CN216830935U

CN216830935U - Electric mechanical claw capable of accurately adjusting limiting point

Info

Publication number: CN216830935U
Application number: CN202220204598.6U
Authority: CN
Inventors: 周志鹏; 张贝妮; 张松
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: 2022-06-28
Anticipated expiration: 2032-01-25

Abstract

The utility model discloses an electric mechanical gripper capable of accurately adjusting limit points, which comprises a casing, a speed reducing motor, a screw mechanism and a pair of gripper components; the screw mechanism comprises a screw and a screw nut, the screw nut comprises a nut body and a first connecting rod, and a guide groove is formed in the first connecting rod; the clamping jaw assembly comprises a clamping jaw, a sliding block, a V-shaped rod and a circular pin shaft, the clamping jaw comprises a sliding block and a clamping finger, an accommodating groove is formed in the bottom of the sliding block, the V-shaped rod comprises a second connecting rod and a third connecting rod, the V-shaped rod is hinged to the machine shell through a hinged shaft, the third connecting rod extends into the accommodating groove of the sliding block, the second connecting rod is fixedly connected with the circular pin shaft, and the circular pin shaft is slidably mounted in the guide groove; and a bolt is vertically arranged on the machine shell and used for limiting the upward moving stroke of the screw nut. The utility model discloses the vertical bolt of position adjustable has been increased for the clamping jaw can both guarantee to open and shut at any time and target in place, has increased the accuracy of clamping jaw operation, improves the life of mechanism.

Description

Electric mechanical claw capable of accurately adjusting limiting point

Technical Field

The utility model belongs to the gripper field, more specifically relates to an electric gripper that can accurate adjustment limit point.

Background

As is well known, robot equipment plays an increasingly important role in helping people to produce and live, with the development of science and technology, the utilization rate of robots in various industries is more popular, and mechanical arms and mechanical claws on the robots are important components playing roles like human hands.

The mechanical claw is opened and closed through a power source and used for grabbing articles. However, the mechanical claw has a certain stroke in opening and closing, and the contact part is easily abraded in the operation process of the mechanical claw, so that after the mechanical claw operates for a certain time, the mechanical claw cannot accurately reach the preset limit position due to abrasion, and therefore, errors are easily caused when the mechanical claw clamps the precise parts.

SUMMERY OF THE UTILITY MODEL

To the above defect or the improvement demand of prior art, the utility model provides a but electric mechanical claw of accurate adjustment limit point, its clamping jaw can both guarantee to open and shut at any time and target in place, has increased the accuracy of mechanical clamping jaw operation, improves the life of mechanism.

In order to achieve the above object, according to an aspect of the present invention, there is provided an electromechanical gripper capable of precisely adjusting a position limit point, which is characterized by comprising a housing, a speed reduction motor, a screw mechanism and a pair of clamping jaw assemblies, wherein:

the speed reducing motor is positioned in the shell and is arranged on the shell, and an output shaft of the speed reducing motor is arranged upwards;

the lead screw mechanism comprises a lead screw and a lead screw nut which is arranged on the lead screw in a penetrating mode, the lead screw is coaxially connected with an output shaft of the speed reducing motor, the lead screw nut comprises a nut body which is arranged on the lead screw in a penetrating mode and two first connecting rods which are fixedly arranged on the nut body, each first connecting rod is provided with a guide groove, and each first connecting rod is connected with one clamping jaw assembly;

for each clamping jaw component, the clamping jaw component comprises a clamping jaw, a sliding block, a V-shaped rod and a circular pin shaft, wherein the clamping jaw comprises a sliding block and a vertical clamping finger which is fixedly connected with the sliding block and used for clamping articles, the sliding block is slidably mounted on a horizontal sliding rail on the machine shell, the bottom of the sliding block is provided with a containing groove, the V-shaped rod comprises a second connecting rod and a third connecting rod, the first end of the third connecting rod is fixedly connected with the first end of the second connecting rod, the joint of the third connecting rod and the second connecting rod is hinged on the machine shell through a hinged shaft, the second end of the third connecting rod extends into the containing groove of the sliding block and is used for stirring the sliding block to enable the sliding block to slide on the horizontal sliding rail, the second end of the second connecting rod is fixedly connected with the circular pin shaft, the circular pin shaft is parallel to the hinged shaft, and the circular pin shaft are both vertical to the horizontal sliding rail, the circular pin shaft is slidably arranged in the guide groove, so that the circular pin shaft is driven by the screw nut to move in the guide groove, the circular pin shaft drives the V-shaped rod to rotate around the central line of the hinge shaft, and the second end of the third connecting rod of the V-shaped rod drives the sliding block to slide;

and a bolt is vertically arranged on the shell and is positioned above the screw nut so as to limit the upward movement stroke of the screw nut.

Preferably, a vertical tunnel for guiding the up-and-down movement of the screw nut is provided in the housing.

Preferably, a motor driving board is further arranged in the casing, the motor driving board is connected with a motor of the speed reduction motor, a signal wire is connected to the motor driving board, and the signal wire extends out of the casing through a wire outlet hole in the casing.

Preferably, the bolts are provided in two and arranged vertically.

Preferably, the clamping jaw is provided with a mounting hole for mounting the clamping finger.

Preferably, the casing comprises a housing, an upper cover and a lower cover, the upper cover and the lower cover are respectively installed at the top and the bottom of the housing, the upper cover encloses the lower parts of the clamping jaws, and the motor of the speed reduction motor is installed on the lower cover.

Generally, through the utility model discloses above technical scheme who conceives compares with prior art, can gain following beneficial effect:

1) the utility model discloses increased the adjustable bolt, but the limit point of accurate adjustment screw nut for the clamping jaw can both guarantee to open and shut at any time and target in place, has increased the accuracy of clamping jaw operation, improves the life of mechanism.

2) The utility model discloses a screw nut transmission has self-locking function, can avoid gear motor's motor to get into lock-out state, can improve gear motor's life.

3) The utility model discloses the design has screw nut slip tunnel, can retrain screw nut and slide in its position, reduces the skew that screw nut produced in the use, reduces the friction between screw nut and the lead screw, improves the availability factor and the life of whole mechanism.

4) The utility model discloses can be according to user's required environment and required precision, and adopt if: the motor with different speed reducing motors such as a brush motor, a hollow cup motor, a stepping motor, a brushless motor or a servo motor is suitable for robot arms in various industries, and is strong in universality and convenient to detach, replace, install and debug.

Drawings

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

FIG. 2 is a cross-sectional view taken along line A-A of FIG. 1;

FIG. 3 is a front view of the present invention with the outer shell and the upper cover removed;

fig. 4a is a front view of the bolt of the present invention in a tightened state;

FIG. 4b is a cross-sectional view taken along line A1-A1 of FIG. 4 a;

FIG. 5 is an enlarged schematic view at B in FIG. 4B;

fig. 6a is a front view of the present invention in a state where the bolt is loosened;

FIG. 6b is a cross-sectional view taken along line A2-A2 of FIG. 6 a;

fig. 7 is an enlarged schematic view at C in fig. 6 b.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in 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 invention and are not intended to limit the invention. Furthermore, the technical features mentioned in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

Referring to the figures, an electric mechanical gripper capable of accurately adjusting a limiting point comprises a casing, a speed reducing motor, a screw rod mechanism and a pair of gripper jaw assemblies, wherein:

the screw mechanism comprises a screw 17 and a screw nut 13 which is arranged on the screw 17 in a penetrating manner, the screw 17 is coaxially connected with an output shaft of the speed reducing motor, the screw nut 13 comprises a nut body which is arranged on the screw 17 in a penetrating manner and two first connecting rods 12 which are fixedly arranged on the nut body, each first connecting rod 12 is provided with a guide groove, and each first connecting rod 12 is respectively connected with one clamping jaw assembly;

for every clamping jaw assembly, it includes clamping jaw 1, slider, V-arrangement pole and circular round pin axle 11, clamping jaw 1 include the slider and with the slider links firmly be used for pressing from both sides the vertical clamp finger of getting article, slider slidable mounting is in on the horizontal slide rail 4 on the casing, the bottom of slider is provided with the holding tank, the V-arrangement pole includes second connecting rod and third connecting rod, the first end of third connecting rod and the first end of second connecting rod link firmly together, the junction of third connecting rod and second connecting rod articulates through articulated shaft 9 on the casing, the second end of third connecting rod stretches into in the holding tank of slider, in order to be used for stirring the slider lets the slider slide on the horizontal slide rail 4. And one side of the second end of the third connecting rod, which is close to the second connecting rod, is provided with an inclined plane, and the inclined plane is used for contacting with the edge of the bottom of the accommodating groove, so that the sliding block can be conveniently stirred. The second end of the second connecting rod is fixedly connected with the circular pin shaft 11, the circular pin shaft 11 is parallel to the hinge shaft 9 and is perpendicular to the horizontal slide rail 4, the circular pin shaft 11 is slidably mounted in the guide groove, so that the circular pin shaft 11 is driven by the screw nut 13 to move in the guide groove, the circular pin shaft 11 drives the V-shaped rod to rotate around the central line of the hinge shaft 9, and the second end of the third connecting rod of the V-shaped rod drives the sliding block to slide;

the first side and the second side of the second end of the third connecting rod are used for contacting with the groove bottom edge of the accommodating groove to stir the sliding block to move, the first side and the second side are respectively in contact when the pair of clamping jaws are closed and separated, the first side and the second side can both be fitted with a proper curved surface, the curved surface enables the curved surface to always contact with the groove bottom edge no matter in the moving process of the closing or separating of the clamping jaws, therefore, the second end of the third connecting rod can be prevented from being separated from the groove bottom edge to cause a gap, if the gap occurs, the idle stroke of the third connecting rod can be caused when the clamping jaws are closed, the third connecting rod does not drive the sliding block to move in the idle stroke, and the working efficiency is influenced.

A bolt 5 is vertically installed on the machine shell, and the bolt 5 is positioned above the screw nut 13 and used for adjusting the upward moving stroke of the screw nut 13 by adjusting the screwing depth of the bolt 5 into the machine shell. The loosening and tightening of the bolt 5 limits the moving stroke of the lead screw nut 13, the rotation angle of the third link is limited by the position of the lead screw nut 13, and the movement position of the slider is limited by the rotation angle of the third link.

Further, a vertical tunnel for guiding the up-and-down movement of the lead screw nut 13 is arranged in the machine shell. The vertical tunnel can restrain the screw nut 13 to slide in the direction, so that the offset of the screw nut 13 in the using process is reduced, the friction between the screw nut 13 and the screw 17 is reduced, and the using efficiency and the service life of the whole mechanism are improved.

Further, a motor driving board 16 is further arranged in the casing, the motor driving board 16 is connected with a motor 15 of the speed reducing motor, a signal wire is connected to the motor driving board 16, and the signal wire extends out of the casing through a wire outlet hole in the casing and can be debugged and controlled by an external power supply or a signal generator.

Further, the bolts 5 are arranged in a symmetrical manner in front and back to improve the reliability of the limiting.

Further, the clamping jaw 1 is provided with a mounting hole for mounting clamping fingers of various types. According to the shape and the property of the clamped object, customized claws with different shapes can be installed.

Further, the machine shell comprises a shell 6, an upper cover 3 and a lower cover 7, the upper cover 3 and the lower cover 7 are respectively installed at the top and the bottom of the shell 6, the upper cover 3 encloses the lower part of the clamping jaw 1, and a motor 15 of the speed reducing motor is installed on the lower cover 7.

The utility model discloses a gear motor includes motor and planetary gear reducing gear box 14, and gear motor's 15 front end installation planetary gear reducing gear box 14 of motor, planetary gear box can the underspeed, and increase torsion lets clamping jaw 1's clamping capacity stronger. A screw nut 13 is engaged with the outer side of a planetary speed-reducing output shaft screw 17, so that the screw motion of the screw 17 is converted into the vertical linear motion of the screw nut 13, a vertical tunnel is designed at the outer side of the screw nut 13, the screw nut 13 can be restrained from sliding in the direction, first connecting rods 12 are arranged at the left side and the right side of the screw nut 13, the first connecting rods 12 are hinged with V-shaped rods through circular pin shafts 11, the circular pin shafts 11 are movable and movable hinged shafts 9, the vertical motion of the screw nut 13 drives the first connecting rods 12 to move up and down, and further drives the V-shaped rods to move through the circular pin shafts 11, the V-shaped rods comprise second connecting rods 10 and third connecting rods 8, the second connecting rods 10 and the third connecting rods 8 are fixedly connected, the joint is hinged on a machine shell through the hinged shafts 9, the vertical motion of the first connecting rods 12 pushes the second connecting rods 10 to rotate around the central line of the hinged shafts 9 through the circular pin shafts 11, and then it is rotatory around the central line of articulated shaft 9 to drive third connecting rod 8, the root 2 of clamping jaw 1 is stretched into to the upper end of third connecting rod 8, the lower extreme of the root 2 of clamping jaw 1 has the slider, the slider is placed on horizontal slide rail 4, horizontal slide rail 4 is in the same place through screw and 6 fixed mounting of shell, the slider is stirred in the rotation of third connecting rod 8 and is slided on horizontal slide rail 4, and then drive the root 2 motion of clamping jaw 1, it has two installation round holes to open on the root 2 of clamping jaw 1, press from both sides the difference of getting article according to required, can install and change different clamping jaw 1.

The upper end of the screw nut 13 is provided with two bolts 5 which can be adjusted by hands and are used for limiting the stroke of the screw nut 13, because parts in the mechanism inevitably generate relative motion, the mechanism runs for a long time, and inevitable abrasion can occur at the contact point of the relative motion, so that the situation that the clamping jaw 1 runs incompletely or runs excessively can occur, when the clamping jaw 1 clamps a precise object, the clamping jaw 1 can be damaged due to insufficient clamping force due to incomplete running, or the clamping jaw 1 moves excessively, so that the clamping jaw 1 extrudes each other, and further the object is damaged due to increased clamping force.

The bolt 5 can make up the situation that the clamping jaw 1 runs incompletely or excessively due to mechanism abrasion, the bolt 5 is installed on the shell 6, the limit point of the lead screw nut 13 can be changed through manual adjustment, if the clamping jaw 1 runs excessively, the bolt 5 is screwed inwards, the limit point of the lead screw nut 13 is lowered, and the clamping jaw 1 runs in a set stroke; if the clamping jaw 1 does not operate in place, the bolt 5 is unscrewed outwards, and the limit point of the screw nut 13 is raised, so that the clamping jaw 1 operates in place, and the clamping jaw 1 is ensured to be always kept in a state of being stably opened and closed and accurately in place.

The working process of the utility model is as follows: according to an external power supply, the motor 15 of the speed reducing motor is electrified through the motor driving plate 16, the motor 15 of the speed reducing motor is electrified to rotate forwards (CW) or reversely (CCW), the screw rod 17 is driven to rotate forwards or reversely, and due to the fact that threads on the screw rod 17 rotate in different directions, the screw rod nut 13 meshed with the screw rod 17 moves upwards or downwards.

When screw nut 13 upward movement, first connecting rod 12 of the screw nut 13 left and right sides also follows upward movement, first connecting rod 12 upward movement is through circular round pin axle 11 promotion V-arrangement pole second connecting rod 10 and third connecting rod 8 around articulated shaft 9 and is opposite rotary motion, and then it slides in opposite directions on horizontal slide rail 4 to drive the slider that is located on third connecting rod 8, the upper end of slider is the root 2 of clamping jaw 1, install clamping jaw 1 on the root 2 of clamping jaw 1, slide through the slider and drive clamping jaw 1 and carry out opposite movement, form the closure, press from both sides and get article.

After clamping the article when clamping jaw 1 presss from both sides, drive plate 16 cuts off the power supply according to the feedback and handles, because screw nut 13 transmission combination takes self-locking function, even gear motor's motor 15 cuts off the power supply, screw nut 13 can not fall back yet, and this just guarantees that clamping jaw 1 can press from both sides and get firm article and can not drop, and can guarantee that gear motor's motor 15 can not get into the lock-out state, improves gear motor's motor 15's life.

When the clamping jaw 1 clamps an object to a designated place or position, the clamping jaw rotates according to a motor 15 of an external power supply or a signal generator speed reduction motor, a screw rod 17 drives a screw nut 13 to move downwards, the screw nut 13 moves downwards to drive first connecting rods 12 on the left side and the right side to move downwards, and then drives a second connecting rod 10 hinged with the first connecting rod 12 through a circular pin shaft 11 to rotate back to back around a hinged shaft 9, so that a third connecting rod 8 is driven to rotate back to back around the hinged shaft 9, a sliding block is arranged at the upper end of the third connecting rod 8, and the upper end of the sliding block is the root 2 of the clamping jaw 1 and the clamping jaw 1. The third connecting rod 8 rotates back to drive the sliding block at the lower end of the root part 2 of the clamping jaw 1 to do back linear motion on the horizontal sliding rail 4, so that the clamping jaw 1 is loosened, and articles are put down.

It will be understood by those skilled in the art that the foregoing is merely a preferred embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

Claims

1. The utility model provides a but electromechanical claw of accurate adjustment limit point which characterized in that, includes casing, gear motor, screw mechanism and a pair of clamping jaw subassembly, wherein:

2. The electromechanical jaw capable of precisely adjusting the limit point as claimed in claim 1, wherein a vertical tunnel for guiding the up and down movement of the screw nut is provided in the housing.

3. The electromechanical claw capable of precisely adjusting the position limit point according to claim 1, wherein a motor driving board is further disposed in the housing, the motor driving board is connected to the motor of the reduction motor, a signal line is connected to the motor driving board, and the signal line extends out of the housing through a wire outlet hole in the housing.

4. The electromechanical jaw with the fine adjustable limit point as claimed in claim 1, wherein the bolt is provided with two and is vertically arranged.

5. The electromechanical jaw with the precisely adjustable limit point as claimed in claim 1, wherein the clamping jaw is provided with a mounting hole for mounting the clamping finger.

6. The electromechanical jaw with the fine adjustable limit point as claimed in claim 1, wherein the housing comprises a housing, an upper cover and a lower cover, the upper cover and the lower cover are respectively installed on the top and the bottom of the housing, the upper cover encloses the lower portion of the jaw, and the motor of the reduction motor is installed on the lower cover.