CN112405583A

CN112405583A - Electric clamping jaw

Info

Publication number: CN112405583A
Application number: CN202011230635.2A
Authority: CN
Inventors: 田军; 刘耀俊; 刘浩
Original assignee: Huiling Technology Jiangsu Co ltd
Current assignee: Huiling Technology Jiangsu Co ltd
Priority date: 2020-11-06
Filing date: 2020-11-06
Publication date: 2021-02-26

Abstract

The invention relates to the technical field of clamping jaws, and provides an electric clamping jaw which comprises an installation seat, a clamping mechanism and a driving mechanism, wherein the clamping mechanism comprises a clamping finger and a base, the clamping finger is slidably installed on the base, and the base is rotatably installed on the installation seat. The driving mechanism comprises a first motor and a second motor, the first motor and the second motor are installed on the installation seat, the first motor is in driving connection with the clamping fingers, the first motor is used for driving the clamping fingers to slide relative to the base, the second motor is in driving connection with the base, and the second motor is used for driving the base to rotate relative to the installation seat. The invention provides an electric clamping jaw, which adopts a first motor to drive a clamping finger to slide relative to a base and adopts a second motor to drive the base to rotate relative to an installation seat, so that the clamping finger can slide to open and close and can rotate along with the base without being provided with an additional rotating device, and the electric clamping jaw has a simple structure and low cost.

Description

Electric clamping jaw

Technical Field

The invention relates to the technical field of clamping jaws, and particularly provides an electric clamping jaw.

Background

The clamping jaw is widely applied to automation equipment, robots and medical automation equipment. The clamping jaw mainly comprises an electric clamping jaw and a pneumatic clamping jaw. The pneumatic clamping jaws are driven by fingers of the pneumatic clamping jaws through an air source to realize parallel opening and closing clamping. The pneumatic clamping jaw needs an air source, and the application of the pneumatic clamping jaw is limited due to the fact that an external air source cannot be provided in some application scenes. The electric clamping jaw can be opened and closed by fingers only by being connected with electricity.

However, the existing electric clamping jaw drives the clamping fingers to open or close through the motor, and if the clamping fingers are required to clamp and rotate the workpiece, the electric clamping jaw needs to be installed on a rotating shaft of the equipment, so that the whole equipment is more complex and the cost is higher. Therefore, the existing electric clamping jaw with the rotating function has the problems of complex structure and high cost.

Disclosure of Invention

The invention aims to provide an electric clamping jaw, and aims to solve the problems that the existing electric clamping jaw with a rotating function is complex in structure and high in cost.

To achieve the above object, the present invention adopts an electric jaw comprising:

a mounting seat;

the clamping mechanism comprises clamping fingers and a base, the clamping fingers are slidably mounted on the base, and the base is rotatably mounted on the mounting seat; and

the driving mechanism comprises a first motor and a second motor, the first motor and the second motor are installed on the installation seat, the first motor is in driving connection with the clamping fingers, the first motor is used for driving the clamping fingers to slide relative to the base, the second motor is in driving connection with the base, and the second motor is used for driving the base to rotate relative to the installation seat.

In one embodiment, the electric clamping jaw further comprises a transmission mechanism, the transmission mechanism comprises a rotary transmission assembly, the rotary transmission assembly comprises a first gear and a second gear which are meshed with each other, the first gear is sleeved on a rotary output shaft of the second motor, and the second gear is fixedly connected with the base.

In one embodiment, the rotary transmission assembly further includes a first bearing, the lower end of the base extends into the mounting seat, the lower end of the base has a first limit step, the mounting seat has a second limit step, the first bearing is sleeved on the lower end of the base, an inner ring of the first bearing abuts against the first limit step, and an outer ring of the first bearing abuts against the second limit step.

In one embodiment, the transmission mechanism further comprises a sliding transmission assembly, the sliding transmission assembly comprises a gear shaft, a third gear and a rack, the rack is connected with the clamping finger, the third gear is sleeved with a rotating output shaft of the first motor, one end of the gear shaft is meshed with the third gear, and the other end of the gear shaft is meshed with the rack.

In one embodiment, the sliding transmission mechanism further includes a second bearing, the gear shaft penetrates through the base, the gear shaft has a third limiting step, the inner side surface of the base has a fourth limiting step, the second bearing is located between the gear shaft and the base, one end of the second bearing abuts against the third limiting step, and the other end of the second bearing abuts against the fourth limiting step.

In one embodiment, the electric clamping jaw further comprises a guide mechanism, the guide mechanism comprises a guide rail and a sliding block in sliding fit with the guide rail, one of the guide rail and the sliding block is fixedly connected with the clamping finger, and the other of the guide rail and the sliding block is fixedly connected with the base.

In one embodiment, the electric clamping jaw further comprises a limiting block, the limiting block is mounted on the base and located at an opening sliding end point position of the clamping finger so as to limit a sliding stroke of the clamping finger.

In one embodiment, the driving mechanism further comprises a main control board, the first motor and/or the second motor are/is provided with an electromagnetic encoder, and the main control board is provided with a hall assembly matched with the electromagnetic encoder.

In one embodiment, the driving mechanism further comprises a motor casing, a motor control board, a rear cover and a clamping seat, the main control board is mounted on the rear cover, the rear cover is detachably mounted at the bottom of the motor casing, the motor control board is located at the inner side of the motor casing, the clamping seat comprises a vertical plate and a horizontal plate which are connected with each other, the horizontal plate is connected with the top of the motor casing, and the vertical plate is connected with the motor control board.

In one embodiment, the first motor and the second motor are arranged side by side in the motor housing, the base is located at one end of the mounting seat, and the motor housing is located at the other end of the mounting seat.

The invention has the beneficial effects that: the invention provides an electric clamping jaw, which adopts a first motor to drive a clamping finger to slide relative to a base and adopts a second motor to drive the base to rotate relative to an installation seat, so that the clamping finger can be opened and closed in a sliding way and can rotate along with the base without being provided with an additional rotating device, and the electric clamping jaw is simple in structure and low in cost.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of an electric clamping jaw provided in an embodiment of the invention;

FIG. 2 is a cross-sectional view of FIG. 1;

FIG. 3 is a partial view of FIG. 2;

FIG. 4 is an exploded view of FIG. 1;

FIG. 5 is a block diagram of the motor jaw of FIG. 1 with the motor housing and mounting base removed;

FIG. 6 is a schematic view of the connection of the gripping mechanism and the transmission mechanism of the motor jaw of FIG. 1;

fig. 7 is an exploded view of fig. 6.

Wherein, in the figures, the respective reference numerals:

100-a mounting seat, 110-a second limit step;

200-a clamping mechanism, 210-a clamping finger, 220-a base, 221-a first limit step, 222-a fourth limit step;

300-driving mechanism, 310-motor shell, 320-first motor, 330-second motor, 340-main control board, 350-motor control board, 360-rear cover, 370-clamping seat, 371-vertical board, 372-horizontal board;

400-a transmission mechanism, 410-a rotary transmission component, 411-a first gear, 412-a second gear, 413-a first bearing, 414-a bearing cover, 420-a sliding transmission component, 421-a gear shaft, 4211-a third limit step, 422-a third gear, 423-a rack, 424-a second bearing, 425-a third bearing;

510-guiding mechanism, 511-guide rail, 512-slide block, 520-limiting block.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 1 and 2, in order to achieve the above object, the present invention employs an electric gripper, which includes a mounting base 100, a gripping mechanism 200 and a driving mechanism 300, wherein the gripping mechanism 200 includes a gripping finger 210 and a base 220, the gripping finger 210 is slidably mounted on the base 220, and the base 220 is rotatably mounted on the mounting base 100. The drive mechanism 300 includes a first motor 320 and a second motor 330. The first motor 320 and the second motor 330 are mounted to the mount 100. The first motor 320 is in driving connection with the clamping finger 210, and the first motor 320 is used for driving the clamping finger 210 to slide relative to the base 220, so that the clamping finger 210 is opened and closed, and the clamping action is completed. The second motor 330 is in driving connection with the base 220, and the second motor 330 is used for driving the base 220 to rotate relative to the mounting seat 100, so that the clamping fingers 210 can rotate along with the base 220 and have a rotating function.

