CN103056888A - Rotatable servo mechanical grabber - Google Patents
Rotatable servo mechanical grabber Download PDFInfo
- Publication number
- CN103056888A CN103056888A CN2013100054187A CN201310005418A CN103056888A CN 103056888 A CN103056888 A CN 103056888A CN 2013100054187 A CN2013100054187 A CN 2013100054187A CN 201310005418 A CN201310005418 A CN 201310005418A CN 103056888 A CN103056888 A CN 103056888A
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- gripper
- mechanical
- driving wheel
- grabber
- rotating
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Abstract
The invention discloses a rotatable servo mechanical grabber which comprises a mechanical grabber rotating body. The mechanical grabber rotating body comprises a mechanical grabber rotating driven synchronous belt pulley, a compression nut, a bearing compression sheet, a mechanical grabber rotating mounting flange shaft, a mechanical grabber rotating bearing and a mechanical grabber rotating bearing mounting seat for mounting the mechanical grabber rotating bearing; and a motor mounting flange of an opening power portion of mechanical grabbers is connected with the mechanical grabber rotating mounting flange shaft and then sequentially penetrates through the mechanical grabber rotating driven synchronous belt pulley, the compression nut, the bearing compression sheet, the mechanical grabber rotating bearing and the mechanical grabber rotating bearing mounting seat, so that the independent rotatable body is formed. The mechanical grabbers can be freely and independently positioned, the opening stroke of the two mechanical grabbers can be accurately controlled, grabbing force of the two mechanical grabbers is accurately controlled, and the rotatable servo mechanical grabber is high in response speed and reliability and long in service life, and can be applied to places which have requirements on opening precision and grabbing force but do not have gas sources.
Description
Technical field
The invention belongs to electronics and make technical field of processing equipment, relate to a kind of rotatable servounit pawl.
Background technology
Along with developing rapidly of electronics industry, the application of electronics processing kind equipment is more and more extensive, and mechanical paw is electronics process equipment auxiliary equipment very commonly used, is mainly used to grasp electronic devices and components, and it is carried and is installed on the circuit board.At present, existing mechanical paw adopts pneumatic structure usually because its complex structure and make difficulty and poor controllability own can't be realized the control of accurate opening and grasp force, can not to gas cleft hand fingering row freely, location-independent and accurately control grasp force.Also need simultaneously the cooperation of peripheral pneumatic operated valve, can't realize narrow range and require the strict electronic component assembling of grasp force control; And the mechanical precision of Pneumatic paw is relatively poor, is difficult to the position rotating center in the integral-rotation motion.In addition, existing Pneumatic paw all adopts air as driving force, piston rod and the lever of cylinder link together by joint pin, lever actuated is installed in the master jaw on the line slideway, thereby realize the opening and closing of gas pawl, yet Pneumatic paw adopts pneumatic principle, requires higher to the source of the gas cleanliness factor; For a long time, frequent perseveration, affect service life of cylinder.
So, be necessary to study in fact, provide a kind of accurate opening of gripper of manipulator and crawl dynamics of realizing to control, also can realize simultaneously the mechanical paw of anglec of rotation control.
Summary of the invention
For addressing the above problem, the object of the present invention is to provide a kind of rotatable servounit pawl, it can be realized the accurate opening of gripper of manipulator and the control of crawl dynamics, and can realize simultaneously the control of the anglec of rotation.
For achieving the above object, technical scheme of the present invention is:
A kind of rotatable servounit pawl comprises folding power section, the gripper rotating body part of gripper and the synchronous on-off part of gripper; Described gripper rotating body partly includes the gripper swivel bearing mount pad that gripper rotates driven synchronous pulley, clamp nut, bearing clamping piece, the blue axle of gripper Rotation Method for Installation, gripper swivel bearing and the gripper swivel bearing is installed; Wherein, the blue axle of the motor mounting flange of the folding power section of gripper and gripper Rotation Method for Installation connects, and then passes successively gripper and rotates driven synchronous pulley, clamp nut, bearing clamping piece, gripper swivel bearing, rotatable body of independence of gripper swivel bearing mount pad formation.
Further, the folding power section of described gripper includes motor mounting flange, driving wheel connecting axle and first, second driving wheel of servomotor, shaft coupling, installation servomotor; Wherein, servomotor is installed on the motor mounting flange, connects with the driving wheel connecting axle by shaft coupling, drives the first driving wheel, drives the second driving wheel through gripper driving wheel belt and rotates.
