Electrically-driven joint device with bipolar magnetic attraction buffering function

Abstract

An electrically-driven joint device with a bipolar magnetic attraction buffering function comprises a driving mechanism, a clamping mechanism and a bipolar magnetic attraction element, the driving mechanism comprises a driving connecting block, a short supporting plate and a long supporting plate, the driving connecting block is connected with a motor, a screw rod extends out of the lower portion of the driving connecting block, penetrates through the short supporting plate and then is connected with the long supporting plate, and the long supporting plate is connected with the clamping mechanism. The clamping mechanism comprises two long rods, two folding rods, two straight connecting rods, two transverse connecting rods, two clamping plates and two supporting straight connecting rods which are symmetrically arranged, the two long rods, the two folding rods, the two straight connecting rods, the two transverse connecting rods, the two clamping plates and the two supporting straight connecting rods are connected in a matched mode to form a plane six-fulcrum clamping framework, the bipolar magnetic attraction element comprises two coils wound around iron cores, and a positive electrode and a negative electrode are led out respectively and electrically connected with an external power source. A bipolar magnetic attraction buffering principle is applied, the magnitude of magnetic force between two poles is changed along with the change of the distance until the magnetic force and clamping force are balanced, flexible clamping is formed, the buffering effect is achieved, a clamped object is prevented from being damaged, and meanwhile the effect of assisting clamping and releasing is achieved through heteropole attraction, clamping acceleration, homopolar repulsion and releasing acceleration.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical clamping devices, and particularly to an electric drive joint device with bipolar magnetic attraction buffering, especially in the aspects of hydraulic power-driven clamping and electric drive clamping mechanisms, belonging to the technical field of machine automation devices. Background Art

[0002] At present, the technology of clamping devices has developed to some extent. Especially with the advent of the era of robots and artificial intelligence, the automation of mechanical clamping devices is the basis for the development of mechanical equipment, and the intelligence of the entire machine also depends on the automation development of the devices. However, the mechanical clamping devices of the existing technology are generally manual and have a low degree of automation. Even though most mechanical clamping devices have an automation system, the devices in the original technical field still have the following deficiencies: 1. There is no buffer mechanism for developing the clamping joint position, and it is difficult to solve the damage to the clamped object caused by the movement of the mechanism during the clamping process; 2. It has poor adaptability to rigid and flexible clamped objects, and the adaptability is not wide; 3. Generally, there is no bipolar magnetic force control flexible application design.

[0003] Currently, according to the analysis of the existing technical fields, the existing traditional clamping devices with the function of controlling the force on the joint movement usually form a counteracting clamping force by installing a reaction spring, which belongs to a contact-type technology. However, this spring contact friction buffering method cannot adjust the acting force and its related adaptability parameters. Summary of the Invention

[0004] The purpose of the present invention is to provide a box-type clamping device with a bipolar magnetic attraction buffer joint that can adaptively adjust the clamping reaction force to protect the clamped object and can also assist in clamping and releasing, so as to overcome the deficiencies of the above existing technologies.

[0005] The technical solution adopted by the present invention is: A drive mechanism, a clamping mechanism, and a bipolar magnetic attraction element that can be connected to an electric drive are used to form an electric drive clamping joint device. The drive mechanism adopted includes a drive connection block, a short support plate, and a long support plate. The drive connection block can be connected to a motor, and a screw rod extends downward through the short support plate and then connects to the long support plate. The clamping mechanism includes two long rods, two folding rods, two straight link rods, two cross link rods, two clamping plates, and two support straight link rods that are symmetrically arranged and are cooperatively connected to form a clamping structure with 6 fulcrums in a plane. Inside this system structure, the bipolar magnetic attraction element installed includes two groups of coils respectively wound around iron cores, and each group leads out a set of positive and negative poles and is electrically connected to an external power supply.

[0006] Due to adopting the above technical solution, an electric drive joint device with bipolar magnetic attraction buffering of the present invention has the following beneficial effects: 1. The present invention utilizes the principle of bipolar magnetic attraction buffering. During the clamping process, as the clamping distance decreases, the distance between the two poles within the bipolar magnetic attraction element gradually decreases, and the magnetic force gradually increases until the magnetic force reaches equilibrium with the clamping force output by the motor, forming a clamping motion, which has a buffering effect. This can avoid excessive clamping pressure. The clamping reaction force acts through the electromagnetic force of the bipolar coil to form an increase or decrease in the clamping force, so as to provide different clamping buffering forces as the distance changes, overcoming the damage to the clamped object during the movement of the clamping structure as the clamping distance changes, achieving flexible clamping; 2. Since the present invention adopts a bipolar magnetic attraction element, when clamping, the two poles generate attraction between opposite poles, accelerating the clamping. When releasing, the two poles generate repulsion between like poles, accelerating the release, thereby achieving the effect of assisting in clamping and releasing; 3. Since the present invention uses a short support plate, a long support plate, a long rod, a folding rod, a straight connecting rod, a cross connecting rod, a clamping plate, and a supporting straight connecting rod to cooperate for clamping, forming a clamping structure with six support points in a plane, making the clamping more firm. At the same time, it can realize the linear motion of the clamping plate, forming a good horizontal clamping effect.

