CN109015738A - A kind of clamping jaw functioning cell for boom crawl - Google Patents
A kind of clamping jaw functioning cell for boom crawl Download PDFInfo
- Publication number
- CN109015738A CN109015738A CN201811097796.1A CN201811097796A CN109015738A CN 109015738 A CN109015738 A CN 109015738A CN 201811097796 A CN201811097796 A CN 201811097796A CN 109015738 A CN109015738 A CN 109015738A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- nut
- bevel gear
- stepper motor
- boom
- 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
Links
Classifications
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- 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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
Abstract
The present invention relates to a kind of clamping jaw functioning cells for boom crawl, are made of grasping mechanism and bindiny mechanism's two parts.Grasping mechanism is mainly by stepper motor seat, and clamping jaw installing plate, cover board, stepper motor, nut-screw rod, stretch nut seat, clamping jaw pressure spring, long-armed, galianconism, clamping jaw, the composition such as boom；Stepper motor by being mounted on stepper motor seat joint drives the rotation of nut-screw rod, the flexible nut seat being connected with nut-screw rod linear motion may be implemented, it is long-armed to be connected by galianconism with flexible nut seat, using galianconism pulling, it can be achieved that clamping jaw opening and closing movement.Bindiny mechanism is by servo motor, cam, axis, incomplete bevel gear, cross guide rail, guide assembly, groove bevel gear, support plate, joint face composition；Guide assembly is pushed to move in a straight line using the rotation of cam；In the way of the incomplete road Zhui Chi and groove bevel gear engaged transmission, so that guide assembly is moved to corresponding position, connection locking work can be completed.
Description
Technical field
The present invention relates to a kind of clamping jaw functioning cells for boom crawl.
Background technique
Spatial cell robot is desirably in ordinary maintenance and the large space station that space station is undertaken in future space activity
In-orbit assembling and space triangular truss the important process such as plane tooling.This just needs to design one kind can be to stick class
Object completes clamping work, and working space is the clamping jaw functioning cell of circular cylindrical.Currently used cellular machineries people gripper
Structure is following three types: electric driving mechanism, and using motor driven systems, control is flexible, positioning accuracy is high easy to use right
Its bindiny mechanism requires without complicated；Air pressure driving mechanism, is controlled using cylinder, and structure is simple, high speed, low friction, but
Its speed stability is poor, and positioning accuracy not can guarantee；Hydraulic drive mechanism, using liquid transmission control mode, response is rapid simultaneously
And there is biggish bearing capacity, but it needs mating hydraulic station, structure is complicated, is not suitable for space environment task.
Summary of the invention
The object of the present invention is to provide a kind of clamping jaw functioning cells for boom crawl.
Basic technical scheme is: clamping jaw functioning cell is made of grasping mechanism and bindiny mechanism's two parts.Grasping mechanism by
Stepper motor seat, clamping jaw installing plate, clamping jaw cover board, holding screw, cover board, stepper motor, nut-screw rod, stretch nut seat, lid
Shape nut, clamping jaw pressure spring, long-armed, galianconism, clamping jaw, spring, boom composition；Bindiny mechanism is by servo motor, cam, and axis is endless
Full bevel gear, cross guide rail, guide assembly, groove bevel gear, support plate, joint face composition.Stepper motor seat, clamping jaw installing plate
It is connected with clamping jaw cover board, clamping jaw cover board is assembled together by holding screw and each cover board, collectively forms the fixation of grasping mechanism
Device.The stepper motor for being mounted on cloth into motor cabinet joint is connected with nut-screw rod, and nut-screw rod is embedded into flexible nut seat
Groove in, by the rotation of nut-screw rod, flexible nut seat can realize linear motion.It is mounted on nut-screw rod and acorn nut
Between clamping jaw pressure spring, buffering can be played the role of in linear motion.It is long-armed to be connected by galianconism with flexible nut seat, folder
Pawl is mounted on long-armed beginning, and using the pulling of galianconism, the opening and closing movement of clamping jaw may be implemented.The spring being mounted between long-armed,
It can guarantee enough pretightning forces when clamping jaw grabs boom.It servo motor, cam, axis, incomplete bevel gear, cross guide rail and leads
Rail assembly collectively forms the straight driven portions of bindiny mechanism, pushes guide assembly to move in a straight line using the rotation of cam.Ditch
Slot bevel gear, support plate and joint face collectively form the rotate driving part of bindiny mechanism, utilize the incomplete road Zhui Chi and groove
The mode of bevel gear engaged transmission, makes guide assembly be moved to corresponding position, completes connection locking work.
The beneficial effects of the present invention are:
1. it is all to be connected by mutually isostructural two parts by card slot that components designed by cell grasping mechanism are most of, no
The only high manufacture easy to process of interchangeability, and installing and dismounting is more convenient.
2. cell grasping mechanism using stepper motor as system power source, it can be achieved that Digital Control, and control
It is precisely easily achieved positioning accuracy with higher, is highly suitable for the crawl work of boom.
It, can be any by bindiny mechanism's crawl work 3. cell is made of grasping mechanism and bindiny mechanism's two parts
It is carried out in space, significantly improves the adaptability and flexibility of clamping jaw functioning cell.
Detailed description of the invention
This cell is further illustrated with reference to the accompanying drawing.
Attached drawing 1: clamping jaw functioning cell overall schematic
Attached drawing 2: clamping jaw functioning cell grasping mechanism partial enlarged view
Attached drawing 3: clamping jaw functioning cell bindiny mechanism partial enlarged view
Attached drawing 4: clamping jaw functioning cell grabs boom schematic diagram
In figure: 1 stepper motor seat, 2 clamping jaw installing plates, 3 clamping jaw cover boards, 4 holding screws, 5 cover boards, 6 stepper motors, 7 nut silks
Bar, 8 flexible nut seats, 9 acorn nuts, 10 clamping jaw springs, 11 is long-armed, 12 galianconism, 13 clamping jaws, 14 springs, 15 booms, 16 servos
Motor, 17 cams, 18 axis, 19 incomplete bevel gears, 20 cross guide rails, 21 guide assemblies, 22 groove bevel gears, 23 support plates,
24 joint faces.
Specific embodiment
The following is further explained with reference to the attached drawings specific structure and embodiment of the invention.
Structure composition of the invention is as shown in Figure 1, Figure 2, Figure 3 and Figure 4.Clamping jaw functioning cell is by grasping mechanism and connection machine
Structure two parts are constituted.Grasping mechanism is by stepper motor seat (1), clamping jaw installing plate (2), clamping jaw cover board (3), holding screw (4), lid
Plate (5), stepper motor (6), nut-screw rod (7) stretch nut seat (8), acorn nut (9), and clamping jaw pressure spring (10) is long-armed
(11), galianconism (12), clamping jaw (13), spring (14), boom (15) composition；Bindiny mechanism is by servo motor (16), cam (17),
Axis (18), incomplete bevel gear (19), cross guide rail (20), guide assembly (21), groove bevel gear (22), support plate (23),
Joint face (24) composition.Stepper motor seat (1), clamping jaw installing plate (2) are connected with clamping jaw cover board (3), and clamping jaw cover board (3) passes through tight
Determine screw (4) to be assembled together with each cover board (5), collectively forms the fixation device of grasping mechanism.It is mounted on stepper motor seat (1)
The stepper motor (6) of joint is connected with nut-screw rod (7), and nut-screw rod (7) is embedded into the groove of flexible nut seat (8),
By the rotation of nut-screw rod (7), stretch nut seat (8) achievable linear motion.It is mounted on nut-screw rod (7) and acorn nut
(9) the clamping jaw pressure spring (10) between, can play the role of buffering in linear motion.Long-armed (11) by galianconism (12) with stretch
Contracting nut seat (8) is connected, and clamping jaw (13) is mounted on long-armed (11) beginning and clamping jaw may be implemented using the pulling of galianconism (12)
(13) opening and closing movement.The spring (14) being mounted between long-armed (11), it is ensured that clamping jaw grabs enough when boom (15)
Pretightning force.Servo motor (16), cam (17), axis (18), incomplete bevel gear (19), cross guide rail (20) and guide assembly
(21) straight driven portions for collectively forming bindiny mechanism push guide assembly (21) to do straight line fortune using the rotation of cam (17)
It is dynamic.Groove bevel gear (22), support plate (23) and joint face (24) collectively form the rotate driving part of bindiny mechanism, using not
The mode of complete bevel gear (19) and groove bevel gear (22) engaged transmission, makes guide assembly (21) be moved to corresponding position, complete
Work is locked at connection.