The electric clamping jaw adopts the first motor 320 to drive the clamping fingers 210 to slide relative to the base 220, so that the clamping fingers 210 can be opened and closed to clamp a workpiece, and adopts the second motor 330 to drive the base 220 to rotate relative to the mounting base 100, so that the clamping fingers 210 can rotate along with the base 220 to rotate the workpiece. Therefore, the electric clamping jaw can clamp and rotate the workpiece without being provided with an additional rotating device, and has the characteristics of simple structure and low cost.

In some embodiments, with reference to fig. 2 and 3, the electric clamping jaw further includes a transmission mechanism 400, the transmission mechanism 400 includes a rotary transmission assembly 410, the rotary transmission assembly 410 includes a first gear 411 and a second gear 412 engaged with each other, the first gear 411 is sleeved on a rotary output shaft of the second motor 330, and the second gear 412 is fixedly connected to the base 220. In this manner, the second motor 330 drives the base 220 to rotate relative to the mounting base 100 through the rotation transmission assembly 410, so that the clamping fingers 210 can rotate along with the base 220.

In this embodiment, the rotation transmission assembly 410 smoothly transmits the torque output by the second motor 330 to the base 220 in a gear transmission manner, so as to ensure the stability and accuracy of the movement process of the clamping finger 210. It is understood that in other embodiments, the rotation output shaft of the second motor 330 can be directly connected to the base 220 to rotate the base 220 relative to the mounting base 100, or the rotation transmission assembly 410 can be a plug, and the rotation transmission assembly 410 can transmit the torque output by the second motor 330 to the base 220 in a plug-in manner.

Specifically, referring to fig. 2 to 4, the rotation transmission assembly 410 further includes a first bearing 413, a lower end of the base 220 extends into the mounting seat 100, and the first bearing 413 is sleeved on the lower end of the base 220. The first bearing 413 supports the base 220 such that the base 220 is rotatably mounted on the mounting seat 100, i.e. the clamping finger 210 and the base 220 can smoothly rotate.

Optionally, a first bearing 413 is located between the lower end of the base 220 and the mount 100. The inner side of the first bearing 413 abuts against the base 220, and the outer side of the first bearing 413 abuts against the mounting seat 100.

Optionally, with reference to fig. 3, the lower end of the base 220 has a first limit step 221, the mounting base 100 has a second limit step 110, an inner ring of the first bearing 413 abuts against the first limit step 221, and an outer ring of the first bearing 413 abuts against the second limit step 110. The first limit step 221 and the second limit step 110 are respectively located at the inner side and the outer side of the first bearing 413, so that the first bearing 413 and the base 220 can be prevented from moving left and right, and the base 220 and the clamping finger 210 can be ensured to rotate stably.

Specifically, with continued reference to fig. 3, the rotary transmission assembly 410 further includes a bearing cap 414 disposed concentrically with the second gear 412. The bearing cap 414 and the second gear 412 are both located below the first bearing 413. The bearing cap 414 abuts the outside of the first bearing 413, and the second gear 412 abuts the inside of the first bearing 413. A bearing cap 414 is removably mounted under the mount 100. The user can conveniently detach the first bearing 413 by detaching the bearing cap 414, thereby conveniently separating the gripping mechanism 200 from the mounting base 100.

In some embodiments, with reference to fig. 3, 6 and 7, the power-driven clamping jaw further includes a transmission mechanism 400, the transmission mechanism 400 includes a sliding transmission assembly 420, the sliding transmission assembly 420 includes a gear shaft 421, a third gear 422 and a rack 423, the rack 423 is connected to the clamping finger 210, the third gear 422 is sleeved on the rotating output shaft of the first motor 320, one end of the gear shaft 421 is engaged with the third gear 422, and the other end of the gear shaft 421 is engaged with the rack 423. In this manner, the first motor 320 drives the clamp fingers 210 to rotate relative to the base 220 via the sliding transmission assembly 420, such that the clamp fingers 210 open or close. And, the electric clamping jaw adopts the rack 423 to match with the gear shaft 421 to realize the large stroke movement of the clamping finger 210.

In this embodiment, the sliding transmission assembly 420 smoothly transmits the torque output by the first motor 320 to the clamping finger 210 in a gear transmission manner, so as to ensure the stability and accuracy of the movement process of the clamping finger 210. It is understood that in other embodiments, the rotating output shaft of the first motor 320 can be directly connected to the clamp finger 210 to rotate the clamp finger 210 relative to the base 220, or the sliding transmission assembly 420 can be a plug, and the sliding transmission assembly 420 can transmit the torque output by the first motor 320 to the clamp finger 210 in a plug-in manner.

Specifically, referring to fig. 3 and 7, the gear shaft 421 includes a rotation shaft, a first gear 411 portion and a second gear 412 portion. The first gear 411 and the second gear 412 are distributed on the rotating shaft at intervals. The first gear 411 is engaged with the third gear 422, and the second gear 412 is engaged with the rack 423. The pitch circle diameter of the first gear 411 is larger than that of the second gear 412, and the gear shaft 421 adopts a larger transmission ratio to improve the positioning accuracy of the clamping fingers 210.

Optionally, the gear shaft 421 is integrally formed, and the structural rigidity is high.

Specifically, with reference to fig. 3, 6 and 7, the sliding transmission mechanism 400 further includes a second bearing 424, the gear shaft 421 penetrates through the base 220, the gear shaft 421 has a third limit step 4211, an inner side surface of the base 220 has a fourth limit step 222, the second bearing 424 is located between the gear shaft 421 and the base 220, one end of the second bearing 424 abuts against the third limit step 4211, and the other end of the second bearing 424 abuts against the fourth limit step 222. The second bearing 424 is located between the base 220 and the gear shaft 421, so that relative linkage between the base 220 and the gear shaft 421 can be effectively avoided, the gear shaft 421 and the base 220 can rotate independently, and the stability and accuracy of the movement of the clamping finger 210 are ensured.

In addition, the second bearing 424 can prevent the gear shaft 421 from moving up and down, and ensure the stability and accuracy of the movement of the clamping finger 210.

In some embodiments, in conjunction with fig. 2 and 3, the motorized gripper further comprises a transmission mechanism 400, the transmission mechanism 400 comprising both a rotary transmission assembly 410 and a sliding transmission assembly 420. In other embodiments, the driving mechanism 300 indirectly drives the connecting fingers 210 through the sliding transmission assembly 420, and the driving mechanism 300 directly drives the connecting base 220 to rotate in a transmission-free manner.

In some embodiments, the power-driven clamping jaw further comprises a guiding mechanism 510, the guiding mechanism 510 comprises a guide rail 511 and a sliding block 512 slidably engaged with the guide rail 511, one of the guide rail 511 and the sliding block 512 is fixedly connected with the clamping finger 210, and the other of the guide rail 511 and the sliding block 512 is fixedly connected with the base 220. The fixing connection is achieved by various methods, such as bolting, screwing, riveting, clamping, bonding, welding, or integral forming. The guide rail 511 is parallel to the rack 423, so that the clamping finger 210 can smoothly slide along with the rack 423 under the guiding action of the guide rail 511, and the movement stability is high.

It will be appreciated that the guide 511 is fixedly mounted to the base 220 and the slider 512 is fixedly mounted to the clamping finger 210. Alternatively, the slider 512 is fixedly mounted on the base 220 and the guide 511 is fixedly mounted on the clamping finger 210.

In some embodiments, with reference to fig. 5 to 7, the power-driven clamping jaw further includes a limiting block 520, the limiting block 520 is mounted on the base 220, and the limiting block 520 is located at an opening sliding end position of the clamping finger 210 to limit a sliding stroke of the clamping finger 210. The opening sliding end position refers to a maximum stroke position of the clamping finger 210 along with the outward opening movement of the rack 423. When the clamping finger 210 is in the opening motion, the clamping finger 210 moves to the opening sliding end point position, and at the moment, the clamping finger 210 pushes against the limiting block 520, so that the limiting block 520 can prevent the clamping finger 210, the sliding block 512 and the guide rail 511 from falling off.

In addition, the limiting block 520 also has a certain sealing and dustproof effect, so that dust is prevented from entering the mounting seat 100.

In some embodiments, with reference to fig. 2 and 4, the driving mechanism 300 further includes a main control board 340, the first motor 320 and/or the second motor 330 is provided with an electromagnetic encoder (not shown), and the main control board 340 has a hall assembly cooperating with the electromagnetic encoder. When the output shaft of the first motor 320 and/or the second motor 330 rotates, the electromagnetic encoder rotates, and the hall assembly on the main control board 340 senses the change of the magnetic field thereof to perform identification and feedback, so that the corresponding accuracy is improved, and the electromagnetic encoder has the characteristics of interference resistance, power failure resistance and the like.

In some embodiments, in conjunction with fig. 2, 4, and 5, the drive mechanism 300 further includes a motor housing 310. The first motor 320 and the second motor 330 are mounted on the motor housing 310, and the motor housing 310 is connected to the mounting base 100, that is, the first motor 320 and the second motor 330 are indirectly mounted on the mounting base 100. The main structure or all of the first motor 320 and the second motor 330 is located within the motor housing 310. For example, referring to fig. 2, the main structure of the first motor 320 and the second motor 330 is located inside the motor housing 310, and the rotation output shafts of the first motor 320 and the second motor 330 protrude outside the motor housing 310.

Optionally, in conjunction with fig. 3 and 4, the sliding drive assembly 420 further comprises a third bearing 425. The third bearing 425 is sleeved on the gear shaft 421, and the third bearing 425 is positioned between the gear shaft 421 and the motor housing 310. The third bearing 425 can prevent the gear shaft 421 from being inclined due to an assembly reason, and ensure a smoother rotation of the gear shaft 421. Thereby ensuring the stability and accuracy of the movement of the clamping finger 210.

In some embodiments, with reference to fig. 2, 4 and 5, the driving mechanism 300 further includes a motor control board 350, the motor control board 350 is located at an inner side portion of the motor housing 310, and the main control board 340 is located at a bottom portion of the motor housing 310. So, main control board 340 and motor control board 350 make up and constitute the L shape, and motor control board 350 is vertical to be set up, and the inner space of make full use of motor casing 310 reduces electric clamping jaw's volume, simplifies electric clamping jaw's structure and reduces electric clamping jaw's manufacturing cost.

In some embodiments, referring to fig. 2, 4 and 5, the driving mechanism 300 further includes a clamping seat 370, the clamping seat 370 includes a vertical plate 371 and a horizontal plate 372 connected to each other, the horizontal plate 372 is connected to the top of the motor housing 310, and the vertical plate 371 is connected to the motor control board 350. In this way, the motor case 310 does not need to have a through hole on the side for connecting with the motor control board 350, but has a through hole on the top of the motor case 310 for connecting with the card socket 370. Because the top of motor casing 310 is connected with mount 100, mount 100 covers and seals the top of motor casing 310 to can guarantee that motor casing 310 has good dustproof and waterproof function.

In some embodiments, in combination with fig. 2, 4 and 5, the driving mechanism 300 further includes a rear cover 360, the main control board 340 is mounted on the rear cover 360, and the rear cover 360 is detachably mounted on the bottom of the motor housing 310. After the main control board 340 is installed on the rear cover 360, the main control board is integrally installed on the motor casing 310, so that the assembly and maintenance of the electric clamping jaws are facilitated.

In some embodiments, with reference to fig. 2, 4 and 5, the first motor 320 and the second motor 330 are disposed in the motor housing 310 side by side, so that the space of the motor housing 310 is reasonably utilized, the volume of the electric jaw is reduced, the structure is simplified, and the manufacturing cost is reduced.

In some embodiments, referring to fig. 2, 4 and 5, base 220 is located at one end of mount 100 and motor housing 310 is located at the other end of mount 100.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. An electric clamping jaw, which is characterized in that: the method comprises the following steps:

a mounting seat;

2. The motorized jaw of claim 1, wherein: the electric clamping jaw further comprises a transmission mechanism, the transmission mechanism comprises a rotary transmission assembly, the rotary transmission assembly comprises a first gear and a second gear which are meshed with each other, the first gear is sleeved on a rotary output shaft of the second motor, and the second gear is fixedly connected with the base.

3. The motorized jaw of claim 2, wherein: the rotary transmission assembly further comprises a first bearing, the lower end of the base extends into the mounting seat, the lower end of the base is provided with a first limiting step, the mounting seat is provided with a second limiting step, the first bearing is sleeved at the lower end of the base, the inner ring of the first bearing is abutted to the first limiting step, and the outer ring of the first bearing is abutted to the second limiting step.

4. The motorized jaw of claim 2, wherein: the transmission mechanism further comprises a sliding transmission assembly, the sliding transmission assembly comprises a gear shaft, a third gear and a rack, the rack is connected with the clamping finger, the third gear is sleeved on a rotating output shaft of the first motor, one end of the gear shaft is meshed with the third gear, and the other end of the gear shaft is meshed with the rack.

5. The motorized jaw of claim 4, wherein: the sliding transmission mechanism further comprises a second bearing, the gear shaft penetrates through the base, the gear shaft is provided with a third limiting step, the inner side face of the base is provided with a fourth limiting step, the second bearing is located between the gear shaft and the base, one end of the second bearing is abutted to the third limiting step, and the other end of the second bearing is abutted to the fourth limiting step.

6. The motorized jaw of claim 1, wherein: the electric clamping jaw further comprises a guide mechanism, the guide mechanism comprises a guide rail and a sliding block in sliding fit with the guide rail, one of the guide rail and the sliding block is fixedly connected with the clamping finger, and the other of the guide rail and the sliding block is fixedly connected with the base.

7. The motorized jaw of claim 1, wherein: the electric clamping jaw further comprises a limiting block, the limiting block is installed on the base, and the limiting block is located at an opening sliding end point position of the clamping finger so as to limit the sliding stroke of the clamping finger.

8. An electrically powered clamping jaw according to any one of claims 1 to 7, characterized in that: the driving mechanism further comprises a main control board, the first motor and/or the second motor are/is provided with an electromagnetic encoder, and the main control board is provided with a Hall assembly matched with the electromagnetic encoder.

9. The motorized jaw of claim 8, wherein: the driving mechanism further comprises a motor shell, a motor control panel, a rear cover and a clamping seat, the main control panel is installed on the rear cover, the rear cover is detachably installed at the bottom of the motor shell, the motor control panel is located at the inner side portion of the motor shell, the clamping seat comprises a vertical plate and a horizontal plate which are connected with each other, the horizontal plate is connected with the top of the motor shell, and the vertical plate is connected with the motor control panel.

10. The motorized jaw of claim 9, wherein: the first motor with the second motor set up side by side in the motor casing, the base is located the one end of mount pad, the motor casing is located the other end of mount pad.