CN114043515A - Single-motor-controlled reversing clamping device - Google Patents
Single-motor-controlled reversing clamping device Download PDFInfo
- Publication number
- CN114043515A CN114043515A CN202111422429.6A CN202111422429A CN114043515A CN 114043515 A CN114043515 A CN 114043515A CN 202111422429 A CN202111422429 A CN 202111422429A CN 114043515 A CN114043515 A CN 114043515A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- gear
- bearing
- incomplete gear
- clamping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 93
- 238000009434 installation Methods 0.000 claims description 5
- 230000009471 action Effects 0.000 abstract description 8
- 238000001514 detection method Methods 0.000 abstract description 2
- 238000012360 testing method Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000009659 non-destructive testing Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000003578 releasing effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
-
- 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
- B25J9/126—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a reversing clamping device controlled by a single motor, which comprises a driving mechanism, a reversing mechanism and a clamping mechanism, wherein the driving mechanism is connected with the reversing clamping mechanism; the reversing mechanism is respectively connected with the driving mechanism and the clamping mechanism, and the driving mechanism drives the clamping mechanism to rotate through the reversing mechanism; a first incomplete gear for controlling the reversing mechanism to rotate and a second incomplete gear for controlling the clamping mechanism to clamp the object are arranged in the driving mechanism; the first incomplete gear and the second incomplete gear are coaxially arranged, and a part with continuous teeth on the first incomplete gear and a part with continuous teeth on the second incomplete gear do not coincide all the time along the axial direction. Compared with the traditional clamping manipulator for detection, the manipulator reversing, clamping and placing three actions can be realized through a single motor, one driving motor is saved, the occupied space is reduced, the complexity of a control circuit and program design is greatly reduced, and the probability of the fault of the whole device caused by the fault of the motor is reduced.
Description
Technical Field
The invention belongs to automatic equipment, and particularly relates to a single-motor multi-control reversing clamping device based on an incomplete gear.
Background
After the parts are automatically produced in an unmanned factory, the parts are detected. The common methods for nondestructive testing include ultrasonic testing, eddy current testing, X-ray testing and the like, and these testing devices cannot be directly installed on a production line to test parts, but need to take the parts off the production line for testing, and after the testing is completed, the parts are put back on the production line again for the next process. At present, most of parts are detected manually, and a few parts are detected by clamping the parts by using a mechanical clamping device, and different actions such as reversing and clamping the parts by using a plurality of motors or air pressure and hydraulic systems. However, the operation control using a plurality of motors requires a high cost of the apparatus, occupies a large space, and complicates the design of the control circuit and the program, which increases the construction and use costs of the unmanned factory. Therefore, how to solve the complexity problem caused by controlling and driving a plurality of motors and simplify the whole driving process becomes a new direction which needs to be researched urgently.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a reversing clamping device controlled by a single motor based on an incomplete gear mechanism.
The technical scheme is as follows: the invention relates to a reversing clamping device controlled by a single motor, which comprises a driving mechanism, a reversing mechanism and a clamping mechanism, wherein the driving mechanism is connected with the reversing mechanism; the reversing mechanism is respectively connected with the driving mechanism and the clamping mechanism, and the driving mechanism drives the clamping mechanism to rotate through the reversing mechanism; a first incomplete gear for controlling the reversing mechanism to rotate and a second incomplete gear for controlling the clamping mechanism to clamp the object are arranged in the driving mechanism; the first incomplete gear and the second incomplete gear are coaxially arranged, and a continuous toothed part on the first incomplete gear and a continuous toothed part on the second incomplete gear do not coincide all the time along the axial direction.
Furthermore, the driving mechanism also comprises a motor, a motor base fixing plate, a support fixing plate, a driving shaft and a T-shaped bearing seat; the motor is connected with the motor base fixing plate through the motor base; the motor base fixing plate is connected with the support fixing plate, and an output shaft of the motor is connected with the driving shaft through a coupler; the driving shaft penetrates through the first incomplete gear and the second incomplete gear respectively, the first incomplete gear and the second incomplete gear are in key connection with the driving shaft, and the driving shaft is connected with the support fixing plate through the T-shaped bearing seat.
Further, a support assembly for axial fixation is further arranged at the bottom of the second incomplete gear, and the support assembly comprises a first sleeve, a driving shaft end gasket and a driving shaft end screw; the driving shaft penetrates through the first sleeve and the driving shaft end gasket respectively to be in threaded connection with the driving shaft end screw.
