CN221111867U

CN221111867U - Servo drive parallel paw suitable for thrust wheel snatchs

Info

Publication number: CN221111867U
Application number: CN202223499529.1U
Authority: CN
Inventors: 吴岳岭; 霍厚志; 冯玉池; 刘龙飞
Original assignee: Shantui Chutian Construction Machinery Co Ltd
Current assignee: Shantui Chutian Construction Machinery Co Ltd
Priority date: 2022-12-15
Filing date: 2022-12-15
Publication date: 2024-06-11
Anticipated expiration: 2032-12-15

Abstract

The utility model discloses a servo-driven parallel gripper suitable for gripping by a thrust wheel, which comprises a gripper seat, wherein the gripper seat comprises a robot mounting plate arranged at the tail end of a robot and a base fixed with the robot mounting plate, two clamping mechanisms are slidably arranged on the base, a dovetail plate is slidably arranged between the two clamping mechanisms, the dovetail plate is arranged on the gripper seat through a ball screw, and when the dovetail plate moves relative to the base, the two clamping mechanisms can be simultaneously driven to move relative to the base. The utility model solves the technical problem of low stability when the parallel claws grasp the thrust wheel in the prior art, and improves the applicability of products.

Description

Servo drive parallel paw suitable for thrust wheel snatchs

Technical Field

The utility model relates to the technical field of manipulators, in particular to a servo-driven parallel paw suitable for grabbing by a thrust wheel.

Background

The thrust wheel is formed by welding a coaxial female wheel body and a coaxial male wheel body, before welding, splash-proof liquid needs to be sprayed on the surface of the thrust wheel, so that the phenomenon that the surface quality is affected by welding splash and adhesion to the thrust wheel is prevented, and an enterprise needs to use parallel claws to realize clamping of the thrust wheel in order to improve production efficiency and production automation level.

The parallel paw is a kind of pneumatic hydraulic or electrically driven double-paw parallel relative motion's fixture, like the chinese patent of application number CN202221315675.1, disclosed a kind of robot end effector and robot used for getting and putting the thrust wheel, and specifically publicly opened two-finger parallel paw, two-finger parallel paw includes the paw mount pad, installs two outer clamping jaws on the paw mount pad, all is provided with the wear-resisting groove in the outer clamping jaw inboard, is provided with the wear-resisting piece in the wear-resisting groove, and the working face of wear-resisting piece is the arc surface, and the arc surface can laminate with the thrust wheel outer disc, is provided with the briquetting mounting groove on the working face of wear-resisting piece, is provided with the installation briquetting in the briquetting mounting groove, and the installation briquetting is I-shaped, and the briquetting is stretched out to the briquetting mounting groove in the both ends of installation briquetting, and the installation briquetting both ends are all installed on outer clamping jaw through the bolt detachably, are provided with the floating spring on the face opposite to its working face on the wear-resisting piece perpendicularly, and the floating spring stretches out the wear-resisting piece, and the extension end of floating spring is on outer clamping jaw.

In the implementation process, the inventor finds that at least the following defects exist in the background technology: the outer clamping jaw of the existing parallel claw is directly installed on the installation seat, so that the stability of the parallel claw is lower when the parallel claw grabs the thrust wheel.

Disclosure of utility model

The embodiment of the application solves the technical problem of low stability when the parallel claws grasp the thrust wheel in the prior art by providing the servo-driven parallel claws suitable for grasping the thrust wheel, and improves the applicability of products.

In order to solve the technical problems, the utility model adopts the following technical scheme that the servo-driven parallel gripper suitable for gripping by the thrust wheel comprises a gripper seat, wherein the gripper seat comprises a robot mounting plate arranged at the tail end of a robot and a base fixed with the robot mounting plate, two clamping mechanisms are slidably arranged on the base, a dovetail plate is slidably arranged between the two clamping mechanisms, the dovetail plate is arranged on the gripper seat through a ball screw, and when the dovetail plate moves relative to the base, the two clamping mechanisms can be simultaneously driven to be close to or far away from each other.

Because two fixture and base sliding connection still slidable mounting have the dovetail simultaneously between two fixture, consequently can realize that fixture slides along the base through driving the dovetail, realize snatching the thrust wheel, realized higher stability, improved the suitability of product.

Further, a screw mounting plate is fixed in the paw seat, a servo motor is mounted on the screw mounting plate, an output gear is mounted at the output end of the servo motor, a connecting gear is meshed with the output gear, a driving gear is meshed with the connecting gear, the driving gear is fixed with one axial end of the ball screw, a nut is matched with the ball screw, and the nut is fixed with the dovetail plate; because install servo motor on the lead screw mounting panel, servo motor can drive the dovetail and remove, and then realize that fixture removes along the base, consequently through mature technique such as servo motor dead torque, encoder position feedback, can realize functions such as clamping force's autonomous adjustment and by clamping work piece diameter confirmation feedback, the response beat is fast simultaneously, and is low to external supporting facility requirement.

Further, the base is provided with a clamping mechanism guide groove and a dovetail plate guide groove, and after the dovetail plate penetrates through the dovetail plate guide groove, the movement direction of the dovetail plate is perpendicular to the plane where the tail end flange of the tail end actuator of the robot is located.

Further, two sides of one end of the dovetail plate are provided with screw mounting holes for fixing screws, and two sides of the other end of the dovetail plate are obliquely provided with dovetail grooves; the dovetail groove converts the telescopic movement of the dovetail plate into the opening and closing movement of the clamping mechanism, so that the opening and closing size of the clamping mechanism can be realized by controlling the telescopic amount of the dovetail plate, and the requirements of small-batch multi-variety and mixed line production can be met.

Further, the clamping mechanism comprises a clamping block, a dovetail groove guide block is arranged in the clamping block, and the dovetail groove guide block is matched with the dovetail groove; one side of the clamping block is provided with a guide protrusion, the guide protrusion is matched with the guide groove of the clamping mechanism, and the other side of the clamping block is provided with a paw accessory.

Further, the paw accessory comprises an accessory base, wherein the accessory base is fixed with the clamping block, a floating wear-resistant piece is arranged on the accessory base, and a floating spring is arranged between the floating wear-resistant piece and the accessory base; therefore, the grabbing reliability can be increased, and the repeated positioning accuracy of the wheel body is ensured.

According to the technical scheme, the utility model has at least the following technical effects or advantages:

1. The dovetail plates are arranged between the two clamping mechanisms, the movement of the dovetail plates and the movement of the clamping jaws are converted through the dovetail plates as transition pieces, so that the high-precision centering of the clamping mechanisms is realized, the high-load requirement of the clamping mechanisms can be met, the high stability is realized, and the applicability of products is improved.

2. The clamping mechanism is driven by the servo motor, so that the functions of autonomous adjustment of clamping force of the clamping mechanism, confirmation feedback of the diameter of a clamped workpiece and the like can be realized through mature technologies such as fixed torque of the servo motor, position feedback of an encoder and the like, and meanwhile, the reaction beat is fast, and the requirement on external supporting facilities is low.

3. The servo motor can control the expansion and contraction of the dovetail plates to open and close the clamping mechanism, so that the requirements of small-batch multi-variety and mixed line production can be met. Meanwhile, the clamping feedback of the clamping mechanism to the clamped workpiece is linear and continuous, so that the clamping mechanism can well meet the flexible and continuous grabbing requirements of an automation project.

4. Because the floating wear-resisting piece is arranged on the paw accessory, the grabbing reliability can be increased, and the positioning accuracy of the thrust wheel is ensured.

Drawings

For a clearer description of the technical solutions of the present utility model, the drawings that are needed in the description will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings can be obtained, without inventive effort, by a person skilled in the art, from these drawings:

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a full cross-sectional view of FIG. 1;

FIG. 3 is a schematic view of a base structure according to the present utility model;

FIG. 4 is a schematic view of a dovetail groove configuration of the present utility model;

FIG. 5 is a schematic view of a clamping block according to the present utility model;

FIG. 6 is a schematic view of the structure of the paw attachment according to the present utility model;

FIG. 7 is a full cross-sectional view of FIG. 6;

Fig. 8 is a schematic representation of the use of the present utility model.

Reference numerals illustrate: 1. the device comprises a paw seat, 2, a robot mounting plate, 3, a base, 4, a clamping mechanism, 5, a dovetail plate, 6, a ball screw, 7, a screw mounting plate, 8, a servo motor, 9, an output gear, 10, a connecting gear, 11, a driving gear, 12, a clamping mechanism guide groove, 13, a dovetail plate guide groove, 14, a nut mounting hole, 15, a dovetail groove, 16, a clamping block, 17, a paw accessory, 18, a guide protrusion, 19, a dovetail groove guide block, 20, an accessory base, 21, a floating wear-resisting piece, 22, a floating spring, 23 and a card.

Detailed Description

In order to make the technical solution of the present utility model better understood by those skilled in the art, the technical solution of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. Based on the embodiments in this patent, other embodiments that may be obtained by one of ordinary skill in the art without making any inventive effort are within the scope of this patent.

The utility model discloses a servo-driven parallel gripper suitable for gripping by a thrust wheel, referring to fig. 1 and 2, the servo-driven parallel gripper suitable for gripping by the thrust wheel comprises a gripper seat 1, the gripper seat 1 comprises a robot mounting plate 2 arranged at the tail end of a robot and a base 3 fixed with the robot mounting plate 2, two clamping mechanisms 4 are slidably arranged on the base 3, a dovetail plate 5 is slidably arranged between the two clamping mechanisms 4, the dovetail plate 5 is arranged on the gripper seat 1 through a ball screw 6, and when the dovetail plate 5 moves relative to the base 3, the two clamping mechanisms 4 can be simultaneously driven to move relative to the base 3.

The dovetail plates 5 are arranged between the two clamping mechanisms 4, the movement of the dovetail plates 5 and the movement of the clamping jaws are converted through taking the dovetail plates as transition pieces, the high-precision centering of the clamping mechanisms 4 is realized, meanwhile, the high-load requirement of the clamping mechanisms 4 can be met, the high stability is realized, and the applicability of products is improved.

Specifically in this embodiment, the screw rod mounting plate 7 is fixed in the paw seat 1, the screw rod mounting plate 7 is fixed between the robot mounting plate 2 and the base 3, the servo motor 8 is fixed on the screw rod mounting plate 7, the shell of the output end of the servo motor 8 is fixed with the screw rod mounting plate 7, and the output shaft of the servo motor 8 penetrates through the screw rod mounting plate 7 and then is connected with the output gear 9. The two sides of the output gear 9 are respectively meshed with a connecting gear 10, and the wheel center of the connecting gear 10 is connected with the screw rod mounting plate 7. One side of each engagement gear 10 is engaged with the output gear 9, and the other side is engaged with the driving gear 11.

The axial direction of the ball screw 6 is perpendicular to the plane of the end flange of the end effector of the robot, and one end of the ball screw 6 is arranged on the screw mounting plate 7 and is fixedly connected with the driving gear 11. Therefore, when the servo motor 8 works, the ball screw 6 can be driven to rotate through the output gear 9, the connecting gear 10 and the driving gear 11.

And nuts are correspondingly arranged on the ball screw 6, and the nuts are fixed with the dovetail plates 5. Therefore, when the ball screw 6 rotates, the dovetail plate 5 can be dragged to move.

Referring to fig. 2 and 3, the base 3 is provided with a clamping mechanism guiding slot 12 and a dovetail plate guiding slot 13. The clamping mechanism guide groove 12 penetrates through the left end face and the right end face of the bottom of the base 3, and the base 3 is vertically penetrated through by the dovetail plate guide groove 13 to form a cavity for the dovetail plate 5 to penetrate through.

Referring to fig. 4, the dovetail plate 5 is bilaterally symmetrical, the dovetail plate 5 penetrates through the dovetail plate guiding groove 13 on the base 3, two sides of the upper end of the dovetail plate 5 are provided with nut mounting holes 14 for fixing nuts, two sides of the other end of the dovetail plate 5 are provided with dovetail grooves 15, and the dovetail grooves 15 are obliquely arranged and symmetrically arranged on two sides of the dovetail plate 5.

Referring to fig. 5 to 7, the clamping mechanism 4 includes a clamping block 16 and a gripper attachment 17. The clamping block 16 is located below the base 3, a guide protrusion 18 is arranged on the upper side of the clamping block 16, and the guide protrusion 18 is matched with the clamping mechanism guide groove 12. The inside of the clamping block 16 is provided with a dovetail groove guide block 19, and the dovetail groove guide block 19 is clamped in the dovetail groove 15. The paw accessory 17 comprises an accessory base 20, the upper end of the accessory base 20 is fixed with the clamping block 16, a floating wear-resistant piece 21 is arranged on the accessory base 20, a floating spring 22 is arranged between the floating wear-resistant piece 21 and the accessory base 20, a clamping groove is further formed in the working surface of the wear-resistant piece, a card 23 is arranged in the clamping groove, the card 23 is I-shaped, and two ends of the card 23 extend out of the clamping groove and then are fixed with the accessory base 20.

The clamping mechanism 4 is driven by the servo motor 8, so that the functions of autonomous adjustment of the clamping force of the clamping mechanism 4, confirmation feedback of the diameter of a clamped workpiece and the like can be realized by mature technologies such as fixed torque of the servo motor 8 and position feedback of an encoder, and meanwhile, the reaction beat is fast, and the requirement on external supporting facilities is low. The feedback of the clamping mechanism 4 is linear, so that the automatic gripping device can well meet the flexible and continuous gripping requirements of an automatic item. In addition, the floating wear-resistant piece 21 is arranged on the paw accessory 17, so that the grabbing reliability can be increased, and the positioning accuracy of the thrust wheel can be ensured.

In this embodiment, the included angle between the extending direction of the dovetail groove 15 on the dovetail plate 5 and the symmetrical axis of the dovetail plate 5 is 45 °, so that the movement size of the dovetail groove 15 and the unilateral stroke of the clamping jaw can be synchronized, the high-precision centering of the clamping jaw can be realized, and meanwhile, the requirements of large manual stroke and high load can be met.

In the description of the present utility model, the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "vertical," "horizontal," and the like, if any, refer to an orientation or positional relationship based on that shown in the drawings, merely to describe the present utility model and do not require that the present utility model be constructed or operated in a particular orientation and therefore should not be construed as limiting the present utility model. "connected" and "connected" in the present utility model are to be understood broadly, and may be, for example, connected or detachably connected; the connection may be direct or indirect through intermediate members, and the specific meaning of the terms may be understood in detail by those skilled in the art.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. 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 utility model. Thus, the present utility model 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

1. The utility model provides a servo drive parallel paw suitable for thrust wheel snatchs, includes paw seat (1), and paw seat (1) including installing in terminal robot mounting panel (2) of robot and with base (3) that robot mounting panel (2) are fixed, slidable mounting has two fixture (4) on base (3), its characterized in that, slidable mounting has dovetail (5) between two fixture (4), and dovetail (5) are installed on paw seat (1) through ball (6), can drive two fixture (4) each other simultaneously or keep away from each other when dovetail (5) are removed for base (3).

2. The servo drive parallel gripper suitable for gripping by a thrust wheel according to claim 1, characterized in that a screw rod mounting plate (7) is further fixed in the gripper seat (1), a servo motor (8) is mounted on the screw rod mounting plate (7), an output gear (9) is mounted at the output end of the servo motor (8), a connecting gear (10) is meshed with the output gear (9), a driving gear (11) is meshed with the connecting gear (10), the driving gear (11) is fixed with one axial end of the ball screw (6), a screw nut is matched on the ball screw (6), and the screw nut is fixed with the dovetail plate (5).

3. The servo-driven parallel gripper suitable for grabbing of a thrust wheel according to claim 2, wherein the base (3) is provided with a clamping mechanism guide groove (12) and a dovetail plate guide groove (13), and the movement direction of the dovetail plate (5) is perpendicular to the plane of the end flange of the end effector of the robot after penetrating through the dovetail plate guide groove (13).

4. A servo-driven parallel gripper suitable for gripping by a thrust wheel according to claim 2 or 3, characterized in that two sides of one end of the dovetail plate (5) are provided with nut mounting holes (14) for fixing nuts, and two sides of the other end of the dovetail plate (5) are obliquely provided with dovetail grooves (15).

5. The servo-driven parallel gripper suitable for gripping by a thrust wheel according to claim 4, wherein the gripping mechanism (4) comprises a gripping block (16), a dovetail groove guide block (19) is arranged in the gripping block (16), and the dovetail groove guide block (19) is matched with the dovetail groove (15); one side of the clamping block (16) is provided with a guide protrusion (18), the guide protrusion (18) is matched with the clamping mechanism guide groove (12), and the other side of the clamping block (16) is provided with a paw accessory (17).

6. A servo-driven parallel gripper suitable for gripping by a bogie wheel according to claim 5, characterized in that the gripper attachment (17) comprises an attachment base (20), the attachment base (20) being fixed to the gripping block (16), the attachment base (20) being provided with a floating wear part (21), a floating spring (22) being provided between the floating wear part (21) and the attachment base (20).