CN210256179U - Terminal clamping device of robot - Google Patents
Terminal clamping device of robot Download PDFInfo
- Publication number
- CN210256179U CN210256179U CN201920936593.0U CN201920936593U CN210256179U CN 210256179 U CN210256179 U CN 210256179U CN 201920936593 U CN201920936593 U CN 201920936593U CN 210256179 U CN210256179 U CN 210256179U
- Authority
- CN
- China
- Prior art keywords
- lead screw
- screw rod
- mechanical
- robot
- screw
- 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.)
- Active
Links
Images
Abstract
The utility model discloses a terminal clamping device of robot, including driving motor, lead screw, backup pad, mechanical palm, driving motor installs in the backup pad tip, and the lead screw is connected with driving motor's rotor, is provided with on the lead screw to opposite screw thread section soon, and the mechanical palm sets up respectively on the screw thread section of lead screw. The utility model combines the screw rod and the rotor of the linear screw rod stepping motor together through the linear screw rod stepping motor, and the screw rod is designed into a left screw rod and a right screw rod, so that the mechanical palms arranged on the left screw rod and the right screw rod of the screw rod can be driven to move in opposite directions, and the linear screw rod stepping motor has simple structure, stable operation and higher positioning precision; the clamping device can adapt to the shape of a workpiece needing to be clamped, and the clamping device is guaranteed to finish clamping work to the maximum extent.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to terminal clamping device of robot.
Background
The traditional industrial robot usually has the defects of heavy structure, lack of human-computer interaction, high robot cost and the like, and the cooperative robot can better combine the repeatability of the robot and the flexibility of human beings together, can play a better role in the small-batch and multi-variety flexible manufacturing process with balance and high efficiency, and can complete different works by replacing the robot end manipulator. The design of the end gripper is therefore of great research interest. However, the existing automatic clamping device has a complex structure, cannot meet the requirements of levelness, precision and the like on one hand, and cannot be applied to a light-weight industrial mechanical arm on the other hand, so that the automatic production efficiency is low, and the cost is high.
Therefore, it is an urgent technical problem to be solved by those skilled in the art to provide a robot end clamping device with high clamping precision and simple operation process.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a terminal clamping device of robot uses sharp lead screw step motor, combines lead screw and electric motor rotor together, and spiral lead screw about the lead screw design becomes, simple structure, operate steadily and positioning accuracy is high.
In order to solve the technical problem, the utility model provides a terminal clamping device of robot, including driving motor, lead screw, backup pad, mechanical palm, driving motor install in the backup pad tip, the lead screw with driving motor's rotor is connected, be provided with on the lead screw and revolve to opposite screw thread section, just mechanical palm set up respectively in on the screw thread section of lead screw.
Preferably, the mechanical palm device further comprises a mechanical finger arranged at the end part of the mechanical palm.
Preferably, the mechanical finger is detachably connected with the mechanical palm through a screw.
Preferably, the mechanical finger is provided with a clamping block.
Preferably, the clamping block is a V-shaped structure block.
Preferably, the optical axis guide rail is arranged inside the support plate, and the mechanical palm can slidably penetrate through the optical axis guide rail.
Preferably, the optical axis guide rail is arranged in parallel with the lead screw, and the optical axis guide rail is located below the lead screw.
Preferably, the support plate is provided with a proximity sensor at a side thereof.
Preferably, the device also comprises a sensor bracket which is connected with the side edge of the supporting plate and is used for mounting the proximity sensor.
Preferably, the screw rod further comprises an angular contact ball bearing which is embedded on the supporting plate and used for mounting the free end of the screw rod.
The utility model provides a terminal clamping device of robot mainly includes driving motor, lead screw, backup pad, mechanical palm, and driving motor installs in the backup pad tip, and the lead screw is connected with driving motor's rotor, is provided with on the lead screw to opposite screw thread section soon, and the mechanical palm sets up respectively on the screw thread section of lead screw. The utility model combines the screw rod and the rotor of the linear screw rod stepping motor together through the linear screw rod stepping motor, and the screw rod is designed into a left screw rod and a right screw rod, so that the mechanical palms arranged on the left screw rod and the right screw rod of the screw rod can be driven to move in opposite directions, and the linear screw rod stepping motor has simple structure, stable operation and higher positioning precision; the clamping device can adapt to the shape of a workpiece needing to be clamped, and the clamping device is guaranteed to finish clamping work to the maximum extent.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic overall structure diagram of an embodiment of the present invention;
FIG. 2 is a front view of the structure shown in FIG. 1;
fig. 3 is a side view of the structure shown in fig. 1.
