CN217318054U - Industrial robot end effector driven by servo motor - Google Patents

Abstract

The utility model discloses an industrial robot end effector with servo motor drive relates to machining technical field, including propping up fixed hinge support and activity hinge support and the middle part is connected through central round pin post, the inboard fixed mounting in fixed hinge support upper end has the connecting block, and the right side of connecting block is connected with sliding seat and swivel nut, and activity hinge support right side fixed mounting has the tight motor of clamp, the head fixedly connected with screw rod of the tight motor of clamp, and swivel nut and screw rod cooperation meshing are connected. The utility model discloses for other drives, software and interface that industrial robot self was taken carry out integration control, can regard as a part of robot to control, more are favorable to the control speed, the position, the clamping-force to all use power, needn't dispose compressed air pump, and other power such as hydraulic pressure station, and holistic effect is stable outstanding, and the cost is relatively lower, and the processing production of especially adapted similar product is worth using widely.

Description

Industrial robot end effector driven by servo motor

Technical Field

The utility model relates to a machining technology field specifically is an industrial robot end effector with servo motor driven.

Background

A robot end effector refers to any tool that is attached to the edge (joint) of a robot with a certain function. Because of the continuous development of modern industry and the continuous rise of labor cost, a plurality of enterprises upgrade and adopt robots to process and produce in order to improve the production efficiency, the robots have a plurality of advantages, can continuously produce, and have higher precision, the existing robot also has the teaching function, so the robot is very convenient and fast in processing and production, different end effectors are needed for different processed parts, a steel blank with the weight of 3.40kg is processed in the prior art, because the robot is convenient and accurate to position, the end face of the robot is required to be downwards (the ground) placed on a certain plane, the end effectors clamp a cylindrical surface, the friction force overcomes the downward sliding of the blank under the action of gravity, the blank is sent to a lathe chuck to be processed into a required tubular part, two different clamping forces are needed to clamp the blank when feeding and finishing processing, the deformation is prevented, and the part is scrapped, therefore, after comprehensive consideration of technicians of the company, an industrial robot end effector driven by a servo motor is provided.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an industrial robot end effector with servo motor drive to the clamp that proposes in solving above-mentioned background art gets the problem.

Preliminary calculations here indicate that the steel to aluminum coefficient of friction is 0.22, and the clamping force required is 3.4 divided by 0.22 to equal 15.5 Kgf. This is the minimum theoretical calculation and if less than this force, the blank will not be able to be gripped. When we are looking at the part for that process with a post-machining mass of 0.5kg, then the required clamping force is 0.5 divided by 0.22 to equal 2.27 Kgf. There is a tolerance of bore diameter 85, minus 0.01, -0.03 thin walled bore with wall thickness of only 3.5mm if the clamping force is unchanged, which is certainly deformed at 15.5kg clamping force, and is not elastically deformed but plastically deformed, i.e. the workpiece is scrapped when the end effector of the clamping blank removes the workpiece from the lathed lathe. In this case, it is also required that the chuck is loaded and unloaded by a robot end and the end effector must have a function of adjusting the chucking force.

The core technology has two aspects, one is that the structure of the clamp can feed the minimum length under the drive of a servo motor, which determines whether the end effector can clamp a workpiece and not fall off, and the stress of the clamp is still kept in the elastic deformation. The other is that the clamping force of the clamp for clamping a workpiece is the elastic deformation of the clamp within a certain range, and if the deformation of the clamp within the necessary clamping force range can not cause permanent damage to the clamp through calculation of stress analysis, namely within the elastic range, the clamp can be used satisfactorily. The two points are known, so that the same structure and the same driving motor can be manufactured, and different clamping forces can be adjusted.

In order to achieve the above purpose, the utility model provides a following technical scheme: the utility model provides an industrial robot end effector with servo motor driven, is including propping up fixed hinge support and activity hinge support and the middle part is connected through central round pin post, and the inboard fixed mounting in fixed hinge support upper end has the connecting block, the right side of connecting block is connected with sliding seat and swivel nut, activity hinge support right side fixed mounting has the tight motor of clamp, the head fixedly connected with screw rod of the tight motor of clamp, swivel nut and screw rod cooperation meshing are connected.

Preferably: the lower ends of the fixed hinge support and the movable hinge support are fixedly provided with clamping blocks, and the middle parts of the two hinge supports are provided with grooves.

Preferably: the clamping motor is a servo motor, an encoder is fixedly mounted at the tail of the clamping motor, a bearing support is mounted on the outer side of the head of the clamping motor, and a bearing is mounted in the middle of the bearing support.

Preferably: the movable seat penetrates through the arc-shaped through hole through a pin shaft and is connected with the connecting block.

Preferably: and a connecting flange is fixedly arranged on the outer side of the upper end of the fixed hinge bracket.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses a characteristics utilize servo motor as the drive of terminal final actuating device of robot, for other drives, can use the software and the interface that industrial robot self takes to carry out integrated control, like this, the some that the end final actuating device just can regard as the robot is controlled, more be favorable to control speed, the position, the clamping-force, and all use power, needn't dispose compressed air pump, and other power such as hydraulic pressure station, and holistic effect is stable outstanding, the cost is relatively lower, the processing production of especially adapted similar product, be worth using widely.

Drawings

FIG. 1 is a schematic structural view of the present invention;

fig. 2 is a front view of the present invention;

FIG. 3 is a right side view of the present invention;

fig. 4 is a top view of the present invention;

FIG. 5 is a loosening view of the present invention;

FIG. 6 is a clamping view of the present invention;

FIG. 7 is a schematic view of a part after clamping;

FIG. 8 is a mechanical schematic of a hinge bracket;

fig. 9 is a schematic view of the machined parts.

In the figure: 1. The hinge comprises a fixed hinge support, 2, a movable hinge support, 3, a clamping motor, 4, a connecting block, 5, a movable seat, 6, a threaded sleeve, 7, a screw rod, 8, a central pin, 9, a clamping block, 10, a connecting flange, 11, an arc-shaped through hole, 12, a groove, 13, an encoder, 14, a bearing support, 15 and a bearing.

Detailed Description

The present invention will be described below based on embodiments with reference to the attached drawings in the embodiments of the present invention, but it should be noted that the present invention is not limited to these embodiments, and some specific details are described in detail below in the detailed description of the present invention, however, those skilled in the art can fully understand the present invention for the parts not described in detail.

Furthermore, those skilled in the art will appreciate that the drawings are provided for purposes of illustrating the objects, features, and advantages of the invention and are not necessarily to scale.

Also, unless the context clearly requires otherwise, throughout the description and the claims, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, the meaning of "includes but is not limited to".

Referring to fig. 1 to 9, the present invention provides a technical solution: including propping up fixed hinge support 1 and activity hinge support 2 and the middle part is connected through central round pin post 8, the inboard fixed mounting in fixed hinge support upper end has connecting block 4, the right side of connecting block 4 is connected with sliding seat 5 and swivel nut 6, 2 right side fixed mounting of activity hinge support have the tight motor 3 of clamp, the head fixedly connected with screw rod 7 of the tight motor 3 of clamp, swivel nut 6 and the cooperation meshing of screw rod 7 are connected.

The lower ends of the fixed hinge support 1 and the movable hinge support 2 are fixedly provided with clamping blocks 9, and grooves 12 are formed in the middle of the two hinge supports.

The clamping motor 3 is a servo motor, an encoder 13 is fixedly mounted at the tail of the clamping motor 3, a bearing support 14 is mounted on the outer side of the head of the clamping motor 3, and a bearing 15 is mounted in the middle of the bearing support 14.

The connecting block 4 is provided with an arc-shaped through hole 11, and the movable seat 5 penetrates through the arc-shaped through hole 11 through a pin shaft to be connected with the connecting block 4.

And a connecting flange 10 is fixedly arranged on the outer side of the upper end of the fixed hinge support 1.

Firstly, the working process of the servo motor is briefly described, a controller of the servo motor sends out an electric pulse signal, the clamping motor 3 can rotate, and whether the rotation is in place is detected by an encoder 13 connected to a rotor shaft. The number of the holes on the coding disc varies from tens to thousands, and we choose an encoder with four hundred holes, so that the servo motor generates four hundred pulse signals per revolution, and the thread pitch of the rolling screw matched with the servo motor is 4mm, so that the minimum feed of the servo motor is 4mm divided by 400 and is equal to 0.01mm, namely: the minimum feed distance (precision) of the jig was 0.01 mm.

At the groove 12 is a relatively weak link where elastic deformation is expected. And in order to prevent deformation from affecting the clamping uniformity, the same weak groove 12 link is arranged on the fixed hinge bracket and the movable hinge bracket. We simplify the structure into a cantilever beam structure as shown in fig. 8, we can obtain the deformation amount generated at the clamping force center by pushing,

the formula for the relationship with clamping force is: a = (F1X L ^ 3)/(3X E I)

A- -deformation; f1 — clamping force; l — cantilever length = 0.05M;

e-elastic modulus =202E ^9Pa (45# steel);

i- -moment of inertia relative to the direction of deformation: =4 × 25/12=133.33mm ^4=1.33333E (-10) m ^4

When F1=15.5Kgf =15.5 × 9.8=159.2N (when 3.4Kg of blank needs to be clamped), the deformation: and =159.2 × 0.05^3/(3 × 202E ^9 × 1.33333E ^ 10)) =0.0199/80.80=0.00025m =0.25 mm.

