CN203092574U - Rotatable servo mechanical gripper - Google Patents
Rotatable servo mechanical gripper Download PDFInfo
- Publication number
- CN203092574U CN203092574U CN 201320007352 CN201320007352U CN203092574U CN 203092574 U CN203092574 U CN 203092574U CN 201320007352 CN201320007352 CN 201320007352 CN 201320007352 U CN201320007352 U CN 201320007352U CN 203092574 U CN203092574 U CN 203092574U
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- CN
- China
- Prior art keywords
- gripper
- mechanical gripper
- driving wheel
- rotatable
- mount pad
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- 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.)
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Abstract
The utility model discloses a rotatable servo mechanical gripper which comprises a mechanical gripper rotating body part. The mechanical gripper rotating body part comprises a mechanical gripper rotating driven synchronous pulley, a compression nut, a bearing compression piece, a mechanical gripper rotating installation flange shaft, a mechanical gripper rotating bearing and a mechanical gripper rotating bearing installation seat for installing the mechanical gripper rotating bearing, wherein a motor installation flange of a open-and-close power part of the mechanical gripper is in linkage with the mechanical gripper rotating installation flange shaft and then penetrates through the mechanical gripper rotating driven synchronous pulley, the compression nut, the bearing compression piece, the mechanical gripper rotating bearing and the mechanical gripper rotating bearing installation seat to form an independent rotatable body. The rotatable servo mechanical gripper is capable of freely and independently locating mechanical grippers and capable of accurately controlling open-and-close routes of two mechanical grippers and accurately controlling grabbing force. The rotatable servo mechanical gripper is high in response speed, long in service life and high in reliability and can be applied in the occasions with requirements for opening accuracy and grabbing force and without air sources.
Description
Technical field
The utility model belongs to electronics and makes technical field of processing equipment, relates to a kind of rotatable servounit pawl.
Background technology
Along with developing rapidly of electronics industry, the application of electronics processing kind equipment more and more widely, and mechanical paw is an electronics process equipment auxiliary equipment very commonly used, is mainly used to grasp electronic devices and components, and its is carried and is installed on the circuit board.At present, the existing mechanical paw adopts pneumatic structure usually, because its complex structure and manufacturing difficulty and poor controllability own can't realize the control of accurate opening and grasp force, can not and accurately control grasp force to gas cleft hand fingering row freedom, location-independent.Also need the cooperation of peripheral pneumatic operated valve simultaneously, can't realize narrow range and require the strict electronic component assembling of grasp force control; And the mechanical precision of Pneumatic paw is relatively poor, is difficult to the position rotating center in integral body rotatablely moves.In addition, existing Pneumatic paw all adopts air as driving force, the piston rod and the lever of cylinder link together by joint pin, lever actuated is installed in the master jaw on the line slideway, thereby realize the opening and closing of gas pawl, yet Pneumatic paw adopts pneumatic principle, and the source of the gas cleanliness factor is required than higher; For a long time, frequent perseveration, influence service life of cylinder.
So, be necessary to study in fact, provide a kind of accurate opening and extracting dynamics that realizes that manipulator is grabbed to control, also can realize simultaneously the mechanical paw of anglec of rotation control.
Summary of the invention
For addressing the above problem, the purpose of this utility model is to provide a kind of rotatable servounit pawl, and the control of the anglec of rotation is controlled, also can be realized simultaneously to its accurate opening and extracting dynamics that can realize that manipulator is grabbed.
For achieving the above object, the technical solution of the utility model is:
A kind of rotatable servounit pawl comprises folding power section, the gripper rotating body part of gripper and the synchronous on-off part of gripper; Described gripper rotating body partly includes the gripper swivel bearing mount pad that gripper rotates driven synchronous pulley, clamp nut, bearing clamping piece, gripper rotation mounting flange axle, gripper swivel bearing and the gripper swivel bearing is installed; Wherein, the motor mounting flange of the folding power section of gripper and gripper rotation mounting flange axle connect, and then pass gripper successively and rotate driven synchronous pulley, clamp nut, bearing clamping piece, gripper swivel bearing, rotatable body of independence of gripper swivel bearing mount pad formation.
Further, the folding power section of described gripper includes motor mounting flange, driving wheel connecting axle and first, second driving wheel of servomotor, shaft coupling, installation servomotor; Wherein, servomotor is installed on the motor mounting flange, connects with the driving wheel connecting axle by shaft coupling, drives first driving wheel, drives second driving wheel through gripper driving wheel belt and rotates.
Further, the synchronous on-off of described gripper gripper adpting flange, the linear slide rail that is fixed on the gripper body and the mechanical claw and the mechanical claw mount pad that partly include the gripper body, gripper body and gripper rotating body partly are connected.
