CN210551300U - Servo drive elastic clamping jaw of truss robot - Google Patents
Servo drive elastic clamping jaw of truss robot Download PDFInfo
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- CN210551300U CN210551300U CN201921084323.8U CN201921084323U CN210551300U CN 210551300 U CN210551300 U CN 210551300U CN 201921084323 U CN201921084323 U CN 201921084323U CN 210551300 U CN210551300 U CN 210551300U
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- clamping jaw
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- gripper
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 17
- 239000000463 material Substances 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims 2
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000002421 cell wall Anatomy 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
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Abstract
The utility model discloses a servo drive elastic clamping jaw of truss robot, include: the servo motor drives the hollow shaft speed reducer; the left-handed ball screw and the right-handed ball screw are respectively connected with a hollow shaft of a hollow shaft speed reducer; the left-handed screw nut is matched with the left-handed ball screw, and the right-handed screw nut is matched with the right-handed ball screw; the left-handed screw nut is connected with the left-sided clamping jaw mounting plate, and the right-handed screw nut is connected with the right-sided clamping jaw mounting plate; the lower surface of the support plate is provided with a guide slide rail; the left clamping jaw mounting plate and the right clamping jaw mounting plate are provided with guide sliding blocks; the lower surfaces of the left clamping jaw mounting plate and the right clamping jaw mounting plate are respectively provided with a clamping jaw. The utility model discloses can realize controlling the synchronization of clamping jaw action, have higher precision simultaneously, and from taking the direction function in the middle of, can effectively overcome the rotation moment between centre gripping heavy load work piece and direction slide rail.
Description
Technical Field
The utility model relates to a technical field of elastic clamping jaw especially relates to a servo drive elastic clamping jaw of truss robot.
Background
As a truss robot, which is one of industrial robots, an automatic production line has become a core technology for manufacturing automation production applications. The truss robot can integrate the existing machine tool, automatic detection, production system and logistics system, and realizes automation and unmanned workshop. The production efficiency and the production quality are improved, the traceability of the product process is realized, and the continuous improvement of the product quality is realized. At present, the truss robot is generally in a light-load type, and a clamping jaw is mostly provided with a gas rod, an electric cylinder and hydraulic pressure. To snatching heavy load material, all there is the drawback in above form, if clamp force, the not enough problem of precision exist. The servo driving clamping jaw effectively avoids the problems, and can be widely applied to heavy-load occasions.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a servo drive elastic clamping jaw of truss robot realizes adding the improvement by a wide margin of holding power, position precision, clamp and get stability.
In order to realize the purpose, the utility model discloses the technical scheme who takes does:
a servo-driven resilient gripper for a truss robot, comprising:
a mounting plate;
the servo motor and the hollow shaft speed reducer are arranged in the middle of the support plate, the servo motor is arranged on the support plate, and the servo motor drives the hollow shaft speed reducer;
the left-handed ball screw is connected with one end of a hollow shaft of the hollow shaft speed reducer, and the right-handed ball screw is connected with the other end of the hollow shaft speed reducer;
the left-handed screw nut is matched with the left-handed ball screw, and the right-handed screw nut is matched with the right-handed ball screw;
the left-handed screw nut is connected with the left-handed clamping jaw mounting plate through the bracket plate, and the right-handed screw nut is connected with the right-handed clamping jaw mounting plate through the bracket plate;
the lower surface of the support plate is provided with a plurality of guide slide rails;
the upper surface of the left clamping jaw mounting plate and the upper surface of the right clamping jaw mounting plate are respectively provided with a plurality of guide sliding blocks, and the guide sliding blocks are matched with the guide sliding rails;
the clamping jaw, the left side clamping jaw mounting panel with the lower surface of right side clamping jaw mounting panel is equipped with the clamping jaw respectively.
Foretell truss robot's servo drive elastic clamping jaw, wherein, still include buffer gear, buffer gear includes: the buffer board with locate a plurality of sharp buffer on the buffer board, each sharp buffer all includes sharp guide arm and linear bearing, wherein, the lower extreme of sharp guide arm with mounting plate fixed connection.
According to the servo drive elastic clamping jaw of the truss robot, the buffer plate is further provided with an in-place sensor.
The servo drive elastic clamping jaw of the truss robot is characterized in that a V-shaped groove is formed in the side face of each clamping jaw.
Foretell truss robot's servo drive elasticity clamping jaw, wherein, on the clamping jaw mounting panel of left side the V type groove of clamping jaw with on the clamping jaw mounting panel of right side the V type groove of clamping jaw is just right mutually.
In the servo drive elastic clamping jaw of the truss robot, at least two elastic devices are arranged on the groove wall of each V-shaped groove, and the direction of each elastic device is perpendicular to the groove wall of the V-shaped groove.
Foretell truss robot's servo drive elasticity clamping jaw, wherein, be equipped with two at least on the clamping jaw mounting panel of left side the clamping jaw, be equipped with two at least on the clamping jaw mounting panel of right side the clamping jaw.
The servo drive elastic clamping jaw of the truss robot comprises four guide sliding rails which are arranged in parallel; and the left clamping jaw mounting plate and the right clamping jaw mounting plate are respectively provided with four guide sliding blocks.
The servo drive elastic clamping jaw of the truss robot is characterized in that the left-handed ball screw and the right-handed ball screw are coaxially arranged.
The servo drive elastic clamping jaw of the truss robot is characterized in that a material detecting sensor is further arranged on the lower surface of the mounting plate.
The utility model discloses owing to adopted above-mentioned technique, make it compare the positive effect that has with prior art and be:
(1) the utility model discloses can realize controlling the synchronization of clamping jaw action, have higher precision simultaneously, and from taking the direction function in the middle of, can effectively overcome the rotation moment between centre gripping heavy load work piece and direction slide rail.
(2) The utility model discloses an error that the assembly brought can effectively be overcome to resilient means, has guaranteed to press from both sides and has got and the stability in the motion process.
Drawings
Fig. 1 is a perspective view of a servo-driven elastic clamping jaw of the truss robot of the present invention.
Fig. 2 is a front view of the servo-driven elastic clamping jaw of the truss robot of the present invention.
Fig. 3 is an explosion diagram of the servo-driven elastic clamping jaw of the truss robot of the present invention.
Fig. 4 is a schematic sectional view of the servo-driven elastic clamping jaw of the truss robot of the present invention.
In the drawings: 1. a mounting plate; 11. a material presence detection sensor; 2. a servo motor; 3. a hollow shaft speed reducer; 41. a left-handed ball screw; 411. a limit and origin sensor; 42. a ball screw is rotated rightwards; 51. a left-handed screw nut; 52. d, rotating the lead screw nut rightwards; 61. a left clamping jaw mounting plate; 62. a right clamping jaw mounting plate; 7. a guide slide rail; 8. a guide slider; 9. a clamping jaw; 91. a V-shaped groove; 92. an elastic device; 101. a buffer plate; 102. a linear buffer device; 103. and a position sensor.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific embodiments, but the present invention is not limited thereto.
Fig. 1 is the utility model discloses a truss robot's servo drive elastic clamping jaw's perspective view, fig. 2 is the utility model discloses a truss robot's servo drive elastic clamping jaw's front view, fig. 3 is the utility model discloses a truss robot's servo drive elastic clamping jaw's explosion schematic diagram, fig. 4 is the utility model discloses a truss robot's servo drive elastic clamping jaw's cut-out view, please see that fig. 1 to fig. 4 are shown, show the servo drive elastic clamping jaw of truss robot of first preferred embodiment, include: the support plate comprises a support plate 1, a servo motor 2 and a hollow shaft speed reducer 3, wherein the hollow shaft speed reducer 3 is arranged in the middle of the support plate 1, the servo motor 2 is arranged on the support plate 1, and the servo motor 2 drives the hollow shaft speed reducer 3.
Further, as a preferred embodiment, the servo-driven elastic clamping jaw of the truss robot further comprises: the left-handed ball screw 41 is connected with one end of the hollow shaft speed reducer 3, and the right-handed ball screw 42 is connected with the other end of the hollow shaft speed reducer 3. The left-handed ball screw 41 and the right-handed ball screw 42 are simultaneously driven to rotate through the hollow speed reducer 3.
Further, as a preferred embodiment, the servo-driven elastic clamping jaw of the truss robot further comprises: a left-handed screw nut 51 and a right-handed screw nut 52, wherein the left-handed screw nut 51 is matched with the left-handed ball screw 41, and the right-handed screw nut 52 is matched with the right-handed ball screw 42. Under the condition that the left-handed ball screw 41 and the right-handed ball screw 42 rotate simultaneously, the left-handed screw nut 51 and the right-handed screw nut 52 can move in opposite directions or back to back at the same time, the synchronization precision depends on the transmission precision of the ball screws, and the precision can reach 0.01 mm.
Further, as a preferred embodiment, the servo-driven elastic clamping jaw of the truss robot further comprises: the left-handed screw nut 51 is connected with the left-handed clamping jaw mounting plate 61 through the bracket plate 1, and the right-handed screw nut 52 is connected with the right-handed clamping jaw mounting plate 62 through the bracket plate 1.
Further, as a preferred embodiment, the servo-driven elastic clamping jaw of the truss robot further comprises: the direction slide rail 7, the lower surface of mounting panel 1 is equipped with a plurality of direction slide rails 7.
Further, as a preferred embodiment, the servo-driven elastic clamping jaw of the truss robot further comprises: the guide sliding blocks 8, the upper surface of the left clamping jaw mounting plate 61 and the upper surface of the right clamping jaw mounting plate 62 are respectively provided with a plurality of guide sliding blocks 8, and the guide sliding blocks 8 are matched with the guide sliding rails 7.
Further, as a preferred embodiment, the servo-driven elastic clamping jaw of the truss robot further comprises: the lower surfaces of the clamping jaw 9, the left clamping jaw mounting plate 61 and the right clamping jaw mounting plate 62 are respectively provided with a clamping jaw 9.
Further, as a preferred embodiment, the servo-driven elastic clamping jaw of the truss robot further comprises: buffer gear, buffer gear includes: the buffer plate 101 and locate a plurality of sharp buffer 102 on the buffer plate 101, each sharp buffer 102 all includes sharp guide arm and linear bearing, and wherein, the lower extreme and the mounting plate 1 fixed connection of sharp guide arm. When the truss robot goes up and down along the vertical direction, the overload of the motor in the vertical direction, which is caused by the walking error due to the elastic deformation of the mechanism body material, can be effectively avoided.
The above description is only an example of the preferred embodiments of the present invention, and the embodiments and the protection scope of the present invention are not limited thereby.
The utility model discloses still have following embodiment on above-mentioned basis:
in a further embodiment of the present invention, please continue to refer to fig. 1 to 4, a position sensor 103 is further disposed on the buffer board 101.
In a further embodiment of the present invention, a V-shaped groove 91 is provided on the side of each clamping jaw 9.
In a further embodiment of the present invention, the V-shaped groove 91 of the clamping jaw 9 on the left clamping jaw mounting plate 61 is opposite to the V-shaped groove 91 of the clamping jaw 9 on the right clamping jaw mounting plate 62. The arrangement of the V-shaped groove 91 provides the clamping jaw 9 with an adaptive centering guide function.
In a further embodiment of the present invention, at least two elastic devices 92 are disposed on the groove wall of each V-shaped groove 91, and the direction of each elastic device 92 is perpendicular to the groove wall of the V-shaped groove 91.
The utility model discloses a further embodiment, resilient means 91 includes constitutions such as spring, spring groove, guide way and slider, and preferably, the spring groove has been seted up in the cell wall of the V type groove 91 of clamping jaw 9, and the spring is located the spring inslot, and the spring inslot is located to the slider slidable, the one end of spring and the tank bottom fixed connection in spring groove, the other end and the slider fixed connection of spring. In addition, the floating block is also provided with a guide bulge, the groove wall of the spring groove is also internally provided with a guide groove, and the guide bulge is matched with the guide groove, so that the floating block can move along the guide groove.
In a further embodiment of the invention, four sliders on each set of mutually facing clamping jaws 9 are all pointing to the same point.
The utility model discloses a further embodiment, after the object is got to the clamp, the slider can tightly contact and compress tightly the object, makes the object keep the atress of continuation to guarantee the stability of object.
The utility model discloses a further embodiment is equipped with two at least clamping jaws 9 on the left side clamping jaw mounting panel 61, is equipped with two at least clamping jaws 9 on the right side clamping jaw mounting panel 62.
In a further embodiment of the utility model, the device comprises four guide slide rails 7, and the four guide slide rails 7 are arranged in parallel; four guide slide blocks 8 are respectively arranged on the left clamping jaw mounting plate 61 and the right clamping jaw mounting plate 62. Can effectively overcome the rotating moment between the heavy-load workpiece and the guide slide rail 7.
In a further embodiment of the present invention, the left-handed ball screw 41 and the right-handed ball screw 42 are coaxially disposed.
In a further embodiment of the present invention, the lower surface of the mounting plate 1 is further provided with a material detecting sensor 11.
In a further embodiment of the present invention, the left-handed ball screw 41 is provided with a limit and origin sensor 411 in the shanghai.
