CN116175518A

CN116175518A - Lifting mechanical clamping device

Info

Publication number: CN116175518A
Application number: CN202310473668.7A
Authority: CN
Inventors: 乔木; 李超; 李克
Original assignee: Rongyu Smart Xi'an Intelligent Technology Co ltd
Current assignee: Rongyu Smart Xi'an Intelligent Technology Co ltd
Priority date: 2023-04-28
Filing date: 2023-04-28
Publication date: 2023-05-30

Abstract

The application discloses lifting machinery presss from both sides and gets device includes: a guide rail; the screw rod is rotatably arranged on the guide rail; the lifting driving unit is connected with the screw rod and used for driving the screw rod to rotate; the sliding block is arranged on the guide rail in a sliding way, is in threaded connection with the screw rod, and is lifted on the guide rail when the screw rod rotates; the rotary driving unit is arranged on the sliding block; the speed reducing unit is in transmission connection with the rotary driving unit and is used for reducing the rotating speed output by the rotary driving unit; and the mechanical arm is arranged on the speed reduction unit and is used for clamping the articles. According to the lifting control device, high-precision lifting control can be achieved through the lifting mode of the screw rod, the control precision of the manipulator during rotation can be improved after the reduction unit is further combined, and therefore the control precision of the clamping device is improved from lifting and rotating at two angles.

Description

Lifting mechanical clamping device

Technical Field

The application relates to the technical field of industrial robots, in particular to a lifting mechanical clamping device.

Background

The industrial robot, especially the manipulator, can save labor, improve efficiency, reduce cost, and has effects of improving product quality, good safety, improving factory image, etc., and in modern production process, the manipulator is widely used in automatic production line. Development and production of manipulators have become an emerging technology in the field of high technology, which promotes the development of manipulators more, so that the manipulators can better realize the organic combination with mechanization and automation. The manipulator is not as flexible as a human hand at present, but has the characteristics of repeated work and labor, no fatigue, danger resistance, larger force for grabbing and lifting the weight than the human hand force, and more frequent use.

The prior patent CN218138056U discloses a rotatable lifting manipulator, which can rapidly realize lifting operation of multi-angle positions, greatly reduce the operation of lifting flow of the lifting manipulator and reduce the workload. Although this patent has solved the rotatory transport of current lifting mechanical arm and has wasted time and energy the problem, control accuracy is lower, is not applicable to some degree of automation height, the more strict scene of accuracy requirement.

Disclosure of Invention

The embodiment of the application provides a lifting mechanical clamping device which is used for solving the problems that in the prior art, the control precision of a mechanical arm is low, and the lifting mechanical clamping device is not suitable for scenes with high automation degree and strict precision requirements.

In one aspect, an embodiment of the present application provides a lifting mechanical gripping device, including:

a guide rail;

the screw rod is rotatably arranged on the guide rail;

the lifting driving unit is connected with the screw rod and used for driving the screw rod to rotate;

the sliding block is arranged on the guide rail in a sliding way, is in threaded connection with the screw rod, and is lifted on the guide rail when the screw rod rotates;

the rotary driving unit is arranged on the sliding block;

the speed reducing unit is in transmission connection with the rotary driving unit and is used for reducing the rotating speed output by the rotary driving unit;

and the mechanical arm is arranged on the speed reduction unit and is used for clamping the articles.

The lifting mechanical clamping device has the following advantages:

the lifting control with high precision can be realized through the lifting mode of the screw rod, and the control precision of the manipulator during rotation can be improved after the speed reduction unit is further combined, so that the control precision of the clamping device is improved from lifting and rotating angles.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic overall structure of a lifting mechanical clamping device according to an embodiment of the present application.

Reference numerals illustrate: 110-lifting driving units, 111-screw rods, 112-guide rails, 113-sliding blocks, 114-speed reducing units, 115-rotating driving units, 116-bases, 117-clamping driving units and 118-clamping jaws.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

Fig. 1 is a schematic structural diagram of a lifting mechanical clamping device according to an embodiment of the present application. The embodiment of the application provides a lifting mechanical clamping device, which comprises:

a guide rail 112;

a screw 111 rotatably provided on the guide rail 112;

the lifting driving unit 110 is connected with the screw rod 111, and the lifting driving unit 110 is used for driving the screw rod 111 to rotate;

the sliding block 113 is arranged on the guide rail 112 in a sliding manner, the sliding block 113 is in threaded connection with the screw rod 111, and the sliding block 113 ascends and descends on the guide rail 112 when the screw rod 111 rotates;

a rotation driving unit 115 provided on the slider 113;

the speed reducing unit 114 is in transmission connection with the rotary driving unit 115, and the speed reducing unit 114 is used for reducing the rotation speed output by the rotary driving unit 115;

and a robot disposed on the deceleration unit 114, the robot being used to grip the article.

For example, the guide rail may adopt an integral U-shaped structure or two opposite vertical plates independent from each other, and the bottom end and the top end of the guide rail need to be connected with the screw rod 111, so that the screw rod 111 does not move radially while rotating around the axial direction inside the guide rail.

The elevation driving unit 110 may employ a stepping motor, which may be disposed at the top end or the bottom end of the guide rail 112. The sliding block 113 can be abutted against the side surface of the guide rail 112, and can also be inserted into the guide rail 112 in a sliding manner, and after the sliding block 113 is in threaded connection with the screw rod 111, even if the screw rod 111 rotates, the sliding block 113 cannot rotate along with the screw rod 111 under the blocking of the guide rail 112, so that the rotation of the screw rod 111 is converted into lifting sliding of the sliding block 113.

The rotation driving unit 115 may also adopt a stepping motor, which outputs a higher rotation speed to the speed reducing unit 114, and then the rotation speed of the speed reducing unit 114 is reduced by the speed reducing unit 114, and the lower rotation speed is transmitted to the manipulator, so that the rotation speed of the manipulator is greatly reduced, and the rotation control precision of the manipulator is greatly improved by the speed reduction under the condition that the control precision of the stepping motor is limited. Meanwhile, after the speed is reduced, the torque output by the rotation driving unit 115 is amplified, so that the manipulator can be easily rotated when gripping objects with larger mass.

In one possible embodiment, the rotation shaft of the lifting drive unit 110 is directly connected to the screw 111 through a coupling, or the rotation shaft of the lifting drive unit 110 is in driving connection with the screw 111.

For example, the lifting driving unit 110 may be directly or indirectly connected to the screw 111, and a coupling is required to convert the diameters of the rotation shaft and the screw 111 when directly connected to each other, so that the rotation shaft and the screw 111 are stably connected with each other in a coaxial state. And when the lifting driving unit 110 cannot be ensured to be coaxial with the screw rod 111 due to the installation position, an indirect connection mode of transmission connection can be adopted.

When the transmission connection is adopted, a belt transmission or gear transmission mode can be adopted, the belt transmission is suitable for the situation that the axial direction of the screw rod 111 is parallel to the axial direction of the lifting driving unit 110 but the distance is larger, and the gear transmission is suitable for the situation that the distance between the screw rod 111 and the lifting driving unit 110 is smaller, and whether the axial direction of the screw rod 111 is parallel to the axial direction of the lifting driving unit 110 is not limited. When the axial directions of the screw 111 and the elevating driving unit 110 are parallel, the gear used for transmission between the two are face gears, that is, the plane where the teeth are located is parallel to the axis thereof, and when the axial directions of the screw 111 and the elevating driving unit 110 are not parallel, preferably, the two are perpendicular, the gear used may be bevel gears.

In one possible embodiment, the slider 113 is provided with a nut seat on the side facing the screw 111, on which nut seat a nut is provided, which nut is screwed on the outer side of the screw 111.

Illustratively, the nut mount is a ring-like structure with its outer side secured to the side of 113 by welding, and the nut is secured to the inner side of the nut mount by welding.

In one possible embodiment, the reduction unit 114 includes a reduction gear set and a mounting platform, the reduction gear set includes a plurality of reduction gears meshed in sequence, wherein the reduction gear at the start end is in driving connection with the rotation driving unit 115, the reduction gear at the end is connected with the mounting platform, and the manipulator is disposed on the mounting platform.

Illustratively, the number of teeth of the plurality of reduction gears needs to be increased step by step, that is, the ratio of the number of teeth of the reduction gear of the previous stage to the number of teeth of the reduction gear of the next stage is less than 1, so as to perform the function of reduction. The reduction gear at the beginning end may be a gear disposed on the rotating shaft of the rotation driving unit 115, the number of teeth is the smallest among all reduction gears, after the number of teeth increases gradually, the number of teeth of the reduction gear at the end is the largest, and the reduction gear at the end may be fixedly connected with the mounting platform through a fixed shaft, so as to transmit the reduced driving force to the mounting platform.

In one possible embodiment, the robot includes: a base 116 provided on the speed reduction unit 114; a grip driving unit 117 provided on the base 116; the clamping jaw 118 is rotatably arranged at the tail end of the clamping driving unit 117, and the clamping jaw 118 is driven by the clamping driving unit 117 to rotate oppositely or back to back.

Illustratively, the base 116 may be fixed on the mounting platform by bolts, and the base 116 may be in a fixed or movable structure, so that the gripping range of the manipulator is greatly increased when the movable structure is adopted, so as to adapt to the gripping and moving requirements of objects in a larger range.

While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.

Claims

1. A lifting mechanical gripping device, comprising:

a guide rail (112);

the screw rod (111) is rotatably arranged on the guide rail (112);

the lifting driving unit (110) is connected with the screw rod (111), and the lifting driving unit (110) is used for driving the screw rod (111) to rotate;

the sliding block (113) is arranged on the guide rail (112) in a sliding manner, the sliding block (113) is in threaded connection with the screw rod (111), and the sliding block (113) is lifted on the guide rail (112) when the screw rod (111) rotates;

a rotation driving unit (115) provided on the slider (113);

the speed reducing unit (114) is in transmission connection with the rotary driving unit (115), and the speed reducing unit (114) is used for reducing the rotation speed output by the rotary driving unit (115);

and the manipulator is arranged on the speed reduction unit (114) and is used for clamping objects.

2. The lifting mechanical clamping device according to claim 1, wherein the rotating shaft of the lifting driving unit (110) is directly connected with the screw rod (111) through a coupling, or the rotating shaft of the lifting driving unit (110) is in transmission connection with the screw rod (111).

3. A lifting mechanical gripping device according to claim 2, characterized in that the rotation shaft of the lifting drive unit (110) is in transmission connection with the screw (111) via a gear or belt.

4. A lifting mechanical gripping device according to claim 3, characterised in that the gear is a face gear or bevel gear.

5. The lifting mechanical gripping device according to claim 1, characterized in that the slide (113) is provided with a nut seat on the side facing the screw (111), the nut seat being provided with a nut screwed on the outer side of the screw (111).

6. The lifting mechanical gripping device according to claim 1, wherein the reduction unit (114) comprises a reduction gear set and a mounting table, the reduction gear set comprises a plurality of reduction gears meshed in sequence, wherein the reduction gear at the initial end is in transmission connection with the rotation driving unit (115), the reduction gear at the final end is connected with the mounting table, and the manipulator is arranged on the mounting table.

7. The lifting mechanical gripping device of claim 1, wherein the manipulator comprises:

a base (116) provided on the speed reduction unit (114);

a gripping drive unit (117) provided on the base (116);

the clamping jaw (118) is rotatably arranged at the tail end of the clamping driving unit (117), and the clamping jaw (118) is driven by the clamping driving unit (117) to rotate oppositely or back to back.