Further, described gripper body partly is connected with the gripper rotating body by the gripper adpting flange, and the folding power section of gripper partly is connected with the gripper rotating body by the motor mounting flange, the power of first driving wheel is delivered on second driving wheel by gripper driving wheel belt, is connected driven pulley and moves back and forth by the gripper belt that is synchronized with the movement by second driving wheel again.
Further, described linear slide rail is fixed on the gripper body, machinery claw mount pad is fixed on the linear slide rail, by the belt briquetting mechanical claw mount pad and the gripper belt that is synchronized with the movement is fixedlyed connected, and mechanical claw is fixed in. on the mechanical claw mount pad.
The controlled servounit paw of the utility model anglec of rotation can carry out freedom, location-independent to gripper, can accurately control the folding stroke of two grippers and accurately control grasp force; Its response speed is fast, and whole gripper body can be realized the accurate rotation location at the center of grasping.Life-span is long, and the reliability height can be applicable to the occasion that opening precision and extracting dynamics require and do not have source of the gas.
Description of drawings
Fig. 1 is the three-dimensional icon of the controlled servounit paw of the utility model anglec of rotation.
Fig. 2 is the front view of the controlled servounit paw of the utility model anglec of rotation.
Fig. 3 is the lateral plan of the controlled servounit paw of the utility model anglec of rotation.
Fig. 4 is the decomposition diagram of the controlled servounit paw of the utility model anglec of rotation.
The specific embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearer,, the utility model is further elaborated below in conjunction with drawings and Examples.Should be appreciated that specific embodiment described herein only in order to explanation the utility model, and be not used in qualification the utility model.
In description of the present utility model, it will be appreciated that, term " on ", close the orientation of indications such as D score, " preceding ", " back ", " interior ", " outward " or position is based on orientation shown in the drawings or position relation, only be the utility model and simplification description for convenience of description, rather than indication or the hint device of indication or element must have specific orientation, with specific orientation structure and operation, therefore can not be interpreted as restriction of the present utility model.In addition, term " first ", " second " only are used to describe purpose, and can not be interpreted as indication or hint relative importance.
In description of the present utility model, need to prove that unless clear and definite regulation and qualification are arranged in addition, term " installation ", " linking to each other ", " connection " should be done broad understanding, for example, can be fixedly connected, connect integratedly, also can be to removably connect; It can be the connection of two element internals; Can be directly to link to each other, also can link to each other indirectly, for the ordinary skill in the art, can concrete condition understand the concrete implication of above-mentioned term in the utility model by intermediary.
Please refer to shown in Figure 1ly, the controlled servounit paw of the utility model anglec of rotation includes folding power section, the gripper rotating body part of gripper and the synchronous on-off part of gripper.Wherein, the folding power section of gripper includes motor mounting flange 3, driving wheel connecting axle 10 and first, second driving wheel 15,16 of servomotor 1, shaft coupling 2, installation servomotor 1.Wherein, servomotor 1 is installed on the motor mounting flange 3, connects with driving wheel connecting axle 10 by shaft coupling 2, drives first driving wheel 15, drives second driving wheel 16 through gripper driving wheel belt 18 and rotates.
The gripper rotating body partly includes the gripper swivel bearing mount pad 12 that gripper rotates driven synchronous pulley 4, clamp nut 7, bearing clamping piece 8, gripper rotation mounting flange axle 11, gripper swivel bearing 9 and gripper swivel bearing 9 is installed.Wherein, motor mounting flange 3 and gripper rotation mounting flange axle 11 connect, then pass gripper successively and rotate driven synchronous pulley 4, clamp nut 7, bearing clamping piece 8, gripper swivel bearing 9, gripper swivel bearing mount pad 12 and form the rotatable body of independence, then connect gripper rotary servomotor driving wheel 6 and rotate driven synchronous pulley 4 with 5 with gripper synchronously by the gripper rotation and is connected with the accurate control of realization to the gripper anglec of rotation by the servomotor of outside.
The synchronous on-off of gripper partly includes gripper body 14, the gripper adpting flange 13 that gripper body 14 and gripper rotating body partly are connected, the linear slide rail 21 that is fixed on gripper body 14 and mechanical claw 23 and mechanical claw mount pad 22.Wherein, gripper body 14 partly is connected with the gripper rotating body by gripper adpting flange 13, and the folding power section of gripper partly is connected with the gripper rotating body by motor mounting flange 3, the power of first driving wheel 15 is delivered on second driving wheel 16 by gripper driving wheel belt 18, is connected driven pulleys 17 and moves back and forth by be synchronized with the movement belt 19 of gripper by second driving wheel 16 again.Linear slide rail 21 is fixed on the gripper body 14, machinery claw mount pad 22 is fixed on the linear slide rail 21, by belt briquetting 20 mechanical claw mount pad 22 and the gripper belt 19 that is synchronized with the movement is fixedlyed connected, machinery claw 23 is fixed in. on the mechanical claw mount pad 22, like this, utilize the be synchronized with the movement reciprocating motion of belt 19 of gripper can realize the synchronous on-off of two mechanical claws 23, but the control of the accurate control moment by motor just can realize the accurate folding of gripper and the control of grasp force again.
