CN217833699U

CN217833699U - Miniature double-drive electric mechanical claw

Info

Publication number: CN217833699U
Application number: CN202221959620.4U
Authority: CN
Inventors: 陈方圆; 陈武; 周志鹏
Original assignee: Once Top Motor Manufacture Co ltd
Current assignee: Once Top Motor Manufacture Co ltd
Priority date: 2022-07-28
Filing date: 2022-07-28
Publication date: 2022-11-18
Anticipated expiration: 2032-07-28

Abstract

The utility model discloses a miniature double-drive electric mechanical claw, which comprises a shell, a sliding table and two groups of clamping finger assemblies, wherein the sliding table is arranged at the top end of the shell, and two first guide grooves are arranged in the shell; the clamping finger assembly comprises a speed reducing motor, a screw rod mechanism, a sliding block and a clamping finger, the speed reducing motor is arranged in the shell, the screw rod mechanism comprises a screw rod and a transmission nut, an output shaft of the speed reducing motor is coaxially connected with the screw rod, the sliding block is arranged on the transmission nut, the sliding block is slidably connected to the sliding table and supported by the sliding table, the clamping finger is arranged on the sliding block, and the clamping finger is exposed out of the shell; the two lead screws are parallel to each other; each transmission nut is positioned in one first guide groove respectively so as to move along the length direction of the first guide groove. The utility model discloses a two gear motor cooperations are used, and it is more nimble to snatch article, simple structure moreover, and the volume is very little, is applicable to various accurate instruments.

Description

Miniature double-drive electric mechanical claw

Technical Field

The utility model belongs to the clamping jaw field, more specifically relates to a miniature two electric machine tool claws that drive.

Background

The robot equipment has high environmental adaptability and reliable 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, and through the development of scientific technology, the types of the robot equipment are more and more, and mechanical arms and handgrips on the robot are important components for helping the robot to exert functions.

Generally, robots or robotic arms operate through end effectors, and the gripper is the most applied end effector in terms of assembly, movement and the like, while the existing gripper is mostly pneumatic, needs to provide an air source, is large in size, has high requirements on a space field, and cannot be used for a micro instrument.

SUMMERY OF THE UTILITY MODEL

Defect or improvement demand more than to prior art, the utility model provides a miniature two electromechanical claw that drives, its simple structure just can use under the circumstances that has the electricity, and it is convenient firm to press from both sides and get article.

In order to achieve the above object, according to an aspect of the present invention, there is provided a micro dual-drive electromechanical gripper, which is characterized in that it comprises a housing, a sliding table, and two sets of finger-clamping components, wherein:

the top end of the shell is provided with the sliding table, two first guide grooves are arranged in the shell, and each first guide groove is horizontally arranged;

for each group of clamping finger assemblies, each group of clamping finger assemblies comprises a speed reducing motor, a screw rod mechanism, a sliding block and a clamping finger, wherein the speed reducing motor is installed in the shell, an output shaft of the speed reducing motor is horizontally arranged, the screw rod mechanism comprises a screw rod and a transmission nut installed on the screw rod, the output shaft of the speed reducing motor is coaxially connected with the screw rod, the sliding block is installed on the transmission nut, the sliding block is slidably connected to the sliding table and supported by the sliding table, the clamping finger is installed on the sliding block, and the clamping finger is exposed out of the shell;

the two lead screws are parallel to each other;

each transmission nut is positioned in one first guide groove respectively so as to move along the length direction of the first guide groove.

Preferably, the portable electric heating device further comprises an upper cover, the upper cover is installed at the top of the shell, the upper cover and the shell jointly form a machine shell, and the speed reducing motor, the screw rod mechanism, the sliding block and the sliding table are located in the machine shell.

Preferably, the upper cover is provided with a second guide groove for allowing both the clamping fingers to move in the second guide groove.

Preferably, the groove wall of the second guide groove is a plane and is parallel to the lead screw, and the groove wall of the second guide groove is in contact with the clamping finger for guiding the movement of the clamping finger.

Preferably, a boss is arranged on the clamping finger, the boss is located above the upper cover and is in contact with the upper surface of the upper cover, and the sliding block is in contact with the bottom surface of the upper cover.

Preferably, the clamping finger is provided with a mounting hole for mounting a knuckle of a required type.

Preferably, the speed reducing motor comprises a driving motor and a gear box, an input shaft of the gear box is connected with an output shaft of the driving motor, and an output shaft of the gear box is connected with a lead screw of the lead screw mechanism.

Preferably, an encoder is connected to an output shaft of the driving motor.

Preferably, the drive nut, the slider and the clamping fingers are integrally formed.

Preferably, the housing is provided with a limiting surface at a position corresponding to the first guide groove, so as to limit the displacement of the transmission nut.

