CN204382288U - A kind of clamping of the counterweight for Measurement Verification Work mechanical paw - Google Patents
A kind of clamping of the counterweight for Measurement Verification Work mechanical paw Download PDFInfo
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- CN204382288U CN204382288U CN201420833549.4U CN201420833549U CN204382288U CN 204382288 U CN204382288 U CN 204382288U CN 201420833549 U CN201420833549 U CN 201420833549U CN 204382288 U CN204382288 U CN 204382288U
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- clamp
- pressing plate
- counterweight
- clamping
- mechanical paw
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Abstract
The utility model provides a kind of counterweight for Measurement Verification Work clamping mechanical paw, comprises AC servo motor, reduction gearing, double rotational directions leading screw, feed screw nut, connection pressing plate, the first clamp, the second clamp, line slideway and linear bearing; AC servo motor is connected with double rotational directions leading screw by reduction gearing, double rotational directions leading screw is connected with two feed screw nuts, two feed screw nuts are nested in the first connection pressing plate and are connected in the interstitial hole of pressing plate with second, and first to connect that pressing plate is connected pressing plate side B with second connects respectively be the first clamp and second clamp of " <> " shape structure; Two line slideways are set in parallel in the both sides of double rotational directions leading screw, and line slideway is respectively fitted with linear bearing, and linear bearing is nested in the first connection pressing plate and is connected in the upper lower opening of pressing plate with second.Counterweight clamping mechanical paw structure described in the utility model is simple, reliability is high, be convenient to control, efficiently can complete the counterweight clamping carrying task in counterweight measurement verification process.
Description
Technical field
The utility model relates to robotics and metering automation field, particularly relates to a kind of counterweight for Measurement Verification Work clamping mechanical paw.
Background technology
Quality is one of seven large physics fundamental quantities, and counterweight is a kind of material measure reappearing mass value, is widely used in all departments.The Measurement Verification Work of counterweight to weigh standard test weight and tested counterweight relatively realize by weighing instrument, and it is directly connected to the accuracy and uniformity that quality measurements transmits.In existing weight detecting technology, counterweight handling normally adopt artificial location, manually carrying to carry out, and need to expend a large amount of manual labor of testing person, inefficiency, and due to artificial maloperation, may produce injury to weighing apparatus equipment.Therefore, artificial location and manual carrying counterweight accurately cannot ensure the quality of calibration operation.
Traditional industrial robot or clamping manipulator are due to the requirement of performance accuracy and structural rigidity, and structure is often thicker and clumsy.The mechanical paw of the design is specially for the counterweight clamping in weight detecting work and carrying action, this counterweight clamping mechanical paw structure is simple, reliability is high, possess the function of apery hand clamping carrying counterweight, increase substantially the efficiency of counterweight Measurement Verification Work, saved human cost.
Utility model content
For Shortcomings in prior art, the utility model provides a kind of counterweight for Measurement Verification Work clamping mechanical paw, rational in infrastructure small and exquisite, captures reliable, be convenient to the feature controlled, the counterweight clamping carrying task in counterweight measurement verification process can be completed smoothly.
The utility model realizes above-mentioned technical purpose by following technological means.
For a counterweight clamping mechanical paw for Measurement Verification Work, comprise AC servo motor, reduction gearing, double rotational directions leading screw, the first feed screw nut, the second feed screw nut, the first connection pressing plate, the second connection pressing plate, the first clamp, the second clamp, the first line slideway, the second line slideway, the first linear bearing and the second linear bearing; Described AC servo motor is connected with double rotational directions leading screw by reduction gearing, and a described double rotational directions leading screw part is connected the first feed screw nut, and another part is connected the second feed screw nut; Described first feed screw nut is nested in the mesopore of the first connection pressing plate, and described second feed screw nut is nested in the mesopore of the second connection pressing plate; Described first connects pressing plate bottom connects the first clamp, and described second connects pressing plate bottom connects the second clamp, and described first clamp and the second clamp are in " <> " shape structure; The both sides of described double rotational directions leading screw are parallel is provided with the first line slideway and the second line slideway, and described first line slideway is equipped with the first linear bearing, and described first linear bearing is nested in the first connection pressing plate and is connected in the upper hole of pressing plate with second; Described second line slideway is equipped with the second linear bearing, and described second linear bearing is nested in the first connection pressing plate and is connected in the lower opening of pressing plate with second.
