CN116141226A - Coupling rotary electric claw - Google Patents
Coupling rotary electric claw Download PDFInfo
- Publication number
- CN116141226A CN116141226A CN202310152003.6A CN202310152003A CN116141226A CN 116141226 A CN116141226 A CN 116141226A CN 202310152003 A CN202310152003 A CN 202310152003A CN 116141226 A CN116141226 A CN 116141226A
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- China
- Prior art keywords
- motor
- claw
- connecting seat
- clamping
- push rod
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- 210000000078 claw Anatomy 0.000 title claims abstract description 68
- 230000008878 coupling Effects 0.000 title abstract description 9
- 238000010168 coupling process Methods 0.000 title abstract description 9
- 238000005859 coupling reaction Methods 0.000 title abstract description 9
- 230000001360 synchronised effect Effects 0.000 claims abstract description 36
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 15
- 230000003068 static effect Effects 0.000 claims description 6
- 238000003491 array Methods 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000010354 integration Effects 0.000 abstract description 3
- 238000004891 communication Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009347 mechanical transmission Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/10—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting holders for tool or work
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a coupling rotary electric claw, comprising: the device comprises a clamping motor, a rotating motor, a speed reducer, a synchronous wheel assembly, a synchronous belt, a connecting seat, a push rod nut and a plurality of claw heads, wherein the output end of the rotating motor is connected with the speed reducer, the synchronous wheel assembly comprises a first synchronous gear and a second synchronous gear, the first synchronous gear is arranged at the output end of the speed reducer, the second synchronous gear is fixed with the connecting seat, the synchronous belt is connected with the first synchronous gear and the second synchronous gear, the output end of the clamping motor comprises a screw rod part, the push rod nut is arranged at the output end of the clamping motor and matched with the screw rod part, the claw heads are arranged on the connecting seat and can slide on the connecting seat, and the push rod nut is used for pushing the connecting seat and the claw heads to realize relative sliding. The invention has the beneficial effects that: the device has the advantages of simple mechanical structure, high structural strength, durability, small occupied space, convenience in integration and the like.
Description
Technical Field
The invention relates to the technical field of automatic equipment, in particular to a coupling rotary electric claw.
Background
The existing rotary electric claw adopts a mechanical transmission and electric brush structure, and the mechanical transmission is used for rotating and clamping, so that the problems of complex structure, insufficient strength, higher cost, low accuracy and the like are solved, and the large torque is difficult to achieve under the same volume. Moreover, the existing brush structure adopts a brush to drive an electric signal, and the problems of easy damage to a brush part, larger volume, higher cost and the like exist.
Accordingly, the prior art has drawbacks and needs improvement.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a coupling rotary electric claw.
The technical scheme of the invention is as follows: the invention provides a coupled rotary electric claw, comprising: the device comprises a clamping motor, a rotating motor, a speed reducer, a synchronous wheel assembly, a synchronous belt, a connecting seat, a push rod nut and a plurality of claw heads, wherein the output end of the rotating motor is connected with the speed reducer, the synchronous wheel assembly comprises a first synchronous gear and a second synchronous gear, the first synchronous gear is arranged at the output end of the speed reducer, the second synchronous gear is fixed with the connecting seat, the synchronous belt is connected with the first synchronous gear and the second synchronous gear, the output end of the clamping motor comprises a screw rod part, the push rod nut is arranged at the output end of the clamping motor and matched with the screw rod part, the claw heads are arranged on the connecting seat and can slide on the connecting seat, and the push rod nut is used for pushing the connecting seat and the claw heads to realize relative sliding.
Further, control is achieved through position loop, speed loop and current loop PID; in the position ring, the current position of the motor is obtained, the target position of the motor is updated according to the rotation instruction, and the motor is driven to rotate in a matched mode to realize rotation; in the speed ring, differentiating the read position data to obtain the current speed of the motor, and when the user resets the target speed, updating the target rotating speed and controlling the motor to reach the specified rotating speed; in the current loop, when the claw head successfully clamps the article, the current value of the motor is read, and the current value of the motor is limited to realize clamping force control.
Further, when clamping the article, the lead angle is increased for the target current in the current loop, and the rotation is used as the instruction of the second priority.
Further, when the electric claw is only clamped, the rotating motor is locked and does not move, so that the connecting seat does not rotate, the clamping motor can control the axial translation of the push rod nut, the relative movement of the connecting seat and the claw heads is pushed, and the claw heads of the plurality of circumferential arrays jointly translate, so that the clamping is realized; when the electric claw only rotates, and the rotating motor rotates, the clamping motor reversely rotates through program calculation to offset the relative translation of the connecting seat and the push rod nut caused by the rotation of the rotating motor, and at the moment, the push rod nut, the connecting seat and the claw head synchronously rotate; when the electric claw rotates and clamps, the speed and the target quantity required by clamping are superposed on the clamping motor which keeps the screw rod and the nut to rotate synchronously, so that the relative static state of the push rod nut and the connecting seat is damaged, the relative static state is restored after the clamping target quantity reaches, and the functional effect of clamping the claw head in rotation is achieved.
Further, the claw head is provided with an inclined plane chute, the top of the push rod nut is provided with a matched slope corresponding to the inclined plane chute of the claw head, and the connecting seat is correspondingly provided with a mounting groove for mounting the claw head.
Further, the number of the claw heads is 3, and 3 claw heads are uniformly arranged on the same circumference.
Further, the device also comprises a shell component, wherein the clamping motor, the rotating motor, the speed reducer, the synchronous wheel component and the synchronous belt are all arranged in the shell component.
By adopting the scheme, the invention has the beneficial effects that: the servo control system is used for rotation and clamping, so that the force, position and speed can be precisely controlled, and the rotation can be realized in an infinite number of turns; the coupling algorithm has the advantages of simple mechanical structure, high structural strength, durability, small occupied space, convenient integration and the like; the coupling rotary electric claw integrates grabbing and rotating, adopts a slip ring-free design and a complex structure-free design, has the advantage of long service life, and realizes the effective replacement of a whole set of equipment of an original servo system, a slip ring, a servo system and complex transmission; communication control of RS-485/MODBUS is supported, communication control of CAN/CANOPEN is supported, and more full-automatic functions CAN be realized by matching with a Z-axis module.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
FIG. 2 is a schematic view of the installation of a push rod nut and a jaw head according to an embodiment of the present invention.
Detailed Description
The invention will be described in detail below with reference to the drawings and the specific embodiments.
Referring to fig. 1 to 2 in combination, in the present embodiment, the present invention provides a coupled rotary electric claw, including: the clamping motor 1, the rotating motor 2, the speed reducer 3, the synchronizing wheel assembly 4, the hold-in range 5, the connecting seat 6, push rod nut 7 and a plurality of claw heads 8, the clamping motor 1 and the rotating motor 2 are servo motor, the output of the rotating motor 2 with the speed reducer 3 is connected, the synchronizing wheel assembly 4 includes first synchronizing gear and second synchronizing gear, first synchronizing gear sets up the output of the speed reducer 3, the second synchronizing gear with the connecting seat 6 is fixed mutually, the hold-in range 5 is connected first synchronizing gear and second synchronizing gear, the output of the clamping motor 1 includes lead screw portion, push rod nut 7 set up the output of clamping motor 1 and with lead screw portion cooperatees, claw heads 8 are located on the connecting seat 6 and can slide on the connecting seat 6, push rod nut 7 is used for promoting the relative slip of connecting seat 6 and claw heads 8 to realize the centre gripping function. The rotating motor 2 drives the connecting seat 6 to rotate through the synchronous wheel assembly 4 and the synchronous belt 5, so that the claw head 8 can be driven to rotate.
Further, an inclined slide groove 81 is provided on the jaw 8, a matched slope is provided on the top of the push rod nut 7 corresponding to the inclined slide groove 81 of the jaw 8, and a mounting groove for mounting the jaw 8 is provided on the connection seat 6. The push rod nut 7 is pushed by the clamping motor 1 to axially move, so that the claw heads 8 are pushed by the slope to slide in the mounting groove, and a plurality of claw heads 8 synchronously move, so that the clamping function is realized.
Further, the number of the claw heads 8 is 3, and 3 claw heads 8 are uniformly arranged on the same circumference. It should be noted that, in different embodiments of the present solution, the number of the claw heads may be selected according to the requirement and the actual situation, and the working principle is the same.
Further, the clamping motor 1, the rotating motor 2, the speed reducer 3, the synchronous wheel assembly 4 and the synchronous belt 5 are all arranged in the shell assembly.
Further, the coupled rotary electric claw is controlled through a position loop, a speed loop and a current loop PID; in the position ring, the current positions of the clamping motor 1 and the rotating motor 2 are obtained, when a user sends a rotating instruction, the motor target position is updated according to the rotating instruction, and the rotation is realized through the cooperation of the driving motor; in the speed ring, differentiating the read position data to obtain the current speed of the motor, and when the user resets the target speed, updating the target rotating speed and controlling the motor to reach the specified rotating speed; in the current ring, when the claw head 8 successfully clamps an article, the motor cannot rotate, the current of the common motor is rapidly increased at the moment, and the clamping force is rapidly increased.
Further, when clamping the article, an advance angle is increased for the target current in the current loop, rotation is used as an instruction of the second priority, rotation control is performed while the article is clamped, and the problem that clamping is affected when rotation is controlled is solved.
Further, when the electric claw is only clamped, the rotating motor 2 is locked and does not move, so that the connecting seat 6 does not rotate, the clamping motor 1 can control the axial translation of the push rod nut 7, push the relative movement of the connecting seat 6 and the claw heads 8, and the claw heads 8 of a plurality of circumferential arrays translate together so as to realize clamping; when the electric claw only rotates, the clamping motor 1 reversely rotates through program calculation to counteract the relative translation of the connecting seat 6 and the push rod nut 7 caused by the rotation of the rotating motor 2, and at the moment, the push rod nut 7, the connecting seat 6 and the claw head 8 synchronously rotate; when the electric claw rotates and clamps, the speed and the target quantity required by clamping are superposed on the clamping motor 1 which synchronously rotates the push rod nut 7 and the connecting seat 6, the relatively static state of the connecting seat 6 and the push rod nut 7 is destroyed, and the relatively static state is restored after the clamping target quantity reaches, so that the functional effect of clamping the claw head 8 in rotation is achieved.
In summary, the beneficial effects of the invention are as follows: the servo control system is used for rotation and clamping, so that the force, position and speed can be precisely controlled, and the rotation can be realized in an infinite number of turns; the coupling algorithm has the advantages of simple mechanical structure, high structural strength, durability, small occupied space, convenient integration and the like; the coupling rotary electric claw integrates grabbing and rotating, adopts a slip ring-free design and a complex structure-free design, has the advantage of long service life, and realizes the effective replacement of a whole set of equipment of an original servo system, a slip ring, a servo system and complex transmission; the device has corresponding connectors, supports communication control of RS-485/MODBUS, supports communication control of CAN/CANOPEN, and CAN be matched with a Z-axis module to realize more full-automatic functions.
The foregoing description of the preferred embodiment of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (7)
1. A coupled rotary electric pawl, comprising: the device comprises a clamping motor, a rotating motor, a speed reducer, a synchronous wheel assembly, a synchronous belt, a connecting seat, a push rod nut and a plurality of claw heads, wherein the output end of the rotating motor is connected with the speed reducer, the synchronous wheel assembly comprises a first synchronous gear and a second synchronous gear, the first synchronous gear is arranged at the output end of the speed reducer, the second synchronous gear is fixed with the connecting seat, the synchronous belt is connected with the first synchronous gear and the second synchronous gear, the output end of the clamping motor comprises a screw rod part, the push rod nut is arranged at the output end of the clamping motor and matched with the screw rod part, the claw heads are arranged on the connecting seat and can slide on the connecting seat, and the push rod nut is used for pushing the connecting seat and the claw heads to realize relative sliding.
2. The rotary electric claw according to claim 1 wherein control is achieved by position loop, speed loop and current loop PID; in the position ring, the current position of the motor is obtained, the target position of the motor is updated according to the rotation instruction, and the motor is driven to rotate in a matched mode to realize rotation; in the speed ring, differentiating the read position data to obtain the current speed of the motor, and when the user resets the target speed, updating the target rotating speed and controlling the motor to reach the specified rotating speed; in the current loop, when the claw head successfully clamps the article, the current value of the motor is read, and the current value of the motor is limited to realize clamping force control.
3. The rotary electric claw according to claim 2 wherein the rotation is commanded as a second priority by increasing the lead angle in the current loop for the target current while holding the article.
4. A rotary electric claw according to claim 3 wherein when the electric claw is clamped only, the rotary electric motor is locked and does not rotate the connection seat, the clamping motor can control axial translation of the push rod nut to push relative movement of the connection seat and claw heads, and the claw heads of a plurality of circumferential arrays translate together to realize clamping; when the electric claw only rotates, and the rotating motor rotates, the clamping motor reversely rotates through program calculation to counteract the relative translation of the connecting seat and the push rod nut caused by the rotation of the rotating motor, so that a relative static state is formed, and the push rod nut, the connecting seat and the claw head synchronously rotate at the moment; when the claw head rotates and clamps, the speed and the target quantity required by clamping are superposed on a clamping motor which keeps the screw rod and the nut to rotate synchronously, so that the relative static state of the push rod nut and the connecting seat is damaged, and the function of clamping the claw head in rotation is achieved.
5. The rotary electric claw according to any one of claims 1 to 4 wherein the claw head is provided with a bevel chute, the top of the push rod nut is provided with a matched slope corresponding to the bevel chute of the claw head, and the connecting seat is provided with a mounting groove for mounting the claw head.
6. A rotary electric claw according to any one of claims 1 to 4 wherein the number of the claw heads is 3,3 of the claw heads are uniformly arranged on the same circumference.
7. The rotary electric pawl according to any one of claims 1 to 4, further comprising a housing assembly, wherein the clamp motor, the rotary motor, the speed reducer, the synchronizing wheel assembly, and the timing belt are disposed within the housing assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310152003.6A CN116141226B (en) | 2023-02-15 | 2023-02-15 | Coupling rotary electric claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310152003.6A CN116141226B (en) | 2023-02-15 | 2023-02-15 | Coupling rotary electric claw |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116141226A true CN116141226A (en) | 2023-05-23 |
| CN116141226B CN116141226B (en) | 2024-01-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310152003.6A Active CN116141226B (en) | 2023-02-15 | 2023-02-15 | Coupling rotary electric claw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116141226B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR982830A (en) * | 1948-06-05 | 1951-06-15 | Stabilimenti Monviso | Multiplier device, applicable between the gearbox and the transmission shaft of motor vehicles |
| CN108621149A (en) * | 2017-03-16 | 2018-10-09 | 上海蓝怡科技股份有限公司 | A kind of robot device of automatic crawl reaction cup |
| CN113370188A (en) * | 2021-07-08 | 2021-09-10 | 山东劳动职业技术学院（山东劳动技师学院） | Multi-purpose manipulator capable of reversely bending |
| CN215789945U (en) * | 2021-09-24 | 2022-02-11 | 常州市聚光宇业机电有限公司 | Rotary clamping jaw with Z-axis lifting function |
| CN215847807U (en) * | 2021-09-14 | 2022-02-18 | 江阴圣马罐业有限公司 | Aluminum can rotary clamping device |
-
2023
- 2023-02-15 CN CN202310152003.6A patent/CN116141226B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR982830A (en) * | 1948-06-05 | 1951-06-15 | Stabilimenti Monviso | Multiplier device, applicable between the gearbox and the transmission shaft of motor vehicles |
| CN108621149A (en) * | 2017-03-16 | 2018-10-09 | 上海蓝怡科技股份有限公司 | A kind of robot device of automatic crawl reaction cup |
| CN113370188A (en) * | 2021-07-08 | 2021-09-10 | 山东劳动职业技术学院（山东劳动技师学院） | Multi-purpose manipulator capable of reversely bending |
| CN215847807U (en) * | 2021-09-14 | 2022-02-18 | 江阴圣马罐业有限公司 | Aluminum can rotary clamping device |
| CN215789945U (en) * | 2021-09-24 | 2022-02-11 | 常州市聚光宇业机电有限公司 | Rotary clamping jaw with Z-axis lifting function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116141226B (en) | 2024-01-09 |
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