WO2023115646A1

WO2023115646A1 - Hollow unlimited-rotating electric gripper

Info

Publication number: WO2023115646A1
Application number: PCT/CN2022/070194
Authority: WO
Inventors: 孙娜; 李相清; 于长斌; 弥鹏; 王志韬; 张国煜
Original assignee: 山东第一医科大学(山东省医学科学院)
Priority date: 2021-12-24
Filing date: 2022-01-05
Publication date: 2023-06-29
Also published as: CN114654487B; CN114654487A

Abstract

Disclosed in the present invention is a hollow unlimited-rotating electric gripper, comprising an electric rotating assembly, a hollow electric push-pull assembly, a hollow gripper assembly and a control assembly, wherein the electric rotating assembly is connected to the hollow gripper assembly and configured to drive the hollow gripper assembly to perform a rotating action; the hollow electric push-pull assembly is connected to and in communication with the hollow gripper assembly and configured to drive the hollow gripper assembly to perform a clamping action; and the control assembly is respectively in electrical signal connection with the electric rotating assembly and the hollow electric push-pull assembly and configured to control the electric rotating assembly and the hollow electric push-pull assembly to perform the actions. The hollow unlimited-rotating electric gripper has the beneficial effects of the hollow push-pull assembly being in communication with the hollow gripper assembly to form a through hole in a longitudinal direction of the entire electric gripper, such that the perfect matching of the electric gripper to a filling apparatus can be achieved, and a capping action can be quickly carried out after filling, thereby minimizing contamination.

Description

Hollow type infinite rotation electric gripper

technical field

The invention relates to the technical field of electric grippers, in particular to a hollow infinitely rotating electric gripper.

technical field

Electric rotary grippers are currently expected to be widely used in automation equipment, robots, and medical automation equipment. However, there are still major problems in the fields of filling, bending pipes, forming special-shaped steel wire parts, and elongating screws. The existing equipment is bulky. , the integration level is low, mainly because in these industrial applications, it is necessary to insert the feed head deep into the jaws and pass through the jaws, so as to facilitate the intelligent feeding of the lower container or equipment. On the premise of moving the feeding head, it can quickly clamp and rotate, such as capping the container, turning over the formed special-shaped steel wire, etc. Or for the technical field of long screw, because the nut has a long downward stroke, if the clamping finger is set too long to realize the air-avoiding design, but in the process of use, because the designed finger is too long, it needs to bear a large force. Bending moment and torque, thereby greatly shortening the service life of the jaws or jaw fingers, and poor reliability. However, so far no hollow type non-slip-ring electric infinitely rotating gripper has been disclosed. Therefore, it is necessary to develop a hollow type electric infinitely rotating gripper to meet the application requirements of different industries.

Contents of the invention

In view of the above-mentioned problems existing in the prior art, the purpose of the present invention is to provide a hollow infinitely rotating electric gripper with a compact structure and integrated drive and control.

Technical scheme of the present invention is as follows:

The hollow type infinitely rotating electric gripper is characterized in that it includes an electric rotation assembly, a hollow electric push-pull assembly, a hollow gripper assembly and a control assembly, and the electric rotation assembly is connected with the hollow gripper assembly for driving the hollow gripper assembly. Rotation action; the hollow electric push-pull assembly is connected and communicated with the hollow jaw assembly, and is used to drive the hollow jaw assembly to perform the gripping action; the control assembly is respectively connected with the electric rotation assembly and the hollow electric push-pull assembly for electrical signals. Control the action of electric rotating components and hollow electric push-pull components.

Further, the electric rotating assembly includes a bottom fixing plate, a first motor, a first transmission wheel, a second transmission wheel, a transmission belt, a fourth bearing, a fifth bearing, a fixing frame and a first outer fixing shell; the first The motor is fixed on the bottom fixing plate, the first motor output shaft of the first motor passes through the bottom fixing plate and is connected with the second transmission wheel, and the first transmission wheel is connected with the fourth bearing inner ring, the fifth bearing inner ring and the fixing frame The top of the first transmission wheel is fixedly connected to the bottom fixed plate and the first outer fixed shell through the fourth bearing outer ring and the fifth bearing outer ring respectively, and the first transmission wheel and the second transmission wheel The wheels are connected through a transmission belt; the top of the fixed frame is fixedly arranged on the first transmission wheel, and the bottom of the fixed frame is connected with the jaw assembly through a fixed slide rail seat.