Wherein, in fig. 1-3:
the device comprises a driving motor-1, a lead screw-2, a supporting plate-3, a mechanical palm-4, a mechanical finger-5, a clamping block-6, an optical axis guide rail-7, a proximity sensor-8, a sensor support-9, an angular contact ball bearing-10 and a connecting end-11.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1 to 3, fig. 1 is a schematic view of an overall structure of an embodiment of the present invention; FIG. 2 is a front view of the structure shown in FIG. 1; fig. 3 is a side view of the structure shown in fig. 1.
The utility model provides an among the concrete embodiment, terminal clamping device of robot mainly includes driving motor 1, lead screw 2, backup pad 3, mechanical palm 4, and driving motor 1 installs in 3 tip in the backup pad, and lead screw 2 is connected with driving motor 1's rotor, is provided with on the lead screw 2 to the opposite screw thread section soon, and mechanical palm 4 sets up respectively on the screw thread section of lead screw 2.
The driving motor 1 is a linear stepping motor, the driving motor 1 is installed at the end part of the supporting plate 3 through a screw, and the driving motor 1 is used for driving the screw rod 2; one end of the screw rod 2 is connected with a rotor of the driving motor 1, the other end of the screw rod 2 is connected with a bearing of the supporting plate 3, and the screw rod 2 is used for driving the mechanical palms 4 to move oppositely and oppositely; be provided with on the lead screw 2 and revolve to opposite screw thread section, and mechanical palm 4 sets up respectively on the screw thread section of lead screw 2, and the inside wall of backup pad 3 plays limiting displacement to mechanical palm 4, and 4 lower extremes of mechanical palm are used for treating the machined part and carry out the centre gripping.
Specifically, in the middle of the centre gripping operation process of reality, at first be connected with the robot through link 11, start driving motor 1, driving motor 1 carries out forward rotation, because 2 one end of lead screw are connected with driving motor 1's rotor, so lead screw 2 follows driving motor 1 forward rotation, be provided with on the lead screw 2 and revolve to opposite screw thread section, and mechanical palm 4 sets up respectively on the screw thread section of lead screw 2, consequently, two mechanical palms 4 just begin the opposite direction motion under the limiting displacement of the inside wall to mechanical palm 4 of backup pad 3 under the effect with the threaded connection of lead screw 2, and then drive 5 opposite directions movements of mechanical finger of two mechanical palms 4 lower extremes, and then treat the machined part and carry out clamping action, accomplish the centre gripping, operation such as removal.
In order to optimize the advantages that the robot end clamping device in the above embodiment can have more precise clamping effect on the workpiece to be processed and can adapt to a wider clamping range, the robot end clamping device further comprises a mechanical finger 5 arranged at the end of the mechanical palm 4. Because this neotype mechanical finger 5 can be changed, that is to say mechanical finger 5 can be through changing in order to form different horizontal centre gripping distance and vertical centre gripping length, can carry out the centre gripping to treating the machined part of different shapes, can adapt to the different work piece shapes that need press from both sides and get, can treat the machined part and have more accurate clamping action, guarantee that the holder is accomplished to the utmost and is got work, strengthened terminal clamping device's of robot application scope.
Further, the mechanical finger 5 is detachably connected with the mechanical palm 4 by a screw. Combine together with above-mentioned advantage, can dismantle through passing through screw with mechanical finger 5 and be connected with mechanical palm 4, can change mechanical finger 5, guarantee that mechanical finger 5 can adapt to the work piece shape that different required clamps were got, for example, long arm centre gripping mechanical finger 5, short arm mechanical finger 5 etc. guarantee that the holder accomplishes the clamp in the at utmost and get work, strengthened terminal clamping device's of robot application scope.
Further, a clamping block 6 is arranged on the mechanical finger 5; the clamping block 6 is a block with a V-shaped structure. Because the novel clamping block 6 can be replaced, namely the clamping block 6 can be replaced to form different clamping shapes, workpieces to be clamped in different shapes can be clamped, the clamping device can adapt to different workpiece shapes needing to be clamped, the workpieces to be clamped can have more accurate clamping effect, the clamping device can complete clamping work to the maximum extent, and the application range of the robot tail end clamping device is enlarged; combine together with above-mentioned advantage, can dismantle through passing through screw with grip block 6 and mechanical finger 5 and be connected, can change grip block 6, guarantee that grip block 6 can adapt to the work piece shape that different required clamps were got, for example, V type centre gripping grip block 6, grip block 6 or square grip block 6 etc. guarantee that the holder accomplishes to the utmost and gets work of pressing from both sides, strengthened terminal clamping device's of robot application scope.
