CN109454661A - A kind of clamping device and its application method for truss - Google Patents
A kind of clamping device and its application method for truss Download PDFInfo
- Publication number
- CN109454661A CN109454661A CN201811432849.0A CN201811432849A CN109454661A CN 109454661 A CN109454661 A CN 109454661A CN 201811432849 A CN201811432849 A CN 201811432849A CN 109454661 A CN109454661 A CN 109454661A
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- CN
- China
- Prior art keywords
- positive
- screw rod
- sliding block
- clamping jaw
- clamping
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 14
- 239000000463 material Substances 0.000 claims abstract description 59
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 230000001360 synchronised effect Effects 0.000 claims abstract description 14
- 238000003032 molecular docking Methods 0.000 description 3
- 238000013475 authorization Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel 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
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The present invention relates to field of mechanical technique, specifically a kind of clamping device and method for truss, including pedestal, servo motor, transmission mechanism, line rail, bearing block, positive and negative tooth screw rod, positive spin nut, derotation nut, the first sliding block, the second sliding block, at least two clamping jaws and for determining whether material, material length, height of materials and the Material Sensor of material width.The invention has the advantages that the positive spin nut in both sides, derotation nut synchronous positive and negative rotation when positive and negative tooth screw rod operates, drive the first clamping jaw, the second clamping jaw are synchronous to generate clamping or unclamp material movement, centering when achieving the purpose that clamp material；Clamping jaw is designed by minimax material, and it is compatible to reach homologous series material size by the minimum and maximum required stroke design of clamping material for positive and negative tooth screw rod length；Torque by controlling servo controls chucking power, achievees the purpose that chucking power is controlled.
Description
Technical field
The present invention relates to field of mechanical technique, specifically a kind of clamping device and its application method for truss.
Background technique
It is poor to neutrality when existing gripping apparatus grips material, to homologous series material size poor compatibility, chucking power size
Hardly possible has been controlled.
It is " 206955615 U of CN ", entitled " bottle placer pair application No. is " 201720415158.4 ", Authorization Notice No.
The Chinese utility model patent of middle bottle gripper " discloses a kind of bottle placer centering bottle gripper, including pedestal, sliding rail, sliding block,
Bearing block, double nut centering adjuster, left clamping jaw, right clamping jaw and guiding housing, sliding rail and bearing block are fixedly mounted on pedestal
The both ends of sliding rail are arranged in upper surface, bearing block, and double nut centering adjuster is by forward lead screw, left-handed nut block and right-handed nut
Block composition, left-handed nut block, right-handed nut's block are screwed in the both ends of forward lead screw respectively, and the both ends of forward lead screw are respectively supported at
On bearing block, on the slide rail, two sliding blocks are separately fixed at left-handed nut block and right-handed nut's block for the setting of two sliding block slips
Bottom surface on, one end of forward lead screw be equipped with docking structure, convenient for adjust motor driven docking, in left clamping jaw and right clamping jaw bottom
Portion, which has, is equipped with guiding sliding convex block, threaded hole is provided on guiding sliding convex block, in left-handed nut block and right-handed nut's block
It is provided with connection countersunk head through-hole at guiding sliding convex block upper screwed hole on the upper left clamping jaw of correspondence and right clamping jaw, fastener, which passes through, to be connected
It connects countersunk head through-hole to be screwed in threaded hole, i.e., left clamping jaw is fixedly mounted on left-handed nut block, right clamping jaw is fixedly mounted on the right side
On spin nut block, the center line of left clamping jaw and right clamping jaw is overlapped with forward lead screw, and guiding housing, which is removably secured, is mounted on base
On seat, sliding rail, sliding block, bearing block, double nut centering adjuster are installed in guiding housing, on the upper surface of guiding housing
It is provided with sliding slot, the position of sliding slot is corresponding with the guiding sliding position of convex block, and the width of sliding slot is greater than the width of guiding sliding convex block
Degree is equipped on guiding housing and adjusts lateral aperture, and the setting position for adjusting lateral aperture is corresponding with the docking structure of forward lead screw.It should
The mounting structure of left clamping jaw and right clamping jaw is complicated in utility model, and stability is not high, and described device can only be vertical to bottle etc.
To article clamped, to the material size poor compatibility of other shapes.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of centerings with sensing detection positioning function
Clamping device.
In order to achieve the above object, the present invention provides a kind of clamping devices for truss, including pedestal, servo electricity
Machine, transmission mechanism, line rail, bearing block, positive and negative tooth screw rod, positive spin nut, derotation nut, the first sliding block, the second sliding block, at least two
A clamping jaw and for determining whether material, material length, height of materials and the Material Sensor of material width, wherein
The servo motor is connected to the right side of transmission mechanism, and the transmission mechanism is connected to the right side of pedestal；
The line rail and bearing block are installed in the front side of pedestal, and the number of the bearing block is two, the two bearings
The positive and negative tooth screw rod is installed between seat, the line rail and positive and negative tooth screw rod are arranged in parallel；
The servo motor is linked positive and negative tooth screw rod by transmission mechanism；
The positive spin nut is screwed in the orthodontic section of positive and negative tooth screw rod, and derotation nut is screwed in the anti-tooth of positive and negative tooth screw rod
Section；
First sliding block, the second sliding block are slidably connected on online rail, and the first sliding block and positive spin nut are fixed, the second sliding block
It is fixed with derotation nut；
At least one is arranged on the first sliding block the clamping jaw, at least one is arranged on the second sliding block；
On the base, the Material Sensor has shell and sensor body, described for the Material Sensor setting
Shell has sequentially connected first rotating sphere, first body of rod, the second rotating sphere, second body of rod and third sphere, described
First rotating sphere is installed on the base, and opening, the camera peace of the sensor body are formed on the third rotating sphere
Mounted in the opening of the third hollow ball, which has wireless transmission mechanism；
The pedestal is screwed on chassis by central axis, and the central axis is arranged at the center on pedestal and chassis.
Preferably, front side in the middle part of the line rail of pedestal is arranged in the Material Sensor.
Preferably, the number of the clamping jaw is three.The clamping stability of three clamping jaws is higher, on each clamping jaw respectively
Equipped with wear-resisting buffer piece.
Preferably, the number of the clamping jaw be two, the two clamping jaws be the first clamping jaw and the second clamping jaw, described first
It is respectively equipped with wear-resisting buffer piece on clamping jaw and the second clamping jaw, the concave surface of the two wear-resisting buffer pieces is oppositely arranged.
Preferably, the front side both ends of the line rail are additionally provided with limit sensor.
Further, minimum limited block is fixed in the middle part of the positive and negative tooth screw rod.
Preferably, positive and negative tooth screw rod is one of ball screw or T shape screw rod.
The present invention also provides a kind of application method of above-mentioned clamping device, the clamp method passes through above-mentioned clamping device
Clamped, the clamp method the following steps are included:
A. Material Sensor determines whether material, if having determined, adjusts base by the control system in servo motor
Seat continues the height for judging the material after the angle on chassis is to reach gripping objects angle, specifies when detecting that material is in
After height, the control system in servo motor is fed back to；
B. the control system control servo motor operating in servo motor；
C. servo motor passes through the positive and negative tooth screw rod rotation of transmission system drives；
D. positive spin nut and derotation nut do synchronous linear movement with being rotated in forward lead screw for positive and negative tooth screw rod；
E. the first sliding block and the second sliding block do synchronous linear movement with positive spin nut and derotation nut respectively；
F. the first clamping jaw and the second clamping jaw do synchronous linear movement with the first sliding block and the second sliding block respectively, realize clamping object
The movement of material.
The invention has the advantages that the synchronous positive and negative rotation of the positive spin nut in both sides, derotation nut, band when positive and negative tooth screw rod operates
Dynamic first clamping jaw, the second clamping jaw are synchronous to be generated clamping or unclamps material movement, centering when achieving the purpose that clamp material；Clamping jaw is pressed
The design of minimax material, positive and negative tooth screw rod length reach homologous series object by the minimum and maximum required stroke design of clamping material
Expect that size is compatible；Torque by controlling servo controls chucking power, achievees the purpose that chucking power is controlled.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is top view of the invention.
Wherein:
The chassis the 100- pedestal 200- chassis 300-
1- servo motor 2- transmission mechanism 3- line rail
The positive and negative positive spin nut of tooth screw rod 51- of 4- bearing block 5-
52- derotation nut 61- the first sliding block the second sliding block of 62-
71- the first clamping jaw 72- the second clamping jaw 8- Material Sensor
9- wear-resisting buffer piece 10- limit sensor 11- minimum limited block
12- central axis
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.
Embodiment 1:
A kind of clamping device as shown in Figure 1, 2, including pedestal 100, servo motor 1, transmission mechanism 2, line rail 3, bearing
Seat 4, positive and negative tooth screw rod 5, positive spin nut 51, derotation nut 52, the first sliding block 61, the second sliding block 62, the first clamping jaw 71, second folder
Pawl 72, the Material Sensor 8 for determining whether material and height of materials, wherein
The servo motor 1 is connected to the right side of transmission mechanism 2, and the transmission mechanism 2 is connected to the right side of pedestal 100；
The line rail 3 and bearing block 4 are installed in the front side of pedestal 100, and the number of the bearing block 4 is two, this two
The positive and negative tooth screw rod 5 is installed, the line rail 3 and positive and negative tooth screw rod 5 are arranged in parallel between a bearing block 4；
Servo motor 1 is linked positive and negative tooth screw rod 5 by transmission mechanism 2；
The positive spin nut 51 is screwed in the orthodontic section of positive and negative tooth screw rod 5, and derotation nut 52 is screwed in positive and negative tooth screw rod 5
Anti- tooth section；
First sliding block 61, the second sliding block 62 are slidably connected on online rail 3, and the first sliding block 61 and positive spin nut 51 are fixed, the
Two sliding blocks 62 and derotation nut 52 are fixed；
The Material Sensor 8 is arranged on front side of the middle part of online rail 3；
The pedestal 100 is screwed on chassis 200 by central axis 12, and the central axis 12 is arranged in pedestal 100 and chassis 200
Center at.
The positive spin nut 51 in both sides, derotation nut 52 synchronous positive and negative rotation when positive and negative tooth screw rod 5 operates, the first clamping jaw 71 of drive,
Second clamping jaw 72 is synchronous to be generated clamping or unclamps material movement, centering when achieving the purpose that clamp material；
Clamping jaw is designed by minimax material, and positive and negative 5 length of tooth screw rod is set by the minimum and maximum required stroke of clamping material
It is compatible to reach homologous series material size for meter；
Torque by controlling servo controls chucking power, achievees the purpose that chucking power is controlled.
It is respectively equipped with wear-resisting buffer piece 9 on first clamping jaw 71 and the second clamping jaw 72, the two wear-resisting buffer pieces 9
Concave surface be oppositely arranged.
Wear-resisting buffer piece plays protection surface of material, increases coefficient of friction, and work as a buffer, prevents from impacting firmly.
The front side both ends of the line rail 3 are additionally provided with limit sensor 10.
The middle part of the positive and negative tooth screw rod 5 is fixed with minimum limited block 11.
When clamping, when limit sensor fails, clamping jaw, which moves on a distance, will encounter minimum limited block, then nothing
Method is advanced, and damage forward lead screw is prevented；
Judge that clamping jaw either with or without the stroke for being more than device permission, gives SERVO CONTROL system once sensing and will export model
System, servo-control system will stop the operating of servo motor.
Positive and negative tooth screw rod 5 is one of ball screw or T shape screw rod.
The clamp method of above-mentioned clamping device the following steps are included:
A. Material Sensor determines whether material, if having determined, adjusts base by the control system in servo motor
Seat continues the height for judging the material 100 after the angle on chassis 200 is to reach gripping objects angle, when detecting at material
After specified altitude assignment, the control system in servo motor is fed back to；
B. the control system control servo motor 1 in servo motor operates；
C. servo motor 1 is rotated by the positive and negative tooth screw rod 5 of transmission system drives；
D. positive spin nut 51 and derotation nut 52 do synchronous linear fortune with being rotated in forward lead screw 5 for positive and negative tooth screw rod 5
It is dynamic；
E. the first sliding block 61 and the second sliding block 62 do synchronous linear movement with positive spin nut 51 and derotation nut 52 respectively；
F. the first clamping jaw 71 and the second clamping jaw 72 do synchronous linear movement with the first sliding block 61 and the second sliding block 62 respectively, real
Now clamp the movement of material.
The preferred embodiment of the present invention has been described in detail above, but the invention be not limited to it is described
Embodiment, those skilled in the art can also make various etc. on the premise of not violating the inventive spirit of the present invention
Same variation or replacement, these equivalent modifications or replacement are all included in the scope defined by the claims of the present application.
Claims (8)
1. a kind of clamping device for truss, which is characterized in that including pedestal (100), servo motor (1), transmission mechanism
(2), line rail (3), bearing block (4), positive and negative tooth screw rod (5), positive spin nut (51), derotation nut (52), the first sliding block (61),
Two sliding blocks (62), at least two clamping jaws and for determining whether material, material length, height of materials and the material of material width
Sensor (8), wherein
The servo motor (1) is connected to the right side of transmission mechanism (2), and the transmission mechanism (2) is connected to the right side of pedestal (100)
Side；
The line rail (3) and bearing block (4) are installed in the front side of pedestal (100), and the number of the bearing block (4) is two,
The positive and negative tooth screw rod (5) is installed, the line rail (3) and positive and negative tooth screw rod (5) are arranged in parallel between the two bearing blocks (4)；
The servo motor (1) passes through the positive and negative tooth screw rod (5) of transmission mechanism (2) linkage；
The positive spin nut (51) is screwed in the orthodontic section of positive and negative tooth screw rod (5), and derotation nut (52) is screwed in positive and negative tooth screw rod
(5) anti-tooth section；
First sliding block (61), the second sliding block (62) are slidably connected on online rail (3), the first sliding block (61) and positive spin nut
(51) fixed, the second sliding block (62) and derotation nut (52) are fixed；
At least one is arranged on the first sliding block (61) clamping jaw, at least one is arranged on the second sliding block (62)；
The Material Sensor (8) is arranged on pedestal (100), and the Material Sensor (8) has shell and sensor sheet
Body, the shell have sequentially connected first rotating sphere, first body of rod, the second rotating sphere, second body of rod and third ball
Body, first rotating sphere are mounted on pedestal (100), and opening, the sensor sheet are formed on the third rotating sphere
The camera of body is mounted on the opening of the third hollow ball, which has wireless transmission mechanism；
The pedestal (100) is screwed on chassis (200) by central axis (12), central axis (12) setting in pedestal (100) and
At the center on chassis (200).
2. the clamping device according to claim 1 for truss, which is characterized in that the Material Sensor (8) is set
Set the front side in the middle part of the line rail (3) of pedestal (100).
3. the clamping device according to claim 1 for truss, which is characterized in that the number of the clamping jaw is three
It is a.
4. the clamping device according to claim 1 for truss, which is characterized in that the number of the clamping jaw is two
A, the two clamping jaws are the first clamping jaw (71) and the second clamping jaw (72), are divided on first clamping jaw (71) and the second clamping jaw (72)
Not She You wear-resisting buffer piece (9), the concave surface of the two wear-resisting buffer pieces (9) is oppositely arranged.
5. the clamping device according to claim 1 for truss, which is characterized in that the front side two of the line rail (3)
End is additionally provided with limit sensor (10).
6. the clamping device according to claim 5 for truss, which is characterized in that the positive and negative tooth screw rod (5)
Middle part is fixed with minimum limited block (11).
7. the clamping device according to claim 1 for truss, which is characterized in that positive and negative tooth screw rod (5) is ball wire
One of bar or T shape screw rod.
8. a kind of application method of the clamping device for truss is used for truss using such as claim 1-7 is described in any item
Clamping device clamped, the clamp method the following steps are included:
A. Material Sensor determines whether material, if having determined, adjusts pedestal by the control system in servo motor
(100) chassis (200) angle to reach gripping objects angle after, continue the height for judging the material, when detecting material
After specified altitude assignment, the control system in servo motor is fed back to；
B. control system control servo motor (1) operating in servo motor；
C. servo motor (1) passes through positive and negative tooth screw rod (5) rotation of transmission system drives；
D. positive spin nut (51) and derotation nut (52) do synchronizing direct with being rotated on forward lead screw (5) for positive and negative tooth screw rod (5)
Line movement；
E. the first sliding block (61) and the second sliding block (62) do synchronous linear fortune with positive spin nut (51) and derotation nut (52) respectively
It is dynamic；
F. the first clamping jaw (71) and the second clamping jaw (72) do synchronous linear fortune with the first sliding block (61) and the second sliding block (62) respectively
It is dynamic, realize the movement of clamping material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811432849.0A CN109454661A (en) | 2018-11-28 | 2018-11-28 | A kind of clamping device and its application method for truss |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811432849.0A CN109454661A (en) | 2018-11-28 | 2018-11-28 | A kind of clamping device and its application method for truss |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109454661A true CN109454661A (en) | 2019-03-12 |
Family
ID=65611886
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811432849.0A Pending CN109454661A (en) | 2018-11-28 | 2018-11-28 | A kind of clamping device and its application method for truss |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109454661A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202601A (en) * | 2019-05-23 | 2019-09-06 | 江苏精正自动化科技有限公司 | The novel mini multi-functional electronic claw of version |
| CN110217410A (en) * | 2019-05-30 | 2019-09-10 | 北京控制工程研究所 | A kind of butt joint ring capture retaining mechanism and capture locking method |
| CN110271029A (en) * | 2019-07-11 | 2019-09-24 | 上海通彩机器人有限公司 | A kind of servo-drive elasticity clamping jaw of truss robot |
| CN110539317A (en) * | 2019-08-21 | 2019-12-06 | 长春工程学院 | intelligent distribution plate truss manipulator end effector for high-speed rail train wheel set |
| CN110561298A (en) * | 2019-09-04 | 2019-12-13 | 佛山市增广智能科技有限公司 | Clamping jaw |
| CN113386103A (en) * | 2021-06-15 | 2021-09-14 | 深圳市创一智能装备有限公司 | Clamping device and gantry device |
| CN113523743A (en) * | 2020-04-13 | 2021-10-22 | 富鼎电子科技(嘉善)有限公司 | Clamping jaw mechanism and assembling equipment |
| CN114055655A (en) * | 2021-10-29 | 2022-02-18 | 航天材料及工艺研究所 | Micro-torque clamping control device for machining thin-wall weak-rigidity quartz box-shaped piece |
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| CN202568548U (en) * | 2012-05-25 | 2012-12-05 | 吉林大学 | Target object automatic clamping system based on head movement |
| CN104858854A (en) * | 2015-05-21 | 2015-08-26 | 北京信息科技大学 | Lightweight mechanical arm for carrying objects |
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| CN206955615U (en) * | 2017-04-19 | 2018-02-02 | 常州市泰瑞包装科技有限公司 | Bottle placer centering bottle gripper |
| WO2018028108A1 (en) * | 2016-08-09 | 2018-02-15 | 杨志勇 | Clamping device for automatically adjusting size |
| CN207841338U (en) * | 2018-01-29 | 2018-09-11 | 戚姚捷 | A kind of mechanical arm |
| CN209665414U (en) * | 2018-11-28 | 2019-11-22 | 昆山源博信予智能装备有限公司 | A kind of clamping device for truss |
-
2018
- 2018-11-28 CN CN201811432849.0A patent/CN109454661A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202568548U (en) * | 2012-05-25 | 2012-12-05 | 吉林大学 | Target object automatic clamping system based on head movement |
| CN104858854A (en) * | 2015-05-21 | 2015-08-26 | 北京信息科技大学 | Lightweight mechanical arm for carrying objects |
| CN106041993A (en) * | 2016-07-26 | 2016-10-26 | 中国人民解放军军械工程学院 | Mechanical arm capable of conducting accurate positioning and positioning method of mechanical arm |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202601A (en) * | 2019-05-23 | 2019-09-06 | 江苏精正自动化科技有限公司 | The novel mini multi-functional electronic claw of version |
| CN110217410A (en) * | 2019-05-30 | 2019-09-10 | 北京控制工程研究所 | A kind of butt joint ring capture retaining mechanism and capture locking method |
| CN110271029A (en) * | 2019-07-11 | 2019-09-24 | 上海通彩机器人有限公司 | A kind of servo-drive elasticity clamping jaw of truss robot |
| CN110271029B (en) * | 2019-07-11 | 2024-04-05 | 上海通彩机器人有限公司 | Servo driving elastic clamping jaw of truss robot |
| CN110539317A (en) * | 2019-08-21 | 2019-12-06 | 长春工程学院 | intelligent distribution plate truss manipulator end effector for high-speed rail train wheel set |
| CN110561298A (en) * | 2019-09-04 | 2019-12-13 | 佛山市增广智能科技有限公司 | Clamping jaw |
| CN113523743A (en) * | 2020-04-13 | 2021-10-22 | 富鼎电子科技(嘉善)有限公司 | Clamping jaw mechanism and assembling equipment |
| CN113386103A (en) * | 2021-06-15 | 2021-09-14 | 深圳市创一智能装备有限公司 | Clamping device and gantry device |
| CN114055655A (en) * | 2021-10-29 | 2022-02-18 | 航天材料及工艺研究所 | Micro-torque clamping control device for machining thin-wall weak-rigidity quartz box-shaped piece |
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