CN216759921U

CN216759921U - Electric control's high accuracy straight line gripper

Info

Publication number: CN216759921U
Application number: CN202220204583.XU
Authority: CN
Inventors: 翁孟坤; 张贝妮; 张子茂
Original assignee: Once Top Motor Manufacture Co ltd
Current assignee: Once Top Motor Manufacture Co ltd
Priority date: 2022-01-25
Filing date: 2022-01-25
Publication date: 2022-06-17
Anticipated expiration: 2032-01-25

Abstract

The utility model discloses an electrically-controlled high-precision linear mechanical claw which comprises a shell, a speed reducing motor, a sliding table, a flange, a motor drive plate, a driving gear, a driven gear, a signal wire, two racks and two clamping arms, wherein the sliding table is provided with two sliding rails; the driven gear is fixedly arranged on a vertically arranged gear shaft, the gear shaft is rotatably arranged on the flange through a bearing, and the driven gear is positioned between the two racks and is respectively meshed with each rack; the motor driving board is connected with the speed reducing motor, one end of the signal wire is connected with the motor driving board, and the other end of the signal wire is exposed out of the shell. The gear motor drives the gear and the rack to move, the clamping arms are driven to move oppositely or back to clamp and loosen objects, and the clamping device is convenient to control, high in precision and stable and reliable in work. In addition, pneumatic control is replaced by motor control, and the use is more convenient and faster.

Description

Electric control's high accuracy straight line gripper

Technical Field

The utility model belongs to the field of mechanical claws, and particularly relates to an electric control high-precision linear mechanical claw.

Background

With the development of science and technology, various robots are gradually applied to daily work. Particularly in factory shops, the use of various robots is more common. The gripper is a common device in an automatic system, is commonly used for carrying moving objects or clamping and fixing workpieces to be processed, can replace human work in harmful and toxic environments, and has the advantages of convenience in use, good practicability and the like.

The two-finger parallel clamping arm is the most common manipulator for transporting articles in a factory workshop. The application of the device greatly improves the working efficiency of people and saves a lot of cost. The two parallel clamp arms can complete the work of carrying, sorting and the like through a program set in advance. Especially, in the workshop work, the weight of a plurality of accessories is higher, if the workers are used simply, the efficiency is low, the fatigue feeling of the workers is very strong, and the errors in the work are easy to occur. The fault occurs in the factory, which only influences the working efficiency if the fault occurs, and easily causes the injury of workers if the fault occurs. Therefore, the two-finger parallel clamping arm is more popular in factories. Meanwhile, because of its many functions, it can be applied in many fields.

The two-finger parallel clamping arm used at present has more parts, more complex structure, low working reliability and large required field, and can not meet the use requirements of various environments and places.

The existing parallel cylinder clamping arm is used more, and the working principle of the parallel cylinder clamping arm is to utilize compressed air to move. The holder is connected to a compressed air supply network. When air pressure is applied to the piston, the gripper closes. When the pressure is released, the clamp is opened, air is used when the clamp is used, and the use environment and the use place are limited.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects or the improvement requirements of the prior art, the utility model provides the electrically-controlled high-precision linear mechanical claw which has the advantages of compact structure, high precision and reliability and good driving performance.

In order to achieve the above object, according to the present invention, there is provided an electrically controlled high-precision linear gripper, comprising a housing, a reduction motor, a sliding table, a flange, a motor driving plate, a driving gear, a driven gear, a signal line, two racks, and two gripping arms, wherein:

the sliding table and the flange are respectively arranged at the top of the shell;

the reducing motor and the motor drive plate are both positioned in the shell and are both mounted on the flange, an output shaft of the reducing motor is vertically arranged upwards and penetrates through the flange, the driving gear is mounted on the output shaft of the reducing motor, two sliding rails are arranged on the sliding table, each sliding rail is horizontally arranged and parallel to each other, each rack is slidably mounted on one sliding rail, and each clamping arm is mounted on one rack;

the driven gear is fixedly arranged on a vertically arranged gear shaft, the gear shaft is rotatably arranged on the flange through a bearing, and the driven gear is positioned between the two racks and is respectively meshed with each rack;

the motor driving board is positioned in the shell and connected with the speed reducing motor, one end of the signal wire is connected with the motor driving board, and the other end of the signal wire is exposed out of the shell.

Preferably, each clamping arm is provided with a mounting hole for mounting a clamping finger.

Preferably, a wire protecting sleeve is sleeved on the signal wire, one end of the wire protecting sleeve extends into the casing, and the other end of the wire protecting sleeve is connected with the casing in a sealing mode.

Preferably, the casing comprises a housing and an upper cover mounted on the top of the sliding table, the clamping arm penetrates through the upper cover, and a channel serving as a moving channel of the clamping arm is arranged on the upper cover.

Preferably, the motor of the reduction motor has an encoder.

In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:

1) the gear motor drives the gear and the rack to move, the clamping arms are driven to move oppositely or back to clamp and loosen objects, and the clamping device is convenient to control, high in precision and stable and reliable in work. In addition, the speed reducing motor is used for controlling to replace pneumatic control, so that the device is more convenient and faster in use places, only needs electricity, and does not need an additional compressed air system.

2) The utility model is driven by a speed reducing motor, has low noise, meets the requirement of humanity and environmental protection, can clamp articles in various shapes, can stop running at any time, adopts gear transmission and gear rack transmission, has simple structure, is convenient to produce and assemble, has wide industry, and can be used according to different required environments and precision.

3) The motor driving plate can perform control feedback according to the quantized data output by the speed reducing motor, and can set the stroke, so that the clamping range of a single mechanical claw is wider.

Drawings

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a schematic view of the present invention with the housing removed;

fig. 3 is a front view of the present invention with the housing removed.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Referring to fig. 1 to 3, an electric control high-precision linear gripper comprises a casing, a reduction motor 10, a flange 9, a motor drive plate 11, a driving gear 12, a driven gear 8, a signal line 6, two racks 7 and two clamping arms 1, wherein the reduction motor 10, the flange 9 and the motor drive plate 11 are all located in the casing and are all installed on the casing, an output shaft of the reduction motor 10 is vertically arranged upwards, the driving gear 12 is installed on the output shaft of the reduction motor 10, two sliding rails are arranged on a sliding table, each sliding rail is horizontally arranged, the two sliding rails are parallel to each other, each rack 7 is respectively installed on one sliding rail in a sliding manner, and each clamping arm 1 is respectively installed on one rack 7.

The driven gear 8 is fixedly mounted on a vertically arranged gear shaft, the gear shaft is rotatably mounted on the flange 9 through a bearing, and the driven gear 8 is positioned between the two racks 7 and is respectively meshed with each rack 7.

The motor driving board 11 is located in the casing and connected with the gear motor 10, one end of the signal wire 6 is connected with the motor driving board 11, and the other end of the signal wire is exposed out of the casing. The signal line 6 comes out from the outlet hole on the chassis.

Furthermore, each clamping arm 1 is provided with a mounting hole 2 for mounting a clamping finger, and the clamping arm can be used for mounting clamping fingers with various shapes or lengths.

Furthermore, a wire protecting sleeve 5 is sleeved on the signal wire 6, one end of the wire protecting sleeve 5 extends into the shell, the end of the wire protecting sleeve is connected with the shell in a sealing mode, and the wire protecting sleeve 5 can prevent dust and the like from entering the shell to play a certain protection role.

Further, the casing includes shell 4 and installs upper cover 3 at the sliding table top, arm lock 1 passes upper cover 3, be provided with the channel as arm lock 1 removal passageway on the upper cover 3. The upper cover 3 is connected with the sliding table.

Further, the motor of the gear motor 10 is provided with an encoder, so that accurate position feedback can be realized on the output shaft of the gear motor 10. The motor drive board 11 can position and control the clamping arm 1 according to a self-contained encoder inside the speed reducing motor 10, a signal wire 6 on the motor drive board 11 extends out of the shell after passing through the wire sheath 5, and an external power supply or a signal generator is used for debugging and controlling.

The working process of the utility model is as follows:

when the circular telegram is used, through external power supply control motor drive board 11, make gear motor 10 anticlockwise rotate, thereby drive the driving gear 12 anticlockwise rotation of installing on the output shaft of gear motor 10's reduction gear, and driven gear 8 with driving gear 12 meshing then clockwise rotation, driven gear 8's clockwise rotation promotes two racks 7 that are parallel to each other and removes, makes rack 7 carry out linear motion in opposite directions on the slide rail of flange 9, drives a pair of parallel arm lock 1 closed, carries out the action of centre gripping. After the article are got to the clamp, carry out current, voltage equivalent output according to gear motor 10 from the encoder in area to feed back to motor drive board 11, motor drive board 11 is after receiving the signal of encoder feedback, and the rotational speed of regulation control gear motor 10 makes a pair of parallel arm lock 1 keep quiescent condition, avoids arm lock 1 to cause the damage to the article of getting because the extrusion.

After the clamping arms 1 clamp the articles to the designated place, the articles are sent to the motor drive plate 11 through an external instruction, the motor drive plate 11 controls the speed reduction motor 10 to rotate clockwise, so as to drive the driving gear 12 mounted on the output shaft to rotate clockwise, the driven gear 8 meshed with the driving gear 12 rotates anticlockwise, the driven gear 8 rotates anticlockwise to push the pair of racks 7 meshed with the driven gear to do back-to-back linear motion on the slide rail of the flange 9, and thus the pair of parallel clamping arms 1 is driven to perform loosening action.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the utility model, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. The utility model provides an electric control's high accuracy straight line gripper, its characterized in that, includes casing, gear motor, sliding stand, flange, motor drive board, driving gear, driven gear, signal line, two racks and two arm lock, wherein:

2. The electrically controlled high precision linear gripper according to claim 1, wherein each of said gripping arms is provided with a mounting hole for mounting a gripping finger.

3. The electrically-controlled high-precision linear mechanical claw according to claim 1, wherein a wire sheath is sleeved on the signal wire, one end of the wire sheath extends into the casing and is connected with the casing in a sealing manner.

4. The electrically controlled high precision linear gripper according to claim 1, wherein the housing comprises a housing and an upper cover mounted on top of the slide table, the gripper arm passes through the upper cover, and the upper cover is provided with a channel as a moving channel of the gripper arm.

5. An electrically controlled high precision linear gripper according to claim 1, wherein the motor of the gear motor has an encoder.