Further, the reversing mechanism comprises an upper connecting frame, a lower connecting frame and a bearing assembly arranged between the upper connecting frame and the lower connecting frame; the upper connecting frame is fixedly connected with the motor base fixing plate, an upper end cover is arranged in the upper connecting frame, and a reversing gear meshed with the first incomplete gear is arranged on the upper end cover; the bottom of the upper end cover is provided with a rotating shaft, the rotating shaft penetrates through the bearing assembly, the lower connecting frame and the clamping mechanism, and the rotating shaft and the upper end cover are always positioned on the same axis through the bearing assembly; the rotating shaft is provided with a first gear and a second gear, and the first gear is positioned in the lower connecting frame and is meshed with the second incomplete gear; the second gear is located below the clamping mechanism.
Further, the bearing assembly comprises a bearing fixing outer sleeve, a bearing fixing inner sleeve, a lower end cover, an outer bearing and an inner bearing; the bearing fixing outer sleeve and the bearing fixing inner sleeve are mutually sleeved; the inner ring of the inner bearing is contacted with the rotating shaft, and the outer ring of the inner bearing is contacted with the bearing fixing inner sleeve; the inner ring of the outer bearing is contacted with the bearing fixing inner sleeve, and the outer ring of the outer bearing is contacted with the bearing fixing outer sleeve; the bearing fixing outer sleeve is fixedly arranged at the lower end of the upper connecting frame; the bearing fixing inner sleeve is fixedly connected with the upper end cover; the upper part of the lower end cover is connected with the bearing fixing inner sleeve, and the lower part of the lower end cover is connected and fixed with the lower connecting frame.
Furthermore, a first pair of spring plungers for preventing the reversing gear from rotating are arranged on two sides of the upper end cover, the first pair of spring plungers are installed in the upper connecting frame through a first pair of spring plunger fixing seats, and a first groove for positioning the first pair of spring plungers is formed in the side wall of the upper end cover.
Further, press from both sides and get mechanism and include the clamping jaw fixed plate, clamping jaw fixed plate and lower connection frame fixed connection, the bilateral symmetry of clamping jaw fixed plate is equipped with the clamping jaw subassembly, be equipped with between the clamping jaw subassembly and be used for controlling the clamping jaw and open or closed removal subassembly.
Further, the moving assembly comprises a guide rail fixing plate, a rack, a sliding block, a rack fixing plate and a linear guide rail; the clamping jaw fixing plate is provided with a through hole, the guide rail fixing plate is arranged above the clamping jaw fixing plate, the linear guide rail is fixedly arranged below the guide rail fixing plate, the sliding block is connected with the linear guide rail and is positioned in the through hole, the rack fixing plate is fixed below the sliding block, and the rack is fixedly arranged below the rack fixing plate and is meshed with the second gear.
Furthermore, a second pair of spring plungers for preventing the first gear from rotating is further arranged below the clamping jaw fixing plate and connected with the clamping jaw fixing plate through a second pair of spring plunger fixing seats, and a second groove for positioning the second pair of spring plungers is formed in the side wall of the part, below the first gear, of the rotating shaft.
Further, the clamping jaw assembly comprises a clamping jaw, a clamping jaw rotating shaft and a clamping jaw gear; the clamping jaw rotating shaft penetrates through the clamping jaw, the clamping jaw gear and the clamping jaw fixing plate from bottom to top; the clamping jaw gear is fixedly connected with the clamping jaw and meshed with the rack to drive the clamping jaw to open or close; a fourth sleeve and a third sleeve for fixing are respectively arranged between the clamping jaw and the clamping jaw gear and between the clamping jaw and the clamping jaw fixing plate; the end part of the clamping jaw rotating shaft is locked by a clamping jaw rotating shaft nut.
The principle of the invention is as follows: by arranging two groups of incomplete gears, a single motor can control the mechanical clamping jaw to complete steering and grab a plurality of different actions, and when a toothed part of the incomplete gear is meshed with the teeth of the driven wheel, the driven wheel is pushed to rotate; the driven wheel is stationary when the toothless portion of the partial gear is disengaged from the driven wheel. In the invention, because the two groups of incomplete gears are positioned on the same shaft, the driving mechanism can be ensured to act on the reversing mechanism and the clamping mechanism simultaneously; meanwhile, the toothed parts of the two groups of incomplete gears are not overlapped in axial projection completely, so that mutual interference of the reversing mechanism and the clamping mechanism during respective movement can be further avoided.
In the invention, because the incomplete gear is a driving wheel, and the reversing gear and the first gear are driven wheels, the actual rotation angle of the clamping mechanism is the rotation angle of the driven wheels, and therefore, the toothed area and the number of teeth of the incomplete gear and the number of teeth of the driven wheels can be calculated according to the angle occupied by the toothed part on the incomplete gear and the angle actually required for the rotation of the reversing mechanism. The concrete formula is as follows: z1/Z2= α/β; wherein Z is1Number of teeth of partial gear, Z2The number of teeth of the slave gear is; alpha is the angle occupied by the continuous toothed part on the incomplete gear, and beta is the rotation angle actually required by the reversing mechanism.
Has the advantages that: compared with the prior art, the invention has the following remarkable advantages: (1) compared with the traditional clamping manipulator for detection, the manipulator reversing, clamping and placing three actions can be realized through a single motor, one driving motor is saved, the occupied space is reduced, the complexity of a control circuit and program design is greatly reduced, and the probability of the fault of the whole device caused by the fault of the motor is reduced; (2) the spring plunger is used for positioning and braking the incomplete gear transmission mechanism to enable the incomplete gear transmission mechanism to brake stably, so that clamping jaw positioning deviation caused by external influence or inertial rotation of the driven wheel after the driven wheel is disengaged from the incomplete gear is avoided; when the bicycle moves again, the bicycle can be pressed back by the external force of the driving wheel, so that the bicycle continues to rotate; (3) the bearing assembly is designed by the inner sleeve, the outer sleeve and the double bearings, so that the short shaft of the control reversing mechanism and the rotating shaft of the control clamping jaw are on the same axis, the occupied space of the whole equipment is reduced, and the space utilization rate is improved; (4) the invention can calculate and design the toothed area and the tooth number of the incomplete gear, the tooth number of the driven gear and the like, and realizes the rotation of the clamping jaw at any angle.
Drawings
FIG. 1 is a perspective view of the structure of the present invention;
FIG. 2 is a schematic view of the driving mechanism of the present invention;
FIG. 3 is a schematic structural view of the reversing mechanism of the present invention;
FIG. 4 is a sectional view showing the internal structure of the direction changing mechanism of FIG. 3;
FIG. 5 is a three-dimensional view of a detail of the upper end cap;
FIG. 6 is a three-dimensional schematic view of the grasping mechanism;
FIG. 7 is a schematic view of the moving assembly of the gripping mechanism;
fig. 8 is a partial sectional view of the gripping mechanism of the present invention;
fig. 9 is a bottom view of the gripping mechanism of the present invention;
FIG. 10 is a first gear system of the present invention;
FIG. 11 is a second gear diagram of the present invention;
fig. 12 is a schematic diagram of the movement process of the device of the present invention.
Detailed Description
The invention is further illustrated by the following figures and examples.
The reversing clamping device controlled by a single motor as shown in fig. 1 comprises a driving mechanism 1, a reversing mechanism 2 and a clamping mechanism 3. Wherein, the driving mechanism 1 drives the reversing mechanism 2 to drive the clamping mechanism 3 to integrally reverse and rotate for 180 degrees; the driving mechanism 1 drives the gripping jaws 39 of the gripping mechanism 3 to open and close for gripping and placing the article.
As shown in fig. 2, the driving mechanism 1 includes a motor 4, a motor base 5, a motor base fixing plate 6, a coupler 7, a support fixing plate 8, a first incomplete gear 9, a driving shaft 10, a second incomplete gear 11, a first sleeve 12, a driving shaft end gasket 13, a driving shaft end screw 14 and a T-shaped bearing seat 15; motor 4 is the step motor who takes the encoder, the installation is fixed on motor cabinet 5, motor cabinet 5 installation is fixed on motor cabinet fixed plate 6, support fixed plate 8 is fixed with 6 for the screw connection installation of motor cabinet fixed plate, the motor output shaft is connected to the one end of shaft coupling 7, drive shaft 10 is connected to the other end, drive shaft 10 passes first incomplete gear 9, incomplete gear 11 of second and first sleeve 12 and by two T type bearing 15 supports, there is the internal thread hole drive shaft 10's lower extreme, it drives axle head screw 14 to be convenient for cooperate, drive axle head gasket 13 and first sleeve 12 carry out axial position fixed to incomplete gear 11 down, first incomplete gear 9 and the incomplete gear 11 of second all pass through the key-type connection with drive shaft 10, T type bearing 15 installation is fixed on support fixed plate 8, be used for supporting drive shaft 10.
The controllable rotation output by the motor 4 drives the first incomplete gear 9 and the second incomplete gear 11 to rotate through the coupler 7 and the driving shaft 10, the first incomplete gear 9 transmits the rotation to the reversing mechanism 2 to reverse the whole clamping mechanism 3, and the second incomplete gear 11 transmits the rotation to the clamping mechanism 3 to control the opening and closing of the clamping jaws 39.
As shown in fig. 3-5, the reversing mechanism 2 includes an upper connecting frame 16, an upper end cover 17, a reversing gear 18, a first pair of spring plunger fixing seats 19, a first pair of spring plungers 20, a lower connecting frame 22, a first gear 23, a rotating shaft 24, a second gear 25, a second sleeve 26, a rotating shaft end gasket 27, a rotating shaft end screw 28, and a bearing assembly; the upper connecting frame 16 and the motor base fixing plate 6 are fixed by screws, the upper end cover 17 specifically comprises a circular cover body at the bottom and an upward short shaft structure, the reversing gear 18 and the short shaft of the upper end cover 17 are installed by key connection, the short shaft of the upper end cover 17 is provided with first grooves 171 every 90 degrees, the upper end cover 17 is fixed on the bearing fixing inner sleeve 29 by screws, a first pair of spring plunger fixing seats 19 are installed in the upper connecting frame 16, a first pair of spring plungers 20 are installed in the first pair of spring plunger fixing seats 19 and used for positioning and braking the reversing gear to prevent the reversing gear from rotating, the upper end of the rotating shaft 24 props against the upper end cover 17 and penetrates through two inner bearings 31, the lower end cover 30, the first gear 23, the lower connecting frame 22, the second gear 25 and the second sleeve 26, the lower end of the rotating shaft 24 is provided with an internal thread hole, and a supporting component for axial fixing is also arranged, the structure of the supporting component is consistent with that of the driving mechanism, and specifically comprises a rotating shaft end screw 28, a rotating shaft end gasket 27 and a second sleeve 26, wherein the rotating shaft 24 penetrates through the second sleeve 26 and the rotating shaft end gasket 27 to be connected with the rotating shaft end screw 28;
the bearing assembly is positioned between the upper connecting frame 16 and the lower connecting frame 22 and comprises a bearing fixing outer sleeve 21, a bearing fixing inner sleeve 29, a lower end cover 30, an inner bearing 31 and an outer bearing 32, the bearing assembly enables a short shaft of the upper end cover 17 and the rotating shaft 24 to be on the same axis, an inner ring of the inner bearing 31 is in contact with the rotating shaft 24, an outer ring of the inner bearing is in contact with the bearing fixing inner sleeve 29, an inner ring of the outer bearing 32 is in contact with the bearing fixing inner sleeve 29, an outer ring of the outer bearing is in contact with the bearing fixing outer sleeve 21, the bearing fixing outer sleeve 21 is installed and fixed at the lower end of the upper connecting frame 16, the upper surface of the lower end cover 30 is fixedly connected with the bearing fixing inner sleeve 29, the lower surface of the bearing fixing outer bearing is fixedly connected with the lower connecting frame 22, and the first gear 23 and the second gear 25 are both in key connection with the rotating shaft 24.
The reversing gear 18 is driven by the first incomplete gear 9 to realize intermittent rotation, and the reversing gear 18 drives the upper end cover 17, the bearing fixing inner sleeve 29, the lower end cover 30 and the lower connecting frame 22 to integrally rotate together, so that the integral reversing function of the clamping mechanism 3 is realized. When the upper end cover 17 rotates to reach the position, the first pair of spring plungers 20 are ejected due to the grooves 171 of the short shaft extending outwards from the upper end cover 17, and the upper end cover 17 is positioned and braked to prevent the upper end cover 17 from rotating; when the reversing gear 18 is driven by the first incomplete gear 9 again, the reversing gear 18 drives the upper end cover 17 to rotate by the driving force, the first pair of spring plungers 20 are pressed back, and when the short shaft of the upper end cover 17 rotates to the next groove 171, the first pair of spring plungers 20 are ejected out under the action of the spring and braked.
As shown in fig. 6-9, the gripping mechanism 3 includes a second pair of spring plunger fixing seats 33, a second pair of spring plungers 34, a guide rail fixing plate 35, a jaw rotating shaft nut 36, a jaw fixing plate 37, a third sleeve 38, a jaw 39, a fourth sleeve 40, a jaw rotating shaft 41, a jaw gear 42, a rack 43, a slider 44, a rack fixing plate 45, and a linear guide rail 46; the clamping jaw fixing plate 37 is fixedly arranged below the lower connecting frame 22, the clamping jaw fixing plate 37 is provided with a square through hole 371 which is convenient for installing components such as a linear guide rail 46 and the like, the guide rail fixing plate 35 is fixedly arranged on the clamping jaw fixing plate 37, the linear guide rail 46 is fixedly arranged below the guide rail fixing plate 35, a slide block 44 is arranged in the linear guide rail 46 and is positioned in the through hole 371, a rack fixing plate 45 is fixedly arranged below the slide block 44, a rack 43 and the rack fixing plate 45 are fixedly arranged through screws and are meshed with the second gear 25, a second pair of spring plungers 34 are arranged in a second pair of spring plunger fixing seats 33, the second pair of spring plunger fixing seats 33 are fixedly arranged below the clamping jaw fixing plate 37, one end of a clamping jaw rotating shaft 41 is provided with an external thread which sequentially penetrates through a clamping jaw 39, a fourth sleeve 40, a clamping jaw gear 42, a third sleeve 38 and the clamping jaw fixing plate 37 from bottom to top and is locked by a clamping jaw rotating shaft nut 36, the clamping jaw gear 42 is fixedly connected with the clamping jaw 39 through a screw and meshed with the rack 43 to drive the clamping jaw 39 to open and close, the specific shape of the clamping jaw 39 can be designed according to the appearance of the clamped object, and a rubber pad and the like can be added to protect the clamped object.
The rotation of the second incomplete gear 11 is transmitted to the rack 43 through the first gear 23, the rotating shaft 24 and the second gear 25, and the rack 43 converts the rotary feed of the second gear 25 into linear feed to drive the clamping jaw gear 42 to rotate; because the clamping jaw gear 42 is fixedly connected with the clamping jaw 39, the feeding motion of the rack 43 drives the clamping jaw at one side to be opened and the clamping jaw at the other side to be closed, so that the clamping and releasing actions are realized. The second pair of spring plungers 34 has a positioning and braking function on the rotating shaft 24, and a second groove 241 for positioning the second pair of spring plungers 34 is formed in the rotating shaft 24, and the positioning and braking process is the same as that of the reversing process.
The movement of the present invention is described in further detail below with reference to fig. 10-12, which are top views of the apparatus, wherein fig. 12 is marked with small black dots at the end of the first jaw and no small black dots at the end of the second jaw in order to distinguish the two jaws that are symmetrical. Wherein, the specific arrangement of the first incomplete gear and the second incomplete gear is shown in fig. 10, the angle occupied by the toothed part is 90 degrees, and the toothed parts of the first incomplete gear and the second incomplete gear are not overlapped completely
As shown in fig. 10-12, state 1 is an initial state, where the motor is not activated, and the first jaw is open and the second jaw is closed.
State 2: when the motor starts to rotate forwards (anticlockwise), the first incomplete gear 9 drives the reversing gear 18 to rotate, and the reversing gear 18 drives the whole clamping mechanism 3 to reverse clockwise by 180 degrees; at this time, the lower incomplete gear 11 is not in meshing transmission with the first gear 23, so that the clamping jaws are kept unchanged.
State 3: the motor continues to rotate forwards, the first incomplete gear 9 does not rotate in a meshing manner with the reversing gear 18, and the clamping mechanism 3 does not reverse; at this time, the lower incomplete gear 11 is in meshing transmission with the first gear 23, the first gear 23 and the second gear 25 coaxially and clockwise rotate in the same direction to drive the rack 43 to move leftwards, the first clamping jaw is closed to clamp articles, and the second clamping jaw is opened to release the articles.
And 4: the motor rotates forwards continuously, the first incomplete gear 9 drives the reversing gear 18 to rotate, and the reversing gear 18 drives the whole clamping mechanism 3 to reverse 180 degrees clockwise; at the moment, the state of the clamping jaw is not changed, and the clamped article is scanned or detected.
And state 5: the motor rotates reversely (clockwise), the first incomplete gear 9 drives the reversing gear 18 to rotate, the reversing gear 18 drives the whole clamping mechanism 3 to reverse by 180 degrees anticlockwise, at the moment, the state of the clamping jaw is unchanged, the first clamping jaw is still closed, and the second clamping jaw is opened.
And 6: the motor continuously rotates reversely, the first incomplete gear 9 does not rotate in a meshing manner with the reversing gear 18, and the clamping mechanism 3 is not reversed; at this time, the second incomplete gear 11 is in meshing transmission with the first gear 23, the first gear 23 and the second gear 25 rotate coaxially and anticlockwise in the same direction, the rack 43 is driven to move rightwards, the first clamping jaw is opened, and the second clamping jaw is closed.
And state 7: the motor continuously rotates reversely, the first incomplete gear 9 drives the reversing gear 18 to rotate, the reversing gear 18 drives the whole clamping mechanism 3 to reverse 180 degrees anticlockwise, and the clamping mechanism returns to the state 1 after resetting; at the moment, the state of the clamping jaws is unchanged, the first clamping jaw is still opened, and the second clamping jaw is closed.
The embodiment is not limited to the mechanical clamping jaw rotating 180 degrees, and the rotating angle can be designed according to actual requirements. According to the formula Z1/Z2The value is obtained by = alpha/beta; wherein Z is1Number of teeth of partial gear, Z2The number of teeth of the slave gear is; alpha is the angle occupied by the continuous toothed part on the incomplete gear, and beta is the rotation angle actually required by the reversing mechanism.
Taking this embodiment as an example, when a 90 ° rotation is required, Z is equal to α =90 °, β =90 °, so that Z is equal to Z1/Z2=1, the action wheel equals with the driven round number of teeth promptly, becomes the pattern of incomplete gear in this device with the action wheel again, can realize that the clamp is got the device and only rotates 90, and 90 design also can two clamping jaws, presss from both sides the article that need be detected from two different assembly lines, detects after rotating 90, puts back on the original production line after detecting the completion.
The device can be used for detecting parts and products, and can be used for detecting any aspect needing actions similar to the device, such as product packaging, off-line welding, product image recognition and the like.
Claims (10)
1. The utility model provides a device is got to single motor control's switching-over clamp which characterized in that: comprises a driving mechanism (1), a reversing mechanism (2) and a clamping mechanism (3); the reversing mechanism (2) is respectively connected with the driving mechanism (1) and the clamping mechanism (3), and the driving mechanism (1) drives the clamping mechanism (3) to rotate through the reversing mechanism (2); a first incomplete gear (9) for controlling the reversing mechanism (2) to rotate and a second incomplete gear (11) for controlling the clamping mechanism (3) to clamp the object are arranged in the driving mechanism (1); the first incomplete gear (9) and the second incomplete gear (11) are coaxially arranged, and a continuous toothed part on the first incomplete gear (9) and a continuous toothed part on the second incomplete gear (11) do not coincide all the time along the axial direction.
2. The single motor controlled reversing gripper of claim 1, wherein: the driving mechanism (1) further comprises a motor (4), a motor base (5), a motor base fixing plate (6), a support fixing plate (8), a driving shaft (10) and a T-shaped bearing seat (15); the motor (4) is connected with a motor base fixing plate (6) through a motor base (5); the motor base fixing plate (6) is connected with the support fixing plate (8), and the output shaft of the motor (4) is connected with the driving shaft (10) through the coupler (7); the driving shaft (10) penetrates through the first incomplete gear (9) and the second incomplete gear (11) respectively, the first incomplete gear (9) and the second incomplete gear (11) are in key connection with the driving shaft (10), and the driving shaft (10) is connected with the support fixing plate (8) through the T-shaped bearing seat (15).
3. The single motor controlled reversing gripper of claim 2, wherein: the bottom of the second incomplete gear (11) is also provided with a support assembly for axial fixation, and the support assembly comprises a first sleeve (12), a driving shaft end gasket (13) and a driving shaft end screw (14); the driving shaft (10) penetrates through the first sleeve (12) and the driving shaft end gasket (13) to be in threaded connection with the driving shaft end screw (14).
4. The single motor controlled reversing gripper of claim 1, wherein: the reversing mechanism (2) comprises an upper connecting frame (16), a lower connecting frame (22) and a bearing assembly arranged between the upper connecting frame and the lower connecting frame; the upper connecting frame (16) is fixedly connected with the motor base fixing plate (6), an upper end cover (17) is arranged in the upper connecting frame (16), and a reversing gear (18) meshed with the first incomplete gear (9) is arranged on the upper end cover (17); the bottom of the upper end cover (17) is provided with a rotating shaft (24), the rotating shaft (24) penetrates through the bearing assembly, the lower connecting frame (22) and the clamping mechanism (3), and the rotating shaft (24) and the upper end cover (17) are always located on the same axis through the bearing assembly; a first gear (23) and a second gear (25) are arranged on the rotating shaft (24), and the first gear (23) is positioned in the lower connecting frame (22) and is meshed with the second incomplete gear (11); the second gear (25) is positioned below the gripping mechanism (3).
5. The single motor controlled reversing gripper of claim 4, wherein: the bearing assembly comprises a bearing fixing outer sleeve (21), a bearing fixing inner sleeve (29), a lower end cover (30), an outer bearing (32) and an inner bearing (31); the bearing fixing outer sleeve (21) and the bearing fixing inner sleeve (29) are mutually sleeved; the inner ring of the inner bearing (31) is contacted with the rotating shaft (24), and the outer ring of the inner bearing (31) is contacted with the bearing fixing inner sleeve (29); the inner ring of the outer bearing (32) is in contact with the bearing fixing inner sleeve (29), and the outer ring of the outer bearing (32) is in contact with the bearing fixing outer sleeve (21); the bearing fixing outer sleeve (21) is fixedly arranged at the lower end of the upper connecting frame (16); the bearing fixing inner sleeve (29) is fixedly connected with the upper end cover (17); the upper part of the lower end cover (30) is connected with the bearing fixing inner sleeve (29), and the lower part of the lower end cover is connected and fixed with the lower connecting frame (22).
6. The single motor controlled reversing gripper of claim 4, wherein: the two sides of the upper end cover (17) are provided with a first pair of spring plungers (20) for preventing the reversing gear from rotating, the first pair of spring plungers (20) are installed in the upper connecting frame (16) through a first pair of spring plunger fixing seats (19), and the side wall of the upper end cover (17) is provided with a first groove (171) for positioning the first pair of spring plungers (20).
7. The single motor controlled reversing gripper of claim 4, wherein: the clamping mechanism (3) comprises a clamping jaw fixing plate (37), the clamping jaw fixing plate (37) is fixedly connected with the lower connecting frame (22), clamping jaw components are symmetrically arranged on two sides of the clamping jaw fixing plate (37), and a moving component used for controlling the clamping jaw (39) to open or close is arranged between the clamping jaw components.
8. The single motor controlled reversing gripper of claim 7, wherein: the moving assembly comprises a guide rail fixing plate (35), a rack (43), a sliding block (44), a rack fixing plate (45) and a linear guide rail (46); through-hole (371) have been seted up on clamping jaw fixed plate (37), the top of clamping jaw fixed plate (37) is located in guide rail fixed plate (35), linear guide (46) installation is fixed in guide rail fixed plate (35) below, slider (44) are connected with linear guide (46) and are arranged in through-hole (371), slider (44) below is fixed in rack fixed plate (45), rack (43) are fixed and are located the below of rack fixed plate (45), mesh with second gear (25).
9. The single motor controlled reversing gripper of claim 7, wherein: a second pair of spring plungers (34) used for preventing the first gear (23) from rotating are further arranged below the clamping jaw fixing plate (37), the second pair of spring plungers (34) are connected with the clamping jaw fixing plate (37) through a second pair of spring plunger fixing seats (33), and a second groove (241) used for positioning the second pair of spring plungers (34) is formed in the side wall of the portion, below the first gear (23), of the rotating shaft (24).
10. The single motor controlled reversing gripper of claim 7, wherein: the clamping jaw assembly comprises a clamping jaw (39), a clamping jaw rotating shaft (41) and a clamping jaw gear (42); the clamping jaw rotating shaft (41) penetrates through the clamping jaw (39), the clamping jaw gear (42) and the clamping jaw fixing plate (37) from bottom to top; the clamping jaw gear (42) is fixedly connected with the clamping jaw (39) and meshed with the rack (43) to drive the clamping jaw (39) to open or close; a fourth sleeve (40) and a third sleeve (38) which are used for fixing are respectively arranged between the clamping jaw (39) and the clamping jaw gear (42) and between the clamping jaw (39) and the clamping jaw fixing plate (37); the end of the clamping jaw rotating shaft (41) is locked by a clamping jaw rotating shaft nut (36).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111422429.6A CN114043515B (en) | 2021-11-26 | 2021-11-26 | Single motor control's switching-over clamp gets device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111422429.6A CN114043515B (en) | 2021-11-26 | 2021-11-26 | Single motor control's switching-over clamp gets device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114043515A true CN114043515A (en) | 2022-02-15 |
| CN114043515B CN114043515B (en) | 2024-01-30 |
Family
ID=80211268
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111422429.6A Active CN114043515B (en) | 2021-11-26 | 2021-11-26 | Single motor control's switching-over clamp gets device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114043515B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2036627A1 (en) * | 2007-09-17 | 2009-03-18 | Silfax Group | Electrical machine for the deformation of profile ends |
| CN203828523U (en) * | 2014-01-13 | 2014-09-17 | 姜丽珏 | Display device with gear transmission mechanism |
| CN108544522A (en) * | 2018-04-16 | 2018-09-18 | 东阳市天齐科技有限公司 | Big opening and closing angle manipulator |
| CN109423777A (en) * | 2017-08-23 | 2019-03-05 | 拓卡奔马机电科技有限公司 | The thorn cloth Yarn taking-up mechanism of sewing machine |
| CN208663854U (en) * | 2018-08-21 | 2019-03-29 | 蔡国荣 | One kind being used for electronic product machining manipulator |
| CN111185897A (en) * | 2020-03-27 | 2020-05-22 | 苏州钧舵机器人有限公司 | Intelligent manipulator with rotating and clamping functions |
| CN111941452A (en) * | 2020-07-30 | 2020-11-17 | 江门市华彬科技有限公司 | Manipulator that can adjust in a flexible way |
| CN112077868A (en) * | 2020-09-19 | 2020-12-15 | 重庆大学 | Single-motor under-actuated robot end effector with mechanical self-locking function |
| CN212736047U (en) * | 2020-08-11 | 2021-03-19 | 北京电子科技职业学院 | Manipulator suitable for grabbing workpieces of different shapes |
| CN112655330A (en) * | 2020-12-14 | 2021-04-16 | 塔里木大学 | A transplant device that is used for potato virus-free seedling to breed fast |
| CN213439727U (en) * | 2020-11-10 | 2021-06-15 | 胡安辉 | Round material grabbing manipulator capable of adjusting steering |
| CN214641666U (en) * | 2020-12-27 | 2021-11-09 | 梁文涛 | Automatic assembling machine for drill chuck |
-
2021
- 2021-11-26 CN CN202111422429.6A patent/CN114043515B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2036627A1 (en) * | 2007-09-17 | 2009-03-18 | Silfax Group | Electrical machine for the deformation of profile ends |
| CN203828523U (en) * | 2014-01-13 | 2014-09-17 | 姜丽珏 | Display device with gear transmission mechanism |
| CN109423777A (en) * | 2017-08-23 | 2019-03-05 | 拓卡奔马机电科技有限公司 | The thorn cloth Yarn taking-up mechanism of sewing machine |
| CN108544522A (en) * | 2018-04-16 | 2018-09-18 | 东阳市天齐科技有限公司 | Big opening and closing angle manipulator |
| CN208663854U (en) * | 2018-08-21 | 2019-03-29 | 蔡国荣 | One kind being used for electronic product machining manipulator |
| CN111185897A (en) * | 2020-03-27 | 2020-05-22 | 苏州钧舵机器人有限公司 | Intelligent manipulator with rotating and clamping functions |
| CN111941452A (en) * | 2020-07-30 | 2020-11-17 | 江门市华彬科技有限公司 | Manipulator that can adjust in a flexible way |
| CN212736047U (en) * | 2020-08-11 | 2021-03-19 | 北京电子科技职业学院 | Manipulator suitable for grabbing workpieces of different shapes |
| CN112077868A (en) * | 2020-09-19 | 2020-12-15 | 重庆大学 | Single-motor under-actuated robot end effector with mechanical self-locking function |
| CN213439727U (en) * | 2020-11-10 | 2021-06-15 | 胡安辉 | Round material grabbing manipulator capable of adjusting steering |
| CN112655330A (en) * | 2020-12-14 | 2021-04-16 | 塔里木大学 | A transplant device that is used for potato virus-free seedling to breed fast |
| CN214641666U (en) * | 2020-12-27 | 2021-11-09 | 梁文涛 | Automatic assembling machine for drill chuck |
Non-Patent Citations (2)
| Title |
|---|
| ZHOU, HONGGEN等: "Research on the drag reduction property of puffer (Takifugu flavidus) spinal nonsmooth structure surface", 《MICROSCOPY RESEARCH AND TECHNIQUE》, vol. 83, no. 7 * |
| 邱津集，孙佳男，冯同等: "双电机驱动关节的线性化控制研究", 《微电机》, vol. 54, no. 5 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114043515B (en) | 2024-01-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4929165A (en) | Direct-pressure mold clamping mechanism | |
| US11103912B2 (en) | Punching apparatus | |
| EP0048904B1 (en) | An industrial robot | |
| EP0999006B1 (en) | Tapping unit | |
| CN107398895A (en) | A kind of rotatable industrial robot of both arms | |
| CN109843462B (en) | Plate bending machine | |
| CN105798905A (en) | Six-axis intelligent carrying mechanical hand for stamping | |
| CN105269560A (en) | Novel ZR shaft assembly of horizontal multi-joint manipulator | |
| JP2612094B2 (en) | Drive of molding machine | |
| CN207172067U (en) | A kind of wheel captures truss manipulator | |
| CN114043515A (en) | Single-motor-controlled reversing clamping device | |
| CN105269567A (en) | Platform manipulator | |
| CN108908310A (en) | A kind of agile manufactruing device of integrated multi-robot integration of operation | |
| US3841499A (en) | Work transfer apparatus | |
| CN110842984A (en) | Power mechanical arm with radiation resistance and high-precision positioning operation | |
| CN214604421U (en) | Feeding and discharging robot with single manipulator | |
| CN211333291U (en) | Power mechanical arm with radiation resistance and high-precision positioning operation | |
| CN115042212A (en) | End effector | |
| CN210140422U (en) | Automatic cover taking device | |
| JPH0526287U (en) | Check device | |
| CN210878726U (en) | Clamping mechanism | |
| CN116441762A (en) | Gear synchronous transmission anti-pinch flat laser pipe cutting clamping disc | |
| CN208437616U (en) | A kind of forging roll | |
| JP5589986B2 (en) | Rotating device | |
| JP2001096401A (en) | Loader for nc machine tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |