CN215885453U - Two servo translation grabbing device - Google Patents
Two servo translation grabbing device Download PDFInfo
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- CN215885453U CN215885453U CN202122292185.6U CN202122292185U CN215885453U CN 215885453 U CN215885453 U CN 215885453U CN 202122292185 U CN202122292185 U CN 202122292185U CN 215885453 U CN215885453 U CN 215885453U
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Abstract
The utility model relates to the technical field of mechanical equipment, and provides a two-servo translational grabbing device which comprises a rack, a first moving frame, a second moving frame, a first driving wheel, a second driving wheel, a first guide wheel, a conveying belt and a second guide wheel, wherein the first moving frame is movably arranged on the rack and defines the moving direction as a first direction, the second moving frame is movably arranged on the first moving frame and defines the moving direction as a second direction, the second direction is perpendicular to or oblique to the first direction, the first driving wheel and the second driving wheel are arranged on the rack, the first guide wheel is arranged on the second moving frame, the conveying belt is provided with a pressing end, the pressing end is pressed on the second moving frame, and the conveying belt is wound outside the first driving wheel, the second driving wheel and the first guide wheel. Through above-mentioned technical scheme, the problem of snatching inefficiency among the prior art has been solved.
Description
Technical Field
The utility model relates to the technical field of mechanical equipment, in particular to a two-servo translational grabbing device.
Background
The traditional servo translational grabbing structure is as follows: the servo for controlling the translational movement is arranged beside the servo for controlling the up-and-down grabbing is arranged in the translational movement structure, so that the translational movement component is increased, the structure is complex, the cost is increased, the grabbing weight is lighter under the condition of the same servo torque, and the improvement is needed.
SUMMERY OF THE UTILITY MODEL
The utility model provides a two-servo translational grabbing device, which solves the problem of low grabbing efficiency in the related art.
The technical scheme of the utility model is as follows:
a two-servo translational gripping device comprises a gripping device,
a machine frame, a plurality of guide rails and a plurality of guide rails,
a first moving frame movably arranged on the frame and defining the moving direction as a first direction,
a second moving frame movably disposed on the first moving frame and defining a moving direction thereof as a second direction perpendicular or oblique to the first direction,
a first driving wheel and a second driving wheel which are both arranged on the frame,
a first guide wheel arranged on the second moving frame,
a conveyor belt having a pressing end pressed on the second movable frame, the conveyor belt being wound around the first driving wheel, the second driving wheel, and the first guide wheel,
the pressing end and the first guide wheel are respectively positioned on two sides of a connecting line of the first driving wheel and the second driving wheel.
As a further technical proposal, the first direction and the second direction are crosswise divided into four unit spaces, and the device also comprises,
the second guide wheel is arranged or rotatably arranged on the first movable frame, the axial direction of the second guide wheel is vertical to the first direction and the second direction,
the number of the second guide wheels is four, the second guide wheels are respectively located in the four unit spaces, are in contact with the outer wall of the conveying belt and are used for guiding the conveying belt.
As a further technical solution, it also includes,
travel switches are arranged on the frame, distributed at two ends of the frame along the first direction and used for limiting two ends of the second movable frame.
As a further technical solution, it also includes,
the first sliding rail is arranged on the rack, the first movable frame is movably arranged on the rack through the first sliding rail,
and the second sliding rail is arranged on the first movable frame, and the second movable frame is movably arranged on the first movable frame through the second sliding rail.
As a further technical scheme, the conveying belt is a triangular belt.
As a further technical solution, it also includes,
and the clamp is arranged on the second movable frame, and the pressing end is pressed on the second movable frame through the clamp.
As a further technical solution, it also includes,
and the hand grip is arranged on the second movable frame and is positioned at the lower side of the second movable frame.
As a further technical proposal, the second movable frame is provided with two chutes which are oppositely arranged and also comprises,
two sliding blocks are arranged in the two sliding grooves in a sliding manner respectively, the first guide wheel is arranged on the sliding blocks to slide along the sliding grooves,
and two adjusting bolts are arranged on the second movable frame respectively, and the adjusting bolts are in threaded connection with the sliding blocks.
As a further technical scheme, the sliding groove is positioned at one end of the conveying belt, and the opposite end is the pressing end.
The working principle and the beneficial effects of the utility model are as follows:
in the prior art, a servo for controlling translation movement is arranged on a rack, and a servo for controlling up-and-down grabbing is arranged in a translation movement structure, so that the weight of translation movement is increased, the structure is complex, the grabbing weight is light under the condition of the same servo torque, the device can realize two-direction movement grabbing by using two servos only fixed on the rack, the structure is simplified, the cost is reduced, and the grabbing weight is improved under the condition of the same servo torque.
The device is specifically designed in such a way that a moving frame moving along a first direction, namely a first moving frame, is arranged on a machine frame, the first direction can be designed to be a horizontal direction, namely the first moving frame moves horizontally, then a moving frame moving up and down, namely a second moving frame, is arranged on the first moving frame, the second direction is designed to move up and down, taking the second moving frame to be perpendicular to the first moving frame as an example, two synchronous servo motors are arranged on the machine frame along the moving direction parallel to the first moving frame, motor wheels of the two motors can be used as driving wheels and are a first driving wheel and a second driving wheel, in addition, a guide wheel, namely a first guide wheel, can be designed at the top end of the second moving frame and is used for bearing the conveying belt, then an open-loop conveying belt, namely, the head and the tail ends are not connected, and the conveying belt sequentially bypasses the first driving wheel, the second moving frame and the second driving wheel, and finally, the head end and the tail end of the conveying belt meet at the lower half part of the second movable frame, the head end and the tail end are pressing ends, and the pressing ends are pressed on the second movable frame.
When the second moving frame moves horizontally relative to the rack, the first driving wheel and the second driving wheel can be controlled to rotate synchronously in the same direction, when the first driving wheel and the second driving wheel rotate positively and reversely, the resultant force directions received by the pressing end are transversely leftward and transversely rightward, and the pressing end of the conveyor belt is pressed on the second moving frame, so that the pressing end can drive the second moving frame and the first moving frame to slide transversely as a whole, namely, the first moving frame moves horizontally, and the second moving frame is driven to move horizontally.
When the second moving frame needs to move horizontally relative to the rack, the first driving wheel and the second driving wheel can be controlled to rotate synchronously in different directions, acting forces of the first driving wheel and the second driving wheel on the conveyor belt generate torques to drive the conveyor belt to move, so that the pressing end moves towards or away from a connecting line of the first driving wheel and the second driving wheel, the conveyor belt can only be conveyed by the stress in the horizontal direction and cannot drive the second moving frame to move horizontally, the component forces of the acting forces of the first driving wheel and the second driving wheel on the conveyor belt in the horizontal direction are equal in magnitude and opposite in direction, but the component forces in the vertical direction are the same in magnitude and direction and are vertically upward or downward, so that the first moving frame cannot move horizontally, and the second moving frame moves in the vertical direction.
In conclusion, according to the utility model, only two motors fixedly arranged on the rack are used as power sources to realize the movement in the horizontal and vertical directions, and the second moving frame is not provided with a driving motor and a driving cylinder, so that the weight of the device is reduced, the structure is simplified, the grabbing amount is improved, and higher grabbing efficiency is achieved.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic perspective view of the present invention;
fig. 2 is a schematic view of the front view structure of the present invention.
In the figure: 1-a rack, 2-a first moving frame, 3-a second moving frame, 301-a chute, 4-a first driving wheel, 5-a second driving wheel, 6-a first guide wheel, 7-a conveying belt, 701-a pressing end, 8-a unit space, 9-a second guide wheel, 10-a travel switch, 11-a slide rail I, 12-a slide rail II, 13-a clamp, 14-a gripper, 15-a slide block and 16-an adjusting bolt.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any inventive step, are intended to be within the scope of the present invention.
As shown in fig. 1-2, the present embodiment provides a two-servo translational gripping device, comprising,
the machine frame (1) is provided with a frame,
a first moving frame 2 movably disposed on the frame 1 and defining a moving direction thereof as a first direction,
a second moving frame 3 movably disposed on the first moving frame 2 and defining a moving direction thereof as a second direction perpendicular or oblique to the first direction,
a first driving wheel 4 and a second driving wheel 5 which are both arranged on the frame 1,
a first guide wheel 6 arranged on the second moving frame 3,
a conveyor belt 7 with a pressing end 701, wherein the pressing end 701 is pressed on the second movable frame 3, the conveyor belt 7 is wound outside the first driving wheel 4, the second driving wheel 5 and the first guide wheel 6,
the pressing end 701 and the first guide wheel 6 are respectively located on two sides of a connecting line of the first driving wheel 4 and the second driving wheel 5.
In this embodiment, in order to improve the problem of low efficiency of the servo translational grasping device in the prior art, the inventor has designed a two-servo translational grasping device, in the prior art, the servo for controlling translational movement is arranged on the rack 1, the servo for controlling vertical grasping is arranged in the structure for translational movement, so that the weight for translational movement can be increased, the structure is complex, the grasping weight under the condition of the same servo torque is lighter, the device can realize two-direction grasping by using two servos only fixed on the rack 1, the cost is reduced while the structure is simplified, and the grasping weight under the condition of the same servo torque is improved.
The device is specifically designed in such a way that a moving frame moving along a first direction, namely a first moving frame 2, is arranged on a rack 1, the first direction can be designed to be a horizontal direction, namely the first moving frame 2 moves horizontally, then a moving frame moving up and down, namely a second moving frame 3, is arranged on the first moving frame 2, the second direction is designed to move along a lifting direction, taking the second moving frame 3 perpendicular to the first moving frame 2 as an example, two synchronous servo motors are arranged on the rack 1 along a direction parallel to the moving direction of the first moving frame 2, motor wheels of the two motors can be used as driving wheels and are respectively a first driving wheel 4 and a second driving wheel 5, in addition, a guide wheel, namely a first guide wheel 6, can be arranged at the top end of the second moving frame 3 and is used for bearing a conveying belt 7, then an open-loop conveying belt 7, namely the head end and the tail end are not connected, and the conveying belt 7 sequentially bypasses the first driving wheel 4, The second removes frame 3, second drive wheel 5, and the head and the tail end of conveyer belt 7 meets in the latter half of second removal frame 3 at last, and the head and the tail end are promptly to press and establish end 701, will press and establish end 701 and press and establish on second removal frame 3.
When the second movable frame 3 needs to move horizontally relative to the frame 1, the first driving wheel 4 and the second driving wheel 5 can be controlled to rotate synchronously in the same direction, when the first driving wheel and the second driving wheel rotate in the same direction, the resultant force direction received by the pressing end 701 is horizontal leftward and horizontal rightward, the pressing end 701 is pressed on the second movable frame 3 due to the pressing of the conveyor belt 7, the second movable frame 3 can be driven by the pressing end 701, the first movable frame 2 slides transversely as a whole, namely, the first movable frame 2 moves horizontally, and the second movable frame 3 is driven to move horizontally.
When the second moving frame 3 needs to move horizontally relative to the frame 1, the first driving wheel 4 and the second driving wheel 5 can be controlled to rotate synchronously in different directions, the acting force of the first driving wheel 4 and the second driving wheel 5 on the conveyor belt 7 is generated, a torque is generated to drive the conveyor belt 7 to move, so that the pressing end 701 moves towards or away from the connecting line direction of the first driving wheel 4 and the second driving wheel 5, the conveyor belt 7 can only be conveyed due to the stress in the horizontal direction, the second moving frame 3 cannot be driven to move horizontally, the component forces of the acting force of the first driving wheel 4 and the second driving wheel 5 on the conveyor belt 7 in the horizontal direction are equal in magnitude and opposite in direction, but the component forces in the vertical direction are equal in magnitude and same in direction and are vertically upward or downward, so that the first moving frame 2 cannot move horizontally, and the second moving frame 3 moves in the vertical direction. To sum up, through this embodiment, only fixed two motors that set up in frame 1 have realized the removal in level, two vertical directions as the power supply, do not have driving motor on the second removes frame 3, drive actuating cylinder, have alleviateed device weight, have simplified the structure, have improved and have grabbed the volume, have reached higher efficiency of snatching.
Further, the first direction and the second direction are crosswise divided into four unit spaces 8, and further comprises,
a second guide wheel 9 which is arranged or rotationally arranged on the first moving frame 2, the axial direction of the second guide wheel is vertical to the first direction and the second direction,
the number of the second guide wheels 9 is four, the second guide wheels are respectively located in the four unit spaces 8, and are all in contact with the outer wall of the conveyor belt 7 and used for guiding the conveyor belt 7.
As shown in fig. 1 to 2, in this embodiment, in order to solve the problem of the redirection of the conveyor belt 7 around the second moving frame 3, the inventor designs four guide wheels for redirection of four positions on the conveyor belt 7, wherein the four positions correspond to four corners into which the first moving frame 2 and the second moving frame 3 are divided, respectively, the guide wheels, that is, the second guide wheels 9 are installed at the corresponding corners of the first moving frame 2 one by one, and the conveyor belt 7 sequentially bypasses the inner sides of the four second guide wheels 9, so that redirection and limitation of the conveyor belt 7 can be realized.
Further, the method also comprises the following steps of,
travel switches 10, there are two, all set up on frame 1, distribute at frame 1 both ends along first direction for the second removes the both ends of putting up 3 spacing.
As shown in fig. 1 to 2, in this embodiment, in order to solve the stroke control of the first moving frame 2, the inventor installs one stroke switch 10 at each of the corresponding positions at the two ends of the first moving frame 2 on the frame 1, and the two stroke switches 10 can detect the horizontal moving stroke of the first moving frame 2 and control the horizontal moving stroke to realize the reversing of the movement, so that the design well realizes the reversing movement of the first moving frame 2 by automatic control, and improves the efficiency of the overall operation.
Further, the method also comprises the following steps of,
a first slide rail 11 arranged on the frame 1, the first movable frame 2 is movably arranged on the frame 1 through the first slide rail 11,
and the second sliding rail 12 is arranged on the first moving frame 2, and the second moving frame 3 is movably arranged on the first moving frame 2 through the second sliding rail 12.
As shown in fig. 1 to 2, in this embodiment, in order to specifically realize that the first moving frame 2 and the second moving frame 3 can move relatively on the rack 1 and the first moving frame 2, the inventor adopts a slide rail to realize the relative movement of the two, that is, one slide rail, namely, the first slide rail 11 and the second slide rail 12, is respectively installed on the rack 1 and the first moving frame 2, so that the movement of the first moving frame 2 on the rack 1 and the movement of the second moving frame 3 on the first moving frame 2 are satisfied.
Further, the conveyor belt 7 is a triangular belt.
As shown in fig. 1-2, in the present embodiment, the inventor selects the conveyor belt 7 as a triangular belt, which can perform a good transmission operation.
Further, the method also comprises the following steps of,
and a clamp 13 disposed on the second movable frame 3, wherein the pressing end 701 is pressed on the second movable frame 3 through the clamp 13.
As shown in fig. 1 to 2, in the present embodiment, in order to clamp the pressing end 701 to the second moving frame 3, the inventor has designed the clamp 13, and the clamp 13 is mounted on the second moving frame 3 to clamp the conveyor belt 7.
Further, the method also comprises the following steps of,
and the hand grip 14 is arranged on the second moving frame 3 and is positioned at the lower side of the second moving frame 3.
As shown in fig. 1 to 2, in the present embodiment, in order to satisfy the gripping function of the two servo translation gripping devices, the inventor has mounted a gripper 14 on the end of the second moving frame 3.
Further, the second moving frame 3 has two sliding grooves 301 disposed oppositely, and further includes,
two slide blocks 15 are respectively arranged in the two slide grooves 301 in a sliding way, the first guide wheel 6 is arranged on the slide blocks 15 to slide along with the slide,
two adjusting bolts 16 are respectively arranged on the two second movable frames 3, and the adjusting bolts 16 are in threaded connection with the sliding blocks 15.
As shown in fig. 1 to 2, in the present embodiment, in order to adjust the tightness of the conveyor belt 7, the inventor designs the first guide wheel 6 to be movable, specifically designs two opposite sliding grooves 301 on the top end of the second movable frame 3, installs a sliding block 15 in each of the two sliding grooves 301, sets the shaft of the first guide wheel 6 on the two sliding blocks 15, and connects the two sliding blocks 15 with two adjusting bolts 16 through threads, respectively, so when the position of the first guide wheel 6 needs to be adjusted, the adjusting bolts 16 are screwed, and after the adjusting bolts 16 are screwed, the sliding blocks 15 will rise or fall through the thread arrangement between the sliding blocks 15 and the adjusting bolts 16, thereby adjusting the tightness of the conveyor belt 7.
Further, the chute 301 is located at one end of the conveyor belt 7, and the opposite end is a pressing end 701.
As shown in fig. 1 to 2, in this embodiment, the inventor considers that the second movable frame 3 moves in the vertical direction as a whole, and in order to realize the movement smoothly, the inventor sets the chute 301 at the end of the second movable frame 3, and the other end can clamp the pressing end 701, that is, the pressing end 701 of the conveyor belt 7 is clamped at one end of the second movable frame 3, so that when the conveyor belt 7 applies a force, the second movable frame 3 is lifted by the force, and the movement of the second movable frame 3 is well realized.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A two-servo translational gripping device is characterized by comprising,
a machine frame (1),
a first moving frame (2) which is movably arranged on the machine frame (1) and defines the moving direction as a first direction,
a second moving frame (3) movably arranged on the first moving frame (2) and defining the moving direction thereof to be along a second direction which is perpendicular or oblique to the first direction,
a first driving wheel (4) and a second driving wheel (5) which are both arranged on the frame (1),
a first guide wheel (6) arranged on the second moving frame (3),
a conveyor belt (7) with a pressing end (701), wherein the pressing end (701) is pressed on the second movable frame (3), the conveyor belt (7) is wound outside the first driving wheel (4), the second driving wheel (5) and the first guide wheel (6),
the pressing end (701) and the first guide wheel (6) are respectively positioned on two sides of a connecting line of the first driving wheel (4) and the second driving wheel (5).
2. A two-servo translational gripping device according to claim 1, wherein the first direction and the second direction are cross-partitioned into four unit spaces (8), further comprising,
a second guide wheel (9) which is arranged or rotationally arranged on the first moving frame (2) and has the axial direction vertical to the first direction and the second direction,
the number of the second guide wheels (9) is four, the second guide wheels are respectively positioned in the four unit spaces (8), are in contact with the outer wall of the conveyor belt (7) and are used for guiding the conveyor belt (7).
3. The two-servo translational capture device of claim 1, further comprising,
travel switches (10) are provided, and are arranged on the rack (1) and distributed at two ends of the rack (1) along the first direction, so that the two ends of the second movable rack (3) are limited.
4. The two-servo translational capture device of claim 1, further comprising,
the first sliding rail (11) is arranged on the rack (1), the first movable rack (2) is movably arranged on the rack (1) through the first sliding rail (11),
and the second sliding rail (12) is arranged on the first movable frame (2), and the second movable frame (3) is movably arranged on the first movable frame (2) through the second sliding rail (12).
5. A two-servo translational gripping device according to claim 1, wherein the conveyor belt (7) is a v-belt.
6. The two-servo translational capture device of claim 1, further comprising,
and the clamp (13) is arranged on the second movable frame (3), and the pressing end (701) is pressed on the second movable frame (3) through the clamp (13).
7. The two-servo translational capture device of claim 1, further comprising,
and the gripper (14) is arranged on the second movable frame (3) and is positioned at the lower side of the second movable frame (3).
8. Two-servo translational gripping device according to claim 1, wherein the second mobile carriage (3) has two runners (301) arranged opposite each other, further comprising,
two sliding blocks (15) are respectively arranged in the two sliding grooves (301) in a sliding manner, the first guide wheel (6) is arranged on the sliding blocks (15) to slide along with the sliding blocks,
and two adjusting bolts (16) are arranged on the two second movable frames (3) respectively, and the adjusting bolts (16) are in threaded connection with the sliding blocks (15).
9. A two-servo translational gripping device according to claim 8, wherein the chute (301) is located at one end of the conveyor belt (7), the opposite end being the pressing end (701).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122292185.6U CN215885453U (en) | 2021-09-22 | 2021-09-22 | Two servo translation grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122292185.6U CN215885453U (en) | 2021-09-22 | 2021-09-22 | Two servo translation grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215885453U true CN215885453U (en) | 2022-02-22 |
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ID=80349448
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122292185.6U Active CN215885453U (en) | 2021-09-22 | 2021-09-22 | Two servo translation grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215885453U (en) |
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2021
- 2021-09-22 CN CN202122292185.6U patent/CN215885453U/en active Active
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