Further, the synchronous on-off of described gripper gripper adpting flange, the linear slide rail that is fixed on the gripper body and the mechanical claw and the mechanical claw mount pad that partly include the gripper body, gripper body and gripper rotating body partly are connected.
Further, described gripper body partly is connected with the gripper rotating body by the gripper adpting flange, and the folding power section of gripper is connected with the gripper rotating body by the motor mounting flange and is connected, the power of the first driving wheel is delivered on the second driving wheel by gripper driving wheel belt, is connected driven pulley and moves back and forth by the gripper belt that is synchronized with the movement by the second driving wheel again.
Further, described linear slide rail is fixed on the gripper body, machinery claw mount pad is fixed on the linear slide rail, by the belt briquetting mechanical claw mount pad and the gripper belt that is synchronized with the movement is fixedly connected with, and mechanical claw is fixed in. on the mechanical claw mount pad.
The controlled servounit paw of the anglec of rotation of the present invention can carry out freedom, location-independent to gripper, can accurately control the folding stroke of two grippers and accurately control grasp force; Its fast response time, whole gripper body can be realized the accurate rotation location at the center of grasping.Life-span is long, and reliability is high, can be applicable to that Aperture precision and crawl dynamics require and without the occasion of source of the gas.
Description of drawings
Fig. 1 is the three-dimensional icon of the controlled servounit paw of the anglec of rotation of the present invention.
Fig. 2 is the front view of the controlled servounit paw of the anglec of rotation of the present invention.
Fig. 3 is the lateral plan of the controlled servounit paw of the anglec of rotation of the present invention.
Fig. 4 is the decomposition diagram of the controlled servounit paw of the anglec of rotation of the present invention.
The specific embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, is not intended to limit the present invention.
In description of the invention, it will be appreciated that, term " on ", orientation or the position relationship of the indications such as D score, 'fornt', 'back', " interior ", " outward " be based on orientation shown in the drawings or position relationship, only be for convenience of description the present invention and simplified characterization, rather than indication or the hint device of indication or element must have specific orientation, with specific orientation structure and operation, therefore can not be interpreted as limitation of the present invention.In addition, term " first ", " second " only are used for describing purpose, and can not be interpreted as indication or hint relative importance.
In description of the invention, need to prove that unless clear and definite regulation and restriction are arranged in addition, term " installation ", " linking to each other ", " connection " should be done broad understanding, for example, can be to be fixedly connected with, connect integratedly, also can be to removably connect; It can be the connection of two element internals; Can be directly to link to each other, also can indirectly link to each other by intermediary, for the ordinary skill in the art, can concrete condition understand above-mentioned term concrete meaning in the present invention.
Please refer to shown in Figure 1ly, the controlled servounit paw of the anglec of rotation of the present invention includes folding power section, the gripper rotating body part of gripper and the synchronous on-off part of gripper.Wherein, the folding power section of gripper includes motor mounting flange 3, driving wheel connecting axle 10 and first, second driving wheel 15,16 of servomotor 1, shaft coupling 2, installation servomotor 1.Wherein, servomotor 1 is installed on the motor mounting flange 3, connects with driving wheel connecting axle 10 by shaft coupling 2, drives the first driving wheel 15, drives the second driving wheel 16 through gripper driving wheel belt 18 and rotates.
The gripper rotating body partly includes the gripper swivel bearing mount pad 12 that gripper rotates driven synchronous pulley 4, clamp nut 7, bearing clamping piece 8, the blue axle 11 of gripper Rotation Method for Installation, gripper swivel bearing 9 and gripper swivel bearing 9 is installed.Wherein, the blue axle 11 of motor mounting flange 3 and gripper Rotation Method for Installation connects, then pass successively gripper and rotate driven synchronous pulley 4, clamp nut 7, bearing clamping piece 8, gripper swivel bearing 9, gripper swivel bearing mount pad 12 and form the rotatable body of independence, then connect gripper rotary servomotor driving wheel 6 by the servomotor of outside and be connected driven synchronous pulley 4 with gripper by gripper rotary synchronous band 5 and connect to realize accurate control to the gripper anglec of rotation.
The synchronous on-off of gripper partly includes gripper body 14, the gripper adpting flange 13 that gripper body 14 and gripper rotating body partly are connected, the linear slide rail 21 that is fixed on gripper body 14 and mechanical claw 23 and mechanical claw mount pad 22.Wherein, gripper body 14 partly is connected with the gripper rotating body by gripper adpting flange 13, and the folding power section of gripper is connected with the gripper rotating body by motor mounting flange 3 and is connected, the power of the first driving wheel 15 is delivered on the second driving wheel 16 by gripper driving wheel belt 18, is connected driven pulleys 17 and moves back and forth by be synchronized with the movement belt 19 of gripper by the second driving wheel 16 again.Linear slide rail 21 is fixed on the gripper body 14, machinery claw mount pad 22 is fixed on the linear slide rail 21, by belt briquetting 20 mechanical claw mount pad 22 and the gripper belt 19 that is synchronized with the movement is fixedly connected with, machinery claw 23 is fixed in. on the mechanical claw mount pad 22, like this, utilize the be synchronized with the movement reciprocating motion of belt 19 of gripper can realize the synchronous on-off of two mechanical claws 23, but the control of the accurate control moment by motor just can realize the accurate folding of gripper and the control of grasp force again.
The present invention can carry out freedom, location-independent to gripper, can accurately control the folding stroke of two grippers and accurately control grasp force; Its fast response time, whole gripper body can be realized the accurate rotation location at the center of grasping.Life-span is long, and reliability is high, can be applicable to that Aperture precision and crawl dynamics require and without the occasion of source of the gas.
The above only is preferred embodiment of the present invention, not in order to limiting the present invention, all any modifications of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (5)
1. rotatable servounit pawl, comprise the folding power section of gripper and the synchronous on-off part of gripper, it is characterized in that: also include gripper rotating body part, described gripper rotating body partly includes the gripper swivel bearing mount pad that gripper rotates driven synchronous pulley, clamp nut, bearing clamping piece, the blue axle of gripper Rotation Method for Installation, gripper swivel bearing and the gripper swivel bearing is installed; Wherein, the folding power section of gripper includes the motor mounting flange that servomotor is installed, the blue axle of this motor mounting flange and gripper Rotation Method for Installation connects, and then passes successively gripper and rotates driven synchronous pulley, clamp nut, bearing clamping piece, gripper swivel bearing, rotatable body of independence of gripper swivel bearing mount pad formation.
2. the controlled servounit paw of the anglec of rotation as claimed in claim 1, it is characterized in that: the folding power section of described gripper includes servomotor, shaft coupling, driving wheel connecting axle and first, second driving wheel; Wherein, servomotor is installed on the motor mounting flange, connects with the driving wheel connecting axle by shaft coupling, drives the first driving wheel, drives the second driving wheel through gripper driving wheel belt and rotates.
3. the controlled servounit paw of the anglec of rotation as claimed in claim 2 is characterized in that: gripper adpting flange, the linear slide rail that is fixed on the gripper body and mechanical claw and mechanical claw mount pad that the synchronous on-off of described gripper partly includes the gripper body, gripper body and gripper rotating body partly are connected.
4. the controlled servounit paw of the anglec of rotation as claimed in claim 3, it is characterized in that: described gripper body partly is connected with the gripper rotating body by the gripper adpting flange, and the folding power section of gripper is connected with the gripper rotating body by the motor mounting flange and is connected, the power of the first driving wheel is delivered on the second driving wheel by gripper driving wheel belt, is connected driven pulley and moves back and forth by the gripper belt that is synchronized with the movement by the second driving wheel again.
