CN206029924U - Built -in controller's electronic clamping jaw - Google Patents
Built -in controller's electronic clamping jaw Download PDFInfo
- Publication number
- CN206029924U CN206029924U CN201621070816.2U CN201621070816U CN206029924U CN 206029924 U CN206029924 U CN 206029924U CN 201621070816 U CN201621070816 U CN 201621070816U CN 206029924 U CN206029924 U CN 206029924U
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- gear
- guide rail
- finger
- roller
- controller
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Abstract
The utility model discloses a built -in controller's electronic clamping jaw, including pointing mechanism, rotation commentaries on classics straight line mechanism, motion drive mechanism, controller and heat dissipation mechanism, finger mechanism includes two fingers, rack, snubber block, guide rail and cross roller holder, two the finger is the central symmetry setting, is equipped with the rack in the finger, and the both ends of rack all are equipped with the snubber block, and the outside of finger all is equipped with the guide rail groove, and mutually supporting with the guide rail in the guide rail groove, is equipped with the cross roller holder between finger and the guide rail, the beneficial effects of the utility model are that: can pass through grasping force and the grasping speed that slide rheostat controlled finger mechanism, reduce the impact by the production of clamp object, the life of extension system, roller can will point to crowded division of both sides, will point to compress tightly with the guide rail, and messenger's guide rail linear motion under certain pretightning force guarantees the guide rail zero clearance of cross roller holder both sides, and overall structure is compact, and small, the structure is reliable, has fine marketing nature.
Description
Technical field
The utility model is related to a kind of electronic jaw, the electronic jaw of specifically a kind of built-in controller.
Background technology
In industrial automation industry, the carrying that can be carried out material in mobile robot using mechanical arm is arranged, is such as sorted
Robot and explosive-removal robot；In medical automation equipment, such as blood analyser, Biochemical Analyzer, blood film preparing instrument
The scheduling of test tube, rack for test tube and slide is carried out etc. manipulator is also adopted by, and is delivered, in some applications of the above, manipulator
End gripper is often all using Pneumatic clamping jaw realizing, but Pneumatic clamping jaw needs to adopt air pump, has in some of the above occasion
Many to limit, Pneumatic clamping jaw can also carry out environmental noise in addition, so having occurred as soon as electronic jaw, abandoned source of the gas, simplified factory,
Connect electricity to use.Electronic jaw of the prior art generally adopts servomotor or driving stepper motor to control, and realizes jaw
Clamping.After clamping object, as motor can be overshooted, impact can be produced to caught object, damage object, also can be to jaw power train
System produces impact, causes lifetime of system to decline.
Utility model content
The purpose of this utility model is to provide a kind of electronic jaw of built-in controller, to solve in above-mentioned background technology
The problem of proposition.
For achieving the above object, the utility model provides following technical scheme：
A kind of electronic jaw of built-in controller, including finger mechanism, turns straight-line mechanism, motion work, control
Device processed and cooling mechanism, the finger mechanism include two fingers, tooth bar, snubber block, guide rail and crossed roller retainer, two
The finger is centrosymmetric setting, is provided with tooth bar in finger, and the two ends of tooth bar are equipped with snubber block, are equipped with the outside of finger
Guide-track groove, guide-track groove are cooperated with guide rail, are provided with crossed roller retainer between finger and guide rail；
The straight-line mechanism that turns is made up of E type jump rings, bearing, roller, track base, gear shaft and internal gear, described
The external tooth section of gear shaft is placed in two fingers between centrosymmetric tooth bar and is intermeshed with tooth bar, and guide rail is placed in track base
Interior, the axis part of gear shaft is provided with two bearings, and the centre position of the track base is provided with symmetrical inside boss, convex
Roller slot being provided with platform, roller being installed in roller slot, surface and the finger of roller contact with each other, and the outside of gear shaft is provided with E
Type jump ring, the end of gear shaft are provided with the internal gear with its interference fit；
The motion work is made up of axle, shell, cascade gear, Motor Shaft gear, brushless electric machine and copper sheathing, institute
State, Motor Shaft gear is intermeshed with cascade gear, cascades tooth
Wheel and internal gear intermeshing, cascade gear, Motor Shaft gear, brushless electric machine are encapsulated in inside the shell；
The controller is made up of control board and slide rheostat, and control board and slide rheostat electrically connect nothing
Brush motor and external power source；
By copper post is radiated and bonnet is constituted, the one end for the copper post that radiates is fixed on the copper post hole in bonnet to the cooling mechanism
Interior, the another end of the copper post that radiates is attached in control board by the paster that radiates.
As further program of the utility model：Boss in the track base is placed in the groove of guide rail corresponding position
It is interior.
As the utility model further scheme：The cascade gear is by four gear wheels and four little gear groups
One group of coaxial gear is constituted by axle into, two gear wheels and two little gears, one of little gear is placed in two
Between the gear wheel, another little gear is placed in the side of gear wheel, and the mutual dislocation of two groups of coaxial gears is engaged, wherein
One group of little gear is intermeshed with Motor Shaft gear, and another group of little gear is intermeshed with internal gear, and axle is exposed at little tooth
Part outside wheel is arranged with copper sheathing.
As the utility model further scheme：The motion work cascades the composition number of gear by changing
Measure to change speed reducing ratio.
Compared with prior art, the beneficial effects of the utility model are：When brushless electric machine is rotated, brushless electric machine drives electricity
Machine shaft pinion rotation, Motor Shaft gear and cascade gear intermeshing, and then cascade pinion rotation is driven, cascade gear band
Dynamic internal gear is rotated, and as internal gear is coaxial with the external tooth section for stating gear shaft, and then realizes the rotation of the external tooth section of gear shaft, tooth
The external tooth section of wheel shaft drives racks turn, by the relative motion for being converted into two fingers of gear shaft, realizes two fingers
Action is folded up, the grasp force and grasp speed of finger mechanism can be controlled by slide rheostat, reduced and caught object is produced
Impact, prevent from damaging object, extend the service life of system, surface and the finger of roller contact with each other, and the effect of roller is
Finger can be squeezed to both sides, finger be compressed with guide rail, makes guide rail move along a straight line under certain pretightning force, it is ensured that intersect rolling
The guide rail gapless of sub- retainer both sides；Crossed roller retainer can reduce the friction between finger and guide rail, lift finger
In the smoothness and stationarity, compact overall structure, small volume of guide rail motion, structure reliability, with good marketing.
Description of the drawings
Fig. 1 is a kind of explosive view of the electronic jaw of built-in controller.
Fig. 2 is a kind of profile of the electronic jaw of built-in controller.
Fig. 3 is a kind of structural representation of the electronic jaw of built-in controller.
Fig. 4 be a kind of built-in controller electronic jaw in finger mechanism and turn the structural representation of straight-line mechanism.
In figure：1- finger mechanisms, 2- turn straight-line mechanism, 3- motion works, 4- controllers, 5- cooling mechanisms,
101- fingers, 102- tooth bars, 103- snubber blocks, 104- guide rails, 105- crossed roller retainers, 201-E type jump rings, 202- axles
Hold, 203- rollers, 204- track bases, 205- gear shafts, 206- internal gears, 301- axles, 302- shells, 303- cascade gear,
304- Motor Shaft gears, 305- brushless electric machines, 306- copper sheathings, 401- control boards, 402- slide rheostats, 501- radiatings
Copper post, 502- bonnets.
Specific embodiment
The technical scheme of this patent is described in more detail with reference to specific embodiment.
Fig. 1-3 are referred to, a kind of electronic jaw of built-in controller including finger mechanism 1, turns straight-line mechanism 2, fortune
Dynamic transmission mechanism 3, controller 4 and cooling mechanism 5；
The finger mechanism 1 includes that two fingers 101, tooth bar 102, snubber block 103, guide rail 104 and crossed roller keep
Frame 105, two fingers 101 are centrosymmetric setting, are provided with tooth bar 102 in finger 101, and the two ends of tooth bar 102 are equipped with
Snubber block 103, the outside of finger 101 are equipped with guide-track groove, and guide-track groove is cooperated with guide rail 104, realizes two fingers 101
Fixed installation, is provided with crossed roller retainer 105 between finger 101 and guide rail 104, reduce the two friction, lifts finger 101 and exists
The smoothness and stationarity of the motion of guide rail 104；
The straight-line mechanism 2 that turns is by E types jump ring 201, bearing 202, roller 203, track base 204,205 and of gear shaft
Internal gear 206 is constituted, the external tooth section of the gear shaft 205 be placed in two fingers 101 between centrosymmetric tooth bar 102 and with
Tooth bar 102 is intermeshed, and in 205 rotation process of gear shaft, by the intermeshing of between cog, the rotation of gear shaft 205 is converted
For the relative motion of two fingers 101, realize folding up action, guide rail 104 is placed in track base 204, the middle shaft part of gear shaft 205
Be divided to and two bearings 202 be installed, prevent 205 radial motion of gear shaft, the centre position of the track base 204 be provided with it is symmetrical to
Interior boss, is provided with roller slot in boss, be provided with roller 203, surface and the 101 phase mutual connection of finger of roller 203 in roller slot
Touch, the effect of roller 203 is to squeeze finger 101 to both sides, and finger 101 is compressed with guide rail 104, makes guide rail 104 one
Move along a straight line under fixed pretightning force, it is ensured that 101 gapless of guide rail of 105 both sides of crossed roller retainer, the outside of gear shaft 205
E types jump ring 201 is provided with, for the axial float of limiting gear axle 205；The end of gear shaft 205 is provided with and its interference fit
Internal gear 206；
The motion work 3 is by axle 301, shell 302, cascade gear 303, Motor Shaft gear 304, brushless electric machine
305 and copper sheathing 306 constitute, be arranged with Motor Shaft gear 304, Motor Shaft gear on the output shaft of the brushless electric machine 305
304 are intermeshed with cascade gear 303, and cascade gear 303 is intermeshed with internal gear 206, when brushless electric machine 305 is rotated,
Gear shaft 205, cascade gear 303, Motor Shaft gear 304, brushless electric machine are imparted power to by the engagement of gear
305 are encapsulated in shell 302；
The controller 4 is made up of control board 401 and slide rheostat 402, control board 401 and slip variable resistance
Device 402 electrically connects brushless electric machine 305 and external power source, controls grasp force and the crawl of finger mechanism 1 by slide rheostat 402
Speed；
The cooling mechanism 5 is made up of radiating copper post 501 and bonnet 502, and the one end for the copper post 501 that radiates is fixed on bonnet
In copper post hole in 502, the another end of the copper post 501 that radiates is attached in control board 401 by the paster that radiates, by control board
401 heats for producing are exported to by the copper post 501 that radiates and radiate on bonnet 502.
Boss in the track base 204 is placed in the groove of 104 corresponding position of guide rail, with this position to guide rail 104
Put and positioned.
The cascade gear 303 is made up of four gear wheels and four little gears, two gear wheels and two little teeth
Wheel constitutes one group of coaxial gear by axle 301, and one of little gear is placed between two gear wheels, another little tooth
Wheel is placed in the side of gear wheel, the mutual dislocation engagement of two groups of coaxial gears, little gear and the Motor Shaft tooth of one of which
Wheel 304 is intermeshed, and another group of little gear is intermeshed with internal gear 206, and axle 301 is exposed at the part outside little gear and is arranged
There is copper sheathing 306.
The motion work 3 changes speed reducing ratio by changing the composing quantity for cascading gear 303.
Operation principle of the present utility model is：When brushless electric machine 305 is rotated, 305 drive motor shaft tooth of brushless electric machine
Wheel 304 is rotated, and Motor Shaft gear 304 is intermeshed with cascade gear 303, and then drives cascade gear 303 to rotate, and cascades tooth
Wheel 303 drives internal gears 206 to rotate, and as internal gear 206 is coaxial with the external tooth section for stating gear shaft 205, and then realizes gear shaft
The rotation of 205 external tooth section, the external tooth section band carry-over bar 102 of gear shaft 205 are rotated, and the rotation of gear shaft 205 is converted into two
The relative motion of individual finger 101, realizes that two fingers 101 fold up action, can control finger mechanism by slide rheostat 402
1 grasp force and grasp speed, reduce the impact produced to caught object, prevent from damaging object, extend the service life of system,
The surface of roller 203 is contacted with each other with finger 101, and the effect of roller 203 is to squeeze finger 101 to both sides, by finger 101
Compress with guide rail 104, make guide rail 104 move along a straight line under certain pretightning force, it is ensured that 105 both sides of crossed roller retainer are led
101 gapless of rail；Crossed roller retainer 105 can reduce the friction between finger 101 and guide rail 104, lift finger 101 and exist
The smoothness and stationarity, compact overall structure, small volume of the motion of guide rail 104, structure reliability, with good marketing
Property.
Above the better embodiment of this patent is explained in detail, but this patent is not limited to above-mentioned embodiment party
Formula, in the ken that one skilled in the relevant art possesses, can be with the premise of without departing from this patent objective
Make a variety of changes.
Claims (4)
1. a kind of electronic jaw of built-in controller, including finger mechanism, turns straight-line mechanism, motion work, control
Device and cooling mechanism, it is characterised in that the finger mechanism includes that two fingers, tooth bar, snubber block, guide rail and crossed roller are protected
Hold frame, two fingers are centrosymmetric setting, are provided with tooth bar in finger, and the two ends of tooth bar are equipped with snubber block, finger
Outside is equipped with guide-track groove, and guide-track groove is cooperated with guide rail, is provided with crossed roller retainer between finger and guide rail；
The straight-line mechanism that turns is made up of E type jump rings, bearing, roller, track base, gear shaft and internal gear, the gear
The external tooth section of axle is placed in two fingers between centrosymmetric tooth bar and is intermeshed with tooth bar, and guide rail is placed in track base,
The axis part of gear shaft is provided with two bearings, and the centre position of the track base is provided with symmetrical inside boss, boss
Roller slot is inside provided with, roller is installed in roller slot, surface and the finger of roller contact with each other, and the outside of gear shaft is provided with E types
Jump ring, the end of gear shaft are provided with the internal gear with its interference fit；
The motion work is made up of axle, shell, cascade gear, Motor Shaft gear, brushless electric machine and copper sheathing, the nothing
Be arranged with Motor Shaft gear on the output shaft of brush motor, Motor Shaft gear and cascade gear intermeshing, cascade gear with
Internal gear is intermeshed, and cascade gear, Motor Shaft gear, brushless electric machine are encapsulated in inside the shell；
The controller is made up of control board and slide rheostat, and control board and slide rheostat electrically connect brushless electricity
Machine and external power source；
By copper post is radiated and bonnet is constituted, the one end for the copper post that radiates is fixed in the copper post hole in bonnet the cooling mechanism, dissipates
The another end of hot copper post is attached in control board by the paster that radiates.
2. the electronic jaw of a kind of built-in controller according to claim 1, it is characterised in that convex in the track base
Platform is placed in the groove of guide rail corresponding position.
3. the electronic jaw of a kind of built-in controller according to claim 1, it is characterised in that the cascade gear is by four
Individual gear wheel and four little gear compositions, two gear wheels and two little gears constitute one group of coaxial gear by axle,
One of little gear is placed between two gear wheels, and another little gear is placed in the side of gear wheel, and two groups coaxial
The mutual dislocation engagement of gear, the little gear of one of which are intermeshed with Motor Shaft gear, another group of little gear with it is interior
Gear is intermeshed, and axle is exposed at the part outside little gear and is arranged with copper sheathing.
4. a kind of electronic jaw of built-in controller according to claim 1, it is characterised in that the motion work
Change speed reducing ratio by changing the composing quantity for cascading gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621070816.2U CN206029924U (en) | 2016-09-22 | 2016-09-22 | Built -in controller's electronic clamping jaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621070816.2U CN206029924U (en) | 2016-09-22 | 2016-09-22 | Built -in controller's electronic clamping jaw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206029924U true CN206029924U (en) | 2017-03-22 |
Family
ID=58296200
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621070816.2U Active CN206029924U (en) | 2016-09-22 | 2016-09-22 | Built -in controller's electronic clamping jaw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206029924U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108214479A (en) * | 2018-01-25 | 2018-06-29 | 深圳市固胜智能科技有限公司 | Electronic clamping jaw |
| CN108818592A (en) * | 2018-07-30 | 2018-11-16 | 慧灵科技（深圳）有限公司 | A kind of electronic clamping jaw based on grooved cam transmission |
| CN109910046A (en) * | 2019-03-05 | 2019-06-21 | 广东工业大学 | A small translational gripper |
| CN112230007A (en) * | 2020-11-06 | 2021-01-15 | 珠海科域生物工程股份有限公司 | A tongs mechanism for external diagnostic apparatus |
-
2016
- 2016-09-22 CN CN201621070816.2U patent/CN206029924U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108214479A (en) * | 2018-01-25 | 2018-06-29 | 深圳市固胜智能科技有限公司 | Electronic clamping jaw |
| CN108818592A (en) * | 2018-07-30 | 2018-11-16 | 慧灵科技（深圳）有限公司 | A kind of electronic clamping jaw based on grooved cam transmission |
| CN109910046A (en) * | 2019-03-05 | 2019-06-21 | 广东工业大学 | A small translational gripper |
| CN112230007A (en) * | 2020-11-06 | 2021-01-15 | 珠海科域生物工程股份有限公司 | A tongs mechanism for external diagnostic apparatus |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |