CN105690417A - Multifunctional intelligent clamping jaw and joint robot - Google Patents
Multifunctional intelligent clamping jaw and joint robot Download PDFInfo
- Publication number
- CN105690417A CN105690417A CN201610233153.XA CN201610233153A CN105690417A CN 105690417 A CN105690417 A CN 105690417A CN 201610233153 A CN201610233153 A CN 201610233153A CN 105690417 A CN105690417 A CN 105690417A
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- Prior art keywords
- guide pillar
- slide block
- leading screw
- fixture block
- block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multifunctional intelligent clamping jaw and a joint robot. The multifunctional intelligent clamping jaw comprises a bracket, a drive motor, a transmission device and a clamping block, wherein an upper fixed plate, a first side plate and a second side plate are arranged on the bracket; the transmission device is provided with a lead screw, a first lead screw nut, a second lead screw nut, a first guide post slide block, a second guide post slide block and guide posts; the lead screw is provided with reverse threads which are separately arranged at axial two sides of the lead screw; the first lead screw nut and the second lead screw nut are separately in transmission screw joint with the lead through the reverse threads at the two sides of the lead screw; the first guide post slide block and the second guide post slide block are separately arranged at the axial two sides of each guide post in a sleeved manner; the clamping block is provided with a first clamping block and a second clamping block which are matched with each other; the output shaft of the drive motor is in driving connection to the lead screw; and the first clamping block and the second clamping block get close to each other or get far away from each other in the axial direction of the lead screw. The joint robot comprises a machine body and an arm, and further comprises the multifunctional intelligent clamping jaw. The multifunctional intelligent clamping jaw has the characteristics of high production efficiency, low production cost, good adaptation, and a compact and simple structure.
Description
Technical field
The present invention relates to automation equipment field, particularly relate to a kind of multifunctional intellectual jaw for robot device and articulated robot。
Background technology
China progressively disappears along with demographic dividend, maximum by becoming whole world Industrial Robot Market。The manufacturing industry of China will be shifted by " low side manufacture " to " high-end intelligence is made " gradually, the following golden period of development that will be domestically produced machine people。Along with the raising of industrial machine man-based development and intelligent robot level, industrial robot obtains application in various fields。At present, the use of Chinese industrial robot is concentrated mainly on auto industry and electric industry, and arc welding robot, welding robot, transfer robot etc. are widely applied aborning。
In prior art, in the Product Assembly process of complicated procedures of forming, when different parts (such as rotor, bearing etc.) are carried out clamping, are installed, usually need specific workpiece is often used the robot of single specific function, and the multiple robots being respectively provided with difference in functionality are set in a production line, in order to have coordinated the assembling to product, often there is the problem that volume is relatively big, production efficiency is low and production cost is high。
Prior art has the robot of a kind of automatic replacing jaw system, has and overlap clip claw mechanism more, change different jaws when different workpiece is assembled to adapt to the specification of different workpieces。As:
(patent No. is Chinese invention patent: ZL201310717700.8) provide " a kind of multifunction manipulator clip claw mechanism ", the main technical schemes of this multifunction manipulator clip claw mechanism is: including mechanical hand joint pin, jaw main flange and changeable gripper jaw part, jaw main flange is arranged on mechanical hand joint pin；Jaw main flange is arranged with four jaw connectors, and each jaw connector is designed with two inclined planes；Changeable gripper jaw part includes four kinds of gripper jaw parts, and four kinds of gripper jaw part correspondences respectively are arranged in the inclined plane of four jaw connectors；Four kinds of gripper jaw parts include two groups of mechanical hand gripper jaw parts, film mouthpiece part and button finger parts；Mechanical hand joint pin top connects on the mechanical hand of more than six-joint robot or three axles。This invention can realize the work of many station and coordinate。But, owing to this multifunction manipulator clip claw mechanism is to be installed on changeable gripper jaw part by overlapping clip claw mechanism more, thus also exist and there is the problem that adaptability is poor, structure is complicated and production cost is higher。
Therefore, for existing problems of the prior art, need that a kind of production efficiency of offer is high, production cost is low, adaptability good, multi-functional jaw technology simple and compact for structure is particularly important to solve weak point of the prior art badly。
Summary of the invention
It is an object of the invention to avoid weak point of the prior art and provide that a kind of production efficiency is high, production cost is low, adaptability good, multifunctional intellectual jaw simple and compact for structure。
The purpose of the present invention is achieved through the following technical solutions:
There is provided a kind of multifunctional intellectual jaw, wherein: include support, drive motor, actuating device and fixture block；
Described support is provided with upper mounted plate, the first side plate and the second side plate, described first side plate upper end and described second side plate upper part shelter and states upper mounted plate both sides, and fixing with fixed plate is respectively connected, formation gantry frame structure；Described actuating device is provided with leading screw, the first feed screw nut, the second feed screw nut, the first guide pillar slide block, the second guide pillar slide block and guide pillar, described leading screw is provided with the reverse thread of axial both sides of living apart, described first feed screw nut and described second feed screw nut are spirally connected with described lead screw transmission respectively by the reverse thread of described leading screw both sides, and described leading screw both ends are installed on described first side plate and described second side plate respectively through bearing correspondence；Described first guide pillar slide block is fixedly connected on described first feed screw nut, described second guide pillar slide block is fixedly connected on described second feed screw nut, described first guide pillar slide block and described second guide pillar slide block are socketed on the axial both sides of described guide pillar respectively, and described guide pillar both ends are fixing with described first side plate and described second side plate respectively to be connected；Described fixture block is provided with the first fixture block and the second fixture block that are mutually matched, and described first fixture block is fixing is arranged in described first slide block, and described second fixture block is fixing is arranged in described second slide block；Described drive motor is fixedly installed on described support, the output shaft of described drive motor drives with described leading screw and is connected, when drive motor drives described leading screw forward or reversely rotates, described first fixture block and described second fixture block along described leading screw axially adjacent to or away from。
It is set to, from there through using, the leading screw that the screw thread on both sides, axial centre position is reversed, is rectilinear motion by convert rotational motion, it is achieved the crawl of workpiece, support are risen, installed。The advantage with compact。
Preferably, described guide pillar is set to live apart in two guide pillars of described leading screw both sides, and described first guide pillar slide block is socketed on described two axial sides of guide pillar simultaneously, and described second guide pillar slide block is socketed on described two axial opposite sides of guide pillar simultaneously。
Another is preferred, and described first fixture block and described second fixture block are set to circular arc along the lateral surface of the axial direction of motion of described leading screw。
By being circular arc to the first fixture block and the second fixture block arranged outside, gripped by internal expansion type, it is possible to make this fixture block adapt to workpiece shapes, it is also possible to bigger annular work piece clamping。
Another is preferred, described fixture block is provided with first and seizes supporting block and second and seize supporting block, described first seize supporting block be fixedly installed on described first slide block and be positioned at described first fixture block adjacent or from side, corresponding described second seize supporting block be fixedly installed on described second slide block and be positioned at described second fixture block adjacent or from side。
Further, described first seize supporting block and second and seize supporting block and be provided with step arch steps。
By arranging class's arc-shaped step, it is possible to the workpiece of different-diameter is accurately clamped。
Another is preferred, and described support is additionally provided with central dividing plate, and central dividing plate upper end is fixed with upper mounted plate and is connected, and described leading screw and described guide pillar are each passed through described central dividing plate。
Preferably, being provided with decelerator between outfan and the described leading screw of described drive motor, the outfan of described decelerator drives with described leading screw and is connected。
It is furthermore preferred that described drive motor is set to servomotor。
By using servomotor, the operation reserve of this jaw that makes to computerized control, by the closed loop control of position, speed and moment under different operating modes, and adaptability, anti-overload ability is strong。By the automatic conversion of position/force square pattern, it is achieved adapt to the assembling of different part。
Further, the outfan of described decelerator is provided with driving gear, and described leading screw is provided with driven gear, and described driving gear engages with described driven gear。
Another is preferred, and described stent outer is fixedly installed vision lens。
Another object of the present invention is to avoid weak point of the prior art and provide that a kind of production efficiency is high, production cost is low, adaptability good, the articulated robot with multifunctional intellectual jaw simple and compact for structure。
Another object of the present invention is achieved through the following technical solutions:
A kind of articulated robot is provided, includes fuselage and arm, wherein: the wrist of described arm is arranged just like above multifunctional intellectual jaw。
Beneficial effect:
A kind of multifunctional intellectual jaw, wherein: include support, drive motor, actuating device and fixture block；Support is provided with upper mounted plate, the first side plate and the second side plate, the first side plate upper end and separation upper mounted plate both sides, the second side plate upper end, and fixing with upper mounted plate is respectively connected, formation gantry frame structure；Actuating device is provided with leading screw, the first feed screw nut, the second feed screw nut, the first guide pillar slide block, the second guide pillar slide block and guide pillar, leading screw is provided with the reverse thread of axial both sides of living apart, first feed screw nut and the second feed screw nut are spirally connected with lead screw transmission respectively by the reverse thread of leading screw both sides, and leading screw both ends are installed on the first side plate and the second side plate respectively through bearing correspondence；First guide pillar slide block is fixedly connected on the first feed screw nut, second guide pillar slide block is fixedly connected on the second feed screw nut, first guide pillar slide block and the second guide pillar slide block are socketed on the axial both sides of guide pillar respectively, and guide pillar both ends are fixing with the first side plate and the second side plate respectively to be connected；Fixture block is provided with the first fixture block and the second fixture block that are mutually matched, and the first fixture block is fixing is arranged in the first slide block, and the second fixture block is fixing is arranged in the second slide block；Drive motor is fixedly installed on support, and the output shaft of drive motor and leading screw drive and be connected, when driving leading screw forward or reverse rotation when drive motor, the first fixture block and the second fixture block along leading screw axially adjacent to or away from。
From there through a kind of multifunctional intellectual jaw, use and be set to the leading screw that the screw thread on both sides, axial centre position is reversed, be rectilinear motion by convert rotational motion, it is achieved the crawl of workpiece, support are risen, installed。The advantage with compact。This jaw is realized the crawl of complex part, assembling with under the cooperation of robot, thus saving production space, optimizing assembling flow path, reduce production cost, improving work efficiency。Therefore, the production efficiency that the present invention compared with prior art has is high, production cost is low, adaptability good, the simple feature of compact conformation。
Accompanying drawing explanation
The invention will be further described to utilize accompanying drawing, but the embodiment in accompanying drawing does not constitute any limitation of the invention。
Fig. 1 is the structural representation of a kind of multifunctional intellectual jaw of the present invention；
Fig. 2 is the structural representation at another visual angle of Fig. 1；
Fig. 3 is the structural representation at the another side-looking angle of Fig. 1；
Fig. 4 is the plan structure schematic diagram of Fig. 1；
Fig. 5 be Fig. 4 "A——A”Cross-sectional view。
Fig. 1 and Fig. 5 includes:
1 upper mounted plate,
2 first side plates,
3 second side plates,
4 connecting plates,
5 leading screws,
51 first feed screw nuts,
52 second feed screw nuts,
6 guide pillars,
7 first guide pillar slide blocks,
8 second guide pillar slide blocks,
9 first fixture blocks,
10 second fixture blocks,
11 drive motors,
12 decelerators,
13 driving gears,
14 driven gears,
15 first seize supporting block,
16 second seize supporting block,
17 central dividing plates,
19 vision lenses。
Detailed description of the invention
The invention will be further described with the following Examples。
Embodiment 1
One of embodiment of multifunctional intellectual jaw of the present invention, as Fig. 1～5 represent, wherein: include support, drive motor, actuating device and fixture block；Support is provided with upper mounted plate, the first side plate and the second side plate, the first side plate upper end and separation upper mounted plate both sides, the second side plate upper end, and fixing with upper mounted plate is respectively connected, formation gantry frame structure；Actuating device is provided with leading screw, the first feed screw nut, the second feed screw nut, the first guide pillar slide block, the second guide pillar slide block and guide pillar, leading screw is provided with the reverse thread of axial both sides of living apart, first feed screw nut and the second feed screw nut are spirally connected with lead screw transmission respectively by the reverse thread of leading screw both sides, and leading screw both ends are installed on the first side plate and the second side plate respectively through bearing correspondence；First guide pillar slide block is fixedly connected on the first feed screw nut, second guide pillar slide block is fixedly connected on the second feed screw nut, first guide pillar slide block and the second guide pillar slide block are socketed on the axial both sides of guide pillar respectively, and guide pillar both ends are fixing with the first side plate and the second side plate respectively to be connected；Fixture block is provided with the first fixture block and the second fixture block that are mutually matched, and the first fixture block is fixing is arranged in the first slide block, and the second fixture block is fixing is arranged in the second slide block；Drive motor is fixedly installed on support, and the output shaft of drive motor and leading screw drive and be connected, when driving leading screw forward or reverse rotation when drive motor, the first fixture block and the second fixture block along leading screw axially adjacent to or away from。
From there through a kind of multifunctional intellectual jaw, use and be set to the leading screw that the screw thread on both sides, axial centre position is reversed, be rectilinear motion by convert rotational motion, it is achieved the crawl of workpiece, support are risen, installed。The advantage with compact。This jaw is realized the crawl of complex part, assembling with under the cooperation of robot, thus saving production space, optimizing assembling flow path, reduce production cost, improving work efficiency。Therefore, the production efficiency that the present invention compared with prior art has is high, production cost is low, adaptability good, the simple feature of compact conformation。
In the present embodiment, leading screw two ends are rotatably connected with the first side plate and the second side plate respectively by deep groove ball bearing, the first side plate and be also equipped with bearing gland outside the second side plate。
Concrete, it being provided with decelerator between outfan and the leading screw of drive motor, the outfan of decelerator drives with leading screw and is connected。In the present embodiment, decelerator could be arranged to the servo deceleration device that precision is higher。
Concrete, drive motor is set to servomotor。By using servomotor, by using servomotor, the operation reserve of this jaw that makes to computerized control, by the closed loop control of position, speed and moment under different operating modes, and adaptability, anti-overload ability is strong。By the automatic conversion of position/force square pattern, it is achieved adapt to the assembling of different part。
Concrete, the outfan of decelerator is provided with driving gear, and leading screw is provided with driven gear, drives gear to engage with driven gear。Use in the present embodiment and drive transmission, chain gear transmission, V belt translation etc. can also be selected according to actually used situation in actual production。
Concrete, guide pillar is set to live apart in two guide pillars of described leading screw both sides, and the first guide pillar slide block is socketed on two axial sides of guide pillar simultaneously, and the second guide pillar slide block is socketed on two axial opposite sides of guide pillar simultaneously。In order to make the mechanics when clamping of the fixture block in the present embodiment more stablize, translate, therefore use the guide pillar combined effect of two separation leading screw both sides。Guide pillar is also equipped with leading gland and pad outside the first side plate and the second side plate。
Concrete, the first fixture block and the second fixture block are set to circular arc along the lateral surface of the axial direction of motion of leading screw。By being circular arc to the first fixture block and the second fixture block arranged outside, gripped by internal expansion type, it is possible to make this fixture block adapt to workpiece shapes, it is also possible to bigger annular work piece clamping。
More specifically, the first fixture block and the second center, fixture block clamping section, also have a perpendicular to lead screw shaft with cylinder breach。So, the multifunctional intellectual jaw of the present embodiment can complete the laterally and longitudinally clamping of cylindrical work by the first fixture block and the second fixture block。
Embodiment 2
One of embodiment of multifunctional intellectual jaw of the present invention, as shown in Fig. 1～5, the main technical schemes of the present embodiment 2 is substantially the same manner as Example 1, the feature not laid down a definition in the present embodiment 2, adopts the explanation in embodiment 1, no longer repeats at this。The present embodiment and embodiment 1 are distinctive in that: fixture block is provided with first and seizes supporting block and second and seize supporting block, described first seize supporting block be fixedly installed on described first slide block and be positioned at described first fixture block adjacent or from side, corresponding described second seize supporting block be fixedly installed on described second slide block and be positioned at described second fixture block adjacent or from side。
Concrete, described first seizes supporting block and second seizes supporting block and is provided with step arch steps。
By arranging stepped arc-shaped step, it is possible to the workpiece of different-diameter is accurately clamped。More relatively low cylindrical work, such as bearing, rotor etc.。
Embodiment 3
One of embodiment of multifunctional intellectual jaw of the present invention, as shown in Fig. 1～5, the main technical schemes of the present embodiment 3 is essentially identical with embodiment 1 or embodiment 2, the feature not laid down a definition in the present embodiment 3, adopt the explanation in embodiment 1 or embodiment 2, no longer repeat at this。The present embodiment is distinctive in that with embodiment 1 or embodiment 2: support is additionally provided with central dividing plate, central dividing plate and the first side plate and the second side plate be arranged in parallel, and fixing with upper mounted plate is connected, formation has " E " shape of inner space, and leading screw, guide pillar both pass through central dividing plate。By arranging central dividing plate, it is possible to make the multifunctional intellectual jaw mechanical structure in the present embodiment more stable, also allow for drive motor and decelerator are installed。
Concrete, stent outer is fixedly installed vision lens。In the present embodiment, only one of which vision lens。In actual production, it is possible to the vision lens of multiple directions is installed, to increase computer recognition efficiency of workpiece in assembling process。
Embodiment 4
A kind of articulated robot of the present invention, include fuselage and arm, wherein: the wrist of arm is provided with the multifunctional intellectual jaw in embodiment 1 or embodiment 2 or embodiment 3, can passing through connecting plate to be connected with articulated robot, the articulated robot in the present embodiment includes the articulated robot being set to six degree of freedom。The robot that can certainly use other form connects the multifunctional intellectual jaw in previous embodiment, does not repeat them here。
Finally should be noted that; above example is only in order to illustrate technical scheme but not limiting the scope of the invention; although the present invention being explained in detail with reference to preferred embodiment; it will be understood by those within the art that; technical scheme can be modified or equivalent replacement, without deviating from the spirit and scope of technical solution of the present invention。
Claims (10)
1. a multifunctional intellectual jaw, it is characterised in that: include support, drive motor, actuating device and fixture block；
Described support is provided with upper mounted plate, the first side plate and the second side plate, described first side plate upper end and described second side plate upper part shelter and states upper mounted plate both sides, and fixing with fixed plate is respectively connected, formation gantry frame structure；
Described actuating device is provided with leading screw, the first feed screw nut, the second feed screw nut, the first guide pillar slide block, the second guide pillar slide block and guide pillar, described leading screw is provided with the reverse thread of axial both sides of living apart, described first feed screw nut and described second feed screw nut are spirally connected with described lead screw transmission respectively by the reverse thread of described leading screw both sides, and described leading screw both ends are installed on described first side plate and described second side plate respectively through bearing correspondence；
Described first guide pillar slide block is fixedly connected on described first feed screw nut, described second guide pillar slide block is fixedly connected on described second feed screw nut, described first guide pillar slide block and described second guide pillar slide block are socketed on the axial both sides of described guide pillar respectively, and described guide pillar both ends are fixing with described first side plate and described second side plate respectively to be connected；
Described fixture block is provided with the first fixture block and the second fixture block that are mutually matched, and described first fixture block is fixing is arranged in described first slide block, and described second fixture block is fixing is arranged in described second slide block；
Described drive motor is fixedly installed on described support, the output shaft of described drive motor drives with described leading screw and is connected, when drive motor drives described leading screw forward or reversely rotates, described first fixture block and described second fixture block along described leading screw axially adjacent to or away from。
2. multifunctional intellectual jaw according to claim 1, it is characterized in that: described guide pillar is set to live apart in two guide pillars of described leading screw both sides, described first guide pillar slide block is socketed on described two axial sides of guide pillar simultaneously, and described second guide pillar slide block is socketed on described two axial opposite sides of guide pillar simultaneously。
3. multifunctional intellectual jaw according to claim 1 and 2, it is characterised in that: described first fixture block and described second fixture block are set to circular arc along the lateral surface of the axial direction of motion of described leading screw。
4. multifunctional intellectual jaw according to claim 1 and 2, it is characterized in that: described fixture block is provided with first and seizes supporting block and second and seize supporting block, described first seize supporting block be fixedly installed on described first slide block and be positioned at described first fixture block adjacent or from side, corresponding described second seize supporting block be fixedly installed on described second slide block and be positioned at described second fixture block adjacent or from side。
5. multifunctional intellectual jaw according to claim 4, it is characterised in that: described first seizes supporting block and second seizes supporting block and is provided with step arch steps。
6. multifunctional intellectual jaw according to claim 1 and 2, it is characterised in that: described support is additionally provided with central dividing plate, and central dividing plate upper end is fixed with upper mounted plate and is connected, and described leading screw and described guide pillar are each passed through described central dividing plate。
7. multifunctional intellectual jaw according to claim 1 and 2, it is characterized in that: described drive motor is set to servomotor, being provided with decelerator between outfan and the described leading screw of described drive motor, the outfan of described decelerator drives with described leading screw and is connected。
8. the multifunctional intellectual jaw stated according to claim 7, it is characterised in that: the outfan of described decelerator is provided with driving gear, and described leading screw is provided with driven gear, and described driving gear engages with described driven gear。
9. multifunctional intellectual jaw according to claim 1 and 2, it is characterised in that: described stent outer is fixedly installed vision lens。
10. an articulated robot, includes fuselage and arm, it is characterised in that: the wrist of described arm is arranged just like the multifunctional intellectual jaw described in claim 1～10 any one。
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| CN201610233153.XA CN105690417A (en) | 2016-04-15 | 2016-04-15 | Multifunctional intelligent clamping jaw and joint robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610233153.XA CN105690417A (en) | 2016-04-15 | 2016-04-15 | Multifunctional intelligent clamping jaw and joint robot |
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| CN105690417A true CN105690417A (en) | 2016-06-22 |
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| CN201610233153.XA Pending CN105690417A (en) | 2016-04-15 | 2016-04-15 | Multifunctional intelligent clamping jaw and joint robot |
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| CN106239550A (en) * | 2016-08-31 | 2016-12-21 | 成都飞机工业（集团）有限责任公司 | A kind of pipe joint captures end effector |
| CN106346501A (en) * | 2016-11-14 | 2017-01-25 | 广东省智能制造研究所 | Clamp device and robot |
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Application publication date: 20160622 |