When F1=2.27Kgf =2.27 × 9.8=22.25N (when it is necessary to clamp 0.5Kg of the machined workpiece), the amount of deformation: =22.25 × 0.05^3/(3 × 202E ^9 × 1.33333E ^ -10)) =0.00278/80.80=0.000034m =0.034 mm.

Assuming that the jaws of the gripper are completely applied to the workpiece and the hinged support of the gripper is not elastically deformed when teaching an industrial robot, if a blank of 3.4kg is clamped at this time and a further clamping of 0.25 × 2=0.5 mm is required, this requires a further 50 pulse signals for the servomotor of the gripper, and if a machined workpiece of 0.5kg is clamped, a further 7 pulse signals for the clamping motor 3, which is suitable, are required for teaching 0.034 × 2=0.07 mm in the inward direction of the clamping. At this time, we can test that if the blank and the workpiece can be clamped, and the workpiece is not subjected to plastic deformation, namely the workpiece has a good size, the teaching of the industrial robot can be proved to be completed. This teaching method is somewhat cumbersome, but once the teaching is completed the industrial robot will note the exact position points (actually the number of pulses) taught, which can be reused indefinitely and maintain the same clamping force as the teaching. Thus, the clamp can be used for providing different clamping forces to clamp different articles by teaching twice.

The situation of fig. 8 is a situation for simplifying mechanical analysis, and the actual structure is in three states in use, namely a state of clamping a 3.4kg blank and a state of clamping a 0.5kg workpiece, and has two hinge supports, and the servo motor changes the distance between the other ends of the hinge supports through a rolling screw pair so as to achieve the purposes of clamping and loosening. The specific situation is shown in figure 5, figure 6 and figure 7.

The clamping and loosening actions are as follows: the controller sends out signals, the clamping motor 3 rotates rightwards, the screw 7 extends forwards, and the two hinge supports rotate around the central pin, so that the chuck on the other side is clamped. If the motor 3 is clamped to be loosened, the left side is rotated.

Finally, a teaching process of the industrial robot is introduced, the teaching is a general term for programming the industrial robot, the most important method except for logic judgment is track motion, the main method of track teaching is that an execution end of the industrial robot is moved to a target position, at the moment, a motion track program code is input, and when the program is operated, the robot can move from an arbitrary point to a target point according to a coded motion mode (circular arc or straight line or joint). In this paper, the teaching that anchor clamps pressed from both sides tightly at last, just after will unclamping the state anchor clamps and remove the suitable position of work piece, the controller through industrial robot presss from both sides tight anchor clamps this moment input a motion command code under teaching mode, even if press from both sides tight teaching and accomplish like this, subsequent needs cooperate programming code to operate the completion, this application is not being repeated, the utility model discloses just replace the statement in the aspect of mechanical structure.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (5)

1. The utility model provides an industrial robot end effector with servo motor driven which characterized in that: including fixed hinge support (1) and activity hinge support (2) and the middle part is connected through central round pin post (8), and the inboard fixed mounting in fixed hinge support upper end has connecting block (4), the right side of connecting block (4) is connected with movable seat (5) and swivel nut (6), activity hinge support (2) right side fixed mounting has clamp motor (3), the head fixedly connected with screw rod (7) of clamp motor (3), swivel nut (6) and screw rod (7) cooperation meshing are connected.

2. An industrial robot end effector driven by a servo motor according to claim 1, characterized in that: the lower ends of the fixed hinge support (1) and the movable hinge support (2) are fixedly provided with clamping blocks (9), and the middle parts of the two hinge supports are provided with grooves (12).

3. An industrial robot end effector driven by a servo motor according to claim 1, characterized in that: the clamping motor (3) is a servo motor, an encoder (13) is fixedly mounted at the tail of the clamping motor (3), a bearing support (14) is mounted at the outer side of the head of the clamping motor (3), and a bearing (15) is mounted in the middle of the bearing support (14).

4. An industrial robot end effector driven by a servo motor according to claim 1, characterized in that: the movable seat is characterized in that an arc-shaped through hole (11) is formed in the connecting block (4), and the movable seat (5) penetrates through the arc-shaped through hole (11) through a pin shaft and is connected with the connecting block (4) mutually.

5. An industrial robot end effector driven by a servo motor according to claim 1, characterized in that: and a connecting flange (10) is fixedly arranged on the outer side of the upper end of the fixed hinge support (1).

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