CN103753597A - Tong device with posture correction function - Google Patents
Tong device with posture correction function Download PDFInfo
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- CN103753597A CN103753597A CN201410030482.5A CN201410030482A CN103753597A CN 103753597 A CN103753597 A CN 103753597A CN 201410030482 A CN201410030482 A CN 201410030482A CN 103753597 A CN103753597 A CN 103753597A
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- gripper equipment
- docking
- gear
- claw
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Abstract
The invention discloses a tong device with a posture correction function and used for a small operation space. A step motor 12 is used for power drive of the tong device, power is transmitted to a transmission gear 23 through a planetary reducer 10, the transmission gear 23 is meshed with a half-gear 9 to drive a left jaw 3 to rotate, the left jaw 3 and a right jaw 16 rotate around a left rotary shaft 5 and a right rotary shaft 15 respectively, a left half-gear 7 and a right half-gear 26 are meshed and rotate in opposite directions at the same speed, and accordingly loosening and grasping of the two jaws of the tong device are achieved. The tail ends of the two jaws are provided with clamping teeth 2 with guide structures. When the tong device is used for grasping an object, the clamping teeth 2 are inserted into square holes of an object butt joint unit, and meanwhile posture errors of the grasped object can be corrected; after the object is grasped, the grasped object is attached to a butt joint plate 29, and positioning and fastened grasping of the grasped object are achieved. The tone device has the function of correcting the posture of the grasped object, can improve grasping efficiency and reliability, and is a mechanical device which is compact in structure, strong in loading capacity and suitable for the operation space with strict requirements.
Description
Technical field
The present invention relates to a kind of gripper equipment with attitude correcting function, is a kind ofly for operating space, to require strict plant equipment, compact conformation, has attitude correcting function and the stronger gripper equipment of load capacity.
Background technology
Along with the raising of plant equipment total quality and reliability, the safety and reliability that captures object process is one of important indicator of weighing capability of engineering equipment.Existing gripper equipment is simple in structure, cannot be applicable to the crawl of variety classes object, and has certain deviation in attitude and the position of object, and efficiency and the reliability of crawl are lower, can not meet the requirement that grasps fast and discharge of plant equipment.The gripper equipment with attitude correcting function is compages volume optimum, is applicable to many kinds object, grasps the technical requirement that reliability is high, designs a kind of device of correcting object attitude reliable crawl that has.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art, the invention provides a kind of gripper equipment with attitude correcting function.
For achieving the above object, the present invention takes following technical scheme:
A gripper equipment with attitude correcting function, mainly comprises:
Power unit: power source of the present invention adopts the stepper motor of band brake, and stepper motor is through planetary reduction gear outputting power, and planetary reduction gear is connected with power transmission shaft, drives the gear and half gear that coordinate, drives the double card pawl of gripper equipment.
Claw unit: double card pawl of the present invention is the core component of gripper equipment, claw is connected by rotating shaft with gripper equipment body, the power of power unit output drives left jamming claw through gear engagement, by half gear of pair of meshing, realize opening and closure of double card pawl, and there is the locking property that grasps object.
Docking unit: gripper equipment of the present invention can be used for the crawl of multiple object, different types of object volume and weight are different, docking unit designs according to the common feature of different objects, docking side, unit is designed with docking piece, docking piece both sides respectively have three square holes, to dock with gripper equipment.
Attitude correcting unit: attitude correcting unit of the present invention is realized grasping object by the blade tooth on double card pawl and buttcover plate, on left and right claw, be respectively designed with three blade tooths, blade tooth end has guide frame, and blade tooth inserts the square hole of docking both sides, unit, corrects the attitude of docking unit simultaneously; Blade tooth continues to insert, and claw clamps docking unit, and docking side, unit contacts with buttcover plate, the effect that buttcover plate plays location and supports.
Compared with prior art, beneficial effect of the present invention is, described device only needs a stepper motor can realize stronger grasping ability, and grasps under state and have locking function.
Compared with prior art, beneficial effect of the present invention is, described device has the function of correcting object attitude, greatly improves efficiency and reliability that object captures.
Compared with prior art, beneficial effect of the present invention is, described apparatus structure compactness, reliability is high, load capacity is strong, is applicable to the crawl of many objects.
Those skilled in that art's simple change and replacement are all within protection scope of the present invention.
Accompanying drawing explanation
Fig. 1 is that axle of the present invention is surveyed view;
Fig. 2 is gripper equipment general assembly structure chart;
Fig. 3 is docking cellular construction schematic diagram;
Fig. 4 is that gripper equipment captures and promptly dock cell schematics.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Fig. 1 is general assembly structure chart of the present invention, mainly comprise: the power unit take stepper motor 12, planetary reduction gear 10, travelling gear 23, smaller part gear 9 as critical piece, handgrip unit take left jamming claw 3, right jamming claw 16, left half gear 7, right half gear 26 as critical piece, take buttcover plate 29, be arranged on latch 2 on the left and right claw attitude correcting unit as critical piece.Stepper motor 12 is connected with planetary reduction gear 10, through slowing down, power is delivered to travelling gear 23; Travelling gear 23 engages with smaller part gear 9, and the moment of torsion of output is passed to left rotary shaft 5, and left rotary shaft 5 drives left jamming claw 3 and left half gear 7 to rotate; Left half gear 7 engages with right half gear 26, by right half gear 26, transfers a torque to right spindle 15, and right spindle 15 drives right jamming claw 16 to rotate.Left jamming claw 7 rotates backward with right jamming claw 16 is synchronized, realize opening and closure of two claws, left and right claw end is provided with latch 2, latch 2 has guide frame, when left and right claw is closed, latch 2 inserts object to be grasped, and corrects object to be grasped, and by buttcover plate 29, object is positioned and clamped in latch 2 insertion process.
Consult Fig. 2, stepper motor 12 is connected by flat key 11 with planetary reduction gear 10, planetary reduction gear 10 is connected on bearing block 18, power transmission shaft 19 is supported by a pair of deep groove ball bearing 17, deep groove ball bearing 17 positions by axial back-up ring 20, power transmission shaft 19 drives travelling gear 23 by flat key 22, and screw 25 is fastened on baffle plate 24 on power transmission shaft 19, and baffle plate 24 carries out axial restraint to travelling gear 23.Travelling gear 23 engages with smaller part gear 9, and smaller part gear 9 is connected with left rotary shaft 5 by flat key 8, and the moment of torsion that stepper motor 12 is exported is passed to left rotary shaft 5 through travelling gear 23.
Consult Fig. 2, left rotary shaft 5 is connected with left half gear 7 by flat key 6, left half gear 7 engages with right half gear 26, right half gear 26 adopts flat key connected mode with right spindle 15, sliding bearing 14 is all installed at right spindle 15 two ends, two sliding bearings 14 are embedded in respectively on upper cover plate 1, lower cover 13, and upper cover plate 1 is all connected with base plate 4 by soket head cap screw 30 with lower cover 13.Left half gear 7 engages on year-on-year basis with right half gear 26, and the power that stepper motor 12 is exported is passed to right spindle 15, drives right jamming claw 16 to rotate around the axis of right spindle 15, and left jamming claw 3 rotates backward with right jamming claw 16 is synchronized, realizes opening and closure of two claws.
Consult Fig. 1, travel switch 27,28 is arranged on buttcover plate 29, and when handgrip is closed, right jamming claw 16 is touched travel switch 27, and stepper motor 12 stops operating and braking and locking, and left and right claw grasps object in closure state locking; When handgrip opens, right half gear 26 is touched travel switch 28, and stepper motor 12 stops operating, and handgrip unclamps and grasps object and keep open configuration.
Consult Fig. 3, docking unit 31 is for placing object, according to the appearance and size of different objects, design adapts to the docking unit 31 of Multiple Type object, docking unit 31 is welded with docking piece 32, docking piece 32 each side has three square holes, by docking piece 32 the grasping between unit and handgrip that achieve a butt joint.
Consult Fig. 4, Fig. 4 has illustrated left jamming claw 3, right jamming claw 16 respectively around the rotation situation of left rotary shaft 5, right spindle 15, and the left and right claw dotting in figure is in deployed position, and the left and right claw that heavy line represents is in grasping locked position.When handgrip grasps docking unit, latch 2 inserts the square hole on docking piece 32, and latch 2 tip designs have guide frame, grasp in process the attitude in 31 space, the rectifiable docking of handgrip unit; Handgrip grasps in process, and claw clamps more and more tight to docking unit 31, forces docking piece 32 to be adjacent to buttcover plate 4, and handgrip has been realized Complete Bind and fastening grasping to docking unit 31.
Claims (7)
1. one kind has the gripper equipment of attitude correcting function, it comprises: the power unit take the stepper motor 12 of band brake, planetary reduction gear 10, travelling gear 23 as primary clustering, claw unit take left half gear 7, right half gear 26, left jamming claw 3, right jamming claw 16 as major part, adapt to the docking unit of different object architectural features, and the attitude correcting unit that comprises latch 2 and buttcover plate 29, wherein:
The base plate 4 of described power unit and gripper equipment is connected, and power unit is arranged in series;
Described claw unit is connected with upper cover plate 1, the lower cover 13 of gripper equipment, and carries out axial location by sliding bearing;
On described docking unit, be designed with docking piece 32, when gripper equipment grasps docking unit, latch 2 inserts the square hole of docking piece 32 both sides, and buttcover plate 29 fits tightly with docking piece 32, and wherein latch 2 is the primary clustering of attitude correcting unit with buttcover plate 29;
Described power unit, claw unit are all fixed on the base plate 4 of gripper equipment, and gripper equipment can be arranged on by base plate 4 end of plant equipment, have the object of deviation for grasping attitude.
2. the gripper equipment with attitude correcting function according to claim 1, is characterized in that: described stepper motor 12 is with brake apparatus, through planetary reduction gear 10 outputting powers, wherein:
In described power unit, comprise the drive shaft system being comprised of deep groove ball bearing 17, bearing block 18, power transmission shaft 19 and travelling gear 23, power unit is connected by bearing block 18 and gripper equipment base plate 4.
3. the gripper equipment with attitude correcting function according to claim 1, is characterized in that: the left handgrip 3 in described handgrip unit, right handgrip 16 engage to reach by gear and open and closure, wherein:
Claw opening angle is 30 °, and left half gear 7 only retains with right half gear 26 number of teeth that engages use, has reduced gripper equipment and has taken up room.
4. the gripper equipment with attitude correcting function according to claim 1, it is characterized in that: docking unit can adapt to the physical dimension of different objects, and in docking unit 31, be welded with docking piece 32, docking piece 32 is simultaneously for plane and both sides respectively have 3 square holes.
5. the gripper equipment with attitude correcting function according to claim 3, it is characterized in that: described claw tip designs has latch 2, latch 2 has guide frame, buttcover plate 29 is installed on gripper equipment, grasp docking unit process in, latch 2 can be corrected the position and attitude of docking unit, and the plane and the interfacing part 29 that in the time of promptly, dock piece 32 are adjacent to, and docking unit 31 is positioned and clamped.
6. the gripper equipment with attitude correcting function according to claim 1, is characterized in that: described all unit are all connected on gripper equipment base plate 3, and the load capacity of gripper equipment structure compact, claw is strong.
7. according to the gripper equipment with attitude correcting function described in claim 1.5, it is characterized in that: a described stepper motor 12 drives whole gripper equipment, and have the self-locking grasping with release positions, claw opening angle can regulate by travel switch 27,28.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410030482.5A CN103753597B (en) | 2014-01-22 | 2014-01-22 | There is the gripper equipment of attitude correcting function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410030482.5A CN103753597B (en) | 2014-01-22 | 2014-01-22 | There is the gripper equipment of attitude correcting function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103753597A true CN103753597A (en) | 2014-04-30 |
| CN103753597B CN103753597B (en) | 2016-06-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410030482.5A Expired - Fee Related CN103753597B (en) | 2014-01-22 | 2014-01-22 | There is the gripper equipment of attitude correcting function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103753597B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114378569A (en) * | 2022-02-25 | 2022-04-22 | 北京航空航天大学 | Robot execution device with bolt automatic assembly function |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH114956A (en) * | 1997-06-18 | 1999-01-12 | Japan Servo Co Ltd | Gripping device |
| US6217094B1 (en) * | 1999-05-24 | 2001-04-17 | Japan Servo Co., Ltd. | Object holding device |
| US20050036407A1 (en) * | 2003-08-15 | 2005-02-17 | Quantum Corporation | Automated storage library gripper with finger position detector |
| US20070014648A1 (en) * | 2005-07-12 | 2007-01-18 | Vigel S.P.A. | Workpiece-gripping device for tool machines |
| CN102699931A (en) * | 2012-05-09 | 2012-10-03 | 东南大学 | Connecting mechanism used between unit modules of modular self-reconfigurable robot |
| CN103264389A (en) * | 2013-05-14 | 2013-08-28 | 东南大学 | Omni-directional moving unit module structure of modularized self-reconfiguration robot |
| CN103433930A (en) * | 2013-08-22 | 2013-12-11 | 华南理工大学 | Steering engine gear type gripper with replaceable gripping jaws |
-
2014
- 2014-01-22 CN CN201410030482.5A patent/CN103753597B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH114956A (en) * | 1997-06-18 | 1999-01-12 | Japan Servo Co Ltd | Gripping device |
| US6217094B1 (en) * | 1999-05-24 | 2001-04-17 | Japan Servo Co., Ltd. | Object holding device |
| US20050036407A1 (en) * | 2003-08-15 | 2005-02-17 | Quantum Corporation | Automated storage library gripper with finger position detector |
| US20070014648A1 (en) * | 2005-07-12 | 2007-01-18 | Vigel S.P.A. | Workpiece-gripping device for tool machines |
| CN102699931A (en) * | 2012-05-09 | 2012-10-03 | 东南大学 | Connecting mechanism used between unit modules of modular self-reconfigurable robot |
| CN103264389A (en) * | 2013-05-14 | 2013-08-28 | 东南大学 | Omni-directional moving unit module structure of modularized self-reconfiguration robot |
| CN103433930A (en) * | 2013-08-22 | 2013-12-11 | 华南理工大学 | Steering engine gear type gripper with replaceable gripping jaws |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114378569A (en) * | 2022-02-25 | 2022-04-22 | 北京航空航天大学 | Robot execution device with bolt automatic assembly function |
| CN114378569B (en) * | 2022-02-25 | 2023-08-18 | 北京航空航天大学 | Robot executive device with bolt automatic assembly function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103753597B (en) | 2016-06-08 |
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Granted publication date: 20160608 Termination date: 20170122 |