A high-precision electric mechanical gripper with modular design

Abstract

The present invention discloses a high-precision electric mechanical claw of modular design, comprising a housing, a reduction motor, a staggered axis helical gear transmission mechanism, a primary transmission shaft, a secondary transmission shaft, a worm gear mechanism, a transmission gear, two racks and two clamping jaws; the staggered axis helical gear transmission mechanism comprises a driving helical gear and a driven helical gear meshing with each other, the driving helical gear is fixedly mounted on the output shaft of the reduction motor, and the driven helical gear is fixedly mounted on the primary transmission shaft; the worm gear mechanism comprises a worm part and a worm wheel meshing with each other, the worm part is arranged on the primary transmission shaft, and the worm wheel is arranged on the secondary transmission shaft; each rack is slidably mounted on a slide rail, and each rack is respectively mounted on one of the clamping jaws; the transmission gear is located between the two racks and the transmission gear is meshed with each rack. The present invention adopts modular design, and each module can be designed and installed separately, which is convenient for production, installation, maintenance and replacement.

Description

Technical Field

[0001] The present invention belongs to the field of mechanical grippers, and more specifically, relates to a high-precision electric mechanical gripper with a modular design. Background Art

[0002] As we all know, robotic equipment is playing an increasingly important role in helping human production and life. With the development of science and technology, the types of robots and the industries they are used in are increasing. In many industries such as machinery manufacturing, metallurgy, electronics, and light industry, robots have been used to replace heavy human labor.

[0003] As an indispensable component of a robot manipulator, the mechanical claw is often used to clamp and carry objects. It has the advantages of being easy to use and having good adaptability.

[0004] The existing electric mechanical claws on the market have complex designs, numerous parts, high production costs, high assembly requirements, and difficult maintenance. Summary of the invention

[0005] In view of the above defects or improvement needs of the prior art, the present invention provides a high-precision electric mechanical claw with a modular design, which adopts a modular design to facilitate production, installation, maintenance and replacement.

[0006] To achieve the above object, according to one aspect of the present invention, a high-precision electric mechanical claw of modular design is provided, characterized in that it includes a housing, a reduction motor, a staggered axis helical gear transmission mechanism, a primary transmission shaft, a secondary transmission shaft, a worm gear mechanism, a transmission gear, two racks and two clamping claws, wherein:

[0007] The reduction motor is located in the casing and mounted on the casing, and the motor of the reduction motor is connected to a motor drive board;

[0008] The staggered axis helical gear transmission mechanism comprises a driving helical gear and a driven helical gear meshing with each other, the driving helical gear is fixedly mounted on the output shaft of the reduction motor, the driven helical gear is fixedly mounted on a primary transmission shaft, the primary transmission shaft is horizontally mounted on the housing through a bearing, and the angle between the primary transmission shaft and the output shaft of the reduction motor is greater than 0° and less than 90°;

[0009] The worm gear mechanism comprises a worm part and a worm wheel meshing with each other, the worm part is arranged on the primary transmission shaft, the worm wheel is arranged on the secondary transmission shaft, the secondary transmission shaft is vertically mounted on the housing through a bearing, and the transmission gear is fixedly mounted on the upper end of the secondary transmission shaft;

[0010] Each of the racks is slidably mounted on a slide rail, and each of the racks is mounted on a clamping jaw;

[0011] The transmission gear is located between the two racks and is meshed with each rack respectively.

[0012] Preferably, each of the clamping jaws is provided with a mounting hole for mounting a clamping finger.

[0013] Preferably, the transmission gear is fixedly mounted on the secondary transmission shaft via a retaining spring.

[0014] Preferably, the motor of the reduction motor has an encoder.

[0015] Preferably, a horizontal straight groove is provided on the rack and is arranged along the longitudinal direction of the rack, a row of balls is provided in the horizontal straight groove, the balls are in contact with the casing to reduce friction, and a ball cover is provided at the end of the horizontal straight groove to prevent the balls from falling out.

[0016] Preferably, a horizontal limit screw is installed on the side plate of the housing, and the limit screw is against the end surface of the primary transmission shaft to prevent the primary transmission shaft from shaking during rotation.

[0017] Preferably, the casing includes an outer shell, a middle cover, an upper cover and a front cover, the upper cover is installed on the top of the outer shell, the rack extends out of the upper cover, the middle cover is located on the side of the upper cover and is fixedly connected to the boss protruding from the top of the outer shell, and the front cover is installed on one side of the outer shell.