The course of work of the present invention is as follows:
When work, clamping jaw functioning cell first is attached work, in straight driven portions, servo motor (16) band moving cam
(17) it is rotated synchronously with incomplete bevel gear (19), cam (17) pushes cross guide rail (20) and guide assembly (21) to Forward
It is dynamic；Guide assembly (21) stretch out certain distance when, rotate driving part start to work, groove bevel gear (22) with it is incomplete
It rotates in bevel gear (19) toothed portion engagement process, by the sinusoid groove on groove bevel gear (22), makes four groups
Guide assembly (21) is moved radially along joint face (24), and connection work is completed in position of reaching home.Then clamping jaw functioning cell into
Row crawl work, when grasping mechanism is close to boom (15), the stepper motor (6) for being mounted on stepper motor seat (1) joint is opened
Beginning work, stepper motor (6) drive nut-screw rod (7) rotation, and nut-screw rod (7) drives flexible nut seat (8) to move in a straight line,
Clamping jaw pressure spring (10) constantly compresses at this time, and the stability of mechanism kinematic can be improved, and while nut-screw rod (7) rotates, stretches
Nut seat (8) pulls galianconism (12), and galianconism (12) is connected that clamping jaw (13) is driven to carry out opening movement with long-armed (11).Finally
When clamping jaw (13) opens up into certain angle, pulling function of stepper motor (6) reversion using intermediate galianconism (12), clamping jaw (13)
Closing motion is carried out, until boom (15) cylindrical surface and clamping jaw (13) fits closely and the spring by being mounted between long-armed (11)
(14) enough pretightning forces are provided, it is made to complete crawl work.
Claims (1)
1. a kind of clamping jaw functioning cell for boom crawl is made of grasping mechanism and bindiny mechanism's two parts；Grasping mechanism by
Stepper motor seat, clamping jaw installing plate, clamping jaw cover board, holding screw, cover board, stepper motor, nut-screw rod, stretch nut seat, lid
Shape nut, clamping jaw pressure spring, long-armed, galianconism, clamping jaw, spring, boom composition；Bindiny mechanism is by servo motor, cam, and axis is endless
Full bevel gear, cross guide rail, guide assembly, groove bevel gear, support plate, joint face composition, it is characterised in that: stepper motor
Seat, clamping jaw installing plate are connected with clamping jaw cover board, and clamping jaw cover board is assembled together by holding screw and each cover board, is collectively formed and is grabbed
Take the fixation device of mechanism；The stepper motor for being mounted on cloth into motor cabinet joint is connected with nut-screw rod, nut-screw rod insertion
Into the groove of flexible nut seat, by the rotation of nut-screw rod, flexible nut seat can realize linear motion；It is mounted on nut silk
Clamping jaw pressure spring between bar and acorn nut, can play the role of buffering in linear motion；It is long-armed by galianconism and flexible
Nut seat is connected, and clamping jaw is mounted on long-armed beginning, and using the pulling of galianconism, the opening and closing movement of clamping jaw may be implemented；It is mounted on length
Spring between arm, it is ensured that clamping jaw grabs enough pretightning forces when boom；Servo motor, axis, not exclusively bores tooth at cam
Wheel, cross guide rail and guide assembly collectively form the straight driven portions of bindiny mechanism, push guide rail group using the rotation of cam
Part moves in a straight line；Groove bevel gear, support plate and joint face collectively form the rotate driving part of bindiny mechanism, and utilization is endless
The mode of full bevel gear and groove bevel gear engaged transmission, makes guide assembly be moved to corresponding position, completes connection locking work；
So this clamping jaw functioning cell can not only complete the work of crawl boom, and can be connected again with other cell modules, this
The diversity of kind connection and flexibility ensure that the feasibility of clamping jaw functioning cell crawl work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811097796.1A CN109015738B (en) | 2018-09-20 | 2018-09-20 | Clamping jaw functional cell for grabbing truss rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811097796.1A CN109015738B (en) | 2018-09-20 | 2018-09-20 | Clamping jaw functional cell for grabbing truss rod |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109015738A true CN109015738A (en) | 2018-12-18 |
| CN109015738B CN109015738B (en) | 2021-07-09 |
Family
ID=64617034
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811097796.1A Active CN109015738B (en) | 2018-09-20 | 2018-09-20 | Clamping jaw functional cell for grabbing truss rod |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109015738B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110192471A (en) * | 2019-06-04 | 2019-09-03 | 大连理工大学 | A kind of hickory nut picking and collection device and method based on unmanned plane |
| CN110394788A (en) * | 2019-07-30 | 2019-11-01 | 哈尔滨理工大学 | A kind of spatial cell robot double locking is to connection module |
| CN110408522A (en) * | 2019-07-22 | 2019-11-05 | 武汉迪艾斯科技有限公司 | A kind of blood culture automatic sampling sample adding system |
| CN110524530A (en) * | 2019-08-09 | 2019-12-03 | 哈尔滨理工大学 | A kind of spatial cell robot clamping jaw functional module |
| CN111015705A (en) * | 2019-12-20 | 2020-04-17 | 北京工业大学 | Robot gripper capable of realizing planar flexible operation |
| CN113879540A (en) * | 2021-10-08 | 2022-01-04 | 滨州学院 | Article fastening system for transportation vehicle |
| CN114056687A (en) * | 2021-11-16 | 2022-02-18 | 广东水利电力职业技术学院（广东省水利电力技工学校） | Allowance type fruit grabbing manipulator and method |
| CN114054122A (en) * | 2020-07-31 | 2022-02-18 | 深圳市帝迈生物技术有限公司 | Sample analyzer, clamping jaw device |
| CN114714389A (en) * | 2022-03-30 | 2022-07-08 | 江南大学 | Two-finger translational manipulator driven by positive and negative rotation cam or conjugate cam |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2730659B1 (en) * | 1995-02-16 | 1997-03-21 | Peugeot | GRIPPER FOR MANIPULATOR |
| CN103332231A (en) * | 2013-07-12 | 2013-10-02 | 天津理工大学 | Mobile modularized self-reconfigurable robot |
| CN203344049U (en) * | 2013-07-09 | 2013-12-18 | 哈尔滨工程大学 | Reconfigurable modular robot system |
| CN206344165U (en) * | 2016-12-13 | 2017-07-21 | 新沂永新机械配件有限公司 | A kind of lever chela clamp structure of gear-rack drive |
| CN107363808A (en) * | 2017-06-15 | 2017-11-21 | 华东理工大学 | A kind of modularization drive lacking spring-go robot cell's module |
| CN206780433U (en) * | 2017-03-04 | 2017-12-22 | 安徽智联投资集团有限公司 | A kind of carrying platform stabilization ejector half industrial machinery arm |
| CN107932547A (en) * | 2017-12-30 | 2018-04-20 | 南通市恒达机械制造有限公司 | A kind of novel brick clamping device |
| CN207326987U (en) * | 2017-08-23 | 2018-05-08 | 佛山捷蓝机器人有限公司 | A kind of bar clamps robot arm |
-
2018
- 2018-09-20 CN CN201811097796.1A patent/CN109015738B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2730659B1 (en) * | 1995-02-16 | 1997-03-21 | Peugeot | GRIPPER FOR MANIPULATOR |
| CN203344049U (en) * | 2013-07-09 | 2013-12-18 | 哈尔滨工程大学 | Reconfigurable modular robot system |
| CN103332231A (en) * | 2013-07-12 | 2013-10-02 | 天津理工大学 | Mobile modularized self-reconfigurable robot |
| CN206344165U (en) * | 2016-12-13 | 2017-07-21 | 新沂永新机械配件有限公司 | A kind of lever chela clamp structure of gear-rack drive |
| CN206780433U (en) * | 2017-03-04 | 2017-12-22 | 安徽智联投资集团有限公司 | A kind of carrying platform stabilization ejector half industrial machinery arm |
| CN107363808A (en) * | 2017-06-15 | 2017-11-21 | 华东理工大学 | A kind of modularization drive lacking spring-go robot cell's module |
| CN207326987U (en) * | 2017-08-23 | 2018-05-08 | 佛山捷蓝机器人有限公司 | A kind of bar clamps robot arm |
| CN107932547A (en) * | 2017-12-30 | 2018-04-20 | 南通市恒达机械制造有限公司 | A kind of novel brick clamping device |
Non-Patent Citations (2)
| Title |
|---|
| JIANG JIN-GANG,ET AL.: "Design and Application of Flipped Classroom", 《2016 11TH INTERNATIONAL CONFERENCE ON COMPUTER SCIENCE & EDUCATION (ICCSE)》 * |
| 苏士程,等.: "《混合型自重构模块化机器人对接系统的研究》", 《机械设计》 * |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110192471A (en) * | 2019-06-04 | 2019-09-03 | 大连理工大学 | A kind of hickory nut picking and collection device and method based on unmanned plane |
| CN110408522A (en) * | 2019-07-22 | 2019-11-05 | 武汉迪艾斯科技有限公司 | A kind of blood culture automatic sampling sample adding system |
| CN110394788A (en) * | 2019-07-30 | 2019-11-01 | 哈尔滨理工大学 | A kind of spatial cell robot double locking is to connection module |
| CN110524530A (en) * | 2019-08-09 | 2019-12-03 | 哈尔滨理工大学 | A kind of spatial cell robot clamping jaw functional module |
| CN111015705A (en) * | 2019-12-20 | 2020-04-17 | 北京工业大学 | Robot gripper capable of realizing planar flexible operation |
| CN114054122A (en) * | 2020-07-31 | 2022-02-18 | 深圳市帝迈生物技术有限公司 | Sample analyzer, clamping jaw device |
| CN113879540A (en) * | 2021-10-08 | 2022-01-04 | 滨州学院 | Article fastening system for transportation vehicle |
| CN113879540B (en) * | 2021-10-08 | 2023-11-03 | 滨州学院 | Article fastening system for transportation means |
| CN114056687A (en) * | 2021-11-16 | 2022-02-18 | 广东水利电力职业技术学院（广东省水利电力技工学校） | Allowance type fruit grabbing manipulator and method |
| CN114056687B (en) * | 2021-11-16 | 2023-08-04 | 广东水利电力职业技术学院（广东省水利电力技工学校） | Capacitive fruit grabbing mechanical arm and capacitive fruit grabbing method |
| CN114714389A (en) * | 2022-03-30 | 2022-07-08 | 江南大学 | Two-finger translational manipulator driven by positive and negative rotation cam or conjugate cam |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109015738B (en) | 2021-07-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109015738A (en) | A kind of clamping jaw functioning cell for boom crawl | |
| KR20020084181A (en) | Handling gear for repositioning pieces | |
| CN111166471A (en) | Three-axis intersection type active and passive hybrid surgical endoscope holding arm | |
| CN109940580A (en) | Frame-type railway decoupling device manipulator | |
| CN104827461A (en) | Novel series-parallel hybrid robot | |
| CN114474023A (en) | Flexible manipulator | |
| CN216954208U (en) | Casting device | |
| CN109015618A (en) | A kind of interstitial cell for spatial cell robot | |
| CN109278015A (en) | A kind of industrial all-dimensional multi-angle robot | |
| CN213796488U (en) | Gantry manipulator | |
| CN212947855U (en) | Manipulator mechanism for artificial intelligent robot | |
| CN108237524B (en) | Line-driven continuous robot | |
| CN212420537U (en) | Mechanical part clamping manipulator for machining production line | |
| CN209617616U (en) | A kind of electronic product packing machine | |
| CN208074242U (en) | A kind of electric linear-motion valve actuator | |
| CN208100380U (en) | A kind of high-precision multi-axis robot | |
| EP2324964A1 (en) | Drive device, drive assembly and drive method for a low-weight robotics system | |
| CN214269329U (en) | A grabbing device for automation line | |
| CN217376387U (en) | Flexible linkage single yarn clamp | |
| CN211163942U (en) | Intelligent robot device | |
| CN217020442U (en) | Rotary hydraulic manipulator of hydraulic large-scale manipulator | |
| CN204712042U (en) | A kind of novel string series-parallel robot | |
| CN109702726A (en) | A kind of modular space multistable allosteric humanoid robot | |
| CN219313972U (en) | Reversing transfer device | |
| CN217254117U (en) | Triaxial welding set that shifts |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |