CN206465081U - A kind of modular YE - Google Patents

Abstract

The utility model is related to a kind of modular YE, by motor output power, encoder carries out Real-time Feedback to the rotating speed of motor and angular displacement, under the regulation and control of controller, suitable driving torque and rotating speed can be passed to bolt and nut mechanism through decelerator and synchronous belt mechanism, the sliding block of sliding block connector simultaneously on attaching nut and line slideway, clamping jaw is fixedly mounted on sliding block, finally realizes the opening and closing movement of clamping jaw.The modular YE that the utility model is provided, small volume, compact conformation, integrated level are high, operating noise is small, non-maintaining, and possessing self-locking holding function, positioning precision is higher, can properly settle some drawback problems present in YE in existing market.

Description

A kind of modular YE

Technical field

The utility model is related to the actuator that a kind of robot end uses, more particularly to a kind of modular electronic execution Device.

Background technology

Making rapid progress for scientific and technological level, promotes traditional handwork pattern gradually to industrial automation mode transition. Contemporary society, in all trades and professions, possesses different functional industrial robots of common occurrence.They are planned in advance by performing Operational order, perform some such as carry, loading and unloading, welding, spraying, the task such as assembling, by its operation spirit Activity and the accuracy of positioning, can replace the operation for being accomplished manually some manufacturings to appoint substantially in some fields Business.Robot comes into operation in a large amount of of industrial circle, manual labor and cost is saved, while also high degree Shangdi is carried The actual production efficiency of Gao Liao factories.

In terms of industrial robot, multi-degree-of-freemechanical mechanical arm is relatively conventional, and conventional mechanical arm is occupied with 4 axles, 6 axles and 7 axles It is many.Actuator with difference in functionality is installed in actual job, it is necessary in the end flange of mechanical arm (also known as mechanical Hand), by both compounding practices to complete specific job task.

At present, end effector of robot is mainly based on two kinds of YE and pneumatic actuator.YE Generally using direct current generator (have brush, brushless), stepper motor etc. as driving element, pneumatic actuator uses the side that air pressure is promoted Formula.YE employs motor-driven mode, it will usually passed by some intermediate transmission mechanisms such as V belt translation, gear Dynamic, worm drive etc., suitable moment of torsion and speed are passed to somewhat complicated in paw, structure, there is certain power loss, and Price is higher, but mechanism performance is stable, long working life, strong environmental adaptability.Pneumatic actuator structure is relatively easy, energy Low, fast response time is consumed, it is with low cost, but positioning precision, stability and adaptive capacity to environment are not so good as YE.This Outside, because pneumatic actuator needs source of the gas, it is necessary to periodic maintenance, and noise is larger during work, thus has some to noise The occasion strictly limited is also usually limited.Therefore, higher occasion is usual to be required to job stability and environmental suitability YE can preferentially be used.

It is big at present although YE shows many advantages compared to pneumatic actuator in aspect of performance Many YEs, in terms of functional reliability, security, however it remains certain hidden danger, it would be highly desirable to improve.Examined through document Rope, publication date is on 07 27th, 2016, a kind of Publication No. CN205394576U zero clearance guide frame and electronic clamping jaw, It is proposed by using the rack that is fixedly connected with cross slideway inner slide of gear driving on motor output shaft, and then by motor Rotary motion be converted to cross slideway inner slide be connected clamping jaw linear motion.Its kind of drive advantages of simple, transmission Precision is also higher, but its structure does not possess auto-lock function in itself, i.e., when system power failure, if clamping jaw is in clamping work The state of part, can lose clamping force because of system dead electricity.Because clamping force is unable to self-sustaining, workpiece is caused to be released from clamping jaw, Easily trigger further security incident problem at operation scene.

In addition, for most YE on market today, its integrated level all owes low, it is necessary to be controlled for its addition is outside System processed could be used normally.On application level, for some special occasions, there is also certain limitation for YE Property.Such as field is manufactured in hyundai electronicses semiconductor production, it will usually which cleanliness factor, noise to factory there are strict requirements.By Intermediate transmission mechanism in most YE, such as rack pinion, the lubricant method before work are essential, YE is dispatched from the factory and periodically quantitatively supply lubricating oil or lubricating grease is required to during later maintenance, and long-term work unavoidably can The hidden danger of the pollution environment of plant is there is because of oil leakage.In addition, intermediary agency is in real-world operation, meeting of also caning hardly be avoided Produce certain noise.

