Automatic gear and rack gap adjusting device for manipulator end effector
A technology of end effector, rack and pinion, applied in the direction of transmission parts, mechanical equipment, belt/chain/gear, etc., can solve the problems of complex structure and difficulty in mass adoption, and achieve lower requirements for installation and manufacturing accuracy and occupy more space , the effect of taking up little space
Pending Publication Date: 2021-06-04
HEILONGJIANG UNIVERSITY OF SCIENCE AND TECHNOLOGY
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However, most of these methods are complex in structure, and have high precision requirements for the processing and installation of each component, so it is not easy to use them in large quantities in today's industrialized world.
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[0013] see Figures 1 to 4 , the rack and pinion automatic gap adjustment device provided in this example includes a drive motor 1, a drive motor 2, a reducer 4, a reducer 5, a base 3, a pinion 6, a pinion 7, a rack, and a rack slide Rail 11, booster groove 15, booster guide rod 18, booster guide block 17, booster push rod 12, booster spring 16, stop body 14. The two driving motors 1, 2 respectively drive two identical reducers 4, 5 and are located on one side of the base and are respectively connected to the gear 6 and the gear 7, and the gear, the rack and the rack slide rail are located on the other side of the base. side, wherein, the lower side of the rack 8 is arranged on the rack slide rail 11, the upper side of the rack is meshed with the gear 6 and the gear 7, and the gear is connected with the output end of the drive motor through a reducer, which The feature is that the two electric motors apply a tension to the pinion and the rack in good time, so that the front a...
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The invention discloses an automatic gear and rack gap adjusting device for a manipulator end effector. The gap adjusting device comprises driving motors, speed reducers, a base, gears, racks, a rack sliding rail, a power assisting groove, a power assisting guide rod, a power assisting guide block, a power assisting push rod, a power assisting spring and a blocking body. The device adopts a double-motor, double-speed-reducer, and double-gear-rack driving structure and a power assisting spring structure. The double motors are synchronously controlled by a control system, and the purpose of automatically eliminating a transmission gap between the gears and the racks is achieved through a pre-tensioning force torsion mode and spring tension. Due to the fact that the transmission gap is jointly eliminated through the double motors and spring tension, positioning of the end effector is more accurate, the rotating directions of pinions are the same during starting and accelerating of double-motor driving, the accelerating performance is obviously improved compared with single-motor driving performance, and therefore compared with single-motor driving, small motors and speed reducers can be selected, and the space is greatly saved. The device is simple in structure, practical and efficient, and has certain economic value.
Description
technical field [0001] The invention belongs to the field of manipulator positioning, and in particular relates to a device for automatically adjusting gaps of racks and pinions. Background technique [0002] With the increasing emphasis on automation in modern industry, countries are paying more and more attention to the research and development of industrial robots. Precise positioning is a focus of industrial robot research and development. Because the rack and pinion transmission has many advantages such as large transmission power, long life, constant transmission ratio, long transmission distance, stable operation, and high reliability, the rack and pinion transmission is an alternative for the transmission form of the end effector of an industrial mechanical arm. one. However, due to the installation error, the presence of lubricating oil, the wear between the gear and the rack tooth surface, and the deformation of the tooth surface, there is a backlash between the ...
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IPC IPC(8): F16H57/12
CPCF16H57/12F16H2057/126
Inventor 张丹孙明明陈修名张标周子杨陈仕林宋朋王栋辉
Owner HEILONGJIANG UNIVERSITY OF SCIENCE AND TECHNOLOGY