An electric clamp

Abstract

The present invention discloses an electric clamp, which relates to the technical field of clamps; the electric clamp at least comprises: a control circuit, a motor, an airbag module and a clamp; the airbag module at least comprises an airbag and a sensor, and the airbag is located at the front end of the clamp; the clamp is a solid clamp; when a grasping operation is performed on a target object, the air pressure in the airbag is adjusted to a first preset pressure; the control circuit drives the clamps to approach each other by controlling the motor, and the clamps cover the target object; as the clamps approach, the airbag is squeezed by the target object, and the air pressure in the airbag increases, and when the sensor detects that the air pressure in the airbag reaches a second preset pressure, the control circuit controls the motor to stop driving the clamps to approach each other, thereby completing the grasping of the target object.

Description

Technical Field

[0001] The present disclosure relates to the technical field of clamps, and in particular to an electric clamp. Background Art

[0002] In the prior art, the clamps can generally be divided into fluid-driven clamps and electric-driven clamps. On the clamping jaws of the fluid-driven flexible clamps (usually hollow clamps), it is generally impossible to integrate a sensor that can be directly contacted at the end of the clamp. Due to the lack of a sensor system, the amount of inflation of the hollow clamp cannot be controlled, the force perception is inaccurate, and there is no relevant and accurate clamping data as the basis for analysis. When clamping different objects, the clamp can only rely on the experience of the workers to continuously debug on site, resulting in an unstable clamping process. When facing clamping objects of various shapes, it is not possible to quickly and effectively grasp them accurately, which is time-consuming and labor-intensive; and this method has no feedback mechanism during the clamping process, resulting in poor control of the clamping force. When the clamping force is too large, it is easy to cause product damage. When the clamping force is too small, it is easy to cause the product to fall off after clamping. If a special sensor is equipped on the clamping jaw, the sensor price is very expensive, which is not conducive to industrialization. The electric-driven clamp uses the current size to feedback the size of the clamping force, which is expensive. Summary of the invention

[0003] In response to the above-mentioned technical problems in the prior art, the embodiments of the present disclosure propose an electric clamp, which can solve the problems existing in the prior art that fluid-driven clamps usually cannot integrate direct contact sensors and thus cannot control the size of the clamping force, the cost of deploying sensors is too high, and the use of electric-driven clamps is expensive, which is not conducive to industrialization.

[0004] The disclosed embodiment discloses an electric clamp, which at least includes: a control circuit, a motor, an airbag module and a clamping claw;

[0005] The airbag module at least includes an airbag and a sensor, and the airbag is located at the front end of the clamp; the clamp is a solid clamp;

[0006] When performing a grabbing operation on a target object, the air pressure in the airbag is adjusted to a first preset pressure; the control circuit drives the clamping claws to approach each other by controlling the motor, and the clamping claws cover the target object;

[0007] As the grippers approach, the airbag is squeezed by the target object, and the air pressure in the airbag increases. When the sensor detects that the air pressure in the airbag reaches a second preset pressure, the control circuit controls the motor to stop driving the grippers to approach each other, thereby completing the grasping of the target object.

[0008] In some embodiments, the electric clamp further includes an air source and a valve; the air source is used to inflate the airbag, and the valve is used to control the flow of gas.

[0009] In some embodiments, when a grabbing operation is performed on a target object, the control circuit opens the valve and the air source, and the air source begins to inflate the airbag to adjust the air pressure in the airbag to a first preset pressure.

[0010] In some embodiments, when the sensor detects that the air pressure in the airbag is the first preset pressure, a signal is sent to the control circuit; the control circuit closes the valve, and the air source stops inflating.

[0011] In some embodiments, after the target object is grasped, if a grasping operation is still required, the control circuit opens the valve to restore the air pressure in the airbag to the first preset pressure.

[0012] In some embodiments, the gas source and the valve are both placed inside the airbag module; alternatively, the gas source and the valve are both placed outside the airbag module.

[0013] In some embodiments, the electric clamp further includes a driving module.

[0014] In some embodiments, the driving module is connected to the motor and the clamp respectively; the control circuit controls the driving module by controlling the motor; and the driving module is used to drive the clamp.

[0015] In some embodiments, the second preset pressure is greater than the first preset pressure.

[0016] In some embodiments, the motor is specifically a DC motor; or a stepper motor.

