CN206998952U - A kind of robot end self-clamping module of servo driving - Google Patents
A kind of robot end self-clamping module of servo driving Download PDFInfo
- Publication number
- CN206998952U CN206998952U CN201720209842.7U CN201720209842U CN206998952U CN 206998952 U CN206998952 U CN 206998952U CN 201720209842 U CN201720209842 U CN 201720209842U CN 206998952 U CN206998952 U CN 206998952U
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- steering wheel
- worm screw
- clamping
- self
- clamping module
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Abstract
The utility model discloses a kind of robot end's self-clamping module of servo driving; end self-clamping module includes outwards exporting the driving steering wheel of power; the clutch end of driving steering wheel is connected with steering wheel output panel; the other end of steering wheel output panel is connected with the worm screw one end being arranged in top base and drives worm screw to rotate forward or backwards; a pair of active clamping limbs being symmetrical set also are hinged with inside top base; worm screw makes active clamping limb mutually can close up or separate around the be hinged pivot with top base, the bare terminal end of active clamping limb to active clamping limb engaged transmission.Relative to prior art, the utility model has the advantages that simple in construction, small volume and compact and operation is flexible, can be by controlling steering wheel motor pattern to realize a variety of torques, speed and the control of position, and bottom base is interchangeable structure, the greatly convenient end mutual cooperation work with different machines people, efficiently to complete a variety of processes for needing to prevent that workpiece clamp from damaging or crushing.
Description
Technical field
It the utility model is related to steering wheel gear type robotic gripper technical field, more particularly to a kind of machine of servo driving
People end self-clamping module.
Background technology
In the industrial production, it is often necessary to the processes such as workpiece sorting, carrying are carried out, when carrying out above-mentioned operation by manpower
When, worker takes different strength to carry out corresponding operating easily by the judgement of itself, therefore manpower mode is not easy to workpiece
Damage.But if workers with long time is engaged in work that is so simple and repeating, easily worker is produced to the work
Aversion, and being gradually reduced with domestic birthrate of population, cost of labor will be raised constantly.Therefore, industry is passed through
Upgrading, it is to meet megatrend using robot to substitute the work that part is simple and repeats.
Substitute part manual work in robot, wherein clamping workpiece This move is be widely used in work piece production each
In individual process.Traditional robot application does not have Torque Control function in the self-clamping module of clamping workpiece, therefore in workpiece
During clamping, easily it is caught broken workpiece or causes impression on workpiece surface etc. to influence the situation of workpiece surface quality, so not only
The applicable working range of self-clamping module is limited, also constrains the further genralrlization of robot.
In the prior art, in order to solve the technical problem that traditional robot self-clamping module easily presss from both sides bad workpiece, by pressing from both sides
The clamping end for holding module adds sensor for detecting chucking power, although can be by adding sensor in self-clamping module
The control to piece-holder dynamics is realized to a certain extent, but also increases the manufacturing cost and volume of self-clamping module so that
Self-clamping module is necessarily limited in the application.
Utility model content
Main purpose of the present utility model is to propose a kind of simple in construction, small volume and the compact and flexible rudder of operation
Robot end's self-clamping module of machine driving, it is intended to which the self-clamping module volume that solves prior art is excessive, cost is too high and control
Cumbersome technical problem, to improve application of the self-clamping module in robot.
To achieve the above object, the utility model proposes a kind of servo driving robot end's self-clamping module, it is described
End self-clamping module includes outwards exporting the driving steering wheel of power, the clutch end and steering wheel output panel of the driving steering wheel
It is connected, the other end of the steering wheel output panel is connected with the worm screw one end being arranged in top base and drives worm screw forward or backwards
Rotate, be also hinged with a pair of active clamping limbs being symmetrical set inside the top base, the worm screw is pressed from both sides to the active
Gripping arm engaged transmission makes the active clamping limb can be around the be hinged pivot with the top base, the folder of the active clamping limb
Holding end mutually can close up or separate.
Preferably, the end self-clamping module is provided with a pair on the symmetrical slave arm of worm screw central shaft, often
The individual slave arm is respectively positioned on the outside of the active clamping limb, and one end of the slave arm is hinged and connected with the top base, institute
State the other end of active clamping limb and the other end of the slave arm while be hinged and connected with the clip available for clamping workpiece.