The utility model can carry out freedom, location-independent to gripper, can accurately control the folding stroke of two grippers and accurately control grasp force; Its response speed is fast, and whole gripper body can be realized the accurate rotation location at the center of grasping.Life-span is long, and the reliability height can be applicable to the occasion that opening precision and extracting dynamics require and do not have source of the gas.
The above only is preferred embodiment of the present utility model; not in order to restriction the utility model; all any modifications of within spirit of the present utility model and principle, being done, be equal to and replace and improvement etc., all should be included within the protection domain of the present utility model.
Claims (5)
1. rotatable servounit pawl, comprise the folding power section of gripper and the synchronous on-off part of gripper, it is characterized in that: also include gripper rotating body part, described gripper rotating body partly includes the gripper swivel bearing mount pad that gripper rotates driven synchronous pulley, clamp nut, bearing clamping piece, gripper rotation mounting flange axle, gripper swivel bearing and the gripper swivel bearing is installed; Wherein, the folding power section of gripper includes the motor mounting flange that servomotor is installed, this motor mounting flange and gripper rotation mounting flange axle connect, and then pass gripper successively and rotate driven synchronous pulley, clamp nut, bearing clamping piece, gripper swivel bearing, rotatable body of independence of gripper swivel bearing mount pad formation.
2. rotatable according to claim 1 servounit pawl is characterized in that: the folding power section of described gripper includes servomotor, shaft coupling, driving wheel connecting axle and first, second driving wheel; Wherein, servomotor is installed on the motor mounting flange, connects with the driving wheel connecting axle by shaft coupling, drives first driving wheel, drives second driving wheel through gripper driving wheel belt and rotates.
3. as rotatable servounit pawl as described in the claim 2, it is characterized in that: gripper adpting flange, the linear slide rail that is fixed on the gripper body and mechanical claw and mechanical claw mount pad that the synchronous on-off of described gripper partly includes the gripper body, gripper body and gripper rotating body partly are connected.
4. as rotatable servounit pawl as described in the claim 3, it is characterized in that: described gripper body partly is connected with the gripper rotating body by the gripper adpting flange, and the folding power section of gripper partly is connected with the gripper rotating body by the motor mounting flange, the power of first driving wheel is delivered on second driving wheel by gripper driving wheel belt, is connected driven pulley and moves back and forth by the gripper belt that is synchronized with the movement by second driving wheel again.
5. as rotatable servounit pawl as described in the claim 4, it is characterized in that: described linear slide rail is fixed on the gripper body, machinery claw mount pad is fixed on the linear slide rail, by the belt briquetting mechanical claw mount pad and the gripper belt that is synchronized with the movement is fixedlyed connected, mechanical claw is fixed in. on the mechanical claw mount pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320007352 CN203092574U (en) | 2013-01-08 | 2013-01-08 | Rotatable servo mechanical gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320007352 CN203092574U (en) | 2013-01-08 | 2013-01-08 | Rotatable servo mechanical gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203092574U true CN203092574U (en) | 2013-07-31 |
Family
ID=48844013
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320007352 Expired - Fee Related CN203092574U (en) | 2013-01-08 | 2013-01-08 | Rotatable servo mechanical gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203092574U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103056888A (en) * | 2013-01-08 | 2013-04-24 | 深圳市硕安迪科技开发有限公司 | Rotatable servo mechanical grabber |
| CN104070534A (en) * | 2014-06-25 | 2014-10-01 | 周开雄 | Mechanical arm |
| CN104440932A (en) * | 2014-11-28 | 2015-03-25 | 金石机器人常州有限公司 | Combined servo drive gripper with floating function |
| DE212020000579U1 (en) | 2020-10-15 | 2021-12-14 | Suzhou Saiya Intelligent Technology Co. Ltd. | An automated mechanism for handling claw material |
-
2013
- 2013-01-08 CN CN 201320007352 patent/CN203092574U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103056888A (en) * | 2013-01-08 | 2013-04-24 | 深圳市硕安迪科技开发有限公司 | Rotatable servo mechanical grabber |
| CN104070534A (en) * | 2014-06-25 | 2014-10-01 | 周开雄 | Mechanical arm |
| CN104440932A (en) * | 2014-11-28 | 2015-03-25 | 金石机器人常州有限公司 | Combined servo drive gripper with floating function |
| CN104440932B (en) * | 2014-11-28 | 2015-11-11 | 金石机器人常州有限公司 | The combination handgrip with float function of servo-drive |
| DE212020000579U1 (en) | 2020-10-15 | 2021-12-14 | Suzhou Saiya Intelligent Technology Co. Ltd. | An automated mechanism for handling claw material |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130731 Termination date: 20160108 |