CN109015738B - Clamping jaw functional cell for grabbing truss rod - Google Patents
Clamping jaw functional cell for grabbing truss rod Download PDFInfo
- Publication number
- CN109015738B CN109015738B CN201811097796.1A CN201811097796A CN109015738B CN 109015738 B CN109015738 B CN 109015738B CN 201811097796 A CN201811097796 A CN 201811097796A CN 109015738 B CN109015738 B CN 109015738B
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- guide rail
- bevel gear
- nut
- grabbing
- 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.)
- Active
Links
Images
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 invention relates to a clamping jaw functional cell for grabbing a truss rod, which consists of a grabbing mechanism and a connecting mechanism. The grabbing mechanism mainly comprises a stepping motor base, a clamping jaw mounting plate, a cover plate, a stepping motor, a nut screw rod, a telescopic nut base, a clamping jaw pressure spring, a long arm, a short arm, a clamping jaw, a truss rod and the like; the nut screw rod is driven to rotate by the stepping motor arranged at the joint of the stepping motor base, so that the telescopic nut base connected with the nut screw rod can move linearly, the long arm is connected with the telescopic nut base by the short arm, and the opening and closing actions of the clamping jaw can be realized by pulling the short arm. The connecting mechanism consists of a servo motor, a cam, a shaft, an incomplete bevel gear, a cross guide rail, a guide rail assembly, a groove bevel gear, a supporting plate and a connecting surface; the guide rail assembly is pushed to do linear motion by the rotation of the cam; the guide rail assembly is moved to a corresponding position by using the meshing transmission mode of an incomplete bevel gear path and a groove bevel gear, and the connection and locking work can be completed.
Description
Technical Field
The invention relates to a clamping jaw functional cell for grabbing a truss rod.
Background
The space cell robot is expected to undertake important work such as daily maintenance of a space station, on-orbit assembly of a large space station, plane tooling of a space triangular truss and the like in future space activities. Therefore, a clamping jaw functional cell which can clamp a rod-like object and has an annular columnar working space needs to be designed. Currently, the cell robot gripping mechanisms are commonly used in the following three types: the electric driving mechanism adopts a motor driving system, is flexible to control, high in positioning precision and convenient to use, and does not need complex requirements on a connecting mechanism; the pneumatic driving mechanism is controlled by a cylinder, has a simple structure, high speed and low friction, but has poor speed stability and cannot ensure positioning precision; the hydraulic driving mechanism adopts a liquid transmission control mode, is quick in response and has larger bearing capacity, but needs a matched hydraulic station, is complex in structure and is not suitable for space environment tasks.
Disclosure of Invention
The invention aims to provide a clamping jaw functional cell for grabbing a truss rod.
The basic technical scheme is as follows: the clamping jaw functional cell consists of a grabbing mechanism and a connecting mechanism. The grabbing mechanism consists of a stepping motor base, a clamping jaw mounting plate, a clamping jaw cover plate, a set screw, a cover plate, a stepping motor, a nut screw rod, a telescopic nut base, a cover-shaped nut, a clamping jaw pressure spring, a long arm, a short arm, a clamping jaw, a spring and a truss rod; the connecting mechanism consists of a servo motor, a cam, a shaft, an incomplete bevel gear, a cross guide rail, a guide rail assembly, a groove bevel gear, a supporting plate and a connecting surface. The stepping motor base and the clamping jaw mounting plate are connected with the clamping jaw cover plate, and the clamping jaw cover plate is assembled with the cover plates through the set screws to jointly form a fixing device of the grabbing mechanism. The stepping motor arranged at the joint of the cloth feeding motor seat is connected with the nut screw rod, the nut screw rod is embedded into the groove of the telescopic nut seat, and the telescopic nut seat can realize linear motion through the rotation of the nut screw rod. The clamping jaw pressure spring arranged between the nut screw rod and the cap nut can play a role in buffering in linear motion. The long arm is connected with the telescopic nut seat by means of the short arm, the clamping jaw is installed at the starting end of the long arm, and the opening and closing actions of the clamping jaw can be achieved by pulling the short arm. The spring installed between the long arms can ensure enough pretightening force when the clamping jaw grabs the truss rod. The servo motor, the cam, the shaft, the incomplete bevel gear, the cross guide rail and the guide rail component form a linear driving part of the connecting mechanism together, and the guide rail component is pushed to do linear motion by the rotation of the cam. The groove bevel gear, the supporting plate and the connecting surface form a rotation driving part of the connecting mechanism together, and the guide rail assembly is moved to a corresponding position by using an incomplete bevel gear path and a groove bevel gear meshing transmission mode to complete connecting and locking work.
The invention has the beneficial effects that:
1. most of parts designed by the cell grabbing mechanism are connected through the clamping grooves by two parts with the same structure, so that the cell grabbing mechanism is high in interchangeability, convenient to process and manufacture and convenient to install and disassemble.
2. This cell snatchs mechanism adopts step motor as the power supply of system, can realize digital control, and control accurate easily realization have higher positioning accuracy, is applicable to very much the snatching work of longeron.
3. The cell consists of a grabbing mechanism and a connecting mechanism, grabbing work can be performed in any space by means of the connecting mechanism, and adaptability and flexibility of the clamping jaw functional cell are obviously improved.
Drawings
The present cells are further described below with reference to the accompanying drawings.
FIG. 1: overall schematic diagram of functional cells of clamping jaw
FIG. 2 is a drawing: partial enlarged view of clamping jaw functional cell grabbing mechanism
FIG. 3: partial enlarged view of clamping jaw functional cell connecting mechanism
FIG. 4 is a drawing: clamping jaw functional cell grabbing truss rod schematic diagram
In the figure: the automatic clamping device comprises a stepping motor base 1, a clamping jaw mounting plate 2, a clamping jaw cover plate 3, a set screw 4, a cover plate 5, a stepping motor 6, a nut screw 7, a telescopic nut base 8, a cap nut 9, a clamping jaw spring 10, a long arm 11, a short arm 12, a clamping jaw 13, a spring 14, a truss rod 15, a servo motor 16, a cam 17, an axle 18, an incomplete bevel gear 19, a cross guide rail 20, a guide rail assembly 21, a groove bevel gear 22, a supporting plate 23 and a connecting surface 24.
Detailed Description
The following further describes specific structures and embodiments of the present invention with reference to the drawings.
The structure composition of the invention is shown in fig. 1, fig. 2, fig. 3 and fig. 4. The clamping jaw functional cell consists of a grabbing mechanism and a connecting mechanism. The grabbing mechanism consists of a stepping motor base (1), a clamping jaw mounting plate (2), a clamping jaw cover plate (3), a set screw (4), a cover plate (5), a stepping motor (6), a nut screw (7), a telescopic nut base (8), a cap nut (9), a clamping jaw pressure spring (10), a long arm (11), a short arm (12), a clamping jaw (13), a spring (14) and a truss rod (15); the connecting mechanism consists of a servo motor (16), a cam (17), a shaft (18), an incomplete bevel gear (19), a cross guide rail (20), a guide rail component (21), a groove bevel gear (22), a supporting plate (23) and a connecting surface (24). Step motor seat (1), clamping jaw mounting panel (2) link to each other with clamping jaw apron (3), and clamping jaw apron (3) are in the same place through holding screw (4) and each apron (5) assembly, constitute the fixing device who snatchs the mechanism jointly. The stepping motor (6) arranged at the joint of the stepping motor base (1) is connected with the nut screw rod (7), the nut screw rod (7) is embedded into a groove of the telescopic nut base (8), and the telescopic nut base (8) can realize linear motion through the rotation of the nut screw rod (7). And a clamping jaw pressure spring (10) arranged between the nut screw rod (7) and the cap nut (9) can play a role in buffering in linear motion. The long arm (11) is connected with the telescopic nut seat (8) through the short arm (12), the clamping jaw (13) is installed at the starting end of the long arm (11), and the opening and closing action of the clamping jaw (13) can be realized by pulling the short arm (12). The springs (14) arranged between the long arms (11) can ensure enough pretightening force when the clamping jaws grab the truss rod (15). The servo motor (16), the cam (17), the shaft (18), the incomplete bevel gear (19), the cross guide rail (20) and the guide rail assembly (21) jointly form a linear driving part of the connecting mechanism, and the guide rail assembly (21) is pushed to do linear motion by the rotation of the cam (17). The groove bevel gear (22), the support plate (23) and the connecting surface (24) jointly form a rotation driving part of the connecting mechanism, and the guide rail assembly (21) is moved to a corresponding position by utilizing a meshing transmission mode of the incomplete bevel gear (19) and the groove bevel gear (22) to complete connecting and locking work.
The working process of the invention is as follows:
when the device works, firstly, the functional cells of the clamping jaws are connected, in the linear driving part, the servo motor (16) drives the cam (17) and the incomplete bevel gear (19) to synchronously rotate, and the cam (17) pushes the cross guide rail (20) and the guide rail assembly (21) to move forwards; when the guide rail assemblies (21) extend out for a certain distance, the rotary driving part starts to work, the groove bevel gears (22) rotate in the process of meshing with the toothed parts of the incomplete bevel gears (19), and the four groups of guide rail assemblies (21) move along the radial direction of the connecting surface (24) through the sine grooves on the groove bevel gears (22) to reach the end positions to complete the connecting work. Then the work is snatched to clamping jaw function cell, when snatching the mechanism and being close to truss rod (15), install step motor (6) beginning work in step motor seat (1) joint department, step motor (6) drive nut lead screw (7) rotate, nut lead screw (7) drive flexible nut seat (8) and be linear motion, clamping jaw pressure spring (10) constantly compress this moment, the stability of mechanism's motion can be improved, when nut lead screw (7) pivoted, flexible nut seat (8) pulling short arm (12), thereby short arm (12) link to each other with long arm (11) and drive clamping jaw (13) and open the motion. And finally, when the clamping jaws (13) are opened to a certain angle, the stepping motor (6) rotates reversely, the clamping jaws (13) perform closing movement by utilizing the pulling action of the middle short arm (12) until the cylindrical surfaces of the trussed beams (15) are tightly attached to the clamping jaws (13) and sufficient pretightening force is provided by the springs (14) arranged between the long arms (11), so that the clamping operation is completed.
Claims (1)
1. A clamping jaw functional cell for grabbing a truss rod is composed of a grabbing mechanism and a connecting mechanism; the grabbing mechanism consists of a stepping motor base, a clamping jaw mounting plate, a clamping jaw cover plate, a set screw, a cover plate, a stepping motor, a nut screw rod, a telescopic nut base, a cover-shaped nut, a clamping jaw pressure spring, a long arm, a short arm, a clamping jaw, a spring and a truss rod; coupling mechanism is by servo motor, cam, axle, incomplete bevel gear, cross guide rail, guide rail assembly, slot bevel gear, the backup pad connects the face to constitute its characterized in that: the stepping motor base and the clamping jaw mounting plate are connected with the clamping jaw cover plate, and the clamping jaw cover plate is assembled with the cover plates through set screws to form a fixing device of the grabbing mechanism together; the stepping motor arranged at the joint of the cloth feeding motor seat is connected with the nut screw rod, the nut screw rod is embedded into the groove of the telescopic nut seat, and the telescopic nut seat can realize linear motion through the rotation of the nut screw rod; the clamping jaw pressure spring arranged between the nut screw rod and the cap nut can play a role in buffering in linear motion; the long arm is connected with the telescopic nut seat by virtue of the short arm, the clamping jaw is arranged at the starting end of the long arm, and the opening and closing actions of the clamping jaw can be realized by pulling the short arm; the spring arranged between the long arms can ensure enough pretightening force when the clamping jaw grabs the truss rod; the servo motor, the cam, the shaft, the incomplete bevel gear, the cross guide rail and the guide rail component form a linear driving part of the connecting mechanism together, and the guide rail component is pushed to do linear motion by the rotation of the cam; the groove bevel gear, the supporting plate and the connecting surface jointly form a rotation driving part of the connecting mechanism, the guide rail assemblies are moved to corresponding positions by using a meshing transmission mode of an incomplete bevel gear and the groove bevel gear to complete connecting and locking work, the servo motor drives the cam and the incomplete bevel gear to synchronously rotate in the process of connecting the clamping jaw function cells, the cam pushes the cross guide rail and the guide rail assemblies to move forwards, when the guide rail assemblies extend out for a certain distance, the rotation driving part starts to work, the groove bevel gear rotates in the process of meshing with the toothed part of the incomplete bevel gear, and four groups of guide rail assemblies are enabled to radially move along the connecting surface through sinusoidal grooves in the groove bevel gear to reach end positions to complete the connecting work; therefore, the clamping jaw functional cells can complete the work of grabbing the truss rod and can be connected with other cell modules, and the feasibility of grabbing the work by the clamping jaw functional cells is guaranteed due to the diversity and flexibility of connection.
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 CN109015738A (en) | 2018-12-18 |
| CN109015738B true 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) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110192471B (en) * | 2019-06-04 | 2021-09-24 | 大连理工大学 | Pecan picking and collecting device and method based on unmanned aerial vehicle |
| CN110408522B (en) * | 2019-07-22 | 2022-11-01 | 武汉迪艾斯科技有限公司 | Automatic sampling and sample adding system for blood culture |
| CN110394788B (en) * | 2019-07-30 | 2020-11-27 | 哈尔滨理工大学 | Dual-locking butt-joint module of space cell robot |
| 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 |
| CN114054122B (en) * | 2020-07-31 | 2023-07-28 | 深圳市帝迈生物技术有限公司 | Sample analyzer, clamping jaw device |
| CN113879540B (en) * | 2021-10-08 | 2023-11-03 | 滨州学院 | Article fastening system for transportation means |
| 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 |
| CN114714389B (en) * | 2022-03-30 | 2023-03-21 | 无锡斯帝尔科技有限公司 | 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109015738A (en) | 2018-12-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109015738B (en) | Clamping jaw functional cell for grabbing truss rod | |
| CN202781178U (en) | Clamping device | |
| CN102000970B (en) | Bolt assembly and disassembly manipulator capable of moving with three degrees of freedom | |
| CN103706517A (en) | Six-axis linkage dispensing machine | |
| CN109202948B (en) | Force control mechanical claw | |
| CN203635427U (en) | Six-axis linkage dispensing machine | |
| CN107984462A (en) | A kind of ratchet-type rotates pick-and-place manipulator | |
| CN215478005U (en) | Turnover mechanism | |
| CN112606030A (en) | Exhibition arm adjustable gripper and intelligent robot | |
| CN112692861A (en) | Four-connecting-rod screw nut electric-drive underwater manipulator paw | |
| CN112171684A (en) | Rod piece clamp holder | |
| CN109719717A (en) | A kind of new energy intelligent robot clamping device | |
| CN108557493A (en) | A kind of metamorphic mechanisms formula robot palletizer | |
| CN110962150B (en) | Manipulator device with return upset function | |
| CN111152206A (en) | Centre gripping arm with rotary mechanism | |
| CN110842984A (en) | Power mechanical arm with radiation resistance and high-precision positioning operation | |
| CN202240472U (en) | High-precision plane displacement mechanism | |
| CN114918961A (en) | Mechanical claw device | |
| CN210589275U (en) | Manipulator waste material taking device | |
| CN113500612B (en) | Robot nut loosening device for drainage wire breaking operation | |
| CN215847182U (en) | Lathe rotary feeding mechanism | |
| CN220783963U (en) | Manipulator movement device | |
| CN220741136U (en) | Nuclear industry electricity follow-up master-slave arm electric control device | |
| CN109333050A (en) | A kind of automatic screw-driving machine for automobile clutch cap assembly assembly line | |
| CN218694152U (en) | Manipulator device of drilling machine |
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 |