Preferably, the inner surface of described first clamp and the second clamp is all coated with thermoplastic elastomer (TPE) TPR.
Preferably, the jaw angle of described first clamp and the second clamp is 120 °.
Preferably, described AC servo motor is model HF-KP13 AC servomotor, motor rated power 100W, rated speed 3000r/min, nominal torque 0.32Nm.
Preferably, the thrust of described first clamp or the second clamp and the simulation torque relational expression of described AC servo motor as follows:
In formula:
The thrust of Fa--first clamp or the second clamp;
The magnitude of voltage of V--analog quantity torque instruction (TC);
K1--is for controlling the variable element of Driving Torque;
The number of teeth of z1--active spur gear;
The number of teeth of the driven spur gear of z2--;
η 1-gear-driven efficiency;
η 2--lead screw transmission efficiency;
R--guide screw lead.
Preferably, described first clamp and the second clamp material are aluminum or aluminum alloy.
Preferably, the crawl diameter range of described first clamp and the second clamp is 10 ~ 50mm, and extension elongation is 80mm.
The beneficial effects of the utility model:
(1) clamping of the counterweight for Measurement Verification Work mechanical paw described in the utility model, its structure is simple, reliability is high, be convenient to control, jaw angle design is 120 ° increases crawl adaptive ability, make the counterweight automatic centering of crawled different-diameter, grasping stability, calibration operation efficiency is high; The use of bilinear guide rail and linear bearing both ensure that operating accuracy, turn increased transmission efficiency, can complete the counterweight clamping carrying task in counterweight measurement verification process smoothly.
First clamp of the mechanical paw of (2) two mutual foldings in " <> " shape structure and the second clamp inner surface coated elastic rubbery body material TPR, realize the manual imitation soft-touch to clamping counterweight, damage is not caused to counterweight surface, do not affect calibration operation quality.
(3) counterweight clamping mechanical paw selects AC servo motor as driving element.Have that power is large, overload capacity be strong, the advantage of brushless, good environmental adaptability.This counterweight clamping mechanical paw adopts AC servo motor torque control model to control the output of grasp force.Utilize the method that the torque be directly proportional to input voltage runs to control servomotor, its advantage is that operand is minimum, and the response of driver to control signal is fast.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the utility model counterweight described in the utility model clamping mechanical paw structure.
Fig. 2 is A direction view in Fig. 1.
Fig. 3 is the schematic diagram connecting pressing plate side B.
Fig. 4 is the first clamp and the second clamp gripping target counterweight schematic diagram.
Fig. 5 is the track schematic diagram that in Fig. 4, counterweight moves to the first clamp and the second clamp center.
Description of reference numerals is as follows:
1-AC servo motor, 2-reduction gearing, 3-double rotational directions leading screw, 4-first feed screw nut, 5-second feed screw nut, 6-first connects pressing plate, and 7-second connects pressing plate, 8-first clamp, 9-second clamp, 10-first line slideway, 11-second line slideway, 12-first linear bearing, 13-second linear bearing.
Detailed description of the invention
Below in conjunction with accompanying drawing and specific embodiment, the utility model is further described, but protection domain of the present utility model is not limited to this.
As depicted in figs. 1 and 2, for a counterweight clamping mechanical paw for Measurement Verification Work, comprise AC servo motor 1, reduction gearing 2, double rotational directions leading screw 3, first feed screw nut 4, second feed screw nut 5, first connection pressing plate 6, second connection pressing plate 7, first clamp 8, second clamp 9, first line slideway 10, second line slideway 11, first linear bearing 12 and the second linear bearing 13; Described AC servo motor 1 connects reduction gearing 2, and described reduction gearing 2 connects double rotational directions leading screw 3 by key; The part of described double rotational directions leading screw 3 is connected the first feed screw nut 4, and converting rotary motion is rectilinear motion by another part second feed screw nut 5 that is connected;
Described first feed screw nut 4 is nested in the mesopore of the first connection pressing plate 6, second feed screw nut 5 is nested in the mesopore of the second connection pressing plate 7, the both sides of described double rotational directions leading screw 3 are parallel is provided with the first line slideway 10 and the second line slideway 11, same plane is positioned at the axial line of double rotational directions leading screw 3, play guiding and supporting role, to increase the stability of clamp structure; Described first line slideway 10 is equipped with the first linear bearing 12, and described first linear bearing 12 is nested in the first connection pressing plate 6 and is connected in the upper hole of pressing plate 7 with second; Second line slideway 11 is equipped with the second linear bearing 13, and described second linear bearing 13 is nested in the first connection pressing plate 6 and is connected in the lower opening of pressing plate 7 with second.
As shown in figures 1 and 3, described first connects the first clamp 8 and the second clamp 9 that pressing plate 6 is connected pressing plate 7 side B upper bolt respectively connection with second is " <> " shape structure; The clamp inner surface all coated elastic rubbery body material TPR of described first clamp 8 and the second clamp 9, realizes, to the manual imitation soft-touch of clamping counterweight, not causing damage, do not affect calibration operation quality to counterweight surface.
Double rotational directions leading screw 3 leading screw overall length is 156mm, screw thread overall length 90mm, pitch 2.5mm, leading screw nominal diameter 14mm, central diameter 12.75mm, path 11mm.Described counterweight clamping mechanical paw aluminium alloy is as mainly making material, consider the factors such as the cost of material, processability and gross mass, aluminum or aluminum alloy and other light alloy materials, its common feature is that quality is light, elastic modulus E is little, but density of material is less, then E/ ρ still can compared with steel.
As shown in Figure 4 and Figure 5, the first clamp 8 of the mechanical paw of translation and the second clamp 9 pinch get action time, in order to capture the counterweight put in calibrating pallet certain limit, design jaw angle is 120 °.When the center of the center that counterweight is put and the first clamp 8 and the second clamp 9 does not overlap, counterweight first touches a face of the first clamp 8 or the second clamp 9, along with closing of clamp, counterweight moves under the active force of clamp face, when counterweight touches other three facades gradually, because facade at an angle to each other can provide the power of two axis simultaneously, finally make counterweight arrive tong chops center, realize the accurate grasping movement of clamp.
Described AC servo motor 1 is model HF-KP13 AC servomotor, motor rated power 100W, rated speed 3000r/min, nominal torque 0.32Nm, have that power is large, overload capacity be strong, the advantage of brushless, good environmental adaptability, to obtain suitable grasp force, ensure to keep stable state when capturing high accuracy grade counterweight simultaneously.
The course of work that the utility model is used for the counterweight clamping mechanical paw of Measurement Verification Work is: AC servo motor 1 drives reduction gearing 2 to rotate, reduction gearing 2 drives double rotational directions leading screw 3 to rotate, double rotational directions leading screw 3 by with the coordinating of the first feed screw nut 4 and the second feed screw nut 5, power transmission to be connected the first clamp 8 and the second clamp 9 on pressing plate 7 to being fixed on the first connection pressing plate 6 with second, because double rotational directions leading screw 3 is that one end is left-handed, one end dextrorotation, by changing spiral turning into rectilinear motion, first clamp 8 and the second clamp 9 can simultaneously near or away from, complete the action of gripping and release.
Counterweight for Measurement Verification Work clamping mechanical paw described in the utility model adopts the torque control model of AC servo motor 1 to control the output of the thrust of the first clamp 8 and the second clamp 9.The torque control model of AC servo motor 1 is the torque instruction to servo unit input analog amount instruction type, utilize the method that the torque be directly proportional to input voltage runs to control AC servo motor 1, its advantage is that operand is minimum, and the response of driver to control signal is fast.
If AC servo motor 1 exports with nominal torque, the relation of Driving Torque with analog quantity torque instruction (TC) of AC servo motor 1 can be obtained:
T
1＝K
1·V (1)
In formula: T1--motor output torque;
K1--is for controlling the variable element of Driving Torque;
The magnitude of voltage of V--analog quantity torque instruction (TC).
Because the Driving Torque of AC servo motor 1 passes to double rotational directions leading screw 3 by reduction gearing 2 (comprising initiatively spur gear, driven spur gear) engagement, and torque is become by feed screw nut, line slideway the thrust being parallel to double rotational directions leading screw 3 axle, thus drive to be installed on and connect the first clamp 1 on pressing plate and the second clamp 2 does horizontal open and close movement, obtain following drive connection:
In formula: the torque of T2--leading screw;
The number of teeth of z1, z2--active spur gear, driven spur gear;
η 1--gear-driven efficiency.
The torque of gear transmission is converted into thrust by double rotational directions leading screw, has following relation:
F
a＝2πη
2·T
2/R (3)
In formula: the thrust that Fa--leading screw produces;
η 2--lead screw transmission efficiency;
R--guide screw lead.
Composite type (1) ~ formula (3), thrust due to leading screw generation is the thrust Fa of the first clamp 8 or the second clamp 9, therefore can obtain counterweight clamping the first clamp 8 of mechanical paw or the relational expression of the thrust Fa of the second clamp 9 and the magnitude of voltage V of AC servo motor 1 analog quantity torque instruction:
As can be seen here, the thrust that first clamp 8 or the second clamp 9 produce becomes single linear relationship with the magnitude of voltage of input motor simulation amount torque instruction, therefore its clamping force controls by regulating input voltage value, different according to the counterweight specification captured, set different input voltages, to ensure to produce the clamping force be of moderate size, while completing gripping counterweight smoothly, do not produce the damage to counterweight.Counterweight clamping mechanical paw described in the utility model has a translational degree of freedom, and it captures object is 500g-5000g E2 grade counterweight, and capturing diameter range is 10 ~ 50mm, and the extension elongation of the first clamp 8 and the second clamp 9 gets 80mm.
Described embodiment is preferred embodiment of the present utility model; but the utility model is not limited to above-mentioned embodiment; when not deviating from flesh and blood of the present utility model, any apparent improvement that those skilled in the art can make, replacement or modification all belong to protection domain of the present utility model.
Claims (7)
1. the clamping of the counterweight for a Measurement Verification Work mechanical paw, it is characterized in that, comprise AC servo motor (1), reduction gearing (2), double rotational directions leading screw (3), the first feed screw nut (4), the second feed screw nut (5), the first connection pressing plate (6), the second connection pressing plate (7), the first clamp (8), the second clamp (9), the first line slideway (10), the second line slideway (11), the first linear bearing (12) and the second linear bearing (13); Described AC servo motor (1) is connected with double rotational directions leading screw (3) by reduction gearing (2); Described double rotational directions leading screw (3) part is connected the first feed screw nut (4), and another part is connected the second feed screw nut (5); Described first feed screw nut (4) is nested in the mesopore of the first connection pressing plate (6), and described second feed screw nut (5) is nested in the mesopore of the second connection pressing plate (7); Described first connects pressing plate (6) bottom connects the first clamp (8), described second connects pressing plate (7) bottom connects the second clamp (9), and described first clamp (8) and the second clamp (9) are in " <> " shape structure; The both sides of described double rotational directions leading screw (3) are parallel is provided with the first line slideway (10) and the second line slideway (11), described first line slideway (10) is equipped with the first linear bearing (12), and described first linear bearing (12) is nested in the first connection pressing plate (6) and is connected with second in the upper hole of pressing plate (7); Described second line slideway (11) is equipped with the second linear bearing (13), and described second linear bearing (13) is nested in the first connection pressing plate (6) and is connected in the lower opening of pressing plate (7) with second.
2. a kind of clamping of the counterweight for Measurement Verification Work mechanical paw according to claim 1, it is characterized in that, the inner surface of described first clamp (8) and the second clamp (9) is all coated with thermoplastic elastomer (TPE) TPR.
3. a kind of clamping of the counterweight for Measurement Verification Work mechanical paw according to claim 1, it is characterized in that, the jaw angle of described first clamp (8) and the second clamp (9) is 120 °.
4. a kind of clamping of the counterweight for Measurement Verification Work mechanical paw according to claim 1, it is characterized in that, described AC servo motor (1) is model HF-KP13 AC servomotor, motor rated power 100W, rated speed 3000r/min, nominal torque 0.32Nm.
5. a kind of clamping of the counterweight for Measurement Verification Work mechanical paw according to claim 1, it is characterized in that, the thrust of described first clamp (8) or the second clamp (9) and the simulation torque relational expression of described AC servo motor (1) as follows:
In formula: the thrust of Fa--first clamp or the second clamp; The magnitude of voltage of V--analog quantity torque instruction (TC); K1--is for controlling the variable element of Driving Torque; The number of teeth of z1--active spur gear; The number of teeth of the driven spur gear of z2--; η 1-gear-driven efficiency; η 2--lead screw transmission efficiency; R--guide screw lead.
6. a kind of clamping of the counterweight for Measurement Verification Work mechanical paw according to claim 1, it is characterized in that, described first clamp (8) and the second clamp (9) material are aluminum or aluminum alloy.
7. a kind of clamping of the counterweight for Measurement Verification Work mechanical paw according to claim 1, it is characterized in that, the crawl diameter range of described first clamp (8) and the second clamp (9) is 10 ~ 50mm, and extension elongation is 80mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420833549.4U CN204382288U (en) | 2014-12-24 | 2014-12-24 | A kind of clamping of the counterweight for Measurement Verification Work mechanical paw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420833549.4U CN204382288U (en) | 2014-12-24 | 2014-12-24 | A kind of clamping of the counterweight for Measurement Verification Work mechanical paw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204382288U true CN204382288U (en) | 2015-06-10 |
Family
ID=53355042
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420833549.4U Expired - Fee Related CN204382288U (en) | 2014-12-24 | 2014-12-24 | A kind of clamping of the counterweight for Measurement Verification Work mechanical paw |
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| Country | Link |
|---|---|
| CN (1) | CN204382288U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104493835A (en) * | 2014-12-24 | 2015-04-08 | 镇江市计量检定测试中心 | Weight clamping mechanical gripper for metrological verification work |
| WO2022077203A1 (en) | 2020-10-13 | 2022-04-21 | Shanghai Flexiv Robotics Technology Co., Ltd. | Gripper and robotic arm |
-
2014
- 2014-12-24 CN CN201420833549.4U patent/CN204382288U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104493835A (en) * | 2014-12-24 | 2015-04-08 | 镇江市计量检定测试中心 | Weight clamping mechanical gripper for metrological verification work |
| WO2022077203A1 (en) | 2020-10-13 | 2022-04-21 | Shanghai Flexiv Robotics Technology Co., Ltd. | Gripper and robotic arm |
| US20220305670A1 (en) * | 2020-10-13 | 2022-09-29 | Shanghai Flexiv Robotics Technology Co., Ltd. | Gripper and robotic arm |
| EP4204192A4 (en) * | 2020-10-13 | 2023-11-01 | Shanghai Flexiv Robotics Technology Co., Ltd. | Gripper and robotic arm |
| US11986950B2 (en) * | 2020-10-13 | 2024-05-21 | Shanghai Flexiv Robotics Technology Co., Ltd. | Gripper and robotic arm |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150610 Termination date: 20151224 |
|
| EXPY | Termination of patent right or utility model |