The utility model discloses a further embodiment, the home position of clamping jaw 9 is through distributing the sensor calibration other at ball screw. When clamping parts with different sizes, the position of the clamping jaw 9 can be changed by changing the pulse signal of the servo motor 2.
The above description is only an example of the preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and those skilled in the art should be able to realize the equivalent alternatives and obvious variations of the present invention.
Claims (10)
1. A servo-actuated resilient gripper for a truss robot, comprising:
a mounting plate;
the servo motor and the hollow shaft speed reducer are arranged in the middle of the support plate, the servo motor is arranged on the support plate, and the servo motor drives the hollow shaft speed reducer;
the left-handed ball screw is connected with one end of a hollow shaft of the hollow shaft speed reducer, and the right-handed ball screw is connected with the other end of the hollow shaft speed reducer;
the left-handed screw nut is matched with the left-handed ball screw, and the right-handed screw nut is matched with the right-handed ball screw;
the left-handed screw nut is connected with the left-handed clamping jaw mounting plate through the bracket plate, and the right-handed screw nut is connected with the right-handed clamping jaw mounting plate through the bracket plate;
the lower surface of the support plate is provided with a plurality of guide slide rails;
the upper surface of the left clamping jaw mounting plate and the upper surface of the right clamping jaw mounting plate are respectively provided with a plurality of guide sliding blocks, and the guide sliding blocks are matched with the guide sliding rails;
the clamping jaw, the left side clamping jaw mounting panel with the lower surface of right side clamping jaw mounting panel is equipped with the clamping jaw respectively.
2. The servo-driven resilient jaw of a truss robot as defined in claim 1, further comprising a damping mechanism, the damping mechanism comprising: the buffer board with locate a plurality of sharp buffer on the buffer board, each sharp buffer all includes sharp guide arm and linear bearing, wherein, the lower extreme of sharp guide arm with mounting plate fixed connection.
3. The servo-actuated resilient gripper jaw of a truss robot as defined in claim 2 wherein said bumper plate is further provided with an in-position sensor.
4. The servo-actuated resilient gripper jaw of claim 1, wherein each of said gripper jaws has a V-shaped groove formed in a side surface thereof.
5. The servo-actuated resilient gripper of claim 4, wherein said left gripper mounting plate V-shaped groove of said gripper is aligned with said right gripper mounting plate V-shaped groove of said gripper.
6. The servo-actuated resilient gripper of claim 5, wherein each of said V-shaped grooves has at least two spring means disposed on a wall thereof, each spring means being oriented perpendicular to the wall of said V-shaped groove.
7. The servo-actuated resilient gripper jaw of claim 1, wherein said left gripper jaw mounting plate has at least two said gripper jaws thereon, and said right gripper jaw mounting plate has at least two said gripper jaws thereon.
8. The servo-actuated resilient gripper of a truss robot as defined in claim 1, including four of said guide rails, said four guide rails being disposed in parallel; and the left clamping jaw mounting plate and the right clamping jaw mounting plate are respectively provided with four guide sliding blocks.
9. Servo driven elastic clamping jaw of a truss robot, characterized in that the left-handed and the right-handed ball screws are coaxially arranged.
10. The servo-actuated resilient gripper for truss robots of claim 1 wherein said mounting plate is further provided with a material presence sensor on a lower surface thereof.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921084323.8U CN210551300U (en) | 2019-07-11 | 2019-07-11 | Servo drive elastic clamping jaw of truss robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921084323.8U CN210551300U (en) | 2019-07-11 | 2019-07-11 | Servo drive elastic clamping jaw of truss robot |
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| Publication Number | Publication Date |
|---|---|
| CN210551300U true CN210551300U (en) | 2020-05-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921084323.8U Active CN210551300U (en) | 2019-07-11 | 2019-07-11 | Servo drive elastic clamping jaw of truss robot |
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| CN (1) | CN210551300U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110271029A (en) * | 2019-07-11 | 2019-09-24 | 上海通彩机器人有限公司 | A kind of servo-drive elasticity clamping jaw of truss robot |
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2019
- 2019-07-11 CN CN201921084323.8U patent/CN210551300U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110271029A (en) * | 2019-07-11 | 2019-09-24 | 上海通彩机器人有限公司 | A kind of servo-drive elasticity clamping jaw of truss robot |
| CN110271029B (en) * | 2019-07-11 | 2024-04-05 | 上海通彩机器人有限公司 | Servo driving elastic clamping jaw of truss robot |
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