Preferably, the slave arm and the active clamping limb respectively with the clip and the top base articulated position
Flush with each other.
Preferably, the slave arm and the active clamping limb are parallel to each other.
Preferably, the active clamping limb is fan shape projection close to one end of the worm screw, and the projection is described in
The external gear intermeshing that outer peripheral face of the side of worm screw provided with gear and the worm screw is provided with is driven.
Preferably, the both ends end outer peripheral face of the worm screw is cased with bearing.
Preferably, the opposite face of symmetrical a pair clips is horizontally disposed horizontal-clamping groove and vertical
It is provided with vertical clamp groove.
Preferably, the symmetrical a pair clip apparent surfaces are all covered with rubber layer.
Preferably, the end clamp module is placed on outside the driving steering wheel provided with bottom base, inside the bottom base
Provided with the clearance spaces that can be radiated to the driving steering wheel, the base surface leads to provided with thermovent with clearance spaces.
Preferably, the top base top and bottom are equipped with for dust-proof end cap.
Technical solutions of the utility model by using driving steering wheel as main output power source, by steering wheel output panel to
Worm screw exports power.By the rotation forward or backwards of worm screw, and make in the form of meshed transmission gear the folder of active clamping limb
Gripping arm carries out reciprocally swinging, coordinates the parallelogram realization pair being made up of clip, active clamping limb, top base and slave arm
The clamping of workpiece is loosened.
Technical solutions of the utility model can be achieved to drive steering wheel to carry out by inputting digital controlled signal to driving steering wheel
Accurate drive control, so as to possess the functions such as good speed control, position control and Torque Control so that whole end
Self-clamping module need not additionally increase any related sensor for being used to control chucking power, can also realize the controllable chucking power of output
The target of square, protection workpiece are not easy to be pressed from both sides damage or crushed.Drive steering wheel, to worm screw passing power, can subtract by steering wheel output panel
Few intermediate transmission link simultaneously reduces power slippages.
Relative to prior art, robot end's self-clamping module of servo driving of the present utility model have it is simple in construction,
Small volume and it is compact and operation it is flexible the advantages that, can by control steering wheel motor pattern realize a variety of torques, speed and
The control of position, and bottom base is interchangeable structure, the greatly convenient end mutual cooperation work with different machines people,
Efficiently to complete a variety of processes for needing to prevent that workpiece clamp from damaging or crushing.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the utility model, for those of ordinary skill in the art, is not paying the premise of creative work
Under, other accompanying drawings can also be obtained according to the structure shown in these accompanying drawings.
Fig. 1 is the stereogram of robot end's self-clamping module of the utility model servo driving；
Fig. 2 is the profile of robot end's self-clamping module of the utility model servo driving；
Fig. 3 is that the utility model drives steering wheel and worm screw annexation structural representation；
Fig. 4 is the stereogram of robot end's self-clamping module other embodiment of the utility model servo driving.
Drawing reference numeral explanation：
| Label | Title | Label | Title |
| 1 | Drive steering wheel | 7 | Slave arm |
| 2 | Bottom base | 8 | Clip |
| 3 | Top base | 81 | Horizontal clamp groove |
| 4 | Worm screw | 82 | Vertical clamp groove |
| 5 | Bearing | 9 | Steering wheel output panel |
| 6 | Active clamping limb | 10 | End cap |
| 61 | Projection |
Realization, functional characteristics and the advantage of the utility model purpose will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only part of the embodiment of the present utility model, rather than all
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belong to the scope of the utility model protection.
If it is to be appreciated that related in the utility model embodiment directionality instruction (such as upper and lower, left and right, it is preceding,
Afterwards ...), then directionality instruction be only used for explain it is relative between each part under a certain particular pose (as shown in drawings)
Position relationship, motion conditions etc., if the particular pose changes, directionality instruction also correspondingly changes therewith.
If, should " first ", " the in addition, relate to the description of " first ", " second " etc. in the utility model embodiment
Two " etc. description is only used for describing purpose, and it is not intended that instruction or implying its relative importance or implicit indicating meaning
The quantity of the technical characteristic shown.Thus, " first " is defined, the feature of " second " can express or implicitly include at least one
Individual this feature.In addition, the technical scheme between each embodiment can be combined with each other, but must be with ordinary skill
Personnel can be implemented as basis, and this technical side is will be understood that when the combination appearance of technical scheme is conflicting or can not realize
The combination of case is not present, also not within the protection domain of the requires of the utility model.
The utility model proposes a kind of robot end's self-clamping module of servo driving.
Referring to Fig. 1 and Fig. 2, the end self-clamping module of the utility model embodiment includes the driving that can outwards export power
Steering wheel 1, the clutch end of driving steering wheel 1 are connected by inside and outside spline structure form with one end of steering wheel output panel 9, and steering wheel is defeated
The other end of placing 9 is connected by trip bolt structure type with the one end of worm screw 4 being installed on inside top base 3, so that
Steering wheel 1 is driven to export power to worm screw 4 by steering wheel output panel 9, driving steering wheel 1 is rotated, also may be used forward or backwards
Rotated with causing worm screw 4 to realize forward or backwards.It is hinged with what is be symmetrical set on the central shaft of worm screw 4 inside top base 3
A pair of active clamping limbs 6, active clamping limb 6 are provided with fan shape projection 61 close to one end of worm screw 4, and the projection 61 is towards worm screw 4
Side be provided with the external gear intermeshing that gear and the outer peripheral face of worm screw 4 are provided with and be driven, when worm screw 4 is rotated, worm screw 4 can lead to
Cross with the meshing relation of projection 61 to the engaged transmission of active clamping limb 6 so that active clamping limb 6 can around with top base 3
Be hinged center is swung, and when active clamping limb 6 is swung, the bare terminal end of active clamping limb 6 mutually can close up or separate,
Workpiece is clamped or loosened so as to realize.
Referring to Fig. 2, the end self-clamping module of the present embodiment be additionally provided with a pair it is symmetrical driven on the central shaft of worm screw 4
Arm 7, each slave arm 7 is respectively positioned on the outside of active clamping limb 6, and one end of slave arm 7 is also hinged phase with the inside of top base 3
Connect, and the other end of the other end of active clamping limb 6 and slave arm 7 is hinged phase with the clip 8 available for clamping workpiece simultaneously
Even.Meanwhile the position that is hinged and connected respectively with clip 8 and top base 3 of slave arm 7 and active clamping limb 6 and clip 8 and on
The position flush with each other that pedestal 3 is hinged and connected, and slave arm 7 and active clamping limb 6 are parallel to each other in structure.So, make
Obtain clip 8, active clamping limb 6, top base 3 and slave arm 7 and parallel four side of a plane that can be swung is formed in structure
Shape.When worm screw 4 rotates and promotes active clamping limb 6 to be swung, active clamping limb 6 can be driven by clip 8, active clamping limb
6th, the parallelogram that top base 3 and slave arm 7 form also is swung therewith, so the symmetrically arranged clip in the left and right sides
8 can realize workpiece is clamped or loosened.
Referring to Fig. 2, in the utility model embodiment, the both ends end outer peripheral face of worm screw 4 is cased with bearing 5, can improve
The rotation efficiency of worm screw 4, avoid the end outer peripheral face of worm screw 4 that dry friction occurs with top base 2.It is left in the utility model embodiment
The right side, which is symmetrical arranged to be horizontally disposed with the opposite face of clip 8, horizontal-clamping groove 81 and vertically disposed vertical clamp groove
82, it may be such that end self-clamping module can be to horizontal structure or vertical junction by horizontal-clamping groove 81 and vertical clamp groove 82
The workpiece of structure is effectively clamped., can meanwhile the clip 8 being symmetrical set, the apparent surface of clip 8 can be covered with rubber layers
The internal friction under clip 8 and piece-holder relative static conditions is improved, to work when can also can avoid 8 clamping workpiece of clip
Cause breakage in part surface.
Referring to Fig. 3 and Fig. 4, in the utility model embodiment, end self-clamping module is additionally provided with bottom base 2 and is placed on driving rudder
The outside of machine 1, one end of bottom base 2 are connected with one end of top base 3 by trip bolt, and the inside of bottom base 2 is provided with and used
In the clearance spaces to be radiated to driving steering wheel 1, while bottom base 2 can be additionally provided with thermovent with surface and be led to clearance spaces, with
Bottom base 2 is further improved to driving the radiating effect of steering wheel 1, and bottom base 2 be interchangeable structure, it is greatly convenient and
The end mutual cooperation work of different machines people, efficiently to complete a variety of processes for needing to prevent that workpiece clamp from damaging or crushing.
Referring to Fig. 3 and Fig. 4, in the utility model embodiment, the top and bottom of top base 3 of end self-clamping module are equipped with
For protect active clamping limb 6 and slave arm 7 and with the end cap 10 of the articulated position of top base 3, can prevent dust enter it is upper
The normal work of the internal influence articulated position of pedestal 3.
The operation principle of robot end's self-clamping module of the servo driving of the utility model embodiment is：
Referring to Fig. 1 to Fig. 4, when driving steering wheel 1 of the other assemblies to the utility model embodiment of robot sends numeral
After control signal, driving steering wheel 1 is rotated forward, and drives steering wheel 1 by steering wheel output panel 9 to the passing power of worm screw 4,
So that worm screw 4 is rotated around its central axis.And after worm screw 4 rotates, the fan shape projection 61 of the one end of active clamping limb 6
The gear that the gear of surface diverse location is provided with the outer peripheral face of worm screw 4 successively cooperates and is driven so that symmetrical
The bare terminal end of the active clamping limb 6 of setting is mutually drawn close.Under the active force that active clamping limb 6 is mutually drawn close, by clip 8, master
The parallelogram that dynamic clamping limb 6, top base 3 and slave arm 7 form is also close to the central shaft of worm screw 4, so that clip 8
Workpiece can gradually be clamped.When clip 8 reaches driving rudder for the chucking power of workpiece or the angle of the clamping workpiece of clip 8
Corresponding to the control numerical value that machine 1 is transfused to during clamping amount, the stop motion of steering wheel 1 is driven, between worm screw 4 and active clamping limb 6
Engagement causes clip 8 to be determined the clip position relation of workpiece, and keeps relatively-stationary clamp position, then passes through
The miscellaneous part of robot coordinates self-clamping module of the present utility model to carry out workpiece transfer.
After robot end's self-clamping module clamping workpiece of servo driving reaches target location, the other assemblies of robot
Driving steering wheel 1 to the utility model embodiment is passed through the control signal opposite with during clamping, and driving steering wheel 1 can reversely be revolved
Turn, drive steering wheel 1 by steering wheel output panel 9 to the passing power of worm screw 4, and make it that worm screw 4 is reversely revolved around its central axis
Turn.When worm screw 4 is reversely rotated, gear that the surface of fan shape projection 61 of the one end of active clamping limb 6 is provided with it is reverse successively with
The gear that the outer peripheral face of worm screw 4 is provided with cooperates and is driven, so that the bare terminal end of symmetrical active clamping limb 6
It is separated from each other, under the active force that active clamping limb 6 is separated from each other, by clip 8, active clamping limb 6, top base 3 and driven
The parallelogram that arm 7 forms is also remote to the central shaft of worm screw 4, so that clip 8 can gradually be loosened to workpiece, also be made
The robot end's self-clamping module for obtaining the utility model servo driving realizes reset.
In robot end's self-clamping module of the servo driving of the utility model embodiment, by being inputted to driving steering wheel 1
Digital controlled signal can be achieved driving steering wheel 1 and carry out accurate drive control.Meanwhile by using drive in the utility model implementation
Dynamic main power source of the steering wheel 1 as end self-clamping module, so as to possess good speed control, position control and torque control
The functions such as system so that whole end self-clamping module need not additionally increase any related sensor for being used to control chucking power,
Also the target for exporting controllable clamping torque can be realized, protection workpiece is not easy to be pressed from both sides damage or crushed.Drive steering wheel 1 defeated by steering wheel
Placing 9 can reduce intermediate transmission link and reduce power slippages to the passing power of worm screw 4.
Relative to prior art, robot end's self-clamping module of the servo driving of the utility model embodiment has structure
Simply, small volume and it is compact and operation it is flexible the advantages that, multi-motion control model can be realized, can greatly easily
Pairing is mutually combined with the miscellaneous part of robot, efficiently to complete a variety of processes for needing to prevent that workpiece clamp from damaging or crushing.
Preferred embodiment of the present utility model is the foregoing is only, not thereby limits the scope of the claims of the present utility model,
Every equivalent structure transformation under design of the present utility model, made using the utility model specification and accompanying drawing content, or
Directly/be used in other related technical areas indirectly and be included in scope of patent protection of the present utility model.
Claims (10)
1. robot end's self-clamping module of a kind of servo driving, it is characterised in that the end self-clamping module includes can be outside
The driving steering wheel of power is exported, the clutch end of the driving steering wheel is connected with steering wheel output panel, the steering wheel output panel
The other end is connected with the worm screw one end being arranged in top base and drives worm screw to rotate forward or backwards, inside the top base also
A pair of active clamping limbs being symmetrical set are hinged with, the worm screw makes the active to the active clamping limb engaged transmission
Clamping limb mutually can close up or separate around the be hinged pivot with the top base, the bare terminal end of the active clamping limb.
2. end self-clamping module as claimed in claim 1, it is characterised in that the end self-clamping module is provided with a pair on institute
The symmetrical slave arm of worm screw central shaft is stated, each slave arm is respectively positioned on the outside of the active clamping limb, described driven
One end of arm is hinged and connected with the top base, and the other end of the active clamping limb and the other end of the slave arm are simultaneously
It is hinged and connected with the clip available for clamping workpiece.
3. end self-clamping module as claimed in claim 2, it is characterised in that the slave arm and active clamping limb difference
With the clip and the top base articulated position flush with each other.
4. end self-clamping module as claimed in claim 3, it is characterised in that the slave arm and the active clamping limb are mutual
It is parallel.
5. end self-clamping module as claimed in claim 4, it is characterised in that the active clamping limb is close to the one of the worm screw
Hold the external tooth being provided with for fan shape projection, the projection towards outer peripheral face of the side of the worm screw provided with gear and the worm screw
Wheel intermeshing transmission.
6. end self-clamping module as claimed in claim 1, it is characterised in that the both ends end outer peripheral face of the worm screw is cased with
Bearing.
7. end self-clamping module as claimed in claim 2, it is characterised in that the opposite face of symmetrical a pair of clips
It is horizontally disposed to have horizontal-clamping groove and be vertically installed with vertical clamp groove.
8. end self-clamping module as claimed in claim 7, it is characterised in that symmetrical a pair of clip apparent surfaces
It is all covered with rubber layer.
9. end self-clamping module as claimed in claim 1, it is characterised in that the end clamp module is placed on provided with bottom base
Being provided with outside the driving steering wheel, inside the bottom base can be to the clearance spaces of the driving steering wheel radiating, the bottom base
Lead to provided with thermovent with clearance spaces on surface.
10. end self-clamping module as claimed in claim 1, it is characterised in that the top base top and bottom are equipped with use
In dust-proof end cap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720209842.7U CN206998952U (en) | 2017-03-06 | 2017-03-06 | A kind of robot end self-clamping module of servo driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720209842.7U CN206998952U (en) | 2017-03-06 | 2017-03-06 | A kind of robot end self-clamping module of servo driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206998952U true CN206998952U (en) | 2018-02-13 |
Family
ID=61427724
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720209842.7U Expired - Fee Related CN206998952U (en) | 2017-03-06 | 2017-03-06 | A kind of robot end self-clamping module of servo driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206998952U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107042522A (en) * | 2017-03-06 | 2017-08-15 | 广东工业大学 | A kind of robot end self-clamping module of servo driving |
| CN109573012A (en) * | 2018-10-30 | 2019-04-05 | 华南农业大学 | A kind of automobile assisting in flying device |
| CN114348270A (en) * | 2022-01-21 | 2022-04-15 | 广东工业大学 | Fixed-wing unmanned aerial vehicle, multi-rotor unmanned aerial vehicle and unmanned aerial vehicle cooperative control method |
-
2017
- 2017-03-06 CN CN201720209842.7U patent/CN206998952U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107042522A (en) * | 2017-03-06 | 2017-08-15 | 广东工业大学 | A kind of robot end self-clamping module of servo driving |
| CN109573012A (en) * | 2018-10-30 | 2019-04-05 | 华南农业大学 | A kind of automobile assisting in flying device |
| CN114348270A (en) * | 2022-01-21 | 2022-04-15 | 广东工业大学 | Fixed-wing unmanned aerial vehicle, multi-rotor unmanned aerial vehicle and unmanned aerial vehicle cooperative control method |
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|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180213 |
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| CF01 | Termination of patent right due to non-payment of annual fee |