5. the controlled servounit paw of the anglec of rotation as claimed in claim 4, it is characterized in that: described linear slide rail is fixed on the gripper body, machinery claw mount pad is fixed on the linear slide rail, by the belt briquetting mechanical claw mount pad and the gripper belt that is synchronized with the movement is fixedly connected with, mechanical claw is fixed in. on the mechanical claw mount pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100054187A CN103056888A (en) | 2013-01-08 | 2013-01-08 | Rotatable servo mechanical grabber |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100054187A CN103056888A (en) | 2013-01-08 | 2013-01-08 | Rotatable servo mechanical grabber |
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| Publication Number | Publication Date |
|---|---|
| CN103056888A true CN103056888A (en) | 2013-04-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013100054187A Pending CN103056888A (en) | 2013-01-08 | 2013-01-08 | Rotatable servo mechanical grabber |
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| CN (1) | CN103056888A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105025667A (en) * | 2015-07-23 | 2015-11-04 | 苏州卫生职业技术学院 | Multi-operation conveying mechanism for PCBAs |
| CN105150232A (en) * | 2015-09-28 | 2015-12-16 | 申科谱自动化科技（珠海）有限公司 | Mechanical arm and work head |
| CN105619437A (en) * | 2014-10-31 | 2016-06-01 | 中国科学院沈阳自动化研究所 | Modular two-degree-of-freedom gripper |
| CN108081301A (en) * | 2016-11-22 | 2018-05-29 | 大邱庆北科学技术院 | The removably general clamping jaw device of modular type |
| CN108202317A (en) * | 2017-01-23 | 2018-06-26 | 英特科学公司 | The grip device of Linear Driving |
| CN110303429A (en) * | 2019-07-24 | 2019-10-08 | 德屹智能科技(扬州)有限公司 | Adapt to the robot polishing handgrip of workpiece deviation |
| CN111002300A (en) * | 2020-03-10 | 2020-04-14 | 山东华宜同创自动化科技有限公司 | Manipulator with high flexibility and low precision requirement |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5477954A (en) * | 1977-10-20 | 1979-06-21 | Ici Ltd | Industrial manipulator with 5 degree of freedom and method of arranging article by said manipulator |
| CN2469131Y (en) * | 2001-03-23 | 2002-01-02 | 程建平 | Device for automatic opening/closing door |
| CN201702776U (en) * | 2010-02-09 | 2011-01-12 | 东莞朗诚模具有限公司 | Manipulator for full-automatic sheet discharging machine |
| CN201803861U (en) * | 2010-08-16 | 2011-04-20 | 深圳市国赛生物技术有限公司 | Sampling device |
| CN202155879U (en) * | 2011-07-15 | 2012-03-07 | 东莞市新泽谷机械有限公司 | Rotary pawl linkage |
| CN203092574U (en) * | 2013-01-08 | 2013-07-31 | 深圳市硕安迪科技开发有限公司 | Rotatable servo mechanical gripper |
-
2013
- 2013-01-08 CN CN2013100054187A patent/CN103056888A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5477954A (en) * | 1977-10-20 | 1979-06-21 | Ici Ltd | Industrial manipulator with 5 degree of freedom and method of arranging article by said manipulator |
| CN2469131Y (en) * | 2001-03-23 | 2002-01-02 | 程建平 | Device for automatic opening/closing door |
| CN201702776U (en) * | 2010-02-09 | 2011-01-12 | 东莞朗诚模具有限公司 | Manipulator for full-automatic sheet discharging machine |
| CN201803861U (en) * | 2010-08-16 | 2011-04-20 | 深圳市国赛生物技术有限公司 | Sampling device |
| CN202155879U (en) * | 2011-07-15 | 2012-03-07 | 东莞市新泽谷机械有限公司 | Rotary pawl linkage |
| CN203092574U (en) * | 2013-01-08 | 2013-07-31 | 深圳市硕安迪科技开发有限公司 | Rotatable servo mechanical gripper |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105619437A (en) * | 2014-10-31 | 2016-06-01 | 中国科学院沈阳自动化研究所 | Modular two-degree-of-freedom gripper |
| CN105619437B (en) * | 2014-10-31 | 2018-01-23 | 中国科学院沈阳自动化研究所 | A kind of modularization two-freedom hand is grabbed |
| CN105025667A (en) * | 2015-07-23 | 2015-11-04 | 苏州卫生职业技术学院 | Multi-operation conveying mechanism for PCBAs |
| CN105150232A (en) * | 2015-09-28 | 2015-12-16 | 申科谱自动化科技（珠海）有限公司 | Mechanical arm and work head |
| CN105150232B (en) * | 2015-09-28 | 2019-01-29 | 申科谱自动化科技（珠海）有限公司 | Manipulator and work head |
| CN108081301A (en) * | 2016-11-22 | 2018-05-29 | 大邱庆北科学技术院 | The removably general clamping jaw device of modular type |
| CN108202317A (en) * | 2017-01-23 | 2018-06-26 | 英特科学公司 | The grip device of Linear Driving |
| CN108202317B (en) * | 2017-01-23 | 2021-11-05 | 英特科学公司 | Linearly driven gripping device |
| CN110303429A (en) * | 2019-07-24 | 2019-10-08 | 德屹智能科技(扬州)有限公司 | Adapt to the robot polishing handgrip of workpiece deviation |
| CN111002300A (en) * | 2020-03-10 | 2020-04-14 | 山东华宜同创自动化科技有限公司 | Manipulator with high flexibility and low precision requirement |
| CN111002300B (en) * | 2020-03-10 | 2020-06-16 | 山东华宜同创自动化科技有限公司 | Manipulator with high flexibility and low precision requirement |
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20130424 |