Further, the hollow electric push-pull assembly includes a second motor, a hollow output shaft, an adapter seat, a push-pull block, a push-pull rod and an L-shaped swing arm, the adapter seat is fixedly arranged on the bottom fixing plate, and the push-pull block It can only be slid up and down to fit in the adapter seat, the second motor is fixedly arranged on the adapter seat, and the second motor is pierced with a hollow output shaft, and one end of the hollow output shaft is threadedly connected to the push-pull block. One end of the push-pull rod is arranged in the push-pull block, and is fixedly connected with the inner ring of the third bearing, and a first through hole of the push-pull rod is arranged in the middle of the push-pull rod, and the first through-hole of the push-pull rod communicates with the hollow output shaft; The other end of the push-pull rod is connected with the L-shaped swing arm, and is connected with the jaw assembly through the L-shaped swing arm.

Further, the hollow jaw assembly includes a slide rail seat and a finger-shaped slider, the middle part of the slide rail seat is provided with a first through hole of the slide rail seat, and the first through hole of the slide rail seat communicates with the first through hole of the push-pull rod ; The inside of the slide rail seat is provided with a slide rail seat tooth groove, and the finger slider includes a finger slider tooth protrusion and a finger slider protrusion, and the finger slider tooth protrusion and The tooth grooves of the slide rail seat are matched, and the top surface of the finger slider is provided with a counterbore of the finger slider.

Further, the control assembly includes a first motor controller, a master controller and a second motor controller, the first motor controller is set on the top of the first motor, and the master controller is set on the first motor controller The top, the second motor controller is set on the top of the master controller, the first synchronous pulley on the second motor controller and the second synchronous pulley at the other end of the hollow output shaft of the second motor pass through the first A timing belt is connected.

Further, one end of the L-shaped swing arm is provided with an L-shaped swing arm ball head, and the L-shaped swing arm ball head passes through the slide rail seat and is flexibly connected to the counterbore of the finger-shaped slider on the finger-shaped slider; The middle bend of the L-shaped swing arm is provided with a first fixed shaft, and is movably connected to the first through hole of the fixed frame of the fixed frame through the first fixed shaft; the other end of the L-shaped swing arm is provided with an L-shaped The U-shaped through hole of the swing arm is movably connected with one end of the push-pull rod through the U-shaped through hole of the L-shaped swing arm.

Further, one end of the push-pull rod is arranged in the U-shaped groove of the push-pull block through hole of the push-pull block through the third bearing, the other end of the push-pull rod is symmetrically provided with a push-pull rod ear plate, and the push-pull rod ear plate is provided with a push-pull rod The second through hole, the second through hole of the push-pull rod is provided with a second fixed shaft, and the second fixed shaft is matched with the U-shaped through hole of the L-shaped swing arm.

The hollow type infinitely rotating electric gripper is characterized in that it also includes a housing assembly, the housing assembly includes an upper fixing plate, an upper cover plate and a second fixing shell, the upper fixing plate is arranged on the top of the second motor, and the The upper cover plate is arranged on the top of the upper fixed plate, and the upper cover plate is provided with an upper cover plate through hole at a position corresponding to the hollow output shaft; the first outer fixed shell and the second fixed shell are respectively arranged on the bottom fixed plate .

The beneficial effects of the present invention are:

1) Through the setting of two independent motors, the rotation and gripping action of the gripper assembly are realized respectively. The two motors can work independently or in cooperation. The mechanical movement does not interfere with each other, which improves the operation of the electric rotary gripper. stability and reliability.

2) Through the transmission cooperation of the set push-pull block, bearing and push-pull rod, the exquisite mechanical structure solves the problem of relying on the conductive slip ring to solve the winding problem during the infinite rotation of the traditional electric gripper, and the premise of no conductive slip ring The infinite rotation of the hollow jaw assembly and the independent or coordinated movement of the gripper are realized.

3) The hollow push-pull component communicates with the hollow gripper, and a through hole is formed in the longitudinal direction of the entire electric gripper, which can realize the perfect match between the electric gripper and the filling equipment or other operating equipment that requires a hollow structure. After the relevant operations are completed, actions such as capping or rotation and clamping can be performed quickly to maximize collaboration efficiency.