[0018] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0019] 1) The present invention provides a high-precision electric mechanical gripper with a simple structure, which adopts motor drive to replace the traditional cylinder drive mode. It does not require an additional air compressor and can be used in any place with electricity. Compared with cylinder drive, motor drive has low noise and is more in line with environmental protection requirements. A drive plate is fixed behind the motor, which can be adjusted and controlled according to feedback data, so that the jaws open and close smoothly and respond quickly.

[0020] 2) The present invention can adopt different reduction motors such as brush motors, coreless motors, stepper motors, brushless motors or servo motors according to the different environments and precisions required by users. It has a wide range of applications and can be used for robot arms with various precision requirements in various industries.

[0021] 3) The reduction motor of the present invention is placed at an angle, thus saving overall space.

[0022] 4) The present invention adopts gear transmission, which has simple structure, high transmission accuracy, high transmission efficiency, stable transmission and large transmission range.

[0023] 5) The present invention adopts a modular design, and each module can be designed and installed separately, which is convenient for production, installation, maintenance and replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a three-dimensional schematic diagram of the present invention;

[0025] Figure 2 This is a front view of the present invention after the front cover is removed;

[0026] Figure 3 It is a three-dimensional diagram of the present invention after the front cover is removed;

[0027] Figure 4 It is a schematic diagram of the position arrangement of the reduction motor and the secondary transmission shaft in the casing of the present invention;

[0028] Figure 5 It is a top view of the present invention. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0030] Reference Figure 1 to Figure 5 A high-precision electric mechanical gripper of modular design includes a housing, a reduction motor, a staggered-axis helical gear transmission mechanism, a primary transmission shaft 9, a secondary transmission shaft 7, a worm gear mechanism, a transmission gear 16, two racks 6 and two grippers 1, wherein the two grippers 1 are on the same straight line, wherein:

[0031] The reduction motor is located in the casing and installed on the casing. The motor 14 of the reduction motor is connected to the motor drive plate. The reduction motor includes a motor and a reduction box 13. The reduction box 13 is installed at the front end of the motor, which can not only reduce the rotation speed but also increase the output torque.

[0032] The staggered axis helical gear transmission mechanism includes a driving helical gear 10 and a driven helical gear 11 that mesh with each other, the driving helical gear 10 is fixedly mounted on the output shaft 12 of the reduction motor, the driven helical gear 11 is fixedly mounted on the primary transmission shaft 9, the primary transmission shaft 9 is horizontally mounted on the housing through a bearing, and the angle between the primary transmission shaft 9 and the output shaft 12 of the reduction motor is greater than 0° and less than 90°.

[0033] The worm gear mechanism comprises a worm part 8 and a worm wheel 17 meshing with each other, the worm part 8 is arranged on the primary transmission shaft 9, the worm wheel 17 is arranged on the secondary transmission shaft 7, the secondary transmission shaft 7 is vertically mounted on the housing through a bearing, and the upper end of the secondary transmission shaft 7 is preferably fixedly mounted with the transmission gear 16 through a retaining spring;

[0034] Each of the racks 6 is slidably mounted on a slide rail, and each of the racks 6 is mounted on a clamping jaw 1.

[0035] The transmission gear 16 is located between the two racks 6 and is meshed with each rack 6 respectively.

[0036] Furthermore, each of the clamping jaws 1 is provided with a mounting hole 2 for mounting clamping fingers, so as to install various types of clamping fingers. There are two mounting holes 2 and both are round holes. Clamping fingers of different shapes can be fixed by screws. Different clamping fingers can be replaced according to the shape, size and nature of the clamped objects, and the clamping jaws are universal.

[0037] Furthermore, the motor 14 of the reduction motor has an encoder, which has quantitative feedback and control functions, so that the control of the mechanical claw can be more precise and the response can be faster.

[0038] Furthermore, a horizontal straight groove is provided on the rack 6 and is arranged along the longitudinal direction of the rack 6. A row of balls 15 are provided in the horizontal straight groove. The balls 15 are in contact with the housing to reduce friction. A ball cover is provided at the end of the horizontal straight groove to prevent the balls 15 from falling out.

[0039] Furthermore, a horizontal limit screw 21 is installed on the side plate of the housing, and the limit screw 21 is against the end surface of the primary transmission shaft 9 to prevent the primary transmission shaft 9 from shaking during the rotation process.

[0040] Furthermore, the casing includes an outer shell 4, a middle cover 20, an upper cover 3 and a front cover 5, the upper cover 3 is installed at the top of the outer shell 4, the rack 6 extends out of the upper cover 3, the middle cover 20 is located on the side of the upper cover 3 and is fixedly connected to the boss 18 protruding from the top of the outer shell 4, and the front cover 5 is installed on one side of the outer shell 4. By arranging these covers on the outer shell 4, the assembly of parts can be facilitated.

[0041] The driven helical gear 11 , the bearing, the primary transmission shaft 9 and the worm part 8 of the present invention form an intermediate transmission module, which is installed on a bracket provided inside the housing 4 . The worm gear 17, the secondary transmission shaft 7, the transmission gear 16, the ball 15, the snap ring 19, the rack 6, the clamping jaw 1, the upper cover 3, the middle cover 20 and the like together constitute a clamping jaw module. The transmission gear 16, the snap ring 19, the rack 6 and the ball 15 are installed between the middle cover 20 and the upper cover 3 and fixed by screws. A square hole is provided on the upper cover 3 to allow a pair of clamping jaws 1 to extend out. The upper and lower ends of the secondary transmission shaft 7 are respectively provided with a transmission gear 16 and a worm gear 17, both of which are fixed on the secondary transmission shaft 7 by a snap ring. A circular hole is provided at the upper end of the outer shell 4. The installed transmission gear 16 and the secondary transmission shaft 7 are placed inside the outer shell 4 through the circular hole. A small blind hole is provided at the lower end of the bracket inside the outer shell 4. The part of the secondary transmission shaft 7 extending out of the worm gear 17 is placed in the blind hole. A small circular hole is provided on the right side of the outer shell 4, and a limit screw 21 is installed to control the primary transmission shaft 9 to prevent the primary transmission shaft 9 from shaking left and right during the operation of the mechanism. The middle cover 20 and the upper cover 3 are placed in the upper part of the outer shell 4, the middle cover 20 and the upper cover 3 are fixed by screws, and the middle cover 20 and the outer shell 4 are fixed by four screw holes on the outer shell 4 to form an installation base.

[0042] The motor module, the intermediate transmission module and the clamping claw module of the present invention can be installed independently and then assembled as a whole, which is beneficial to improving production efficiency and is easy to repair and replace.

[0043] The working process of the present invention is as follows:

[0044] After the motor 14 of the reduction motor is powered on by an external power supply, the motor 14 of the reduction motor is driven to rotate forward or reverse (CW or CCW). When the motor 14 of the reduction motor rotates forward (CW), the motor 14 of the reduction motor drives the output shaft 12 of the reduction box 13 to rotate clockwise, and the driving bevel gear 10 is fixedly installed on the output shaft 12 of the reduction box 13 through a retaining ring. The clockwise rotation of the output shaft 12 of the reduction box 13 will drive the clockwise rotation of the driving bevel gear 10, and the driven bevel gear 11 and the driving bevel gear 10 are meshed with each other. The clockwise rotation of the driving bevel gear 10 then drives the rotation of the driven bevel gear 11, forming a primary transmission. Looking back from the primary transmission, due to the clockwise rotation of the driving bevel gear 10, the driven bevel gear 11 is counterclockwise. Rotation, the worm part 8 and the driven bevel gear 11 are both installed on the primary transmission shaft 9, so the rotation of the driven bevel gear 11 will drive the primary transmission shaft 9 to rotate in the same direction, and then drive the worm part 8 fixed on the primary transmission shaft 9 to rotate in the same direction. Further, the rotation of the worm part 8 drives the rotation of the worm wheel 17 meshing with it, forming a secondary transmission. Looking from top to bottom, due to the counterclockwise rotation of the worm part 8, the worm wheel 17 is driven to rotate clockwise. Further, the clockwise rotation of the worm wheel 17 drives the clockwise rotation of the secondary transmission shaft 7, and also drives the clockwise rotation of the transmission gear 16 installed on the secondary transmission shaft 7.

[0045] A pair of clamping jaws 1 are respectively engaged with the two sides of the transmission gear 16 through the rack 6. The transmission gear 16 rotates clockwise to push the rack 6, thereby driving the pair of clamping jaws 1 to move toward each other to clamp the object.

[0046] After the clamp 1 grabs the object, the built-in encoder of the motor 14 of the reduction motor can feedback quantitative data such as current, and then the motor 14 of the reduction motor is modulated by an external driver to control the rotation speed of the drive motor, so that the pair of clamps 1 remain in a relatively prohibited state, which can not only clamp the object firmly, but also prevent it from being damaged due to excessive clamping force.

[0047] After the object is clamped to the designated place or position, the external driver controls the motor 14 of the reduction motor to reverse (CCW), and the motor 14 of the reduction motor drives the output shaft 12 of the reduction box 13 and the driving bevel gear 10 installed on the output shaft 12 to rotate counterclockwise. Since the driven bevel gear 11 and the driving bevel gear 10 are meshed with each other, the counterclockwise rotation of the driving bevel gear 10 drives the rotation of the driven bevel gear 11, forming a primary transmission. Looking back from the primary transmission, due to the counterclockwise rotation of the driving bevel gear 10, the driven bevel gear 11 rotates clockwise. The worm part 8 and the driven bevel gear 11 are both installed on the primary transmission shaft 9. The clockwise rotation of the moving bevel gear 11 will drive the primary transmission shaft 9 to rotate in the same direction, and then drive the worm portion 8 fixed on the primary transmission shaft 9 to rotate in the same direction. Further, the rotation of the worm portion 8 drives the rotation of the worm wheel 17 meshing with it, forming a secondary transmission. Looking from top to bottom, the clockwise rotation of the worm portion 8 drives the worm wheel 17 to rotate counterclockwise. Further, the counterclockwise rotation of the worm wheel 17 drives the counterclockwise rotation of the secondary transmission shaft 7, and also drives the counterclockwise rotation of the transmission gear 16 installed on the secondary transmission shaft 7, thereby pushing the rack 6 meshing with it, driving a pair of jaws 1 to move in the opposite direction, so that the jaws 1 are loosened and the items are put down.

[0048] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A high-precision electric mechanical gripper with modular design, characterized in that: It includes a housing, a reduction motor, a staggered-axis helical gear transmission mechanism, a primary transmission shaft, a secondary transmission shaft, a worm gear mechanism, a transmission gear, two racks and two clamping claws, wherein: The reduction motor is located in the casing and mounted on the casing, and the motor of the reduction motor is connected to a motor drive board; The staggered axis helical gear transmission mechanism comprises a driving helical gear and a driven helical gear meshing with each other, the driving helical gear is fixedly mounted on the output shaft of the reduction motor, the driven helical gear is fixedly mounted on the primary transmission shaft, the primary transmission shaft is horizontally mounted on the housing through a bearing, the reduction motor is tilted to save space, and the angle between the primary transmission shaft and the output shaft of the reduction motor is greater than 0° and less than 90°; The worm gear mechanism comprises a worm part and a worm wheel meshing with each other, the worm part is arranged on the primary transmission shaft, the worm wheel is arranged on the secondary transmission shaft, the secondary transmission shaft is vertically mounted on the housing through a bearing, and the transmission gear is fixedly mounted on the upper end of the secondary transmission shaft; Each of the racks is slidably mounted on a slide rail, and each of the racks is mounted on a clamping jaw; The transmission gear is located between the two racks and is meshed with each rack respectively.

2. A high-precision electric mechanical gripper of modular design according to claim 1, characterized in that: Each of the clamping jaws is provided with a mounting hole for mounting a clamping finger.

3. The high-precision electric mechanical gripper of modular design according to claim 1, characterized in that: The transmission gear is fixedly mounted on the secondary transmission shaft via a retaining spring.

4. The high-precision electric mechanical gripper of modular design according to claim 1, characterized in that: The motor of the reduction motor has an encoder.

5. The high-precision electric mechanical gripper of modular design according to claim 1, characterized in that: A horizontal straight groove is arranged on the rack and is arranged along the longitudinal direction of the rack. A row of balls is arranged in the horizontal straight groove. The balls are in contact with the casing to reduce friction. A ball cover is arranged at the end of the horizontal straight groove to prevent the balls from falling out.

6. The high-precision electric mechanical gripper of modular design according to claim 1, characterized in that: A horizontal limit screw is installed on the side plate of the casing, and the limit screw is pressed against the end surface of the primary transmission shaft to prevent the primary transmission shaft from shaking during rotation.

7. The high-precision electric mechanical gripper of modular design according to claim 1, characterized in that: The casing includes an outer shell, a middle cover, an upper cover and a front cover, the upper cover is installed on the top of the outer shell, the rack extends out of the upper cover, the middle cover is located on the side of the upper cover and is fixedly connected to the boss protruding from the top of the outer shell, and the front cover is installed on one side of the outer shell.

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