CN216830952U

CN216830952U - High-efficient sharp electric machine claw

Info

Publication number: CN216830952U
Application number: CN202220206773.5U
Authority: CN
Inventors: 张贝妮; 翁孟坤; 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: 2022-06-28
Anticipated expiration: 2032-01-25

Abstract

The utility model discloses a high-efficiency linear electric mechanical claw, which comprises a shell, a driving motor, a reduction gearbox, a driving gear, an annular table and three groups of clamping jaw assemblies, wherein the driving gear is connected on an output shaft of the reduction gearbox; three horizontal sliding grooves are formed in the annular table; the clamping jaw assembly comprises a gear shaft, a driven gear, a sliding rack and a clamping jaw, wherein the driven gear is fixedly installed on the gear shaft, the sliding rack is installed in a sliding chute and meshed with the driven gear, and the clamping jaw is fixedly installed on the sliding rack; the three driven gears are distributed in a triangular shape, the three sliding racks are distributed in a Y shape, the included angle of any two adjacent sliding racks is 120 degrees, and the three clamping jaws are arranged in an equilateral triangle shape; the driving gear is meshed with each driven gear. The utility model discloses the transmission structure adopts the planetary gear transmission that driving gear and three driven gear formed, and it is steady to have the transmission, and the transmission is accurate, the advantage of reliable operation.

Description

High-efficient sharp electric machine claw

Technical Field

The utility model belongs to the gripper field, more specifically relates to a high-efficient sharp electromechanical claw.

Background

The robot equipment is high in environmental adaptability and reliable in efficiency, and can replace human beings to finish heavy work, so that more and more industries adopt the robot equipment to replace human beings to work, through the development of scientific technology, the quasi-class of the robot equipment is more and more, and mechanical arms and mechanical claws on the robot are important components for helping the robot to exert functions.

Generally, robots or robot arms are operated by end effectors, and the gripper is the most applied end effector in terms of assembly, movement and the like, while the existing gripper is complex in structure, troublesome in operation, easy to wear, and low in transmission efficiency and accuracy.

SUMMERY OF THE UTILITY MODEL

To the above defect of prior art or improve the demand, the utility model provides a high-efficient sharp electromechanical claw, it adopts planetary gear transmission, has the advantage that the transmission is steady and accurate, the reliable operation.

In order to achieve the above object, according to the utility model discloses an aspect provides a high-efficient sharp electromechanical claw, its characterized in that, including shell, driving motor, reducing gear box, driving gear, annular platform and three clamping jaw subassemblies of group, wherein:

the driving motor and the reduction gearbox are both positioned in the shell and are both arranged on the shell, a motor shaft of the driving motor is connected with an input shaft of the reduction gearbox, and an output shaft of the reduction gearbox is arranged upwards and is connected with the driving gear;

the annular table is arranged in the shell, and three horizontal sliding grooves are formed in the annular table;

for each group of the clamping jaw assemblies, the clamping jaw assemblies comprise a gear shaft, a driven gear, a sliding rack and clamping jaws, the gear shaft is vertically installed at the top of the annular table through a bearing, the top end of the gear shaft is fixedly installed with the driven gear, the thickness of the driven gear is larger than that of the driving gear, the sliding rack is located above the driving gear, the sliding rack is installed in a sliding groove and meshed with the driven gear so as to slide along the longitudinal direction of the sliding groove, and the clamping jaws are fixedly installed on the sliding rack;

the three driven gears are distributed in a triangular shape, the three sliding racks are distributed in a Y shape, the included angle between any two adjacent sliding racks is 120 degrees, and the three clamping jaws are arranged in an equilateral triangle shape;

the driving gear is meshed with each driven gear.

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

Preferably, the drive motor is provided with an encoder.

Preferably, still include top cap and bottom, top cap and bottom are installed respectively the top and the bottom of shell, the top cap is located the top of annular platform seals the annular platform in the shell, and it has blind hole and open slot to open on the top cap, and the gear shaft is installed in the blind hole of top cap, the clamping jaw follow the open slot of top cap passes.

Preferably, the driving motor is connected with a signal wire for connecting a power supply or a driving plate, and the signal wire penetrates out of the shell.

Preferably, three of said driven gears are circumferentially arranged on an annular land at the top of said housing.

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

1) the utility model provides a high-efficiency linear electric mechanical claw, which adopts the motor drive to replace the traditional cylinder drive mode, does not need an extra air compressor and can be applied to any places with electricity; and compare the cylinder drive, motor drive noise is little, accords with the environmental protection requirement more.

2) The utility model discloses a drive motor accessible signal line connection drive plate can adjust and control according to feedback data for the gripper opens and shuts steadily, and the response is rapid.

3) The utility model discloses a transmission structure adopts the planetary gear transmission that driving gear and three driven gear formed, and it is steady to have the transmission, and the transmission is accurate, the advantage of reliable operation.

4) The utility model discloses a driven gear and the cooperation of sliding strip, can guarantee exerting oneself of clamping jaw big with slide steadily, can also reduce frictional force, improve holistic availability factor and life-span.

5) The utility model discloses it is wide to use the range of application, can wide application in the robot arm of each trade, according to the difference of required environment and work precision, combines manufacturing cost requirement, can adopt different types of motors such as brush motor, coreless motor, step motor, brushless motor and servo motor as the power supply, selects more extensively.

Drawings

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

fig. 2 is a schematic perspective view of the present invention with the outer shell, top cover and bottom cover removed;

fig. 3 is a schematic view of the engagement of each driven gear with the sliding rack in the present invention;

fig. 4 is a perspective view of the present invention with the outer casing removed.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail 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 fig. 1-4, an efficient linear electric mechanical gripper comprises a shell 4, a driving motor 11, a reduction gearbox 10, a driving gear 8, an annular table and three groups of clamping jaws 1, wherein:

the driving motor 11 and the reduction gearbox 10 are both positioned in the shell 4 and are both installed on the shell 4, a motor shaft of the driving motor 11 is connected with an input shaft of the reduction gearbox 10, and an output shaft of the reduction gearbox 10 is arranged upwards and is connected with the driving gear 8; the front end of the driving motor 11 is provided with the reduction gearbox 10, so that the clamping force of the clamping jaw 1 is increased, heavier parts can be clamped, and the running speed of the clamping jaw 1 is reduced, so that the mechanical jaw can run more smoothly when clamping articles, and the articles are protected from being damaged.

The annular platform is arranged in the shell 4, a flange 9 on a motor shell of a driving motor 11 is hung on a step inside the shell 4 and is fixed through screws, and three horizontal sliding grooves 12 are formed in the annular platform.

For each group of the clamping jaws 1, the clamping jaw assembly comprises a gear shaft, a driven gear 6, a sliding rack 7 and clamping jaws 1, wherein the gear shaft is vertically installed at the top of the annular table through a bearing, the driven gear 6 is fixedly installed at the top end of the gear shaft, the thickness of the driven gear 6 is larger than that of the driving gear 8, the sliding rack 7 is positioned above the driving gear 8, the sliding rack 7 is installed in a sliding groove 12 and meshed with the driven gear 6 so as to slide along the longitudinal direction of the sliding groove 12, and the clamping jaws 1 are fixedly installed on the sliding rack 7. The sliding groove 12 can limit the sliding rack 7 to slide on a sliding track in the sliding groove 12, so that friction and abrasion are reduced, the integral use efficiency of the mechanism is improved, and the service life of the mechanism is prolonged.

It is three driven gear 6 is triangular distribution, and is three driven gear 6 circumference is arranged on the annular bench at shell 4 top, three sliding rack 7 is Y-shaped and distributes, three promptly sliding rack 7 distributes on three edges of Y, but they do not contact each other to arbitrary two adjacent sliding rack 7's contained angle is 120, three clamping jaw 1 is equilateral triangle and arranges.

The driving gear 8 is meshed with each driven gear 6 to drive each driven gear 6 to synchronously rotate, so that each sliding rack 7 is driven to synchronously move, and the three clamping jaws 1 are driven to close or open.

Further, each clamping jaw 1 is provided with a mounting hole 2 for mounting clamping fingers of various types. The two mounting holes 2 are round holes, the clamp fingers in different shapes can be mounted and fixed through screws, different clamp fingers can be replaced according to different shapes and sizes of clamped objects, and the clamp finger has universality.

Further, the driving motor 11 is provided with an encoder, so that different quantized data such as current or voltage can be fed back according to the state of the clamping jaw 1, the control of the mechanical jaw is more precise, and the reaction is quicker.

Further, still include top cap 3 and bottom 13, top cap 3 and bottom 13 are installed respectively the top and the bottom of shell 4, top cap 3 is located the top of annular platform seals annular platform in shell 4, and it has blind hole and open slot to open on top cap 3, and the gear shaft is installed in the blind hole of top cap 3, and the clamping jaw is followed the open slot of top cap 3 passes.

Further, the driving motor 11 is connected with a signal wire for connecting a power supply or a driving board, and the signal wire penetrates through the shell 4. The signal wire extends out from the wire outlet hole 5 reserved on the bottom cover 13, and can be debugged and controlled by an external power supply, a driver or a signal generator and the like.

The working process of the utility model is as follows:

when the driving motor 11 is powered on by an external power supply or a driving plate and then rotates clockwise, the driving gear 8 mounted on the output shaft of the reduction gearbox 10 is driven to rotate clockwise, the driving gear 8 respectively drives the three driven gears 6 meshed with the driving gear to rotate anticlockwise, and further pushes the sliding rack 7 meshed with the driven gears 6 to do linear motion on the sliding track of the sliding chute 12, and as the driven gears 6 rotate anticlockwise, the sliding rack 7 mounted on the right side of the driving gear is further pushed to do linear motion from outside to inside, and the sliding rack 7 drives the mechanical claw to do linear motion from outside to inside, so that the clamping action is performed.

Because the front end of the driving motor 11 is equipped with the reduction box 10, the rotating speed of the driving gear 8 is lower, the outer diameter of the driven gear 6 is larger than that of the driving gear 8, and therefore the rotating speed of the driven gear 6 is lower than that of the driving gear 8, so that the running speed of the sliding rack 7 arranged beside the driven gear 6 is more gentle, the running speed of the clamping jaw 1 is also more gentle, and the clamping jaw 1 can clamp heavier objects and can not damage the objects due to too fast action.

After the clamping jaw 1 clamps the article, the output current of the encoder carried in the driving motor 11 can be increased remarkably, and at this time, the rotating speed of the driving motor 11 can be controlled through an external driver, so that the rotating speed of the driving motor 11 is reduced, the rotating speeds of the driving gear 8 and the driven gear 6 are reduced, and the running speed of the sliding rack 7 meshed with the right side of the driven gear 6 is also reduced.

When the current fed back by the encoder is reduced to set data, the external driver enables the driving motor 11 to keep the current rotating speed according to the data feedback, so that the push-pull force borne by the sliding rack 7 is kept stable, the push-pull force borne by the clamping jaw 1 on the rack is kept stable, and the clamping jaw 1 clamps and clamps the object stably, so that the object can be firmly clamped without falling off, and the object cannot be damaged due to overlarge clamping force.

After the clamping jaw 1 clamps an article to a designated position, the driving motor 11 is changed into anticlockwise rotation through the external driver to drive the driving gear 8 mounted on the output shaft of the reduction gearbox 10 to anticlockwise rotate, the driving gear 8 respectively drives the three driven gears 6 meshed with the driving gear to clockwise rotate, so that the sliding rack 7 meshed with the driven gears 6 is pushed to linearly move from inside to outside on the sliding track of the sliding chute 12, and then the sliding rack 7 drives the clamping jaw 1 to linearly move from inside to outside to perform loosening action.

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 high-efficient sharp electromechanical claw which characterized in that, includes shell, driving motor, reducing gear box, driving gear, annular platform and three group's clamping jaw subassemblies, wherein:

the driving gear is meshed with each driven gear.

2. A high efficiency linear electromechanical gripper according to claim 1 and wherein each said gripper jaw is provided with mounting holes for mounting gripping fingers.

3. A high efficiency linear electromechanical gripper according to claim 1 and wherein said drive motor is provided with an encoder.

4. The efficient linear electromechanical gripper according to claim 1, further comprising a top cover and a bottom cover, wherein the top cover and the bottom cover are respectively installed at the top and the bottom of the housing, the top cover is located above the annular table and encloses the annular table, the top cover is provided with a blind hole and an open slot, the gear shaft is installed in the blind hole through a bearing, and the gripper passes through the open slot of the top cover.

5. A high efficiency linear electromechanical gripper according to claim 1 and wherein said drive motor is connected to a signal line for connection to a power supply or drive plate, said signal line extending through said housing.

6. A high efficiency linear electromechanical jaw according to claim 1, characterized by three said driven gears circumferentially arranged on an annular land at the top of said housing.