A new mechanical claw transmission

Abstract

This invention relates to a novel mechanical claw transmission device, comprising a first claw seat, a second claw seat, and two symmetrically arranged claw tips. Coaxial first bevel teeth are keyed to the inner sides of the first and second claw seats, respectively. Multiple second bevel teeth, evenly distributed around the axis of the first bevel teeth, mesh between the two first bevel teeth. Each second bevel tooth is rotatably connected to a gear carrier. A drive motor is mounted on the outer side of the first claw seat. A bearing carrier is fixedly connected to the output end of the drive motor. The other end of the bearing carrier passes through the first claw seat and the gear carrier and is fixedly connected to the second claw seat. The gear carrier and the bearing carrier are connected by a bearing. This invention has a simple structure, achieving the opening and closing of the claw tips solely through the transmission of the first and second bevel teeth. It has advantages such as high transmission accuracy and accurate instantaneous transmission ratio, enabling precise control of the claw tip angle.

Description

Technical Field

[0001] This invention relates to the field of mechanical gripper technology, and in particular to a novel mechanical gripper transmission device. Background Technology

[0002] A robotic gripper is a robotic component that can perform functions similar to a human hand and is one of the important actuators. With the advancement of the machinery industry, the application of robotic grippers is becoming increasingly widespread. However, the transmission structure of existing robotic grippers generally involves linkage transmission, which results in poor transmission accuracy, inaccurate instantaneous transmission ratio, and an inability to achieve precise control of the gripper tip angle. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a novel mechanical claw transmission device.

[0004] This invention is achieved through the following technical solution:

[0005] A novel mechanical claw transmission device includes a first claw seat, a second claw seat, and two symmetrically arranged claw tips. The two claw tips are respectively mounted on the first claw seat and the second claw seat. The device is characterized in that the first claw seat and the second claw seat are arranged opposite to each other. Coaxial first bevel teeth are keyed to the inner sides of the first claw seat and the second claw seat, respectively. Multiple second bevel teeth, evenly distributed around the axis of the first bevel teeth, mesh between the two first bevel teeth. All second bevel teeth are rotatably connected to a gear carrier. A transition lug is provided on one side of the gear carrier. A drive motor is mounted on the outer side of the first claw seat. A bearing bracket is fixedly connected to the output end of the drive motor. The other end of the bearing bracket passes through the first claw seat and the gear carrier and is fixedly connected to the second claw seat. The gear carrier and the bearing bracket are connected by a bearing.

[0006] Preferably, multiple bearings are arranged between the bearing carrier and the gear carrier.

[0007] Preferably, three bearings are arranged between the bearing carrier and the gear carrier. The bearing carrier includes a first bearing seat and a second bearing seat arranged coaxially and symmetrically. The inner rings of the three bearings are respectively engaged with the abutment ends of the first bearing seat and the first claw seat, the abutment ends of the first bearing seat and the second bearing seat, and the abutment ends of the second bearing seat and the second claw seat.

[0008] Preferably, the second bevel teeth are rotatably connected to the gear carrier via a rotating shaft. The gear carrier has shaft holes adapted to the rotating shaft on both axial sides of each second bevel tooth. One end of the rotating shaft is provided with a chuck, and the contact surface between the gear carrier and the outer ring of the bearing is provided with a groove adapted to the chuck.

[0009] Preferably, the gear carrier has weight-reducing holes between adjacent second bevel teeth.

[0010] Preferably, the drive motor is a brushless servo motor.

[0011] The beneficial effects of this invention are:

[0012] This invention features a simple structure, achieving the opening and closing of the claw tips solely through the transmission of the first and second bevel teeth. It boasts advantages such as high transmission precision and accurate instantaneous transmission ratio, enabling precise control of the claw tip angle. Furthermore, the two claw tips exhibit high centering during movement, improving clamping accuracy. The inclusion of multiple bearings enhances the stability of the rotational connection between the gear carrier and the bearing carrier. The separate design of the first and second bearing seats facilitates the installation of multiple bearings, improving assembly efficiency. The chuck design of the rotating shaft prevents accidental dislodgement from the shaft hole. Weight-reducing holes lower the overall weight of the mechanical claw. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of the present invention.

[0014] Figure 2 This is an exploded structural diagram of the present invention.

[0015] Figure 3 This is an exploded structural diagram of the bearing bracket described in this invention.

[0016] Figure 4 This is a schematic diagram of the gear carrier described in this invention.

[0017] Figure 5 This is a schematic diagram of the structure of the rotating shaft described in this invention.

[0018] In the diagram: 1. Gear frame; 2. Drive motor; 3. First claw seat; 4. Second claw seat; 5. Claw tip; 6. Bearing frame; 7. Bearing; 8. Second bevel gear; 9. First bevel gear; 10. First bearing seat; 11. Second bearing seat; 12. Adapter lug; 13. Groove; 14. Shaft hole; 15. Weight reduction hole; 16. Rotating shaft; 17. Chuck. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and preferred embodiments.

[0020] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0021] As shown in the figure, the present invention includes a first claw seat 3, a second claw seat 4, and two symmetrically arranged claw tips 5. The two claw tips 5 are respectively installed on the first claw seat 3 and the second claw seat 4. The invention is characterized in that the first claw seat 3 and the second claw seat 4 are arranged opposite to each other, and coaxial first bevel teeth 9 are keyed to the inner sides of the first claw seat 3 and the second claw seat 4, respectively. Multiple second bevel teeth 8, evenly distributed around the axis of the first bevel teeth 9, mesh between the two first bevel teeth 9. All second bevel teeth 8 are rotatably connected to a gear frame 1. A transition lug 12 is provided on one side of the gear frame 1 for connecting the joint module at the end of the robotic arm. When the gear frame 1 is used as a reference body, the first bevel teeth 9 and the second bevel teeth 8 mesh with each other. The transmission of the gear 8 allows the two claw tips 5 to move towards or away from each other only around the axis of the first bevel gear 9. Therefore, the two claw tips 5 of this device have high centering accuracy during movement, which can improve the clamping accuracy. A drive motor 2 is installed on the outside of the first claw seat 3. A bearing bracket 6 is fixedly connected to the output end of the drive motor 2. The other end of the bearing bracket 6 passes through the first claw seat 3 and the gear bracket 1 and is fixedly connected to the second claw seat 4. The gear bracket 1 and the bearing bracket 6 are connected by a bearing 7. This device can realize the opening and closing of the claw tips 5 by only the transmission of the first bevel gear 9 and the second bevel gear 8. It has the advantages of high transmission accuracy and accurate instantaneous transmission ratio, and can achieve precise control of the included angle of the claw tips 5.

[0022] Multiple bearings are arranged between the bearing frame 6 and the gear frame 1. The multiple bearings are equidistantly distributed along the axis of the bearing frame 6. The stability of the rotational connection between the gear frame 1 and the bearing frame 6 can be enhanced by the multiple bearings.

[0023] Three bearings are arranged between the bearing housing 6 and the gear housing 1. The bearing housing 6 includes a first bearing seat 10 and a second bearing seat 11 arranged coaxially and symmetrically. The inner rings of the three bearings are respectively snapped to the abutment end of the first bearing seat 10 and the first claw seat 3, the abutment end of the first bearing seat 10 and the second bearing seat 11, and the abutment end of the second bearing seat 11 and the second claw seat 4. The second claw seat 4, the second bearing seat 11 and the first bearing seat 10 are all installed to the output end of the drive motor 2 by the same set of bolts. The split design of the first bearing seat 10 and the second bearing seat 11 facilitates the installation of multiple bearings and can improve assembly efficiency.

[0024] The second bevel teeth 8 are all rotatably connected to the gear carrier 1 via a rotating shaft 16. The gear carrier 1 has shaft holes 14 on both sides of each second bevel tooth 8 that are adapted to the rotating shaft 16. One end of the rotating shaft 16 is provided with a chuck 17. The contact surface between the gear carrier 1 and the outer ring of the bearing is provided with a groove 13 that is adapted to the chuck 17. When the rotating shaft 16 is rotatably connected to the shaft hole 14 and the chuck 17 is located in the groove 13, the rotating shaft 16 can be prevented from accidentally coming out of the shaft hole 14.

[0025] The gear carrier 1 has a weight reduction hole 15 between adjacent second bevel teeth 8 to reduce the overall weight of the mechanical claw.

[0026] The drive motor 2 is a brushless servo motor, which features small size, light weight, fast response, smooth rotation, and stable torque.

[0027] The working principle of this invention is as follows: when the gear carrier is used as a reference body, the drive motor rotates, and the included angle between the two claw tips can be adjusted through the transmission of the first and second bevel teeth, thereby causing the two claw tips to clamp or release objects. This invention has a simple structure, achieving the opening and closing of the claw tips solely through the transmission of the first and second bevel teeth. It has advantages such as high transmission precision and accurate instantaneous transmission ratio, enabling precise control of the included angle of the claw tips. Simultaneously, the two claw tips have high centering during movement, improving clamping accuracy. The inclusion of multiple bearings enhances the stability of the rotational connection between the gear carrier and the bearing carrier. The separate design of the first and second bearing seats facilitates the installation of multiple bearings, improving assembly efficiency. The chuck design of the rotating shaft prevents the shaft from accidentally dislodging from the shaft hole. The weight-reducing holes reduce the overall weight of the mechanical claw.

[0028] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A novel mechanical claw transmission device, comprising a first claw seat, a second claw seat, and two symmetrically arranged claw tips, wherein the two claw tips are respectively mounted to the first claw seat and the second claw seat, characterized in that, The first claw seat and the second claw seat are arranged opposite to each other. The inner sides of the first claw seat and the inner sides of the second claw seat are respectively keyed with coaxial first bevel teeth. Multiple second bevel teeth are meshed between the two first bevel teeth and distributed at equal angles around the axis of the first bevel teeth. The second bevel teeth are all rotatably connected to the gear carrier. The gear carrier is provided with an adapter lug on one side. A drive motor is installed on the outer side of the first claw seat. The output end of the drive motor is fixedly connected to a bearing carrier. The other end of the bearing carrier passes through the first claw seat and the gear carrier and is fixedly connected to the second claw seat. The gear carrier is fixed, and the bearing carrier is rotatably connected to the gear carrier through a bearing.

2. The novel mechanical claw transmission device according to claim 1, characterized in that, Multiple bearings are arranged between the bearing carrier and the gear carrier.

3. The novel mechanical claw transmission device according to claim 2, characterized in that, Three bearings are arranged between the bearing carrier and the gear carrier. The bearing carrier includes a first bearing seat and a second bearing seat arranged coaxially and symmetrically. The inner rings of the three bearings are respectively engaged with the abutting end of the first bearing seat and the first claw seat, the abutting end of the first bearing seat and the second bearing seat, and the abutting end of the second bearing seat and the second claw seat.

4. The novel mechanical claw transmission device according to claim 1, characterized in that, The second bevel teeth are all rotatably connected to the gear carrier via a rotating shaft. The gear carrier has shaft holes on both sides of each second bevel tooth that are adapted to the rotating shaft. One end of the rotating shaft is provided with a chuck. The contact surface between the gear carrier and the outer ring of the bearing is provided with a groove adapted to the chuck.

5. A novel mechanical claw transmission device according to claim 1, characterized in that, The gear carrier has weight-reducing holes between adjacent second bevel teeth.

6. A novel mechanical claw transmission device according to claim 1, characterized in that, The drive motor is a brushless servo motor.

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