[0017] The beneficial effects of the disclosed embodiment are as follows: the airbag module added to the front end of the solid gripper is used as a sensing module of the force sensor, and the pressure fluctuation in the airbag is used to sensitively sense the magnitude of the clamping force borne by the target object, thereby effectively preventing the target object from being damaged during the grasping process; at the same time, the airbag module is simple and easy to obtain, low in price, and easy to industrialize. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The features and advantages of the present disclosure will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the present disclosure in any way. In the accompanying drawings:

[0019] Figure 1 is a schematic diagram of an electric clamp according to some embodiments of the present disclosure;

[0020] Figure 2 is a schematic diagram of an electric clamp according to some embodiments of the present disclosure;

[0021] Figure 3 The uninflated airbag shape and the inflated airbag shape are shown in some embodiments of the present disclosure. DETAILED DESCRIPTION

[0022] In the detailed description below, many specific details of the present disclosure are set forth by way of example in order to provide a thorough understanding of the relevant disclosure. However, it will be apparent to one of ordinary skill in the art that the present disclosure can be implemented without these details. It should be understood that the use of the terms "system," "device," "unit," and / or "module" in the present disclosure is a method for distinguishing different parts, elements, parts, or assemblies at different levels in a sequential arrangement. However, these terms may be replaced by other expressions if other expressions can achieve the same purpose.

[0023] It should be understood that when a device, unit or module is referred to as being "on," "connected to," or "coupled to" another device, unit or module, it may be directly on, connected to, coupled to, or communicating with other devices, units or modules, or there may be intermediate devices, units or modules, unless the context clearly indicates an exception. For example, the term "and / or" as used in this disclosure includes any and all combinations of one or more of the relevant listed items.

[0024] The terms used in this disclosure are only for describing specific embodiments and are not intended to limit the scope of this disclosure. As shown in the specification and claims of this disclosure, unless the context clearly indicates an exception, the words "one", "a kind" and / or "the" do not specifically refer to the singular, but may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of clearly identified features, wholes, steps, operations, elements and / or components, and such expressions do not constitute an exclusive list, and other features, wholes, steps, operations, elements and / or components may also be included.

[0025] These and other features and characteristics, methods of operation, functions of related elements of the structure, combinations of parts, and economies of manufacture of the present disclosure may be better understood with reference to the following description and drawings, which form a part of the specification. However, it is to be clearly understood that the drawings are for illustration and description purposes only and are not intended to limit the scope of protection of the present disclosure. It is to be understood that the drawings are not drawn to scale.

[0026] Various structural diagrams are used in this disclosure to illustrate various variations of the embodiments of the present disclosure. It should be understood that the above or below structures are not intended to limit the present disclosure. The scope of protection of the present disclosure shall be subject to the claims.

[0027] In the prior art, the clamps can generally be divided into fluid-driven clamps and electric-driven clamps. On the clamping jaws of the fluid-driven flexible clamps (usually hollow clamps), it is generally impossible to integrate a sensor that can be directly contacted at the end of the clamp. Due to the lack of a sensor system, the amount of inflation of the hollow clamp cannot be controlled, the force perception is inaccurate, and there is no relevant and accurate clamping data as the basis for analysis. When clamping different objects, the clamp can only rely on the experience of the workers to continuously debug on site, resulting in an unstable clamping process. When facing clamping objects of various shapes, it is not possible to quickly and effectively grasp them accurately, which is time-consuming and labor-intensive; and this method has no feedback mechanism during the clamping process, resulting in poor control of the clamping force. When the clamping force is too large, it is easy to cause product damage. When the clamping force is too small, it is easy to cause the product to fall off after clamping. If a special sensor is equipped on the clamping jaw, the sensor price is very expensive, which is not conducive to industrialization. The electric-driven clamp uses the current size to feedback the size of the clamping force, which is expensive.

[0028] In order to overcome the above-mentioned deficiencies of the prior art, the present disclosure provides an electric clamp, such as Figure 1-Figure 2 As shown, it at least includes: a control circuit 1, a motor 2, an airbag module and a clamp 4;

[0029] The airbag module at least includes an airbag 3 and a sensor 5 electrically connected to the airbag 3, the airbag 3 is located at the front end of the clamp 4; the clamp 4 is a solid clamp;

[0030] When performing a grabbing operation on a target object, the air pressure in the airbag 3 is first adjusted to a first preset pressure, and then the control circuit 1 drives the clamping claws 4 to approach each other and cover the target object by controlling the motor 2;

[0031] As the grippers 4 approach, the airbag 3 is squeezed by the target object, and the air pressure in the airbag 3 increases. When the sensor 5 detects that the air pressure in the airbag 3 reaches a second preset pressure, the control circuit 1 controls the motor 2 to stop driving the grippers 4 to approach each other, thereby completing the grasping of the target object.

[0032] In some embodiments, the electric clamp further includes an air source 6 and a valve 7; the air source 6 is used to inflate the airbag 3, and the valve 7 is used to control the flow of gas.

[0033] In some embodiments, when performing a grabbing operation on a target object, the control circuit 1 opens the valve 7 and the air source 6, and the air source 6 starts to inflate the airbag 3, adjusting the air pressure in the airbag 3 to a first preset pressure. Figure 3 As shown, the shape of the airbag 3 is shown before and after it is inflated.

