaptive manner under different working conditions, and the adaptability and the robustness of the device are improved; the pressure sensor can measure the pressure applied by the clamping jaw to the target object in real time, so that the target object is prevented from being damaged in the grabbing process.
Drawings
The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model.
FIG. 1 is an exploded view of the present utility model according to one or more embodiments;
FIG. 2 is a schematic view of jaw closure in accordance with one or more embodiments of the present utility model;
FIG. 3 is a schematic view of jaw opening in accordance with one or more embodiments of the present utility model;
FIG. 4 is a schematic illustration of a linkage mechanism according to one or more embodiments of the present utility model;
FIG. 5 is a schematic view of a clamp clamping operation in accordance with one or more embodiments of the present utility model.
The device comprises a screw, an end cover, a clamping jaw, a second connecting rod, a first connecting rod, an electric push rod, a shell, a housing and a workpiece, wherein the screw is arranged at the bottom of the screw, the end cover is arranged at the bottom of the screw, the clamping jaw is arranged at the bottom of the screw, and the second connecting rod is arranged at the bottom of the screw.
Detailed Description
Embodiment one:
the embodiment provides a clamp with force position feedback, as shown in fig. 1 and 2, the clamp comprises a shell 7, clamping jaws 3, an electric push rod 6, a connecting rod mechanism, a position sensor, a pressure sensor and the like, wherein the electric push rod 6 is arranged in the shell 7 and connected with a plurality of clamping jaws 3 through the connecting rod mechanism, and the clamping jaws 3 are controlled to open or close through the expansion and contraction of the electric push rod 6; wherein the position sensor, the pressure sensor are used for detecting force and displacement information applied by the clamping jaw 3 to the workpiece 8.
In the present embodiment, in order to make the structure compact, the housing 7 is provided in a cylindrical structure, and the electric putter 6 is coaxially installed inside the housing 7; it will be appreciated that in other embodiments, the housing 7 may have other shapes as long as it is capable of accommodating the electric push rod 6.
The length of the shell 7 is greater than the length of the electric push rod 6 in the initial state, one end of the shell 7 corresponding to the movable end of the electric push rod 6 is provided with a plurality of mounting grooves along the circumferential direction, the mounting grooves are used for mounting the clamping jaws 3, namely the clamping jaws 3 are in one-to-one correspondence with the mounting grooves, and the number of the clamping jaws can be set according to specific clamping requirements. The clamping jaw 3 is uniformly distributed in the three-dimensional space, so that the clamping force of the clamp on the workpiece 8 is balanced, the uniform distribution of the force applied to the target object by the clamping jaw 3 in the clamping process can be ensured, and the risk of damaging the target object is reduced.
The four clamping jaws 3 are arranged, so that stable clamping force and tension can be provided, and the accuracy and reliability of clamping objects are improved; of course, three, five or other numbers may be provided.
One end of the clamping jaw 3 can be directly connected to the inner side of the mounting groove through a pin shaft, or the end cover 2 can be mounted at the end part of the shell 7, and the clamping jaw 3 is connected with the end cover 2. In view of the stability of the clamping, this embodiment adopts a second way in which the end of the housing 7 is detachably connected with the end cap 2 adapted to its shape.
Furthermore, the end cover 2 is provided with a plurality of threaded holes along the axial direction of the shell 7, the end surface of the shell 7 is also provided with threaded holes, and the end cover 2 is connected with the shell 7 through the screw 1 after being matched with the shell 7; the number of screws 1 is related to the size of the housing 7.
As shown in fig. 2, in the initial state of the electric putter 6, the holding jaw 3 is held in the mounting groove, i.e., in the non-held state; as shown in fig. 3, the electric push rod 6 is extended, and the jaw 3 is opened with respect to the outer periphery of the housing 7 by the link mechanism.
As shown in fig. 4, the link mechanism comprises a first link 5 and a second link 4, wherein one end of the first link 5 is fixedly connected with the movable end of the electric push rod 6, and the other end of the first link 5 is connected with a plurality of second links 4; the second connecting rods 4 are in one-to-one correspondence with the clamping jaws 3, one ends of the second connecting rods 4 are hinged with the first connecting rods 5 through pin shafts, and the other ends of the second connecting rods are hinged with the clamping jaws 3 through pin shafts; by means of the linear movement of the first link 5, the second link 4 pulls the clamping jaw 3 open or closed relative to the housing 7.
The clamping jaw 3, the second connecting rod 4 and the first connecting rod 5 form a three-connecting-rod mechanism, so that the stability of reciprocating motion can be ensured, and shaking and vibration can not be generated.
