CN116000964A - Electric clamping jaw - Google Patents
Electric clamping jaw Download PDFInfo
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- CN116000964A CN116000964A CN202211561145.XA CN202211561145A CN116000964A CN 116000964 A CN116000964 A CN 116000964A CN 202211561145 A CN202211561145 A CN 202211561145A CN 116000964 A CN116000964 A CN 116000964A
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Abstract
The invention relates to the technical field of clamping devices, in particular to an electric clamping jaw. The electric clamping jaw comprises an X-direction clamping jaw assembly, a Y-direction clamping jaw assembly, a driving mechanism, an X-direction transmission mechanism and a Y-direction transmission mechanism; the driving mechanism is in transmission connection with the X-direction clamping jaw assembly through an X-direction transmission mechanism, is in transmission connection with the Y-direction clamping jaw assembly through a Y-direction transmission mechanism, and forms an included angle with the Y direction; the Y-direction transmission mechanism comprises a cam and a cam contactor, the cam contactor is arranged on the Y-direction clamping jaw assembly, and the contact surface of the cam and the cam contact surface are in contact fit with each other and are perpendicular to the rotation axis of the cam; the contact surface of the cam comprises a plurality of arc surfaces, and the center of each arc surface is coincident with the rotation axis of the cam; and in a state that the Y-direction clamping jaw assembly clamps a workpiece, the cam contactor is contacted with the arc surface. The electric clamping jaw provided by the invention can realize asynchronous clamping action in two directions and can reduce the precision requirement on consistency of clamped workpieces.
Description
Technical Field
The invention relates to the technical field of clamping devices, in particular to an electric clamping jaw.
Background
With the continuous development of industrial automation, the industrial robot industry is rapidly developing, but the form and function of the end clamping jaw limit the further development of the robot due to the variety of applications.
Most of the existing manipulator tail end devices mainly comprise pneumatic clamping jaws, and the following problems exist: only has two functions of opening and closing, is inconvenient to adjust the clamping force, and does not have any starting and stopping control conditions at any position. Generally under no air supply environment, manipulator end device can use electronic clamping jaw, and current electronic clamping jaw opens, stops control condition along with possessing optional position, and the size of adjustable clamping force, but can't realize the asynchronous clamp of different directions, and the clamping effect is relatively poor.
In summary, how to overcome the above-mentioned drawbacks of the existing motorized clamping jaw is a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide an electric clamping jaw so as to solve the technical problem that asynchronous clamping in different directions cannot be realized in the electric clamping jaw in the prior art.
The invention provides an electric clamping jaw which comprises an X-direction clamping jaw assembly, a Y-direction clamping jaw assembly, a driving mechanism, an X-direction transmission mechanism and a Y-direction transmission mechanism.
The driving mechanism is in transmission connection with the X-direction clamping jaw assembly through the X-direction transmission mechanism and is used for driving the X-direction clamping jaw assembly to clamp or open in the X-direction; the driving mechanism is in transmission connection with the Y-direction clamping jaw assembly through the Y-direction transmission mechanism and is used for driving the Y-direction clamping jaw assembly to clamp or open in the Y direction, and the X direction and the Y direction form an included angle.
The Y-direction transmission mechanism comprises a cam and a cam contactor, the cam contactor is arranged on the Y-direction clamping jaw assembly, the cam contactor is in contact fit with a contact surface of the cam, and the Y direction is perpendicular to the rotation axis of the cam; the contact surface of the cam comprises a plurality of arc surfaces, and the center of the arc surfaces is coincident with the rotation axis of the cam; and in a state that the Y-direction clamping jaw assembly clamps the workpiece, the cam contactor is contacted with the arc surface.
Preferably, as an implementation manner, the Y-direction clamping jaw assembly comprises two groups which are oppositely arranged, the two groups of Y-direction clamping jaw assemblies can clamp the workpiece from two opposite sides of the workpiece respectively, and each group of Y-direction clamping jaw assemblies is provided with the cam contactor.
The arc surfaces comprise a plurality of pairs, each pair of arc surfaces comprises two arc surfaces with equal radius and symmetrically arranged, and the cam contactors are symmetrically arranged relative to the rotation axis of the cam.
Preferably, as an implementation manner, the arc surface includes a pair of first arc surfaces and a pair of second arc surfaces, the radius of the first arc surface is larger than that of the second arc surface, and the first arc surface and the second arc surface are smoothly transited through a smooth transition curved surface.
The Y-direction clamping jaw assembly is in an open state in a state that the cam contactor is in contact with the first arc surface; and in a state that the cam contactor is in contact with the second arc surface, the Y-direction clamping jaw assembly is in a clamping state.
Preferably, as an implementation manner, the electric clamping jaw further comprises a housing, the Y-direction clamping jaw assembly further comprises a Y-direction finger, a main guide sleeve and a main guide post, the main guide sleeve is fixedly connected to the housing, the Y-direction finger and the cam contactor are respectively installed at two ends of the main guide post, and the main guide sleeve is in sliding sleeve connection with the main guide post and is used for guiding the main guide post to move along the Y direction.
Preferably, as an implementation manner, the cam contactor comprises a bearing, an inner ring of the bearing is mounted on the main guide post, an outer ring of the bearing is tangential to a contact surface of the cam, and a central axis of the bearing is parallel to a rotation axis of the cam;
and/or the main guide post is provided with a strip-shaped groove, and the length direction of the strip-shaped groove is consistent with the Y direction; the cover shell is provided with an anti-rotation piece which is in sliding fit with the strip-shaped groove.
Preferably, as an implementation manner, the Y-direction clamping jaw assembly further comprises an auxiliary guide sleeve and an auxiliary guide post, wherein the auxiliary guide sleeve is fixedly connected with the housing, the auxiliary guide post is fixedly connected with the Y-direction finger, and the auxiliary guide sleeve is in sliding sleeve connection with the auxiliary guide post and is used for guiding the auxiliary guide post to move along the Y-direction.
The number of the auxiliary guide posts is at least two, and the auxiliary guide posts are respectively distributed on two opposite sides of the main guide post; the auxiliary guide post is sleeved with a spring, one end of the spring is connected with the auxiliary guide post, and the other end of the spring is connected with the housing.
Preferably, as an implementation manner, the spring is a compression spring, the auxiliary guide post is provided with a boss, and one end of the compression spring is elastically abutted with the boss.
Preferably, as an implementation manner, the X-direction transmission mechanism comprises a gear and a rack, the gear is coaxially fixed with the cam, the rack is meshed with the gear, the length direction of the rack is consistent with the X direction, and the rack is fixedly connected with the X-direction clamping jaw assembly.
Preferably, as an implementation manner, the X-direction clamping jaw assembly comprises two groups which are oppositely arranged, and the two groups of the X-direction clamping jaw assemblies can clamp the workpiece from two opposite sides of the workpiece respectively.
The two racks are oppositely arranged, and the two racks are respectively and fixedly connected with the two groups of X-direction clamping jaw assemblies.
Preferably, as an implementation manner, the electric clamping jaw further comprises a supporting seat, wherein an X-direction guide rail is arranged on the supporting seat, and the X-direction guide rail is matched with the X-direction clamping jaw assembly and used for guiding the X-direction clamping jaw assembly to move along the X direction.
Preferably, as an implementation manner, the contact surface of the cam is a peripheral tread of the cam; or, the cam is provided with a chute, and the contact surface of the cam is the wall of the chute;
and/or, the X direction is perpendicular to the Y direction;
and/or the driving mechanism comprises a motor speed reducer, and an output shaft of the motor speed reducer is coaxially fixed with the cam.
Compared with the prior art, the invention has the beneficial effects that:
the driving mechanism can drive the X-direction transmission mechanism and the Y-direction transmission mechanism to act at the same time, and when the X-direction transmission mechanism acts, the driving mechanism can drive the X-direction clamping jaw assembly to reciprocate along the X-direction, so that the X-direction clamping jaw assembly clamps or expands in the X-direction; when the Y-direction transmission mechanism acts, the cam can do rotary motion, so that the cam contactor in the Y-direction transmission mechanism can move in the Y direction along the contact surface of the cam contactor relative to the cam.
After the Y-direction clamping jaw assembly clamps a workpiece, the cam contactor in the Y-direction transmission mechanism is contacted with a certain arc surface on the cam, and the arc surface is overlapped with the rotation axis of the cam, so that when the driving mechanism continues to drive the cam in the Y-direction transmission mechanism to rotate, the cam contactor does not move relative to the workpiece, namely, when the driving mechanism continues to drive the cam in the Y-direction driving mechanism to do rotary motion, the Y-direction clamping jaw assembly does not displace, namely, the Y-direction clamping jaw assembly can keep a clamping state on the workpiece; meanwhile, the X-direction clamping jaw assembly still can continue to move towards the clamping direction until the X-direction clamping jaw assembly clamps the workpiece in the X-direction, and then the workpiece can be clamped.
Therefore, the electric clamping jaw provided by the invention can clamp a workpiece in the Y direction at first, so that the workpiece is arranged in the Y direction in a centering way, and then the workpiece is clamped in the X direction, thereby realizing asynchronous clamping in two directions, reducing the precision requirement on the consistency of the clamped workpiece, realizing the clamping of products with rough machining and manufacturing and lower precision, and accurately placing the workpiece; of course, it is also possible to choose to clamp the workpiece synchronously in the Y-direction and in the X-direction. In addition, the same driving mechanism drives the X-direction clamping jaw assembly and the Y-direction clamping jaw assembly to clamp and open, so that the cost can be reduced, the weight and the installation space of the electric clamping jaw can be reduced, and the coordination of the X-direction clamping jaw assembly and the Y-direction clamping jaw assembly can be improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of a main structure of an electric clamping jaw according to an embodiment of the present invention;
fig. 2 is a schematic view of a part of a structure of an electric clamping jaw according to an embodiment of the present invention;
fig. 3 is an exploded view of an electric jaw according to an embodiment of the present invention;
FIG. 4 is an enlarged view of portion A of FIG. 3;
FIG. 5 is an enlarged view of portion B of FIG. 3;
fig. 6 is a schematic perspective view of an electric clamping jaw according to an embodiment of the invention.
Reference numerals illustrate:
a 100-X direction jaw assembly; 110-X direction finger; 120-X direction clamping jaw;
200-Y-direction jaw assembly; 210-Y direction finger; 220-main guide sleeve; 230-main guide post; 231-bar-shaped grooves; 240-anti-rotation member; 250-auxiliary guide sleeve; 260-auxiliary guide posts; 261-boss; 270-a spring; 280-Y direction clamping jaw;
300-X direction transmission mechanism; 310-gear; 320-rack;
400-Y direction transmission mechanism; 410-a cam; 411-a first arc surface; 412-a second arc surface; 413-a rounded transition surface; 420-cam contactor; 421-bearings;
500-housing;
600-supporting seat; 610-X direction guide rail; 620-a slider;
700-motor reducer; 710-motor shroud; 720-motor controller.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The invention will now be described in further detail by way of specific examples of embodiments in connection with the accompanying drawings.
Referring to fig. 1-3, the present embodiment provides an electrically powered jaw comprising an X-direction jaw assembly 100, a Y-direction jaw assembly 200, a drive mechanism, an X-direction transmission 300, and a Y-direction transmission 400; the driving mechanism is in transmission connection with the X-direction clamping jaw assembly 100 through the X-direction transmission mechanism 300 and is used for driving the X-direction clamping jaw assembly 100 to clamp or open in the X direction; the driving mechanism is in transmission connection with the Y-direction clamping jaw assembly 200 through the Y-direction transmission mechanism 400 and is used for driving the Y-direction clamping jaw assembly 200 to clamp or open in the Y direction, and an included angle is formed between the X direction and the Y direction; the Y-direction transmission mechanism 400 comprises a cam 410 and a cam contactor 420, the cam contactor 420 is mounted on the Y-direction clamping jaw assembly 200, and the contact surface contact of the cam contactor 420 and the cam 410 is matched with the Y-direction to be perpendicular to the rotation axis of the cam 410; the contact surface of the cam 410 comprises a plurality of arc surfaces, and the center of each arc surface coincides with the rotation axis of the cam 410; the cam contactor 420 contacts the arc surface in a state where the Y-direction jaw assembly 200 clamps the workpiece.
The driving mechanism can drive the X-direction transmission mechanism 300 and the Y-direction transmission mechanism 400 to act simultaneously, and when the X-direction transmission mechanism 300 acts, the driving mechanism can drive the X-direction clamping jaw assembly 100 to reciprocate along the X-direction (the direction shown by the X arrow in fig. 2), so that the X-direction clamping jaw assembly 100 clamps or expands in the X-direction; when the Y-direction transmission mechanism 400 is operated, the cam 410 therein can perform a rotary motion, so that the cam contactor 420 in the Y-direction transmission mechanism 400 can move in the Y-direction (the direction indicated by the Y arrow in fig. 2) along the contact surface thereof with respect to the cam 410.
After the Y-direction clamping jaw assembly 200 clamps a workpiece, the cam contactor 420 in the Y-direction transmission mechanism 400 is contacted with a certain arc surface on the cam 410, and the arc surface is overlapped with the rotation axis of the cam 410, so that when the driving mechanism continues to drive the cam 410 in the Y-direction transmission mechanism 400 to rotate, the cam contactor 420 does not move relative to the workpiece, namely, when the driving mechanism continues to drive the cam 410 in the Y-direction driving mechanism 400 to do rotation motion, the Y-direction clamping jaw assembly 200 does not displace any more, namely, the Y-direction clamping jaw assembly 200 can keep a clamping state on the workpiece; meanwhile, the X-direction clamping jaw assembly 100 may still continue to move toward the clamping direction until the X-direction clamping jaw assembly 100 clamps the workpiece in the X-direction, thereby completing the clamping of the workpiece.
Therefore, the electric clamping jaw provided by the embodiment can clamp the workpiece in the Y direction at first, so that the workpiece is arranged in the Y direction in a centering way, and then the workpiece is clamped in the X direction, thereby realizing asynchronous clamping in two directions, reducing the precision requirement on consistency of the clamped workpiece, realizing clamping of products with rough machining and manufacturing and lower precision, and accurately placing the workpiece; of course, it is also possible to choose to clamp the workpiece synchronously in the Y-direction and in the X-direction. In addition, the same driving mechanism drives the X-direction clamping jaw assembly 100 and the Y-direction clamping jaw assembly 200 to clamp and open, so that the cost can be reduced, the weight and the installation space of the electric clamping jaw can be reduced, and the coordination of the X-direction clamping jaw assembly 100 and the Y-direction clamping jaw assembly 200 can be improved.
Referring to fig. 1 and 6, the radius of the arc surface of the contact surface of the cam 410, the shape of the X-direction clamping jaw 120, the Y-direction clamping jaw 280, and the distance between the Y-direction clamping jaw 280 and the rotation axis of the cam 410 may be determined according to the specific shape and size of the workpiece to be clamped, so as to achieve the requirements of asynchronous clamping or synchronous clamping.
Preferably, the two sets of Y-direction clamping jaw assemblies 200 are arranged in two groups, and the two sets of Y-direction clamping jaw assemblies 200 are arranged opposite to each other, so that the two sets of Y-direction clamping jaw assemblies 200 can clamp a workpiece from two opposite sides of the workpiece respectively, and each set of Y-direction clamping jaw assemblies 200 is provided with a cam contactor 420, so that the two sets of Y-direction clamping jaw assemblies 200 can move under the driving of the respective cam contactors 420; the arc surfaces are arranged into a plurality of pairs, each pair of arc surfaces comprises two arc surfaces with equal radius and symmetrically arranged, and meanwhile, the cam contactors 420 are symmetrically arranged relative to the rotation axis of the cam 410, so that the cam contactors 420 arranged on the two groups of Y-direction clamping jaw assemblies 200 can be simultaneously contacted and matched with the two arc surfaces in any pair, and synchronous clamping or opening of the two groups of Y-direction clamping jaw assemblies 200 can be realized.
Specifically, referring to fig. 3 and 5, the above-mentioned arc surfaces may include two pairs, which are a pair of first arc surfaces 411 and a pair of second arc surfaces 412, respectively, the radius of the first arc surface 411 is set to be larger than that of the second arc surface 412, and the first arc surface 411 and the second arc surface 412 are smoothly transited through the smooth transition surface 413, and when the cam contactor 420 contacts with the first arc surface 411 of the cam 410, the Y-direction jaw assembly 200 is in an open state; when the cam contactor 420 contacts with the second arc surface 412 of the cam 410, the Y-direction clamping jaw assembly 200 is in a clamping state, that is, in the initial state, the cam contactor 420 in the Y-direction transmission mechanism 400 contacts with the first arc surface 412, after the driving mechanism starts to work, the cam contactor 420 cannot move in the early stage until the arc transition surface 413 of the cam 410 rotates to a position contacting with the cam contactor 420, and then the cam contactor 420 can drive the Y-direction clamping jaw assembly 200 to move towards the workpiece, so that asynchronous starting of the Y-direction clamping jaw assembly 200 and the X-direction clamping jaw assembly 100 can be realized; when the second circular arc surface 412 of the cam 410 rotates to a position contacting the cam contactor 420, the Y-direction clamping jaw assembly 200 clamps the workpiece, and then the driving mechanism continues to operate, but the cam contactor 420 does not move any more, so that asynchronous clamping of the Y-direction clamping jaw assembly 200 and the X-direction clamping jaw assembly 100 can be realized.
Referring to fig. 2 to 4, a housing 500 may be added to the specific structure of the electric clamping jaw provided in this embodiment, and a Y-direction finger 210, a main guide sleeve 220 and a main guide post 230 are provided in the specific structure of the Y-direction clamping jaw assembly 200, the main guide sleeve 220 is fixedly connected to the housing 500, and the Y-direction finger 210 and the cam contactor 420 are respectively mounted at two ends of the main guide post 230, wherein the main guide sleeve 220 and the main guide post 230 are slidably sleeved, so that the main guide post 230 is guided to move along the Y-direction by the main guide sleeve 220, a sliding self-lubrication effect can be achieved, and thus, locking of the movement direction of the Y-direction finger 210 can be achieved, the Y-direction finger 210 cannot shake, and a Y-direction clamping effect can be improved. The housing 500 may serve as a support structure for the main guide sleeve 220, as well as an integral protective cover. Furthermore, the housing 500 may be an integrated, lightweight structure; specifically, the housing 500 may be in the form of cast aluminum or may be in the form of a multiple part assembly. The Y-direction clamping jaw 280 is fixedly connected to the Y-direction finger 210, so as to clamp or open under the driving of the Y-direction finger 210.
The cam contactor 420 may include a bearing 421, an inner ring of the bearing 421 is mounted to the main guide post 230, an outer ring of the bearing 421 is tangent to and in contact with a contact surface of the cam 410, and a central axis of the bearing 421 and a rotation axis of the cam 410 are disposed parallel to each other, so that the bearing 421 may adaptively roll during the rotation of the cam 410, thereby reducing friction force, reducing wear, and reducing power consumption of a driving mechanism. Specifically, the inner ring of the bearing 421 may be mounted on the main guide post 230 through a bearing guide post.
Preferably, the main guide post 230 may be provided with a bar slot 231, the length direction of the bar slot 231 is set to be consistent with the Y direction, the anti-rotation member 240 is mounted on the housing 500, the anti-rotation member 240 is in sliding fit with the bar slot 231, when the driving mechanism drives the main guide post 230 to move along the Y direction, the anti-rotation member 240 can form a limit stop for the two side slot walls of the bar slot 231, so that the main guide post 230 cannot rotate circumferentially, thereby reducing abrasion and improving the reliability of the Y direction transmission mechanism 400; in the case that the cam 410 is in contact fit with the bearing 421, the rotation preventing member 240 is added, and the central axis of the bearing 421 can be kept parallel to the rotation axis of the cam 410, so that the bearing 421 can fully exert the function of reducing friction force. The anti-rotation member 240 may be fixed to the housing 500 by means of adhesive, and the anti-rotation member 240 may be an anti-rotation pin.
The auxiliary guide sleeve 250 and the auxiliary guide post 260 can be further arranged in the specific structure of the Y-direction clamping jaw assembly 200, the auxiliary guide sleeve 250 is fixedly connected on the housing 500, the auxiliary guide post 260 is fixedly connected with the Y-direction finger 210, the auxiliary guide sleeve 250 is in sliding sleeve connection with the auxiliary guide post 260, and the auxiliary guide post 260 is guided to move along the Y direction by utilizing the auxiliary guide sleeve 250, so that the locking effect on the moving direction of the Y-direction finger 210 can be improved, the Y-direction finger 210 is less prone to shaking, and the Y-direction clamping effect is better. Specifically, the Y-direction clamping jaw 280 is fixedly connected to the Y-direction finger 210, and is used for clamping or expanding under the driving of the Y-direction finger 210.
The auxiliary guide posts 260 may be provided in at least two and distributed on opposite sides of the main guide post 230, respectively; the auxiliary guide post 260 is sleeved with the spring 270, one end of the spring 270 is connected with the auxiliary guide post 260, the other end of the spring 270 is connected with the housing 500, and under the combined action of the elastic force of the springs 270 and the pressure of the cam 410 at two sides, the movement stability of the Y-direction clamping jaw assembly 200 is better, and the movement is not easy to cause the stringing.
The spring 270 can be set as a compression spring, that is, the spring 270 is always in a compression state during the action of the Y-direction transmission assembly 200, and the compression elastic force exists in the spring 270 all the time, so that the balance effect is better; on this basis, a boss 261 may be provided on the auxiliary guide post 260, and one end of the compression spring is elastically abutted against the boss 261, that is, only the compression spring is required to be sleeved on the auxiliary guide post 260, and after the compression spring is connected with the housing 500, the spring 270 and the auxiliary guide post 260 are naturally connected with each other, so that the connection step of the spring 270 and the auxiliary guide post 260 can be omitted, and the assembly efficiency can be improved. In fact, the cross-sectional shape of the auxiliary guide post 260 is similar to a T-shape, the top transverse line of the T-shape corresponds to the boss 261, and the spring 270 can be sleeved on the part of the auxiliary guide post 260 corresponding to the vertical line of the T-shape.
As an embodiment, the contact surface of the cam 410 may be a peripheral tread of the cam 410, and the cam contactor 420 may be in contact with the peripheral tread of the cam 410.
As another embodiment, a sliding groove may be formed on the cam 410, and the groove wall of the sliding groove is used as a contact surface of the cam 410, and at this time, the cam contactor 420 is engaged with the sliding groove and moves along the sliding groove.
Referring to fig. 1-3 and fig. 5, in the specific structure of the X-direction transmission mechanism 300, a gear 310 and a rack 320 may be disposed, and the gear 310 and the cam 410 may be coaxially fixed, so that the gear 310 and the cam 410 may rotate synchronously under the driving of the driving mechanism; the rack 320 is meshed with the gear 310, the length direction of the rack 320 is set to be consistent with the X direction, and the rack 320 is fixedly connected with the X-direction clamping jaw assembly 100, so that the rack 320 can move along the X direction along with the rotation of the gear 310, and further, the X-direction clamping jaw assembly 100 is driven to move along the X direction, the rotation directions of the gear 310 are different, and the movement directions of the X-direction clamping jaw assembly 100 are different, so that the clamping and the opening of the X-direction clamping jaw assembly 100 can be realized by adjusting the rotation directions of the gear 310 driven by the driving mechanism. The rack 320 may be an integral structure or an assembled structure using several parts. Specifically, rack 320 may be fixedly coupled to X-direction finger 110 of X-direction jaw assembly 100.
The X-direction clamping jaw assemblies 100 can be arranged into two groups, and the two groups of X-direction clamping jaw assemblies 100 are arranged oppositely, so that the two groups of X-direction clamping jaw assemblies 100 can clamp a workpiece from two opposite sides of the workpiece respectively; on the basis, the two racks 320 are arranged oppositely, and the two racks 320 are respectively and fixedly connected with the two groups of X-direction clamping jaw assemblies 100, so that when the gear 310 rotates, the two racks 320 can move towards directions approaching to or separating from each other, and further, the clamping and the opening of the X-direction clamping jaw assemblies 100 can be realized.
The electric clamping jaw provided in this embodiment further includes a supporting seat 600, an X-direction guide rail 610 may be disposed on the supporting seat 600, and the X-direction guide rail 610 is matched with the X-direction clamping jaw assembly 100, so that the X-direction clamping jaw assembly 100 is guided to move along the X-direction by using the X-direction guide rail 610, and the locking of the moving direction of the X-direction clamping jaw assembly 100 can be achieved, so that the X-direction clamping jaw assembly 100 cannot shake, and the X-direction clamping effect can be improved. The X-directional guide rail 610 may be a rail with a sliding groove, at this time, a sliding block 620 may be added, the sliding block 620 is fixedly connected with the X-directional clamping jaw assembly 100, and the sliding block 620 is matched with the rail to realize the guiding of the X-directional guide rail 610 to the X-directional clamping jaw assembly 100; of course, the X-guide rail 610 may also be a guide post.
Specifically, the X-direction and the Y-direction may be set to be perpendicular to each other to accommodate a workpiece having two pairs of sides perpendicular to each other, wherein the two sides of each pair are parallel to each other and are disposed opposite to each other, and wherein one side of one pair is perpendicular to one side of the other pair, such as a rectangular workpiece; of course, the included angle between the X direction and the Y direction can be selected according to the specific shape of the workpiece.
Referring to fig. 3, the driving mechanism in this embodiment may be a motor reducer 700, and the output shaft of the motor reducer 700 is coaxially fixed to the cam 410, so that the motor reducer 700 may be used to provide rotational power to drive the cam 410 to perform a rotary motion. The motor reducer 700 may be a servo motor or a frameless motor.
The motor controller 720 may be mounted within the motor shroud 710 without an external controller.
After the motor reducer 700 is started, the cam 410 and the gear 410 can be driven to rotate synchronously, the function of four-claw clamping jaws can be realized through a mechanism consisting of a gear rack and the cam, the clamping in the X direction and the Y direction is realized, the structure is compact, the weight is light, and the replacement and the maintenance are convenient.
In addition, the motor reducer 700 is provided with an encoder and a torque sensor, and can record and control the rotation position and the force, so that the clamping (opening) of the X-direction clamping jaw assembly 100 can be stopped in any range in the X direction, meanwhile, under the condition of the limit position of the Y-direction clamping (opening), the clamping (opening) of the X-direction clamping jaw assembly 100 can be moved in a certain range, and the movement in one direction can be released, so that the workpiece with various length-width ratios is more efficiently compatible, the flexibility degree is higher, the use cost is lower, and particularly, the current industrial scene is mainly small-batch and multi-variety material picking and placing, the cost can be greatly reduced, and the factory automation degree is improved.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (11)
1. An electric clamping jaw is characterized by comprising an X-direction clamping jaw assembly (100), a Y-direction clamping jaw assembly (200), a driving mechanism, an X-direction transmission mechanism (300) and a Y-direction transmission mechanism (400);
the driving mechanism is in transmission connection with the X-direction clamping jaw assembly (100) through the X-direction transmission mechanism (300) and is used for driving the X-direction clamping jaw assembly (100) to clamp or open in the X direction; the driving mechanism is in transmission connection with the Y-direction clamping jaw assembly (200) through the Y-direction transmission mechanism (400) and is used for driving the Y-direction clamping jaw assembly (200) to clamp or open in the Y direction, and the X direction and the Y direction form an included angle;
the Y-direction transmission mechanism (400) comprises a cam (410) and a cam contactor (420), the cam contactor (420) is mounted on the Y-direction clamping jaw assembly (200), the cam contactor (420) is in contact fit with a contact surface of the cam (410), and the Y direction is perpendicular to a rotation axis of the cam (410); the contact surface of the cam (410) comprises a plurality of arc surfaces, and the center of each arc surface is coincident with the rotation axis of the cam (410); the cam contactor (420) is in contact with the arc surface in a state that the Y-direction clamping jaw assembly (200) clamps the workpiece.
2. The motorized jaw as claimed in claim 1, wherein said Y-jaw assembly (200) comprises two sets of opposing sets, said two sets of Y-jaw assemblies (200) being capable of clamping a workpiece from opposite sides of the workpiece, respectively, each set of Y-jaw assemblies (200) having said cam contactors (420) mounted thereon;
the arc surfaces comprise a plurality of pairs, each pair of arc surfaces comprises two arc surfaces with equal radius and symmetrically arranged, and the cam contactor (420) is symmetrically arranged relative to the rotation axis of the cam (410).
3. The motorised jaw according to claim 2, wherein the arcuate surfaces comprise a pair of first arcuate surfaces (411) and a pair of second arcuate surfaces (412), the first arcuate surfaces (411) having a radius greater than the radius of the second arcuate surfaces (412), the first arcuate surfaces (411) and the second arcuate surfaces (412) being smoothly transitioned through a rounded transition surface (413);
the Y-direction clamping jaw assembly (200) is in an open state under the state that the cam contactor (420) is in contact with the first arc surface (412); the Y-direction clamping jaw assembly (200) is in a clamping state in a state that the cam contactor (420) is in contact with the second circular arc surface (412).
4. The motorized jaw as recited in claim 1, further comprising a housing (500), wherein the Y-direction jaw assembly (200) further comprises a Y-direction finger (210), a main guide sleeve (220), and a main guide post (230), wherein the main guide sleeve (220) is fixedly connected to the housing (500), wherein the Y-direction finger (210) and the cam contactor (420) are respectively mounted at two ends of the main guide post (230), and wherein the main guide sleeve (220) is slidably sleeved with the main guide post (230) for guiding the main guide post (230) to move along the Y-direction.
5. The motorised jaw as claimed in claim 4, wherein said cam contactor (420) comprises a bearing (421), an inner ring of said bearing (421) being mounted to said main guide post (230), an outer ring of said bearing (421) being tangential to a contact surface of said cam (410), and a central axis of said bearing (421) being parallel to a rotation axis of said cam (410);
and/or, the main guide column (230) is provided with a strip-shaped groove (231), and the length direction of the strip-shaped groove (231) is consistent with the Y direction; the housing (500) is provided with an anti-rotation member (240), and the anti-rotation member (240) is in sliding fit with the strip-shaped groove (231).
6. The motorized jaw as recited in claim 4, wherein said Y-direction jaw assembly (200) further comprises a secondary guide sleeve (250) and a secondary guide post (260), said secondary guide sleeve (250) being fixedly secured to said housing (500), said secondary guide post (260) being fixedly secured to said Y-direction finger (210), said secondary guide sleeve (250) being slidably received over said secondary guide post (260) for guiding movement of said secondary guide post (260) along said Y-direction;
at least two auxiliary guide posts (260) are respectively distributed on two opposite sides of the main guide post (230); the auxiliary guide post (260) is sleeved with a spring (270), one end of the spring (270) is connected with the auxiliary guide post (260), and the other end of the spring (270) is connected with the housing (500).
7. The motorised jaw according to claim 6, wherein the spring (270) is a compression spring, the auxiliary guide post (260) having a boss (261), one end of the compression spring being in resilient abutment with the boss (261).
8. The motorized jaw as recited in claim 1, wherein the X-direction drive mechanism (300) includes a gear (310) and a rack (320), the gear (310) being coaxially fixed with the cam (410), the rack (320) being engaged with the gear (310), a length direction of the rack (320) being aligned with the X-direction, the rack (310) being fixedly connected with the X-direction jaw assembly (100).
9. The motorized jaw as recited in claim 8, wherein said X-direction jaw assembly (100) comprises two sets of opposing sets, said two sets of X-direction jaw assemblies (100) being capable of gripping a workpiece from opposite sides thereof, respectively;
the two racks (310) are oppositely arranged, and the two racks (310) are fixedly connected with the two groups of X-direction clamping jaw assemblies (100) respectively.
10. The motorized jaw as recited in claim 1, further comprising a support base (600), said support base (600) having an X-directional guide rail (610), said X-directional guide rail (610) cooperating with said X-directional jaw assembly (100) for guiding movement of said X-directional jaw assembly (100) in said X-direction.
11. The motorised jaw according to any one of claims 1-10, wherein the contact surface of the cam (410) is a peripheral tread of the cam (410); or, the cam (410) is provided with a chute, and the contact surface of the cam is the wall of the chute;
and/or, the X direction is perpendicular to the Y direction;
and/or the driving mechanism comprises a motor speed reducer (700), and an output shaft of the motor speed reducer (700) is coaxially fixed with the cam (410).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211561145.XA CN116000964B (en) | 2022-12-07 | 2022-12-07 | Electric clamping jaw |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211561145.XA CN116000964B (en) | 2022-12-07 | 2022-12-07 | Electric clamping jaw |
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| CN116000964A true CN116000964A (en) | 2023-04-25 |
| CN116000964B CN116000964B (en) | 2024-01-26 |
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|---|---|
| CN116000964B (en) | 2024-01-26 |
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