[0007] The technical features of an electric drive joint device with bipolar magnetic attraction buffering according to the present invention will be further described below in conjunction with the drawings and embodiments. Description of the Drawings

[0008] Figure 1 It is a schematic connection structure diagram of an electric drive joint device with bipolar magnetic attraction buffering according to the present invention;

[0009] In the figure: 1 - drive mechanism, 11 - drive connection block, 12 - short support plate, 13 - long support plate, 14 - screw, 15 - chute; 2 - clamping mechanism, 21 - long rod, 22 - folding rod, 23 - straight connecting rod, 24 - cross connecting rod, 25 - clamping plate, 26 - supporting straight connecting rod; 3 - bipolar magnetic attraction element. Detailed Embodiment Embodiment

[0010] An electric drive joint device with bipolar magnetic attraction buffering, as Figure 1 shown in FIGS. 1 and 2, includes a drive mechanism 1, a clamping mechanism 2, and a bipolar magnetic attraction element 3. The drive mechanism 1 is connected to an external stepping motor and the clamping mechanism 2, and the bipolar magnetic attraction element 3 is connected to the drive mechanism 1 and the clamping mechanism 2 for assisting in clamping and releasing and buffering.

[0011] The driving mechanism 1 includes a driving connection block 11, a short support plate 12 and a long support plate 13. The driving connection block 11 is a cylindrical connection block that connects to the output shaft of an external stepper motor and rotates driven by the motor. A screw 14 is connected below it. The screw 14 is threadedly connected to the middle of the short support plate 12 and passes through the short support plate 12. The lower end of the screw 14 is fixedly connected to the long support plate 13 through a spherical plain bearing. The short support plate 12 can move up and down due to the rotation of the screw 14.

[0012] The clamping mechanism 2 includes two long rods 21, two folding rods 22, two straight link rods 23, a cross link rod 24, two clamping plates 25 and two support straight link rods 26 which are symmetrically arranged. The two long rods 21 are respectively arranged on both sides of the short support plate 12. The upper ends of the long rods 21 are connected to the short support plate 12 through a spherical plain bearing with a joint. The lower ends respectively rotate and connect to the upper ends of the two folding rods 22. The two folding rods 22 are respectively arranged on both sides of the long support plate 13, and some of them are rotatably connected to the long support plate 13 through spherical plain bearings, so that the short support plate 12, the long support plate 13, the long rods 21 and the folding rods 22 are connected to form a trapezoidal structure. The lower ends of the folding rods 22 are respectively connected to the two straight link rods 23. An electric drive joint device with bipolar magnetic attraction buffering, its structure is basically the same as that of the first embodiment. The difference is that the folding rod 22 adopts an arc structure, and the clamping action formed is similar to the release.

[0013] The above embodiments are only the preferred embodiments of the present invention. The structure of the present invention is not limited to the forms listed in the above embodiments. Any modifications, equivalent replacements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An electric-driven joint device with bipolar magnetic absorption buffer, characterized in that: The clamping device comprises a driving mechanism (1), a clamping mechanism (2) and a bipolar magnetic attraction element (3), wherein the driving mechanism (1) is connected to an external stepping motor and the clamping mechanism (2), and the bipolar magnetic attraction element (3) is connected to the driving mechanism (1) and the clamping mechanism (2) for assisting clamping, releasing and buffering.

2. The electric-driven joint device with bipolar magnetic absorption buffer according to claim 1, characterized in that: The driving mechanism (1) comprises a driving connection block (11), a short support plate (12) and a long support plate (13); the driving connection block (11) is connected to an external stepping motor, a screw rod (14) extends from the bottom thereof, passes through the short support plate (12) and then connects to the long support plate (13); the short support plate (12) can move up and down due to the rotation of the screw rod (14).

3. The electric-driven joint device with bipolar magnetic absorption buffer according to claim 2, characterized in that: The clamping mechanism (2) comprises a symmetrically arranged long rod (21), a folding rod (22), a straight connecting rod (23), a transverse connecting rod (24), a clamping plate (25) and two supporting straight connecting rods (26), the two ends of the long rod (21) are rotatably connected to the short supporting plate (12) and the folding rod (22), the middle part of the folding rod (22) is rotatably connected to the long supporting plate (13), the lower end is connected to the straight connecting rod (23), the lower end of the straight connecting rod (23) is connected to one end of the transverse connecting rod (24), and the other end of the transverse connecting rod (24) is fixed to the clamping plate (25), a slide groove (15) is provided below the long supporting plate (13), the lower end of the supporting straight connecting rod (26) is connected to the transverse connecting rod (24), and the upper end is placed in the slide groove (15), and can move left and right along the slide groove (15).

4. The electric-driven joint device with bipolar magnetic absorption buffer according to claim 3, characterized in that: There are two bipolar magnetic attraction elements (3), which are respectively arranged at the two ends of the long support plate (13), one end of which is connected to the long support plate (13) and the other end of which is connected to the straight connecting rod (23).

5. The electric-driven joint device with bipolar magnetic absorption buffer according to claim 4, characterized in that: The bipolar magnetic attraction element (3) is a cylindrical device, comprising two groups of coils respectively wound around an iron core, each of the two groups of coils leading out a group of positive and negative poles, that is, leading out four electrical signal lines to form a bipolar control line electrically connected to an external power supply.

6. The electric-driven joint device with bipolar magnetic absorption buffer according to claim 2, characterized in that: The driving connection block (11) is a cylindrical connection block, and the screw rod (14) is threadedly connected to the short support plate (12) and connected to the long support plate (13) via a joint bearing.

7. The electric-driven joint device with bipolar magnetic absorption buffer according to claim 3, characterized in that: The long rod (21) and the short support plate (12) are connected via a joint roller bearing.

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