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

1) The utility model respectively drives the clamping fingers to move through the two groups of speed reducing motors, thereby the two clamping fingers can move oppositely and oppositely to clamp and loosen the article, the article can be more flexibly grabbed, and the clamping fingers are respectively and independently controlled, and the control is convenient and flexible; the utility model adopts the speed reducing motor to drive and replace the traditional cylinder driving mode, does not need extra air compressor, and can be applied to any places with electricity; and compare the cylinder drive, gear motor drive noise is little, accords with the environmental protection requirement more, and the motor after-fixing has the drive plate, can adjust and control according to feedback data for the gripper opens and shuts steadily, and the response is rapid.

2) The utility model discloses a screw mechanism transmission, screw mechanism can realize the auto-lock, and the clamp is got article more firmly, and can protect gear motor, improves the utility model discloses a life.

3) The utility model discloses simple structure, two gear motor's output shaft level and mutual parallel arrangement for two gear motor can be parallel horizontal, and the volume is very little, is applicable to various accurate instruments.

4) The utility model discloses use the range of application wide, can wide application in the robot arm of each trade, according to the difference of required environment and work precision, combine manufacturing cost requirement, gear motor can adopt different kinds 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 and fig. 2 are respectively schematic structural views of the present invention when shells with different shapes are adopted;

fig. 3 is a schematic view of the internal structure of the utility model with the outer shell removed;

FIG. 4 is a schematic view of a set of clamping finger assemblies according to the present invention;

FIG. 5 is a schematic view of the placement of two sets of finger assemblies of the present invention;

fig. 6 is a schematic view of the present invention installed on the rotating mechanism.

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 fig. 1 to 6, a micro dual-drive electromechanical gripper comprises a housing 4, a sliding table 9 and two sets of clamping finger assemblies, wherein:

the top end of the shell 4 is provided with the sliding table 9, two first guide grooves are arranged in the shell 4, and each first guide groove is horizontally arranged; the lower end of the slide table 9 is fixedly mounted to the housing 4 by screws.

For each group of clamping finger assembly, the clamping finger assembly comprises a speed reducing motor, a screw rod mechanism, a slide block 10 and a clamping finger 1, wherein the speed reducing motor is installed in the shell 4, an output shaft of the speed reducing motor is horizontally arranged, the screw rod mechanism comprises a screw rod 12 and a transmission nut 13 installed on the screw rod 12, and inner teeth of the transmission nut 13 are meshed with outer teeth of the screw rod 12 to convert the screw motion into linear motion. An output shaft of the speed reducing motor is coaxially connected with the lead screw 12, the sliding block 10 is mounted on the transmission nut 13, the sliding block 10 is slidably connected to the sliding table 9 and supported by the sliding table 9, the clamping finger 1 is mounted on the sliding block 10, the clamping finger 1 is exposed out of the shell 4, and the transmission nut 13, the sliding block 10 and the clamping finger 1 are integrally formed; the speed reducing motor comprises a driving motor 7 and a gear box 8, an input shaft of the gear box 8 is connected with an output shaft of the driving motor 7, an output shaft of the gear box 8 is connected with a lead screw 12 of the lead screw mechanism, and an encoder is connected to an output shaft of the driving motor 7, so that accurate feedback and control can be realized. The utility model discloses a parallel horizontal of a pair of driving motor 7 is through the screw fixation at the bottom both ends of shell 4, puts like this and can furthest's increase space utilization, makes the utility model discloses a volume dwindles as far as. The gear box 8 is arranged at the front end of the driving motor 7, and the gear box 8 can reduce the speed, so that the clamping finger 1 can be opened and closed more smoothly, the torsion can be increased, and the clamping force of the clamping finger 1 can be increased. An encoder arranged inside the driving motor 7 can feed back different quantized data such as current or voltage according to the state of the clamping finger 1, and then an external power supply, a driver or a signal generator and the like are debugged and controlled.

The two lead screws 12 are parallel to each other;

each of the driving nuts 13 is located in one of the first guide grooves to move along the length direction of the first guide groove. The first guide groove is a cuboid groove, so that the transmission nut 13 can move left and right in the first guide groove, the design of the first guide groove is provided with a limiting plane for limiting the sliding of the transmission nut 13, and the transmission nut 13 can be prevented from shifting in the sliding process. The housing 4 is provided with a limiting surface 11 at a position corresponding to the first guide groove, so as to limit the displacement of the transmission nut 13.

Because transmission is screw mechanism, when the lead angle is less than the friction angle, screw mechanism has self-locking function, and even if driving motor 7 cuts off the power supply, electric gripper also can stop in current position after getting article, can not fall back, and electric gripper presss from both sides and gets article more stable, also can protect gear motor, increases gear motor's life.

Further, the multifunctional automobile seat cover further comprises an upper cover 3, the upper cover 3 is installed at the top of the shell 4, the upper cover 3 and the shell 4 jointly form a machine shell, and the speed reducing motor, the screw mechanism, the sliding block 10 and the sliding table 9 are all located in the machine shell to protect the components and save space. Two threaded holes 6 are arranged on the front side and the rear side of the upper cover 3 and are fixedly connected with a sliding table 9 through screws.

Further, a second guide groove is formed in the upper cover 3, and the length direction of the second guide groove is consistent with the axial direction of the screw rod 12, so that the two clamping fingers 1 can move in the second guide groove. The two clamping fingers 1 move linearly in the second guide grooves, facilitating their mutual cooperation. The groove wall of the second guide groove is a plane and is parallel to the lead screw 12, and the groove wall of the second guide groove is in contact with the clamping finger 1 to guide the movement of the clamping finger 1 and prevent the clamping finger 1 from vibrating.

Further, a boss is arranged on the clamping finger 1, the boss is located above the upper cover 3 and is in contact with the upper surface of the upper cover 3, and the sliding block 10 is in contact with the bottom surface of the upper cover 3. When the clamping fingers 1 move, the lug boss and the sliding block 10 move relative to the upper cover 3 and are contacted, and after the two clamping fingers 1 are matched to clamp an object, the upper cover 3 can support the clamping fingers 1 through the lug boss.

Further, the clamping finger 1 is provided with a mounting hole 52 for mounting a knuckle of a required type. The mounting holes 52 are round holes, two are provided, knuckles of different shapes can be mounted and fixed by screws, different knuckles can be replaced according to different shapes and sizes of clamped objects, and the universal finger joint has universality.

Assuming that T is the output torque of the drive motor 7, then:

T＝F*(D/2)*tan(α+β)；

where D is the pitch diameter of the screw 12, α is the lead angle of the screw 12, and α = tan ^-1 (L _d /πD)，L _d The pitch of the thread of the lead screw 12; beta is the equivalent friction angle and beta = tan ^-1 f is the equivalent friction coefficient of a screw pair consisting of the screw 12 and the transmission nut, and f is determined by referring to materials, design and processing parameters;

thus, it can be calculated:

F＝T/(D/2)*tan(α+β)；

because the holding force F' of the electric clamping jaw is related to the force F of the linear motion of the push-pull nut, the property and the bearing capacity of the article can be judged before the electric clamping jaw clamps the article, whether the electric clamping jaw can clamp the article or not is judged, and therefore the article can be prevented from being damaged.

The utility model discloses a rotary mechanism 14 can be installed to the lower extreme, and rotary mechanism 14 drives the electromechanical claw rotation, makes the utility model discloses an application scope is more extensive.

The working process of the utility model is as follows:

when the two driving motors 7 are powered on through an external power supply or a driving plate and then rotate to drive the output shaft of the gear box 8 and the screw rod to rotate, the rotation of the screw rod 12 drives the transmission nut 13 to move, the transmission nut 13 drives the sliding block 10 to move, so that the two clamping fingers 1 can be close to each other, the electric mechanical claw is closed, and articles can be clamped. If the lead screw 12 is turned in the opposite direction to that described above, the two gripper fingers 1 move away from each other, the jaws open and the article is deposited.

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 miniature two electric gripper that drive which characterized in that, includes shell, sliding stand, two sets of finger components of pressing from both sides, wherein:

the top end of the shell is provided with the sliding table, two first guide grooves are formed in the shell, and each first guide groove is horizontally arranged;

the two lead screws are parallel to each other;

2. The micro dual-drive electromechanical gripper as claimed in claim 1, further comprising an upper cover, wherein the upper cover is mounted on the top of the housing, the upper cover and the housing together form a casing, and the gear motor, the lead screw mechanism, the slider and the sliding table are all located in the casing.

3. A micro dual-drive electromechanical gripper according to claim 2, wherein a second guide slot is provided on the top cover for allowing both of the gripping fingers to move within the second guide slot.

4. A micro dual-drive electromechanical gripper according to claim 3, wherein the walls of the second guide slots are planar and parallel to the lead screw, the walls of the second guide slots contacting the gripping fingers for guiding the movement of the gripping fingers.

5. The miniature dual-drive electromechanical gripper as claimed in claim 2, wherein the clamping finger is provided with a boss, the boss is located above the upper cover and contacts with the upper surface of the upper cover, and the slider contacts with the bottom surface of the upper cover.

6. The micro double-drive electromechanical gripper as claimed in claim 1, wherein the clamping fingers are provided with mounting holes for mounting knuckles of required sizes.

7. The micro double-drive electromechanical gripper as claimed in claim 1, wherein the reduction motor comprises a drive motor and a gear box, an input shaft of the gear box is connected with an output shaft of the drive motor, and an output shaft of the gear box is connected with a lead screw of the lead screw mechanism.

8. The micro double-drive electromechanical gripper as claimed in claim 7, wherein an encoder is connected to an output shaft of the drive motor.

9. The micro dual-drive electromechanical gripper as recited in claim 1, wherein the drive nut, the slider and the gripping fingers are integrally formed.

10. A micro dual-drive electromechanical gripper according to claim 1, wherein the housing is provided with a limiting surface at a position corresponding to the first guiding groove for limiting the displacement of the transmission nut.