CN107877502A - The grabbing device of servo-drive - Google Patents
The grabbing device of servo-drive Download PDFInfo
- Publication number
- CN107877502A CN107877502A CN201711092041.8A CN201711092041A CN107877502A CN 107877502 A CN107877502 A CN 107877502A CN 201711092041 A CN201711092041 A CN 201711092041A CN 107877502 A CN107877502 A CN 107877502A
- Authority
- CN
- China
- Prior art keywords
- arm
- servo
- grabbing device
- spring arm
- bullet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
This case is related to a kind of grabbing device of servo-drive, including：Spy refers to, it is the cylindrical structure set along the z-axis of a rectangular coordinate system, the first end referred to of visiting is equipped with bullet, the bullet is made of elastomeric material, on the bullet some bending resistance pieces are symmetrically arranged with around the z-axis, the bending resistance piece is arranged in a resistance measurement loop, and the resistance measurement loop also electrically connects with a controller, and the bullet and spy are provided with the first spring between referring to；First transfer arm；Second transfer arm；And the 3rd transfer arm.This case can be directed to the various of surface abnormity and treat grippers, have extensive adaptability.
Description
Technical field
The present invention relates to non-standard automatic field, more particularly to a kind of grabbing device of servo-drive.
Background technology
Automation (Automation) refer to machinery equipment, system or process (production, management process) nobody or compared with
Under the direct participation of few people, according to the requirement of people, by automatic detection, information processing, analysis judges, manipulation controls, and realizes pre-
The process of the target of phase.Automatic technology be widely used in industry, agricultural, military affairs, scientific research, communications and transportation, business, medical treatment,
Service and family etc..Using automatic technology not only can people from heavy manual labor, part mental labour and
Badly, freed in dangerous working environment, and the organ dysfunction of people can be extended, be greatly enhanced labor productivity, increased
The ability that strong man's class is understood the world and changed it.
Being to treat that grippers need to redesign for different the limitation of automatic fetching equipment, versatility shortcoming more
With high costs, reliability is caused also to decrease.
The content of the invention
It is an object of the invention to solve at least the above or defect, and provide the advantages of at least will be described later.
It is a still further object of the present invention to provide a kind of grabbing device of servo-drive, detected by photo-detector and wait to capture
The position of part, mobile spy, which points to, to be treated in the middle part of grippers, and the 3rd transfer arm drives spy to refer to be close to and treats grippers, and bullet is treated touching
It is squeezed after grippers, after extruding causes the resistance variations of bending resistance piece, controller to obtain resistance variations information, adjustment two
Group frequency converter to visit to refer to constantly to move in xy plane with commutator, untill the power of all directions suffered by bullet is equal,
In practice, according to the resistance maximum difference scope of the differently curved resistor disc of different demands setting between 2%-10%, x/y plane
On spy refer to after position determines, spring arm under slip ring drive close to after grippers suction nozzle fastened, this case thus can be with
Various for surface abnormity treat grippers, have extensive adaptability..
Therefore, technical scheme provided by the invention is：
A kind of grabbing device of servo-drive, including：
Spy refers to, and it is the cylindrical structure set along the z-axis of a rectangular coordinate system, and the first end referred to of visiting is equipped with bullet
Head, the bullet are made of elastomeric material, and some bending resistance pieces are symmetrically arranged with around the z-axis on the bullet, described
Bending resistance piece is arranged in a resistance measurement loop, and the resistance measurement loop also electrically connects with a controller, the bullet
Head and spy are provided with the first spring between referring to；
First transfer arm, which is provided with the rectangular coordinate system x-axis direction movement the first movable block, described first
Second end visited and referred to is fixed with movable block, first transfer arm is erected on a flat board, first transfer arm
Side is provided with the first commutator and the first frequency converter of control translational speed for controlling the first movable block moving direction；
Second transfer arm, which is provided with the rectangular coordinate system y-axis direction movement the second movable block, described second
It is fixed with the flat board on movable block, the side of second transfer arm, which is provided with, controls the of the second movable block moving direction
Two commutators and the second frequency converter of control translational speed；And
3rd transfer arm, which is provided with the rectangular coordinate system z-axis direction movement the 3rd movable block, described second
Moving end-wall is fixed on the 3rd movable block.
Preferably, the first end referred to of visiting is additionally provided with first spring arm, the folder of the first spring arm and the z-axis
Angle is in 15 ° -75 °.
Preferably, the first spring arm includes the cylinder of multilayer nest, and the cylinder interior is provided with second spring, institute
State first spring arm and be provided with the first suction nozzle away from one end that the spy refers to.
Preferably, the first end that refers to visited also includes second spring arm and the 3rd spring arm, the second spring arm,
3rd spring arm is symmetrical around the z-axis circumference with first spring arm.
Preferably, the spy refer on along the z-axis direction be provided with slide rail, the slide rail is equipped with a slip ring,
The slip ring is connected by a contiguous block with the telescopic end of a cylinder.
Preferably, the first spring arm, second spring arm and the 3rd spring arm are solid close to one end that the spy refers to
It is scheduled on the slip ring.
Preferably, the grabbing device also includes an optical detection detected from the second end that the spy refers to first end
Device, the first end referred to of visiting are additionally provided with the stress sensor set along the z-axis, the photo-detector, stress sensor
Electrically connected with the controller.
Preferably, the controller and first commutator, the first frequency converter, the second commutator, cylinder and the
Two frequency converters electrically connect, and the controller electrically connects with the driver element of the 3rd transfer arm.
Preferably, first transfer arm, the second transfer arm are screw structure.
The present invention comprises at least following beneficial effect：The position for treating grippers is detected by photo-detector, mobile spy points to
Treat in the middle part of grippers, the 3rd transfer arm drives spy to refer to be close to and treats grippers, and bullet is squeezed after grippers touching, and is squeezed
After pressure causes the resistance variations of bending resistance piece, controller to obtain resistance variations information, two groups of frequency converters of adjustment make with commutator
It must visit to refer to and constantly be moved in xy plane, untill the power of all directions suffered by bullet is equal, in practice, according to different demands
The resistance maximum difference scope of differently curved resistor disc is set between 2%-10%, after the spy on x/y plane refers to position determination,
Spring arm under slip ring drive close to after grippers suction nozzle fastened, this case thus can be directed to various treating for surface abnormity
Grippers, there is extensive adaptability.
Brief description of the drawings
Fig. 1 is the schematic three dimensional views of the grabbing device of servo-drive；
Fig. 2 is to visit the schematic three dimensional views referred to；
Fig. 3 is to visit the partial cutaway schematic view referred to；
Fig. 4 is to visit another visual angle schematic diagram referred to.
Embodiment
Below by embodiment, the present invention is described in further detail, to make those skilled in the art with reference to specification
Word can be implemented according to this.
It should be appreciated that used herein such as " have ", "comprising" and " comprising " term are not precluded from one or more
The presence or addition of individual other elements or its combination.
With reference to shown in Fig. 1-4, there are following examples：
A kind of grabbing device of servo-drive, including：
Spy refers to 100, and it is the cylindrical structure set along the z-axis of a rectangular coordinate system, and the first end 170 referred to of visiting fills
There is a bullet 110, the bullet 110 is made of elastomeric material, is symmetrically arranged with the bullet 110 around the z-axis some curved
Bent resistor disc 111, the bending resistance piece 111 are arranged in a resistance measurement loop, and the resistance measurement loop is also with one
Controller electrical connection, the bullet 110 and spy are provided with the first spring 112 between referring to 100；
First transfer arm 200, it which is provided with the first movable block 220 in the movement of the x-axis direction of the rectangular coordinate system, institute
State and second end 180 visited and referred to is fixed with the first movable block 220, first transfer arm 200 is erected at a flat board 230
On, the side of first transfer arm 200 is provided with the first commutator for controlling the moving direction of the first movable block 220 and control
First frequency converter 210 of translational speed；
Second transfer arm 300, it which is provided with the second movable block 320 in the movement of the y-axis direction of the rectangular coordinate system, institute
State and the flat board 230 is fixed with the second movable block 320, the side of second transfer arm 300, which is provided with, controls described second to move
Second commutator of the moving direction of motion block 320 and the second frequency converter 310 of control translational speed；And
3rd transfer arm, which is provided with the rectangular coordinate system z-axis direction movement the 3rd movable block, described second
Moving end-wall is fixed on the 3rd movable block.
The first end 170 referred to of visiting is additionally provided with the arm 120 of the first spring 112, the arm 120 and z of the first spring 112
The angle of axle is in 15 ° -75 °.
The arm 120 of first spring 112 includes the cylinder of multilayer nest, and the cylinder interior is provided with second spring, described
One end that the arm 120 of first spring 112 refers to 100 away from the spy is provided with the first suction nozzle 121.
The first end 170 referred to of visiting also includes second spring arm and the 3rd spring arm, the second spring arm, the 3rd bullet
Spring arm is symmetrical around the z-axis circumference with the arm 120 of the first spring 112.
The spy refers to is provided with slide rail 130 on 100 along the z-axis direction, and the slide rail 130 is equipped with a slip ring
140, the slip ring 140 is connected by a contiguous block 160 with the telescopic end of a cylinder 150.
One end that the arm 120 of first spring 112, second spring arm refer to 100 with the 3rd spring arm close to the spy is solid
It is scheduled on the slip ring 140.
The grabbing device also includes a photo-detector detected from the second end 180 that the spy refers to first end, described
Visit the first end 170 referred to and be additionally provided with the stress sensor set along the z-axis, the photo-detector, stress sensor and institute
State controller electrical connection.
The controller becomes with first commutator, the first frequency converter 210, the second commutator, cylinder 150 and second
Frequency device 310 electrically connects, and the controller electrically connects with the driver element of the 3rd transfer arm.
First transfer arm 200, the second transfer arm 300 are screw structure.
From the above mentioned, the position for treating grippers is detected by photo-detector, mobile spy, which points to, to be treated in the middle part of grippers, and the 3rd moves
Swing arm drives spy to refer to be close to and treats grippers, and bullet is squeezed after grippers touching, and extruding causes bending resistance piece
Resistance variations, after controller obtains resistance variations information, adjust two groups of frequency converters and with commutator spy is referred to constantly in the flat of xy
Moved in face, untill the power of all directions suffered by bullet is equal, in practice, differently curved resistor disc is set according to different demands
Resistance maximum difference scope between 2%-10%, the spy on x/y plane refer to position determine after, spring arm slip ring drive under
Close to after grippers suction nozzle fastened, this case thus can be directed to the various of surface abnormity and treat grippers, have extensive
Adaptability.
Although embodiment of the present invention is disclosed as above, it is not restricted in specification and embodiment listed
With.It can be applied to various suitable the field of the invention completely., can be easily for those skilled in the art
Realize other modification.Therefore it is of the invention and unlimited under the universal limited without departing substantially from claim and equivalency range
In specific details and shown here as the legend with description.
Claims (9)
- A kind of 1. grabbing device of servo-drive, it is characterised in that including：Spy refers to, and it is the cylindrical structure set along the z-axis of a rectangular coordinate system, and the first end referred to of visiting is equipped with bullet, institute State bullet to be made of elastomeric material, some bending resistance pieces, the bending electricity are symmetrically arranged with around the z-axis on the bullet Resistance piece is arranged in a resistance measurement loop, and the resistance measurement loop also electrically connects with a controller, and the bullet is with visiting The first spring is provided between finger；First transfer arm, it which is provided with the first movable block in the movement of the x-axis direction of the rectangular coordinate system, first movement Second end visited and referred to is fixed with block, first transfer arm is erected on a flat board, the side of first transfer arm Provided with the first commutator and the first frequency converter of control translational speed for controlling the first movable block moving direction；Second transfer arm, it which is provided with the second movable block in the movement of the y-axis direction of the rectangular coordinate system, second movement The flat board is fixed with block, the side of second transfer arm, which is provided with, controls the second of the second movable block moving direction to change To device and the second frequency converter of control translational speed；And3rd transfer arm, it which is provided with the 3rd movable block in the movement of the z-axis direction of the rectangular coordinate system, second movement Wall is fixed on the 3rd movable block.
- 2. the grabbing device of servo-drive according to claim 1, it is characterised in that the first end referred to of visiting is additionally provided with The angle of first spring arm, the first spring arm and the z-axis is in 15 ° -75 °.
- 3. the grabbing device of servo-drive according to claim 2, it is characterised in that the first spring arm includes multilayer Nested cylinder, the cylinder interior are provided with second spring, and the first spring arm is away from described one end referred to of visiting provided with first Suction nozzle.
- 4. the grabbing device of servo-drive according to claim 3, it is characterised in that the first end referred to of visiting also includes Second spring arm and the 3rd spring arm, the second spring arm, the 3rd spring arm and first spring arm are around the z-axis circumference pair Claim.
- 5. the grabbing device of servo-drive according to claim 4, it is characterised in that the spy refer on along the z-axis Direction is provided with slide rail, and the slide rail is equipped with a slip ring, the telescopic end phase that the slip ring passes through a contiguous block and a cylinder Connection.
- 6. the grabbing device of servo-drive according to claim 5, it is characterised in that the first spring arm, the second bullet Spring arm and the 3rd spring arm are each attached on the slip ring close to one end that the spy refers to.
- 7. the grabbing device of servo-drive according to claim 6, it is characterised in that the grabbing device also includes one certainly The photo-detector visited the second end referred to and detected to first end, the first end referred to of visiting are additionally provided with along z-axis setting Stress sensor, the photo-detector, stress sensor electrically connect with the controller.
- 8. the grabbing device of servo-drive according to claim 7, it is characterised in that the controller changes with described first Electrically connected to device, the first frequency converter, the second commutator, cylinder and the second frequency converter, the controller and the described 3rd movement The driver element electrical connection of arm.
- 9. the grabbing device of servo-drive according to claim 1, it is characterised in that first transfer arm, second move Swing arm is screw structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711092041.8A CN107877502B (en) | 2017-11-08 | 2017-11-08 | Servo-driven gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711092041.8A CN107877502B (en) | 2017-11-08 | 2017-11-08 | Servo-driven gripping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107877502A true CN107877502A (en) | 2018-04-06 |
| CN107877502B CN107877502B (en) | 2020-12-08 |
Family
ID=61779629
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711092041.8A Active CN107877502B (en) | 2017-11-08 | 2017-11-08 | Servo-driven gripping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107877502B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0153535A2 (en) * | 1984-02-23 | 1985-09-04 | Kabushiki Kaisha Toshiba | Actuator |
| JP2002365087A (en) * | 2001-06-08 | 2002-12-18 | Natl Inst Of Industrial Safety Independent Administrative Institution | Rotational-position detector for robot |
| CN102015223A (en) * | 2008-03-06 | 2011-04-13 | 松下电器产业株式会社 | Manipulator and method of controlling the same |
| CN202614928U (en) * | 2012-06-01 | 2012-12-19 | 重庆市电力公司电力科学研究院 | Electric energy meter clamping mechanism used for electric energy meter automation detection device |
| CN106769572A (en) * | 2016-12-21 | 2017-05-31 | 北京北方车辆集团有限公司 | Part automatic positioning equipment |
-
2017
- 2017-11-08 CN CN201711092041.8A patent/CN107877502B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0153535A2 (en) * | 1984-02-23 | 1985-09-04 | Kabushiki Kaisha Toshiba | Actuator |
| JP2002365087A (en) * | 2001-06-08 | 2002-12-18 | Natl Inst Of Industrial Safety Independent Administrative Institution | Rotational-position detector for robot |
| CN102015223A (en) * | 2008-03-06 | 2011-04-13 | 松下电器产业株式会社 | Manipulator and method of controlling the same |
| CN202614928U (en) * | 2012-06-01 | 2012-12-19 | 重庆市电力公司电力科学研究院 | Electric energy meter clamping mechanism used for electric energy meter automation detection device |
| CN106769572A (en) * | 2016-12-21 | 2017-05-31 | 北京北方车辆集团有限公司 | Part automatic positioning equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107877502B (en) | 2020-12-08 |
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