Further, the robot end clamping device further comprises an optical axis guide rail 7 arranged inside the supporting plate 3, and the mechanical palm 4 slidably penetrates through the optical axis guide rail 7. The inside wall of 3 of backup pad plays limiting displacement to machinery palm 4 and makes machinery palm 4 carry out in the backup pad 3 inside along lead screw 2 in opposite directions or opposite movement, this increases optical axis guide rail 7 in backup pad 3 is inside, optical axis guide rail 7 both ends set up on two inner walls of 3 length direction of backup pad, machinery palm 4 slidable ground runs through on optical axis guide rail 7, can carry out when moving in opposite directions or opposite movement along lead screw 2 at manipulator palm 4, move along light axis guide rail 7, prove the stability of 4 movements of machinery palm, improve the accurate nature of the terminal clamping device centre gripping of robot.
Further, the optical axis guide 7 is disposed in parallel with the lead screw 2, and the optical axis guide 7 is located below the lead screw 2. In the middle of terminal clamping device's of robot whole operation process, mechanical palm 4 is with 2 length direction of lead screw move, consequently, must with lead screw 2 parallel arrangement at optical axis guide rail 7 that carry out spacing and positioning motion to mechanical palm 4, just can guarantee that mechanical palm 4 can not form great friction with lead screw 2 and optical axis guide rail 7 in the middle of the motion process, guarantee optical axis guide rail 7, lead screw 2 and mechanical palm 4's life, reduction in production cost.
Further, a proximity sensor 8 is arranged on the side of the support plate 3; the robot end gripping device further comprises a sensor holder 9 connected to the side of the support plate 3 and adapted to mount a proximity sensor 8. The proximity sensor 8 is arranged at the two ends of the side edge of the supporting plate 3 through the sensor support 9, the distance of the mechanical palm 4 can be monitored through the proximity sensor 8, if the length required to be opened is greater than the full stroke length of the mechanical palm 4 in the opposite movement process of the mechanical palm 4, at the moment, the proximity sensor 8 can detect the mechanical palm 4, so that the mechanical palm 4 cannot exceed the full stroke length, and therefore, unnecessary loss caused by the fact that the opening distance is large and the supporting plate 3 is collided in the opposite movement process of the mechanical palm 4 is avoided, and production cost is reduced; secondly, the mechanical palm 4 can move regularly, and the service life of the whole device is ensured. It should be noted that if the electrical limit of the proximity sensor 8 fails and the mechanical palm 4 moves to a limit value, the two side guards of the support plate 3 will prevent the mechanical palm 4 from falling off the screw rod 2 and the optical axis guide 7.
Further, the robot tail end clamping device also comprises an angular contact ball bearing 10 which is embedded on the supporting plate 3 and used for installing the free end of the lead screw 2. The one end of lead screw 2 is connected with driving motor 1's rotor, and driving motor 1's rotor provides lead screw 2's rotation power, and the angular contact ball bearing 10 of lead screw 2 free end can carry on spacingly to lead screw 2 free end, is in on the same straight line with driving motor 1's rotor, avoids lead screw 2 to rock about rotating the in-process, guarantees the stability when lead screw 2 rotates, improves the terminal clamping device clamping effect's of robot accurate nature.
In summary, the terminal clamping device of robot that this embodiment provided mainly includes driving motor, lead screw, backup pad, machinery palm, and driving motor installs in backup pad tip, and the lead screw is connected with driving motor's rotor, is provided with on the lead screw to the opposite screw thread section soon, and the machinery palm sets up respectively on the screw thread section of lead screw. The utility model combines the screw rod and the rotor of the linear screw rod stepping motor together through the linear screw rod stepping motor, and the screw rod is designed into a left screw rod and a right screw rod, so that the mechanical palms arranged on the left screw rod and the right screw rod of the screw rod can be driven to move in opposite directions, and the linear screw rod stepping motor has simple structure, stable operation and higher positioning precision; the two proximity sensors are used as travel switches to limit the movement of the mechanical palm, so that the service life of the whole device is ensured; the mechanical fingers and the clamping blocks can be replaced, the shape of a workpiece needing to be clamped can be adapted, and clamping work of the clamp holder is guaranteed to be completed to the maximum extent.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides a terminal clamping device of robot, its characterized in that, includes driving motor (1), lead screw (2), backup pad (3), machinery palm (4), driving motor (1) install in backup pad (3) tip, lead screw (2) with the rotor of driving motor (1) is connected, be provided with on lead screw (2) and revolve to opposite screw thread section, just machinery palm (4) set up respectively in on the screw thread section of lead screw (2).
2. The robotic tip gripping device according to claim 1, further comprising a mechanical finger (5) arranged with an end of the mechanical palm (4).
3. Robot end clamping device according to claim 2, characterized in that the mechanical finger (5) is detachably connected with the mechanical palm (4) by means of a screw.
4. Robot end gripping device according to claim 3, characterized in that the mechanical finger (5) is provided with a gripping block (6).
5. Robot end gripping device according to claim 4, characterized in that the gripping block (6) is a V-shaped structural block.
6. The robot tip holding device according to any one of claims 1 to 5, further comprising an optical axis guide (7) provided inside the support plate (3), the mechanical palm (4) slidably penetrating the optical axis guide (7).
7. The robot end clamp according to claim 6, characterized in that the optical axis guide (7) is arranged parallel to the lead screw (2) and the optical axis guide (7) is located below the lead screw (2).
8. Robot end gripping device according to claim 6, characterized in that the support plate (3) is provided with proximity sensors (8) at its sides.
9. Robot end gripping device according to claim 8, further comprising a sensor holder (9) connected to the side of the support plate (3) for mounting the proximity sensor (8).
10. The robot end clamp device according to claim 6, further comprising an angular contact ball bearing (10) fitted on the support plate (3) for mounting the free end of the lead screw (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920936593.0U CN210256179U (en) | 2019-06-20 | 2019-06-20 | Terminal clamping device of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920936593.0U CN210256179U (en) | 2019-06-20 | 2019-06-20 | Terminal clamping device of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210256179U true CN210256179U (en) | 2020-04-07 |
Family
ID=70043955
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920936593.0U Active CN210256179U (en) | 2019-06-20 | 2019-06-20 | Terminal clamping device of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210256179U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110154074A (en) * | 2019-06-20 | 2019-08-23 | 苏州大学 | A kind of robot end's clamping device |
| CN113290769A (en) * | 2021-05-08 | 2021-08-24 | 上海中航包装材料有限公司 | Material supply system |
| CN113561164A (en) * | 2021-05-19 | 2021-10-29 | 四川犍小茉科技有限公司 | Mechanical arm |
-
2019
- 2019-06-20 CN CN201920936593.0U patent/CN210256179U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110154074A (en) * | 2019-06-20 | 2019-08-23 | 苏州大学 | A kind of robot end's clamping device |
| CN113290769A (en) * | 2021-05-08 | 2021-08-24 | 上海中航包装材料有限公司 | Material supply system |
| CN113561164A (en) * | 2021-05-19 | 2021-10-29 | 四川犍小茉科技有限公司 | Mechanical arm |
| CN113561164B (en) * | 2021-05-19 | 2023-08-29 | 四川犍小茉科技有限公司 | Mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210256179U (en) | Terminal clamping device of robot | |
| CN108326885B (en) | Large-stroke electric clamping jaw with built-in controller | |
| CN205021225U (en) | Novel electronic universal flat -nose pliers | |
| CN111872924A (en) | Press from both sides and get stable manipulator device | |
| CN103831823A (en) | Novel manipulator | |
| CN211916834U (en) | Turnover industrial robot | |
| CN201931466U (en) | Manipulator structure with machine vision navigating function | |
| CN207205962U (en) | A kind of Digit Control Machine Tool machinery arm device | |
| CN109605065B (en) | Part clamping device | |
| CN110154074A (en) | A kind of robot end's clamping device | |
| CN112318533A (en) | Adjustable cylinder clamping mechanism based on intelligent welding robot technology | |
| CN206811578U (en) | A kind of cutter head switching device of precious metal process equipment | |
| CN110064962A (en) | Turbocharger clamping jaw | |
| CN216180593U (en) | Multifunctional robot paw | |
| CN203304614U (en) | Annular face hole site machining machine | |
| CN215282006U (en) | Three-section type horizontal automatic feeding mechanical arm | |
| CN214981143U (en) | Manipulator end effector for clamping circular workpiece | |
| CN209063091U (en) | A kind of feeding processing equipment hand | |
| CN203726488U (en) | Novel manipulator | |
| CN214443519U (en) | Automatic feeding metal circular sawing machine for furniture production | |
| CN211387243U (en) | Screw rod machining device for machining jack | |
| CN204248151U (en) | Linear cut threading and ripping device | |
| CN212608043U (en) | Six-degree-of-freedom clamping device | |
| CN216759880U (en) | Portable electric control mechanical claw | |
| CN210500268U (en) | Double-arm multi-shaft manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |