CN208451609U - A kind of robot that clamping force is controllable - Google Patents
A kind of robot that clamping force is controllable Download PDFInfo
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- CN208451609U CN208451609U CN201820430813.8U CN201820430813U CN208451609U CN 208451609 U CN208451609 U CN 208451609U CN 201820430813 U CN201820430813 U CN 201820430813U CN 208451609 U CN208451609 U CN 208451609U
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- controller
- intermediate plate
- clamping jaw
- clamping
- mechanical arm
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Abstract
A kind of controllable robot of clamping force disclosed by the utility model, including base and the mechanical arm and controller that are mounted on base, base bottom has motor driving plate, servo motor and wheel group；Controller, motor driving plate and servo motor three are sequentially connected electrically；The output shaft of servo motor is connect by gear drive with wheel group；There is stepper motor, screw rod, push rod, connection sheet, flexural pivot, clamping jaw, intermediate plate, spring, pressure inductor and controller on mechanical arm；Spring is connected between clamping jaw and intermediate plate, and pressure inductor is mounted on intermediate plate.The utility model can play the role of slowing down chucking power in clamping process, and controller control can control stepper motor according to the testing result of pressure inductor and stop working or invert, to realize the protection to clamped object.
Description
Technical field
The utility model relates to robotic technology fields, and in particular to a kind of robot that clamping force is controllable.
Background technique
Robot is generally made of executing agency, driving device, detection device and control system and complicated machinery etc..Compare
Typical executing agency is mechanical arm, and the function of mechanical arm mainly grabs or gripping objects.Existing mechanical arm compares mostly
It is firm, it is difficult to be suitable for clamping object easy to damage, and be unable to control dynamics used in clamping process, easily to clamped object
Cause accidental damage.
Therefore, the prior art needs further development and improves.
Utility model content
The purpose of this utility model is that a kind of disclosed resilient clamp robot is to adapt to clamp the need of object easy to damage
It wants, and clamping force is controllable.
A kind of robot that clamping force is controllable, including base and the mechanical arm and controller that are mounted on base, base
Bottom has motor driving plate, servo motor and wheel group；The controller, motor driving plate and servo motor three are successively electrically connected
It connects；The output shaft of the servo motor is connect by gear drive with the wheel group；There is stepping electricity on the mechanical arm
Machine, screw rod, push rod, connection sheet, flexural pivot, clamping jaw, intermediate plate, spring, pressure inductor and controller；The controller also respectively with
The stepper motor, pressure inductor electrical connection；The output shaft of the stepper motor and the screw rod, push rod, connection sheet, ball
Hinge, clamping jaw are successively drivingly connected；The spring is connected between the clamping jaw and intermediate plate, and the pressure inductor is mounted on
On the intermediate plate.
Further, there are two the flexural pivot, connection sheet, clamping jaw, intermediate plate, spring are correspondingly arranged；Two connection sheets
One end is connect with the push rod simultaneously, and the other end is connect with a flexural pivot respectively；Two flexural pivots are drivingly connected with a clamping jaw respectively.
Further, also there is feed screw nut, the feed screw nut and the screw rod to connect by screw thread on the mechanical arm
It connects；The push rod and feed screw nut's flanged joint.
Further, two clamping jaws are symmetrical set.
The utility model has the advantages that controller control motor driving plate, servo motor and wheel group successively act in the utility model, make
Robot motion is to target position；It is successively acted by control stepper motor, screw rod, push rod, connection sheet, flexural pivot and clamping jaw,
Carry out gripping objects；Due to that, with spring, can play the role of slowing down chucking power in clamping process between clamping jaw and intermediate plate,
Reduce the damage rate of rapid wear object to a certain extent；Meanwhile controller control can be according to the detection knot of pressure inductor
Fruit control stepper motor is stopped working or is inverted, to realize the protection to clamped object.
Detailed description of the invention
Fig. 1 is a kind of resilient clamp robot overall structure diagram disclosed in embodiment.
Fig. 2 is the enlarged structure schematic diagram in Fig. 1 at A.
Specific embodiment
To keep the purpose of this utility model, technical solution and effect clearer, clear, develop simultaneously implementation referring to the drawings
The utility model is further described in example.It should be appreciated that specific embodiment described herein is only practical to explain
It is novel, it is not used to limit the utility model.
Please refer to Fig. 1 and Fig. 2, a kind of robot that clamping force is controllable disclosed in embodiment, including base 10 and installation
Mechanical arm 20 and controller on base 10,10 bottom of base have motor driving plate, servo motor and wheel group 30；Control
Device, motor driving plate and servo motor three are sequentially connected electrically；The output shaft of servo motor passes through gear drive and wheel group
30 connections；On mechanical arm 20 have stepper motor 41, screw rod 42, push rod 43, connection sheet 44, flexural pivot 45, clamping jaw 46, intermediate plate 47,
Spring 48, pressure inductor and controller；Controller is also electrically connected with stepper motor 41, pressure inductor respectively；Stepper motor
41 output shaft is successively drivingly connected with screw rod 42, push rod 43, connection sheet 44, flexural pivot 45, clamping jaw 46；48 elastic connection of spring exists
Between clamping jaw 46 and intermediate plate 47, pressure inductor is mounted on intermediate plate 47, and the object of display etc can be clamped between two intermediate plates 47
Part.
In the present embodiment, there are two flexural pivot 45, connection sheet 44, clamping jaw 46, intermediate plate 47, spring 48 are correspondingly arranged；Two
One end of connection sheet 44 is connect with push rod 43 simultaneously, and the other end is connect with a flexural pivot 45 respectively；Two flexural pivots 45 are respectively with one
Clamping jaw 46 is drivingly connected.Further, two clamping jaws 46 are symmetrical set.
In further embodiment, also there is feed screw nut on mechanical arm 20, feed screw nut is connected through a screw thread with screw rod 42；
Push rod 43 and feed screw nut's flanged joint.
In addition, also mountable LCD display on mechanical arm 20, which is electrically connected with the controller to receive pressure
The testing result of power inductor is shown.
In the present embodiment, controller control motor driving plate, servo motor and wheel group are successively acted, and make robot motion extremely
Target position；It is successively acted by control stepper motor, screw rod, push rod, connection sheet, flexural pivot and clamping jaw, carries out gripping objects；
Due to having spring between clamping jaw and intermediate plate, can play the role of slowing down chucking power in clamping process, to a certain extent
Reduce the damage rate of rapid wear object；Controller control can control stepper motor according to the testing result of pressure inductor and stop
Work or reversion, to realize the protection to clamped object.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations all should belong to the protection scope of the appended claims for the utility model.
Claims (4)
1. a kind of robot that clamping force is controllable, including base and the mechanical arm and controller that are mounted on base, base bottom
Portion has motor driving plate, servo motor and wheel group；The controller, motor driving plate and servo motor three are successively electrically connected
It connects；The output shaft of the servo motor is connect by gear drive with the wheel group；It is characterized in that, on the mechanical arm
With stepper motor, screw rod, push rod, connection sheet, flexural pivot, clamping jaw, intermediate plate, spring, pressure inductor and controller；The control
Device is also electrically connected with the stepper motor, pressure inductor respectively；The output shaft of the stepper motor and the screw rod, push rod,
Connection sheet, flexural pivot, clamping jaw are successively drivingly connected；The spring is connected between the clamping jaw and intermediate plate, the feeling of stress
Device is answered to be mounted on the intermediate plate.
2. the controllable robot of clamping force according to claim 1, which is characterized in that the flexural pivot, connection sheet, folder
There are two pawl, intermediate plate, spring are correspondingly arranged；One end of two connection sheets is connect with the push rod simultaneously, the other end respectively with
One flexural pivot connection；Two flexural pivots are respectively drivingly connected with a clamping jaw.
3. the controllable robot of clamping force according to claim 2, which is characterized in that also have silk on the mechanical arm
Stem nut, the feed screw nut are connected through a screw thread with the screw rod；The push rod and feed screw nut's flanged joint.
4. the controllable robot of clamping force according to claim 3, which is characterized in that two clamping jaws are symmetrical set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820430813.8U CN208451609U (en) | 2018-03-28 | 2018-03-28 | A kind of robot that clamping force is controllable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820430813.8U CN208451609U (en) | 2018-03-28 | 2018-03-28 | A kind of robot that clamping force is controllable |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208451609U true CN208451609U (en) | 2019-02-01 |
Family
ID=65156845
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820430813.8U Active CN208451609U (en) | 2018-03-28 | 2018-03-28 | A kind of robot that clamping force is controllable |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208451609U (en) |
-
2018
- 2018-03-28 CN CN201820430813.8U patent/CN208451609U/en active Active
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