The shell 7 is also internally provided with a controller, the position sensor, the pressure sensor and the electric push rod 6 are connected with the controller through cables, and accurate force control and position control can be realized by adopting the position sensor and the pressure sensor, so that the clamping jaw 3 can accurately grasp and stably clamp a target object. The position sensor can measure the distance and the clamping force between the clamping jaw 3 and the target object in real time, and feed data back to the controller for real-time adjustment, so that the clamping jaw 3 can be adjusted in a self-adaptive manner under different working conditions, and the adaptability and the robustness of the device are improved; the pressure sensor can measure the pressure applied by the clamping jaw 3 to the target object in real time, so that the target object is ensured not to be damaged in the grabbing process.
The position sensor and the pressure sensor are arranged in the driving box of the electric push rod 6; the position sensor and the pressure sensor in this embodiment feed back the detected information to the controller, and the controller controls the electric push rod 6 to push and pull. The position sensor and the pressure sensor control the opening and closing angle and the strength of the clamping jaw 3 by providing force, position and pressure feedback signals.
In view of the internal layout of the housing 7, the controller of the present embodiment is mounted on one side of the electric putter 6, and the position sensor and the pressure sensor are mounted on the other side of the electric putter 6.
The clamp of the embodiment can be used for underwater operation, when the clamp is in an underwater environment, the electric push rod 6 is a waterproof electric push rod, a power line of the waterproof electric push rod penetrates through the center of the shell to be connected with a waterproof cable, and a waterproof joint is arranged at the joint of the waterproof cable and the mechanical arm.
The shell 7, the first connecting rod 5, the second connecting rod 4, the clamping jaw 3 and the end cover are all made of 45 steel materials, so that the underwater operation device has high strength, hardness and corrosion resistance, is relatively good in toughness and plasticity, prolongs the service life, and improves the underwater operation quality.
The working principle of the embodiment is as follows:
in the initial state, the displacement of the electric push rod 6 is zero, and each clamping jaw 3 is in the contracted state. When the clamping device is used for grabbing, the clamp penetrates through a workpiece, and the electric push rod 6 controls the second connecting rod 4 to drive the clamping jaw 3 to open; when the clamping jaw 3 is opened to the maximum extent, the clamp is contracted, and the pressure sensor detects that the clamping jaw 3 is contacted with two sides of the workpiece 8, and the contraction is stopped.
The position sensor and the pressure sensor measure and feed back force and displacement information applied by the clamping jaw on the workpiece 8; the controller adjusts the force applied by the clamping jaw 3 on the contact surface according to the information fed back by the sensor, and the clamp clamps the workpiece 8 after the clamping force and the clamping position are determined.
When the workpiece 8 needs to be released, the clamp moves back, the electric push rod 6 controls the second connecting rod 4 to drive the clamping jaw 3 to shrink, the clamp is retracted, and the workpiece 8 is released.
Embodiment two:
the embodiment provides equipment with force position feedback, which comprises the clamp in the first embodiment, wherein the clamp is arranged at the tail end of the mechanical arm.
The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (10)
1. The clamp with the force position feedback is characterized by comprising a shell, wherein an electric push rod is arranged in the shell and is connected with a plurality of clamping jaws through a connecting rod mechanism; the clamping jaws are uniformly distributed along the circumferential direction of the shell and are contracted in the shell in the initial state of the electric push rod; and a position sensor and a pressure sensor are also arranged in the shell.
2. The clamp with force feedback of claim 1, wherein the linkage mechanism comprises a first link connected to an end of the electric push rod, the first link being connected with a plurality of second links, the second links being in one-to-one correspondence with the jaws.
3. The clamp with force bit feedback of claim 2, further comprising an end cap secured to one end of the housing; one end of the second connecting rod is hinged with the end cover, and the other end of the second connecting rod is hinged with the first connecting rod.
4. A clamp with force feedback as defined in claim 3, wherein said end cap is attached to the housing by a plurality of screws.
5. The clamp with force bit feedback of claim 1, further comprising a controller, wherein the position sensor, the pressure sensor, and the electric push rod are each connected to the controller by cables.
6. The fixture with force feedback of claim 5, wherein the controller is mounted on one side of the electric putter and the position sensor and the pressure sensor are mounted on the other side of the electric putter.
7. The clamp with force feedback of claim 1, wherein the housing is a cylindrical structure and the electric push rod is coaxially disposed with the housing.
8. The clamp with force feedback of claim 7, wherein the housing is circumferentially formed with mounting slots for jaw movement.
9. An apparatus with force bit feedback comprising a clamp as claimed in any one of claims 1 to 8.
10. The apparatus of claim 9, wherein the clamp is mounted to a distal end of the arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320933465.7U CN219987331U (en) | 2023-04-18 | 2023-04-18 | Clamp with force position feedback and equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320933465.7U CN219987331U (en) | 2023-04-18 | 2023-04-18 | Clamp with force position feedback and equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219987331U true CN219987331U (en) | 2023-11-10 |
Family
ID=88614080
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320933465.7U Active CN219987331U (en) | 2023-04-18 | 2023-04-18 | Clamp with force position feedback and equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219987331U (en) |
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2023
- 2023-04-18 CN CN202320933465.7U patent/CN219987331U/en active Active
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