[0034] In some embodiments, when the sensor 5 detects that the air pressure in the airbag 3 is the first preset pressure, a signal is sent to the control circuit 1; the control circuit 1 closes the valve 7, and the air source 6 stops inflating.

[0035] In some embodiments, after the target object is grasped, if a grasping operation is still required, the control circuit 1 opens the valve 7 to restore the air pressure in the airbag 3 to the first preset pressure.

[0036] In some embodiments, the gas source 6 and the valve 7 are both placed inside the airbag module; alternatively, the gas source 6 and the valve 7 are both placed outside the airbag module.

[0037] In some embodiments, the electric clamp further includes a driving module 8 .

[0038] In some embodiments, the driving module 8 is connected to the motor 2 and the clamp 4 respectively; the control circuit 1 controls the driving module 8 by controlling the motor 2; and the driving module 8 is used to drive the clamp 4.

[0039] In some embodiments, the motor 2 is specifically a common DC motor; or a stepping motor.

[0040] In some embodiments, the second preset pressure is greater than the first preset pressure; specifically, the second preset pressure is a suitable clamping pressure, that is, a force that will not damage the target object and will not cause the target object to fall.

[0041] In some embodiments, the airbag 3 can be filled with not only gas but also fluid medium such as liquid; accordingly, the sensor 5 is a fluid sensor, which can be a gas sensor or a liquid sensor.

[0042] In some embodiments, the airbag 3 can be an integral part of the front section of the clamp 4, or a plurality of small airbags can be arranged in an array at the front end of the clamp 4; the shape, quantity, and size of the airbag 3 are not limited. At the same time, the surface of the airbag 3 can be provided with different functions according to different needs (anti-static, wear-resistant, dust-proof, non-stick, etc.), and can also be provided with different surface textures or be provided as a traceless surface.

[0043] In some embodiments, multiple grippers 4 can be combined to achieve batch grabbing at different positions.

[0044] In some embodiments, the airbag module further includes a pressure gauge; the pressure gauge collects and transmits the internal pressure change data of the airbag 3 in the form of a signal, and feeds back the deformation degree of the airbag 3 to the control circuit 1.

[0045] In summary, the present disclosure proposes an electric clamp, which uses an airbag module added to the front end of a solid clamp as a sensing module of a force sensor, and sensitively senses the magnitude of the clamping force borne by the target object through the pressure fluctuation in the airbag, thereby effectively preventing the target object from being damaged during the grasping process; at the same time, the airbag module is simple and easy to obtain, inexpensive, and easy to industrialize.

[0046] It should be understood that the above specific embodiments of the present disclosure are only used to illustrate or explain the principles of the present disclosure, and do not constitute a limitation of the present disclosure. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present disclosure should be included in the protection scope of the present disclosure. In addition, the claims attached to the present disclosure are intended to cover all changes and modifications that fall within the scope and boundaries of the attached claims, or the equivalent forms of such scope and boundaries.

Claims

1. An electric clamp, characterized in that: At least including: a control circuit, a motor, an airbag module and a gripper; The airbag module at least includes an airbag and a sensor, and the airbag is located at the front end of the clamp; the clamp is a solid clamp; When performing a grabbing operation on a target object, the air pressure in the airbag is adjusted to a first preset pressure; the control circuit drives the clamping claws to approach each other by controlling the motor, and the clamping claws cover the target object; As the grippers approach, the airbag is squeezed by the target object, and the air pressure in the airbag increases. When the sensor detects that the air pressure in the airbag reaches a second preset pressure, the control circuit controls the motor to stop driving the grippers to approach each other, thereby completing the grasping of the target object. The electric clamp further comprises an air source and a valve; the air source is used to inflate the airbag, and the valve is used to control the flow of the gas; When the target object is grasped, the control circuit opens the valve and the air source, and the air source starts to inflate the airbag, adjusting the air pressure in the airbag to the first preset pressure; When the sensor detects that the air pressure in the airbag is the first preset pressure, a signal is sent to the control circuit; the control circuit closes the valve, and the air source stops inflating; After the target object is grasped, if the grasping operation still needs to be performed, the control circuit opens the valve to restore the air pressure in the airbag to the first preset pressure; The airbag module also includes a barometer, which collects and transmits the pressure change data inside the airbag in the form of a signal, and feeds back the deformation degree of the airbag to the control circuit; The electric clamp also includes a driving module; The driving module is connected to the motor and the clamp respectively; the control circuit controls the driving module by controlling the motor; and the driving module is used to drive the clamp.

2. The electric clamp according to claim 1, characterized in that: The air source and the valve are both placed inside the airbag module; or, the air source and the valve are both placed outside the airbag module.

3. The electric clamp according to claim 1, characterized in that: The second preset pressure is greater than the first preset pressure.

4. The electric clamp according to claim 1, characterized in that: The motor is specifically a DC motor; or a stepping motor.

Images