In view of above-mentioned defect, the design people is actively subject to research and innovation, to found a kind of modular electronic hold Row device, makes it with more the value in industry.

Utility model content

In order to improve the reliability, security and the upper convenience of use of YE, internal lubrication medium is eliminated The hidden danger of environment, and the noise effect produced when effectively reducing mechanism is operated are revealed and pollute, so as to YE energy in future Enough preferably input modern plants are used, and the utility model provides a kind of modular YE, the electronic execution Device small volume, compact conformation, integrated level are high, operating noise is small, non-maintaining；And possess self-locking keep function, positioning precision compared with Height, can properly settle some drawback problems present in YE in existing market.

Modular YE of the present utility model, including

It is less than the crossbeam of shell length in-housing, the housing provided with length, the space between crossbeam and case top is Space between upper groove and housing bottom is lower groove；

- guiding rail mechanism, including guide rail, two sliding blocks slided along the guide rail being arranged in the case top；

- two clamping jaws, are connected with sliding block described in two respectively；

- two sliding block connectors, are arranged in the upper groove, are connected respectively with sliding block described in two；

- bolt and nut mechanism, is arranged in the upper groove, including the screw rod with dextrorotation screw thread and derotation screw thread, difference The positive spin nut of T-shaped and T-shaped derotation nut being spirally connected with dextrorotation screw thread and derotation screw thread, the positive spin nut of T-shaped and T-shaped derotation nut point It is not nested in two sliding block connectors and forms tight fit, the sliding block connector is connected with the positive spin nut of T-shaped or T-shaped derotation Nut is pressed on the pressing plate in it, and the screw rod is the trapezoidal thread of single line with the positive spin nut of T-shaped and T-shaped derotation nut；

- driver element, is arranged in the lower groove, including motor, the rotating speed to motor and angular displacement information are carried out in real time The encoder of feedback, the decelerator being connected with motor output end；

- synchronous belt mechanism, is arranged in the space between the beam-end and housing sidewall, including two numbers of gears are equal Belt wheel, the timing belt that is connected with two belt wheel transmissions, one of belt wheel is connected with the output end of the decelerator, another band Wheel is connected with the screw rod；

- proximity transducer, is arranged on the crossbeam, is triggered by one of sliding block connector, for marking zero-bit, right The motion of the sliding block carries out soft spacing；

- controller, is arranged in the lower groove, the driver element is controlled；

- electric interfaces, set on the housing, be connected for the YE with external power source, with it is how free Spend mechanical arm communication.

Further, in addition to the crossbeam and decelerator the L-shaped supporting plate being connected, one end of the screw rod and deceleration The output end of device is connected with two belt wheels respectively through the supporting plate, and the end of the supporting plate bending passes through screw and housing bottom Portion's connection is tensioned.

Further, the two ends of the screw rod are rotatably connected to the bearing in the upper groove respectively, one of them Bearing is connected with the axle sleeve to its axial limiting, and another bearing is connected with the supporting plate.

Further, slider bar is connected between sliding block and the sliding block connector, one end of the slider bar gradually becomes It is thin.

Further, the slider bar is provided with boss, and the sliding block connector, which is provided with, can be embedded in the boss Groove.

Further, the medial surface of the clamping jaw is provided with two V-arrangement boss.

Further, the surface of shell is provided with a plurality of narrow slot.

Further, the housing is provided with multiple screwed holes for being used to install counter flange disk.

Further, the material of the housing is aluminium alloy, including internal shell provided with the crossbeam and is arranged on Left shrouding, right shrouding and lower shrouding on shell periphery.

Further, the material of the positive spin nut of the T-shaped and T-shaped derotation nut is high-strength engineering plastic.

By such scheme, the utility model at least has advantages below：

1st, shell uses integral structure, and the parts of actuator are directly or indirectly mounted to using shell as matrix On mounting surface, miniaturization is easy to implement；

2nd, actuator has been internally integrated controller, driver element, synchronous belt mechanism, bolt and nut mechanism and line slideway machine Structure, constitutes the drive device of complete set, and its integrated level is high, modularization, using upper more convenient；

3rd, motion commutation is carried out by synchronous belt mechanism, makes the overall structure of actuator more compact, and timing belt machine Structure can reduce the vibration of system, reduce noise, improve the stationarity of system work；

4th, bolt and nut mechanism possesses auto-lock function, it is ensured that in unexpected power down, the chucking power of YE still has Effect, it is to avoid clamped workpiece is released；

5th, the nut material in bolt and nut mechanism is engineering plastics so that screw rod and nut are produced when relatively rotating Raw noise is smaller, due to the self lubricity of material in itself, thus need not smear lubricant medium, realize non-maintaining function；

6th, actuator employs motor driving, by using the Real-time Feedback of encoder, can be achieved to the rotating speed of motor and Corner carries out accuracy controlling, through decelerator, synchronous belt mechanism, bolt and nut mechanism and guiding rail mechanism, finally realizes clamping jaw Opening and closing movement, the positional precision of its folding can also be guaranteed；

7th, YE employs soft spacing when proximity transducer performs opening and closing movement as it, it is to avoid motion portion Part collides, it is ensured that security during mechanism kinematic, meanwhile, when electric actuator is firm, it is used as the machinery of mark mechanism Zero-bit, it is ensured that the certainty of movement position when actuator is acted.

Described above is only the general introduction of technical solutions of the utility model, in order to better understand skill of the present utility model Art means, and being practiced according to the content of specification, with preferred embodiment of the present utility model and coordinate accompanying drawing detailed below Describe in detail bright as after.

Brief description of the drawings

Fig. 1 is the overall appearance schematic diagram of modular YE of the present utility model；

Fig. 2 is the overall structure exploded perspective view of modular YE of the present utility model；

Fig. 3 is the sectional view of modular YE of the present utility model；

Fig. 4 is the structural representation of the shell of modular YE of the present utility model；

Fig. 5 is the bolt and nut structural scheme of mechanism of modular YE of the present utility model；

Fig. 6 is the structural representation of the sliding block connector of modular YE of the present utility model；

Fig. 7 is the structural representation of the slider bar of modular YE of the present utility model；

Fig. 8 is the structural representation of the clamping jaw of modular YE of the present utility model；

Fig. 9 is modular YE of the present utility model and the scheme of installation of multi-degree-of-freemechanical mechanical arm.

Embodiment

With reference to the accompanying drawings and examples, embodiment of the present utility model is described in further detail.Below Embodiment is used to illustrate the utility model, but is not limited to scope of the present utility model.

With reference to Fig. 1, Fig. 2 and Fig. 3, a kind of modular YE of the present utility model includes：By shell 15 and a left side Housing 10, synchronous belt mechanism, bolt and nut mechanism, the two sliding block connectors of shrouding 16, right shrouding 17 and the composition of lower shrouding 18 40th, guiding rail mechanism, two clamping jaws 30, driver element, supporting plate 73, controller 82, proximity transducer 81 and electric interfaces 83。

Specifically, the material of housing 10 is aluminium alloy, including inside is provided with the shell 15 of crossbeam 11 and installed in shell Left shrouding 16, right shrouding 17 and lower shrouding 18 on periphery.Shell 15 is employed passes through crossbeam inside integral structure, shell 15 11 points are upper groove 12 and lower groove 13, and the space between crossbeam 11 and case top is the space between upper groove 12 and housing bottom For lower groove 13, the length of crossbeam 11 is less than the length of housing 10, to provide the space for installing supporting plate 73 and synchronous belt mechanism；Outside A plurality of narrow slot 14 is carved with the outer surface of shell 15, facilitates human hand to pick and place；There are 4 screwed holes, convenient and multivariant robot in surface Connection.In addition, the material of shell 15 be aluminium alloy, on the basis of this mechanical structure, greatly reduce YE from Weight；The housing 10 of a closing is collectively formed by left shrouding 16, right shrouding 17 and lower shrouding 18 and shell 15, to protect execution Influence of the device inner components from some undesirable elements such as temperature, humidity, mechanical collisions.

With reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4, the composition parts of YE are directly or indirectly mounted to shell 1 is on the interior outside mounting surface of matrix.Wherein, guiding rail mechanism is arranged on the top of shell 15, and remaining parts is respectively mounted Internally；Upper groove 12 is used to place bolt and nut mechanism and the sliding block connector 40；It is sliding under the drive of bolt and nut mechanism Block connector 40 is reciprocally moveable in upper groove；Lower groove 13 mainly places driver element and controller 82, and driver element passes through same Step band mechanism drive screw nut body, controller 82 is controlled to driver element；Proximity transducer 81 is arranged on upper groove 12 On the crossbeam 11 demarcated with lower groove 13.

Specifically, with reference to Fig. 1, Fig. 2, Fig. 3, Fig. 6, Fig. 7 and Fig. 8, guiding rail mechanism includes being arranged on the top of shell 15 On the sliding block 22 that is slided along guide rail 21 of guide rail 21, two, be fixedly connected in the lower section side of each sliding block 22 by sunk screw One slider bar 23；The side of one end two of slider bar 23 is equipped with certain gradient, makes one end of slider bar 23 gradually thinning, with It is easy to be oriented to when sliding；One side surface of slider bar 23 be provided with boss 231, it is corresponding, on sliding block connector 40 be provided with The groove 221 that boss 231 matches.In assembling, boss 231 is embedded into the groove 221 of the top of sliding block connector 40 i.e. Can.

Bolt and nut mechanism is arranged in groove 12, including the screw rod 51 with dextrorotation screw thread and derotation screw thread, respectively with The positive spin nut 52 of T-shaped and T-shaped derotation nut 52 that dextrorotation screw thread and derotation screw thread are spirally connected, the positive spin nut of T-shaped and T-shaped derotation nut It is respectively nested in two sliding block connectors 40 and forms tight fit, sliding block connector 40 is connected with the positive spin nut of T-shaped or T-shaped is anti- Spin nut is pressed on the pressing plate 53 in it, and screw rod 51 is the trapezoidal spiral shell of single line with the positive spin nut 52 of T-shaped and T-shaped derotation nut 52 Tooth.

Then, the action of bolt and nut mechanism is by the movement of sliding block connector 40, and then drives the motion of slider bar 23, by Fixed in slider bar 23 with sliding block 22, finally achievable the moving back and forth on guide rail 21 of sliding block 22.And two clamping jaws 30 are to pass through Screw is fixed on two sliding blocks 22 of guiding rail mechanism, and the reciprocating motion of two sliding blocks 22 drives two clamping jaws 30 to move back and forth, So as to realize the folding of two clamping jaws 30.Specifically, the medial surface of clamping jaw 30 is equipped with two V-arrangement boss 31, work is actually being clamped During part, V-arrangement boss 31 will be embedded into the groove of workpiece both sides, and further ensure workpiece by way of mechanical constraint can By clamping.

With reference to Fig. 3 and Fig. 5, the bearing that the screw rod 51 of bolt and nut mechanism is supported on by two bearings 54 in shell 15 is pacified Fill in hole.To prevent bearing 54 from producing axial float, two bearings carry out axial limiting by axle sleeve 55 and supporting plate 73 respectively. The positive spin nut 52 of T-shaped and the surface of T-shaped derotation nut 52 are nested in adjacent sliders connector 40 and tight fit is formed, and passed through Pressing plate 53 is compressed, and reliably prevents it from producing axial slip.The utility model independently processes nut and sliding block connector, and By ridge, processing does not form integral piece directly on sliding block connector, and its object is to reduce manufacture difficulty, reduction processing Cost.In addition, the material of two nuts is high-strength engineering plastic, and material possesses self lubricity in itself, so as to drop significantly Sliding friction and mechanical wear when low nut is circumferentially rotated relative to screw rod, while also largely reducing bolt and nut mechanism The noise produced during transmission, using can above reach without lubrication, non-maintaining purpose.

The action of bolt and nut mechanism is realized by driver element and synchronous belt mechanism.Specifically, driver element is arranged on In lower groove 13, including motor 61, the rotating speed to motor 61 and angular displacement information carry out the encoder 62 and motor 61 of Real-time Feedback The decelerator 63 of output end connection；Synchronous belt mechanism is arranged in the space between the end of crossbeam 11 and the side wall of housing 10, including The equal belt wheel 71 of two numbers of gears, the timing belt 72 being connected with two belt wheels 71, one of belt wheel 71 and decelerator 63 Output end connection, another belt wheel 71 are connected with screw rod 51.The main function of synchronous belt mechanism is that driver element is exported into fortune It is dynamic to be commutated, decelerating effect is not played, thus YE can be made to become compacter in terms of the integral layout of structure, Make full use of the useful space inside shell 15.In addition, motion and the transmission of power are carried out by synchronous belt mechanism, can be significantly Vibration and the noise of mechanical system are reduced, the stationarity of kinematic system is improved, and gearratio is accurate, and transmission accuracy is higher.Together Walk the motion transmitted with mechanism and then passed to bolt and nut mechanism, when screw rod 51 is rotated, two nuts will be along screw shaft Line makees opposite direction equipotential and moves relative motion.In addition, two nuts and screw rod are the trapezoidal thread of single line, the mechanism possesses self-locking in itself Property, even if the unexpected power down of system, the clamping force before actuator can still be kept during clamping workpiece, it is to avoid because chucking power disappears The generation lost and make workpiece release phenomenon from the clamping jaw.

Specifically, supporting plate 73 is L-shaped, it is connected with crossbeam 11 and decelerator 63, one end of screw rod 51 and decelerator 63 Output end is connected with two belt wheels 71 respectively through supporting plate 73, and the end of the bending of supporting plate 73 passes through sunk screw 74 and housing 10 Bottom connection is tensioned.The tensioning method is simple and convenient, it is to avoid strainer it is individually designed.

Driver element is fixedly connected in supporting plate 73 by the flange of the output end of decelerator 63, and synchronous belt mechanism its In a belt wheel 71 be fixed on by holding screw on the output shaft of decelerator 63；During YE actual act, power by Motor 61 is exported, and suitable rotating speed and torque are obtained after slowing down through decelerator, is then passed to synchronous belt mechanism, synchronous belt mechanism Bolt and nut mechanism is passed motion to again, and the folding of two clamping jaws is realized by the action of bolt and nut mechanism.

It is preferred that, the motor 61 in driver element employs direct current graphite carbon brush motor, and its price is relatively inexpensive, it is adaptable to frequency The operating mode of numerous start-stop and rotating；Encoder 62 uses magnetic encoder, and resolution ratio is 500CPR, small volume, resolution Rate is higher, antijamming capability is stronger, Real-time Feedback can be carried out to the rotating speed and angular displacement information of motor 61, in the work of controller 82 Under, accurate adjustment is carried out to rotating speed and angular displacement by way of closed-loop control.

Proximity transducer 81 in the utility model uses the IM series inductance formula proximity switches of SICK companies, volume Small, fast response time, its profile is cylindrical, and surface has screw thread, and the crossbeam 11 in shell 15 is fixed on by nut check On.When YE works, the sensor exercises zero mark and soft spacing two kinds of functions.In order to ensure electronic execution Sliding block 22 moves to the certainty of optional position when device works, and mechanism needs a benchmark zero-bit as reference, then existed in itself When YE is upper electric every time, actuator will all perform once " small change " and act.The motion of bolt and nut mechanism will drive and slide The movement of block connector 40, when sliding block connector 40 moves to the contact position of proximity transducer 81, sensor will be by tactile Hair, now system is by the benchmark zero point using the absolute position of sliding block 22 at the trigger point as mechanism, with the motion of rear slider 22 Optional position in this, as reference, will all ensure that the certainty of actuator actuating length.In addition, performing tool in actuator During body task, if because system exception causes it to move the excess of stroke, also can when sliding block 22 moves to benchmark dead-center position Act actuator stopping immediately, it is to avoid in-house parts collide, and play soft position limitation protection.Electric interfaces 83 are used It is connected in YE with external power source, and itself and multi-degree-of-freemechanical mechanical arm real-time Communication for Power can be made by I/O channel.

As shown in figure 9, when specifically used, YE 50 is connected on counter flange disk 100, counter flange disk 100 are fixedly connected with multi-degree-of-freemechanical mechanical arm 150 again, you can work.

Modular YE small volume of the present utility model, compact conformation, integrated level are high, and inside is provided with a set of complete Whole control system, driver element, transmission mechanism (synchronous belt mechanism, bolt and nut mechanism) and executing agency's (line slideway machine Structure), make YE formation modularization of the present utility model, without being that it extends external accessory again.

Described above is only preferred embodiment of the present utility model, is not limited to the utility model, it is noted that For those skilled in the art, on the premise of the utility model technical principle is not departed from, it can also do Go out some improvement and modification, these improvement and modification also should be regarded as protection domain of the present utility model.

Claims (10)

1. a kind of modular YE, it is characterised in that：Including

It is less than the crossbeam of shell length in-housing, the housing provided with length, the space between crossbeam and case top is upper Space between groove and housing bottom is lower groove；

- guiding rail mechanism, including guide rail, two sliding blocks slided along the guide rail being arranged in the case top；

- two clamping jaws, are connected with sliding block described in two respectively；

- two sliding block connectors, are arranged in the upper groove, are connected respectively with sliding block described in two；

- bolt and nut mechanism, is arranged in the upper groove, including the screw rod with dextrorotation screw thread and derotation screw thread, respectively with just The positive spin nut of T-shaped and T-shaped derotation nut that rotation screw thread and derotation screw thread are spirally connected, the positive spin nut of T-shaped and T-shaped derotation nut difference are embedding It is enclosed in two sliding block connectors and forms tight fit, the sliding block connector is connected with the positive spin nut of T-shaped or T-shaped derotation nut The pressing plate in it is pressed on, the screw rod is the trapezoidal thread of single line with the positive spin nut of T-shaped and T-shaped derotation nut；

- driver element, is arranged in the lower groove, including motor, the rotating speed to motor and angular displacement information carry out Real-time Feedback Encoder, the decelerator that is connected with motor output end；

- synchronous belt mechanism, is arranged in the space between the beam-end and housing sidewall, including the equal band of two numbers of gears Wheel, the timing belt that is connected with two belt wheel transmissions, one of belt wheel is connected with the output end of the decelerator, another belt wheel and The screw rod connection；

- proximity transducer, is arranged on the crossbeam, is triggered by one of sliding block connector, for marking zero-bit, to described The motion of sliding block carries out soft spacing；

- controller, is arranged in the lower groove, the driver element is controlled；

- electric interfaces, are set on the housing, are connected for the YE with external power source and multiple degrees of freedom machine Tool arm communicates.

2. modular YE according to claim 1, it is characterised in that：Also include and the crossbeam and deceleration The L-shaped supporting plate of device connection, one end of the screw rod and the output end of decelerator connect with two belt wheels respectively through the supporting plate Connect, the end of the supporting plate bending is connected by screw with housing bottom to be tensioned.

3. modular YE according to claim 2, it is characterised in that：The two ends of the screw rod are rotated respectively The bearing in the upper groove is connected with, one of bearing is connected with the axle sleeve to its axial limiting, another bearing It is connected with the supporting plate.

4. modular YE according to claim 1, it is characterised in that：The sliding block and sliding block connector it Between be connected with slider bar, one end of the slider bar is gradually thinning.

5. modular YE according to claim 4, it is characterised in that：The slider bar is provided with boss, The sliding block connector, which is provided with, can make the groove of the boss insertion.

6. modular YE according to claim 1, it is characterised in that：The medial surface of the clamping jaw is provided with Two V-arrangement boss.

7. modular YE according to claim 1, it is characterised in that：The surface of shell is provided with a plurality of Narrow slot.

8. modular YE according to claim 7, it is characterised in that：The housing is used for provided with multiple The screwed hole of counter flange disk is installed.

9. modular YE according to claim 8, it is characterised in that：The material of the housing is closed for aluminium Gold, including the internal shell provided with the crossbeam and left shrouding, right shrouding and lower shrouding on shell periphery.

10. modular YE according to claim 1, it is characterised in that：The positive spin nut of T-shaped and T-shaped The material of derotation nut is high-strength engineering plastic.