4) The overall structure of the present invention is compact in design, takes up less space, has a wide range of applications, and has good versatility.

Description of drawings

Fig. 1 is an exploded view of the overall structure of the present invention;

Fig. 2 is the overall structure schematic diagram of the present invention;

In the figure: 1, the bottom fixing plate; 101, the first through hole of the bottom fixing plate; 102, the second through hole of the bottom fixing plate; 2, the first motor; 201, the output shaft of the first motor; 3, the first motor controller ; 4, master controller; 5, second motor controller; 6, first bearing; 7, magnet; 8, second bearing; 9, first synchronous pulley; 10, upper cover plate; 1001, upper cover plate Through hole; 11, first synchronous belt; 12, second synchronous pulley; 13, upper fixed plate; 1301, upper fixed plate through hole; 14, second motor; 15, hollow output shaft; 16, push-pull block; 1601 1. Push-pull block through hole U-shaped groove; 1602. Push-pull block through hole; 17. Adapter seat; 1701. Adapter seat through hole; 18. Shaft end fixing ring; 19. Third bearing; 20. Fourth bearing; 21 , the first transmission wheel; 22, the first outer fixed shell; 2201, the through hole of the first outer fixed shell; 23, the fifth bearing; 24, the first fixed shaft; 25, the push-pull rod; 2501, the first through hole of the push-pull rod ; 2502, the push-pull rod ear plate; 2503, the second through hole of the push-pull rod; 26, the second fixed shaft; 27, the slide rail seat; 2701, the first through hole of the slide rail seat; 2702, the second through hole of the slide rail seat; 2703, slide rail seat tooth groove; 28, L-shaped swing arm; 2801, L-shaped swing arm U-shaped through hole; 2802, L-shaped swing arm ball head; 29, finger-type slider; 2901, finger-type slider sink Head hole; 2902, tooth-shaped protrusion of the finger slider; 2903, protrusion of the finger slider; 30, fixed frame; 3001, the first waist-shaped through hole of the fixed frame; 3002, the first through hole of the fixed frame; 31, Transmission belt; 32, the second transmission wheel; 33, the second fixed shell.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings of the description.

As shown in Figure 1-2, the hollow infinitely rotating electric gripper includes a bottom fixing plate 1, a first through hole 101 of the bottom fixing plate, a second through hole 102 of the bottom fixing plate, a first motor 2, and an output shaft of the first motor 201. The first motor controller 3, the master controller 4, the second motor controller 5, the first bearing 6, the magnet 7, the second bearing 8, the first synchronous pulley 9, the upper cover 10, the upper cover through Hole 1001, first synchronous belt 11, second synchronous pulley 12, upper fixed plate 13, upper fixed plate through hole 1301, second motor 14, hollow output shaft 15, push-pull block 16, push-pull block through hole U-shaped groove 1601 , Push-pull block through hole 1602, adapter seat 17, adapter seat through hole 1701, shaft end fixing ring 18, third bearing 19, fourth bearing 20, first transmission wheel 21, first outer fixed shell 22, first The through hole 2201 of the outer fixed shell, the fifth bearing 23, the first fixed shaft 24, the push-pull rod 25, the first through hole 2501 of the push-pull rod, the ear plate 2502 of the push-pull rod, the second through-hole 2503 of the push-pull rod, the second fixed shaft 26, Slide rail seat 27, slide rail seat first through hole 2701, slide rail seat second through hole 2702, slide rail seat tooth groove 2703, L-shaped swing arm 28, L-shaped swing arm U-shaped through hole 2801, L-shaped swing Arm ball head 2802, finger slider 29, finger slider countersunk hole 2901, finger slider tooth protrusion 2902, finger slider protrusion 2903, fixing frame 30, fixing frame first waist-shaped through hole 3001 , the first through hole 3002 of the fixing frame, the transmission belt 31 , the second transmission wheel 32 and the second fixed shell 33 .

Example:

The top of the push-pull rod 25 is fixedly connected with the inner ring of the third bearing 19 through the shaft end fixing ring 18, and a fixed frame 30 is arranged on the outer side of the lower part of the push-pull rod 25, and the outer wall of the push-pull rod 25 and the top of the fixed frame 30 protrude (hollow cylinder The inner wall of the protrusion) does not contact; the bottom of the push-pull rod 25 is provided with a push-pull rod ear plate 2502 and the second through-hole 2503 of the push-pull rod, and the first through-hole 2501 of the push-pull rod is opened in the middle of the push-pull rod 25, and the second through-hole of the push-pull rod is opened in the middle of the push-pull rod 25. A second fixed shaft 26 is fixed on the through hole 2503, and an L-shaped swing arm 28 is matched on the second fixed shaft 26, and is movably connected with the second fixed shaft 26 through the U-shaped through hole 2801 of the L-shaped swing arm; A through hole matching the first fixed shaft 24 is also provided on the L-shaped swing arm 28 , an L-shaped swing arm ball head 2802 is arranged at the bottom of the L-shaped swing arm 28 , and the first fixed shaft 24 is arranged on the fixed frame 30 In the first through hole 3002 of the fixed frame, the L-shaped swing arm 28 can rotate around the first fixed shaft 24 in the first waist-shaped through hole 3001 of the fixed frame.

The bottom of fixed mount 30 is fixedly provided with slide rail seat 27, is provided with slide rail seat first through hole 2701 on slide rail seat 27; The second through hole 2702 of the slide rail seat on the rail seat 27 is flexibly connected with the countersunk hole 2901 of the finger slider 29 arranged on the finger slider 29, and the finger slider 29 and the slide rail seat 27 pass through the slide rails provided respectively. The seat tooth-shaped groove 2703 is slidably connected with the finger-shaped slider tooth-shaped projection 2902 .

The inner ring of the fifth bearing 23 is fixedly connected with the upper protrusion of the fixed mount 30, and the first drive wheel 21 is fixedly arranged on the inner ring top of the fifth bearing 23 and the outer protrusion of the fixed mount 30 top. The outer side of 21 is matched with a drive belt 31, and the top of the first drive wheel 21, the outside of the top of the fixed frame 30 is also fixed with the inner ring of the fourth bearing 20, the outer ring of the fourth bearing 20 and the bottom fixed plate The second through hole 102 of the bottom fixing plate on 1 is fixedly connected, the outer ring of the fifth bearing 23 is fixedly connected with the first outer fixing shell through hole 2201 on the first outer fixing shell 22, and the upper surface of the first outer fixing shell 22 It is fixedly connected with the lower surface of the bottom fixing plate 1.

The inside of the second motor 14 is provided with a hollow hollow output shaft 15, and the bottom of the hollow output shaft 15 is provided with a transmission screw thread matched with the push-pull block through hole 1602 provided on the push-pull block 16, and a push-pull shaft is provided at the bottom of the push-pull block 16. Block through-hole U-shaped groove 1601, through which the push-pull block through-hole U-shaped groove 1601 arranged on the push-pull block 16 detachably clamps and fixes the outer ring of the third bearing 19; an adapter seat is provided outside the push-pull block 16 17. The inside of the adapter seat 17 is provided with an adapter seat through hole 1701 matching the shape of the push-pull block 16; an upper fixing plate 13 is fixed on the top of the second motor 14, and a second motor is fixed on the top of the hollow output shaft 15. Synchronous pulley 12, the outer side of the second synchronous pulley 12 is matched with the first synchronous belt 11, the other end of the first synchronous belt 11 is matched with the first synchronous pulley 9, and the top of the first synchronous pulley 9 is provided with The second bearing 8, the bottom of the first synchronous pulley 9 is provided with the first bearing 6, and the bottom of the first synchronous pulley 9 is provided with a magnet 7 (magnet mirror image is used to monitor the position signal and realize the closed-loop control of the motor). The bottom of the magnet 7 is also provided with a second motor controller 5 (encoder), the second motor controller 5 is fixedly arranged on the bottom of the upper fixing plate 13, and the top of the upper fixing plate 13 is fixedly provided with an upper cover plate 10, and the upper The cover plate 10 is provided with an upper cover plate through hole 1001, and the upper fixed plate 13 is provided with an upper fixed plate through hole 1301.

The bottom of the second motor controller 5 is fixedly provided with the master controller 4, and the first motor controller 3 (encoder) is fixedly arranged at the bottom of the master controller 4, and the first motor controller 3 is provided with the first motor 2 below the first motor controller 3. 2 is fixed on the bottom fixed plate 1, the first motor output shaft 201 of the first motor 2 passes through the first through hole 101 of the bottom fixed plate of the bottom fixed plate 1, and the second transmission wheel 32 is arranged at its end, the second transmission wheel 32 is connected with the first transmission wheel 21 through the transmission belt 31; the second transmission wheel 32 is provided with a second fixed shell 33 below, and the upper surface of the second fixed shell 33 is fixedly connected with the lower surface of the bottom fixed plate 1 .

working principle:

The hollow infinitely rotating electric gripper is generally assembled on the robot hand that needs to pass the workpiece or filling pipe through the entire rotating gripper finger. Pass through the second synchronous pulley 12, the hollow output shaft 15, the push-pull block 16, the push-pull rod 25, the slide rail seat 27 from the upper cover plate through hole 1001 downwards and then extend into the inside and outside of the operation target equipment. After the operation is completed, the workpiece or The filling pipe etc. are returned to the push-pull rod first through hole 2501 of the push-pull rod 25, the robot hand moves to drive the electric gripper to clamp the rotating workpiece or grab the upper cover, etc., the master controller 4 controls the second motor 14 to rotate, Under the rotation of the hollow output shaft 15, the push-pull block 16 is driven to slide upward in the adapter seat 17, and the push-pull block 16 drives the push-pull rod 25 connected to it to move upward, and at the same time, the L-shaped swing arm 28 at the bottom of the push-pull rod 25 rotates around the first fixed axis Rotate, the L-shaped swing arm ball head 2802 of the L-shaped swing arm 28 drives the finger-shaped slider 29 to move relatively in the slide rail seat 27 to clamp the workpiece or the bottle cap; the movement of the robot hand drives the hollow electric gripper to reach the work object Or above the screw cap container, the master controller 4 controls the rotation of the first motor 2, drives the first transmission wheel 21 and the fixed seat 30 to rotate through the first transmission wheel 32 and the transmission belt 31, and the fixed seat 30 drives the slide rail seat 27 below it to synchronize Rotation, that is, to rotate the clamped workpiece or bottle cap to realize the coordinated action of clamping and rotation.

The foregoing embodiments are only preferred embodiments of the present invention, and are not limitations to the technical solutions of the present invention. As long as they are technical solutions that can be realized on the basis of the foregoing embodiments without creative work, they should be regarded as falling into the scope of the patent of the present invention. within the scope of protection of rights. For example, no through hole is provided on the upper cover plate and the slide rail seat of the hollow push-pull assembly, and the hollow output shaft and the push-pull rod are not provided with hollows, which should also be within the protection scope of the present invention.

Claims

The hollow type infinitely rotating electric gripper is characterized in that it includes an electric rotation assembly, a hollow electric push-pull assembly, a hollow gripper assembly and a control assembly, and the electric rotation assembly is connected with the hollow gripper assembly for driving the hollow gripper assembly. Rotation action; the hollow electric push-pull assembly is connected and communicated with the hollow jaw assembly, and is used to drive the hollow jaw assembly to perform the gripping action; the control assembly is respectively connected with the electric rotation assembly and the hollow electric push-pull assembly for electrical signals. Control the action of electric rotating components and hollow electric push-pull components.
The hollow infinitely rotating electric gripper according to claim 1, characterized in that, the electric rotating assembly comprises a bottom fixed plate (1), a first motor (2), a first transmission wheel (21), a second transmission wheel (32), transmission belt (31), fourth bearing (20), fifth bearing (23), fixed frame (30) and first outer fixed shell (22); the first motor (2) is fixed on the bottom On the fixed plate (1), the first motor output shaft (201) of the first motor (2) passes through the bottom fixed plate (1) and is connected with the second transmission wheel (32), and the first transmission wheel (21) and The inner ring of the fourth bearing (20), the inner ring of the fifth bearing (23) and the top end of the fixed frame (30) are fixedly connected, and the first transmission wheel (21) is also passed through the outer ring of the fourth bearing (20), the fifth The outer rings of the bearings (23) are arranged respectively on the bottom fixed plate (1) and the first outer fixed shell (22), and the transmission belt ( 31) are connected; the top of the fixed frame (30) is fixedly arranged on the first transmission wheel (21), and the bottom of the fixed frame (30) is connected with the jaw assembly.
The hollow infinitely rotating electric gripper according to claim 2, characterized in that, the hollow electric push-pull assembly includes a second motor (14), a hollow output shaft (15), an adapter seat (17), a push-pull block ( 16), the push-pull rod (25) and the L-shaped swing arm (28), the adapter seat (17) is fixedly arranged on the bottom fixed plate (1), and the push-pull block (16) slides up and down and is arranged on the adapter In the seat (17), the second motor (14) is fixedly arranged on the adapter seat (17), and the second motor (14) is pierced with a hollow output shaft (15), and the hollow output shaft (15) One end is threadedly connected with the push-pull block (16), and one end of the push-pull rod (25) is arranged in the push-pull block (16), and is fixedly connected with the inner ring of the third bearing (19), and the push-pull rod (25) The first through hole (2501) of the push-pull rod is arranged in the middle, and the first through-hole (2501) of the push-pull rod communicates with the hollow output shaft (15); the other end of the push-pull rod (25) is connected to the L-shaped swing arm (28) Link to each other, and link to each other with clamping jaw assembly by L type swing arm (28).
The hollow infinitely rotating electric gripper according to claim 3, characterized in that, the hollow gripper assembly includes a slide rail seat (27) and a finger slider (29), and the middle part of the slide rail seat (27) is provided with The first through hole (2701) of the slide rail seat, the first through hole (2701) of the slide rail seat communicates with the first through hole (2501) of the push-pull rod; the slide rail seat (27) is provided with slide rail seat teeth groove (2703), the finger slider (29) includes a finger slider tooth protrusion (2902) and a finger slider protrusion (2903), and the finger slider tooth protrusion (2902 ) is matched with the tooth groove (2703) of the slide rail seat, and the top surface of the finger slider (29) is provided with a counterbore (2901) of the finger slider.
The hollow infinitely rotating electric gripper according to claim 3, characterized in that, the control components include a first motor controller (3), a master controller (4) and a second motor controller (5), the The first motor controller (3) is set on the top of the first motor (2), the master controller (4) is set on the top of the first motor controller (3), and the second motor controller (5) is set At the top of the master controller (4), the first synchronous pulley (9) on the second motor controller (5) and the second synchronous belt at the other end of the hollow output shaft (15) of the second motor (14) The wheels (12) are connected through the first synchronous belt (11).
The hollow infinitely rotating electric gripper according to claim 4, characterized in that, one end of the L-shaped swing arm (28) is provided with an L-shaped swing arm ball head (2802), and the L-shaped swing arm ball head (2802) passes through the slide rail seat (27) and flexibly connects with the finger-type slider counterbore (2901) on the finger-type slider (29); the middle bend of the L-shaped swing arm (28) is provided with The first fixed shaft (24) is movably connected to the first through hole of the fixed frame of the fixed frame (30) through the first fixed shaft (24); the other end of the L-shaped swing arm (28) is provided with an L-shaped swing Arm U-shaped through hole (2801), and is movably connected with push-pull rod (25) one end by L-shaped swing arm U-shaped through hole (2801).
The hollow infinitely rotating electric gripper according to claim 6, characterized in that, one end of the push-pull rod (25) is arranged in the push-pull block (16) U-shaped groove ( 1601), the other end of the push-pull rod (25) is symmetrically provided with a push-pull rod ear plate (2502), and the push-pull rod ear plate (2502) is provided with a push-pull rod second through hole (2503), and the push-pull rod first A second fixed shaft (26) is arranged in the second through hole (2503), and the second fixed shaft (26) is matched with the U-shaped through hole (2801) of the L-shaped swing arm.
The hollow type infinitely rotating electric gripper according to claim 3 is characterized in that it also includes a housing assembly, which includes an upper fixed plate (13), an upper cover plate (10) and a second fixed shell ( 33), the upper fixing plate (13) is set on the top of the second motor (14), the upper cover plate (10) is set on the top of the upper fixing plate (13), and the upper cover plate (10) is in the hollow The corresponding position of the output shaft (15) is provided with a through hole (1001) on the upper cover plate; the first outer fixed shell (22) and the second fixed shell (33) are respectively arranged on the bottom fixed plate (1).