A servo motor gripper with adjustable clamping force

Abstract

This invention provides a servo motor gripper with adjustable clamping force, relating to the field of grippers. The adjustable clamping force servo motor gripper includes a servo motor and a housing. The servo motor is fixedly mounted at one end of the housing. A transmission mechanism controlled by the servo motor is disposed inside the housing, and a gripper is fixedly mounted at the output end of the transmission mechanism. In this adjustable clamping force servo motor gripper, the electromagnetic telescopic sleeve unfolds, utilizing the pressure between the friction pad and the limiting mechanism to clamp the pressure sensor relative to the limiting mechanism, preventing displacement. An electromagnetic block attracts the magnetic head to retract into the groove, allowing the connecting rod to move freely relative to the limiting sleeve. The servo motor then drives the two grippers to move closer together, compressing the pressure sensor. When the pressure reaches a preset pressure, the servo motor stops working, thereby achieving the effect of adjusting the clamping force. Simultaneously, the pressure sensor is located inside the housing to prevent collisions during movement.

Description

Technical Field

[0001] This invention relates to the field of grippers, specifically a servo motor gripper with adjustable clamping force. Background Technology

[0002] Servo motor grippers are mechanical devices driven by servo motors and are widely used in industrial automation and intelligent manufacturing. Servo motor grippers are generally divided into two types: one type uses a servo motor to drive the grippers to slide and move closer together to achieve gripping, and the other type uses a servo motor to drive the grippers to swing and move closer together to achieve gripping.

[0003] Existing patent (CN220783952U) discloses a servo motor gripper adaptable to objects of different diameters, comprising a fixed plate and a top plate. The top plate is fixedly connected to the top of the fixed plate, and a first servo motor is fixedly connected to the top of the top plate. A drive shaft is fixedly connected to the output end of the first servo motor, and a linear screw is fixedly connected to the bottom end of the drive shaft. The linear screw is movably mounted on the front end of the fixed plate. This technical solution discloses a method in which servo motor-driven grippers achieve mutual approach through swinging motion.

[0004] Existing patent (CN220534246U) discloses a servo motor gripper reset device, comprising a protective shell. Two sets of partitions are fixedly connected to both sides inside the protective shell, and an adjusting screw is movably connected between the partitions. A limit rod is provided above the adjusting screw, and a driving gripper is provided outside the adjusting screw. A gripper plate is mounted on one side of the driving gripper. A fixing plate is fixedly connected to the top of the protective shell, and two sets of mounting plates are provided on both sides of the top of the fixing plate. An adjusting sliding sleeve is fixedly connected to one side of the bottom of the mounting plate. This technical solution discloses a method in which servo motor driven grippers achieve mutual approach through sliding.

[0005] Existing patent (CN221549894U) discloses a gripper pressure detection device, including a pressure detection sensor body and an anti-slip component; the pressure detection sensor body is provided with a mounting plate at its bottom end, and the anti-slip component is provided on the mounting plate; the anti-slip component includes a mounting groove, a first mounting hole, a mortise, a fixing plate, a first insert, a limiting plate, a second insert, a second mounting hole, a rubber pad, a tenon, a slot, and anti-slip protrusions;

[0006] This technical solution uses an anti-slip component to cushion the pressure sensor body and prevent it from slipping during use, thus ensuring the accuracy of the pressure sensor. The anti-slip component is also easily detachable, meeting practical needs. However, in this solution, the pressure detection device is directly mounted on the gripper, which can easily cause interference with external components during gripper movement. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides a servo motor gripper with adjustable clamping force, which solves the problem mentioned in the background section that the pressure detector is easily bumped when located externally.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a servo motor gripper with adjustable clamping force, comprising a servo motor and a housing. The servo motor is fixedly mounted on one end of the housing. A transmission mechanism controlled by the servo motor is provided inside the housing. A gripper is fixedly mounted on the output end of the transmission mechanism. A pressure detection mechanism is engaged with the transmission mechanism or gripper. A limiting mechanism with the same motion trajectory as the pressure detection mechanism is provided on the side of the grippers that are close to each other. The pressure detection mechanism includes a pressure sensor. An electromagnetic telescopic sleeve is fixedly mounted on the side of the pressure sensor that is close to the limiting mechanism. A limiting sleeve is fixedly mounted on the free end of the pressure sensor. A connecting rod is slidably engaged inside the limiting sleeve. The connecting rod is fixedly connected to the transmission mechanism or gripper. A baffle is fixedly mounted on the side of the connecting rod away from the transmission mechanism or gripper on the limiting sleeve. A positioning hole is provided on the surface of the connecting rod. A groove is provided on the inner wall of the limiting sleeve. An electromagnetic block is fixedly mounted inside the groove. A magnetic head is slidably connected inside the groove. The electromagnetic block and the magnetic head are fixedly connected by a return spring. The end of the magnetic head located outside the groove is fixedly engaged inside the positioning hole.

[0009] Preferably, the transmission mechanism drives the grippers to approach each other by swinging. The transmission mechanism is provided with a protrusion, and the outer shell is provided with a concentric limiting ring with the same movement trajectory as the protrusion. The pressure detection mechanism is located between the two limiting rings, and the connecting rod is fixedly connected to the protrusion.

[0010] Preferably, the transmission mechanism includes a drive gear and a half gear that mesh with each other. The drive gear and the half gear are rotatably connected to the housing. An extension plate is fixedly installed on the outer side of the drive gear and the half gear. The gripper is hinged to the top of the extension plate. The gripper is hinged to the housing through a connecting rod. A drive gear is fixedly installed at the output end of the servo motor. The drive gear meshes with the drive gear. A protrusion is installed above the extension plate. A connecting rod is fixedly connected to the protrusion.

[0011] Preferably, the transmission mechanism drives the grippers to approach each other by sliding, the outer shell is provided with a limiting groove that is the same as the movement trajectory of the grippers, and the connecting rod is fixedly connected to the grippers.

[0012] Preferably, the transmission mechanism includes a worm gear, with lead shafts fixedly installed on both sides of the worm gear, grippers meshing on the outer surface of the lead shafts, a worm fixedly installed at the output end of the servo motor, the worm being connected to the worm gear for transmission, a pressure detection mechanism located between two limit grooves, and a connecting rod fixedly connected to the grippers.

[0013] Preferably, a friction pad is fixedly installed at the free end of the electromagnetic telescopic sleeve, and the shape of the friction pad is adapted to the limiting mechanism.

[0014] Preferably, the clamping sensor is a contact sensor located at the gripper or a motor status detection sensor located at the servo motor.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. This adjustable clamping force servo motor gripper, driven by the servo motor, drives the transmission mechanism, allowing the grippers to move closer together for clamping. Upon clamping an item, a signal is generated, causing the electromagnetic telescopic sleeve to unfold. The friction pad and the limiting mechanism press against each other, locking the pressure sensor relative to the limiting mechanism and preventing displacement. The electromagnetic block attracts the magnetic head, causing it to retract into the groove, allowing the connecting rod to move freely relative to the limiting sleeve. When the servo motor operates again, it drives the two grippers closer together, pressing against the pressure sensor. When the pressure reaches the preset level, the servo motor stops, thus achieving adjustable clamping force. The pressure sensor is located inside the housing to prevent collisions during movement.

[0017] 2. The adjustable clamping force servo motor gripper has a friction pad fixedly installed on the free end of the electromagnetic telescopic sleeve. The shape of the friction pad is adapted to the limiting mechanism. This setting can increase the friction between the electromagnetic telescopic sleeve and the limiting mechanism, thereby preventing relative displacement between the electromagnetic telescopic sleeve and the limiting mechanism when the electromagnetic telescopic sleeve is in the extended working state.

[0018] 3. The adjustable clamping force servo motor gripper has a transmission mechanism including a worm gear. Lead shafts are fixedly mounted on both sides of the worm gear, and the gripper meshes with the outer surface of the lead shafts. A worm is fixedly mounted on the output end of the servo motor, and the worm is connected to the worm gear. The pressure detection mechanism is located between two limiting grooves, and a connecting rod is fixedly connected to the gripper. When the clamping sensor detects that the gripper has clamped the workpiece, the electromagnetic telescopic sleeve unfolds and fits tightly against the limiting groove, preventing the pressure sensor from moving. The magnetic head retracts into the groove, and under the drive of the servo motor, the protrusion moves relative to the pressure sensor and squeezes it. When the pressure reaches a specified value, the servo motor stops working. This setup allows for the direct acquisition of a pressure detection value identical to the gripper pressure. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the swing gripper proximity technology of the present invention;

[0020] Figure 2 This is a schematic diagram of the drive gear connection of the present invention;

[0021] Figure 3 This is a schematic diagram illustrating the connection of the limiting ring according to the present invention;

[0022] Figure 4 This is a schematic diagram of the sliding gripper proximity technology of the present invention;

[0023] Figure 5 This is a schematic diagram of the worm gear connection of the present invention;

[0024] Figure 6 This is a schematic diagram of the pressure detection mechanism of the present invention;

[0025] Figure 7 For the present invention Figure 6 Enlarged diagram of point A in the middle.

[0026] In the diagram: 1. Servo motor; 2. Housing; 3. Transmission mechanism; 4. Gripper; 5. Pressure detection mechanism; 6. Limiting mechanism; 7. Clamping sensor; 501. Pressure sensor; 502. Electromagnetic telescopic sleeve; 504. Limiting sleeve; 503. Friction pad; 505. Connecting rod; 506. Baffle; 507. Positioning hole; 508. Groove; 509. Electromagnetic block; 510. Magnetic head; 511. Return spring; 8. Protrusion; 601. Limiting ring; 602. Limiting groove; 301. Drive gear; 302. Half gear; 303. Extension plate; 304. Connecting rod; 305. Drive gear; 307. Worm gear; 308. Lead shaft; 309. Worm. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0028] It should be noted that all directional indications in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0029] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0030] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0031] like Figure 1-7 As shown, a servo motor gripper with adjustable clamping force includes a servo motor 1 and a housing 2. The servo motor 1 is fixedly mounted on one end of the housing 2. A transmission mechanism 3 controlled by the servo motor 1 is provided inside the housing 2. A gripper 4 is fixedly mounted on the output end of the transmission mechanism 3. A pressure detection mechanism 5 is engaged with the transmission mechanism 3 or the gripper 4. A limiting mechanism 6 is provided on the housing 2 with the same movement trajectory as the pressure detection mechanism 5. A clamping sensor 7 is provided on the side of the gripper 4 that is close to each other. The pressure detection mechanism 5 includes a pressure sensor 501. An electromagnetic telescopic sleeve 502 is fixedly mounted on the side of the pressure sensor 501 that is close to the limiting mechanism 6. The free end of the pressure sensor 501 is fixedly mounted with... A limiting sleeve 504 is provided, and a connecting rod 505 is slidably engaged inside the limiting sleeve 504. The connecting rod 505 is fixedly connected to the transmission mechanism 3 or the gripper 4. A baffle 506 is fixedly installed on the side of the limiting sleeve 504 away from the transmission mechanism 3 or the gripper 4. A positioning hole 507 is provided on the surface of the connecting rod 505. A groove 508 is provided on the inner wall of the limiting sleeve 504. An electromagnetic block 509 is fixedly installed inside the groove 508. A magnetic head 510 is slidably connected inside the groove 508. The electromagnetic block 509 and the magnetic head 510 are fixedly connected by a return spring 511. One end of the magnetic head 510 located outside the groove 508 is fixedly engaged inside the positioning hole 507.

[0032] The transmission mechanism 3 drives the grippers 4 to approach each other by swinging. The transmission mechanism 3 is provided with a protrusion 8. The outer shell 2 is provided with a concentric limiting ring 601 with the same movement trajectory as the protrusion 8. The pressure detection mechanism 5 is located between the two limiting rings 601. The connecting rod 505 is fixedly connected to the protrusion 8. With this arrangement, the protrusion 8 can drive the pressure sensor 501 to detect pressure.

[0033] The transmission mechanism 3 includes a driving gear 301 and a half gear 302 that mesh with each other. The driving gear 301 and the half gear 302 are rotatably connected to the housing 2. An extension plate 303 is fixedly installed on the outer side of the driving gear 301 and the half gear 302. The gripper 4 is hinged to the top of the extension plate 303. The gripper 4 is hinged to the housing 2 through a connecting rod 304. A drive gear 305 is fixedly installed at the output end of the servo motor 1. The drive gear 305 meshes with the driving gear 301. A protrusion 8 is installed above the extension plate 303. A connecting rod 505 is fixedly connected to the protrusion 8. This technical solution is one of the specific implementations of driving the gripper 4 to swing. The servo motor 1 drives the drive gear 305 to work, which can utilize the driving gear 301... The 01 and half gear 302 swing, which, together with the connecting rod 304 and the extension plate 303, drives the gripper 4 to move in a swinging manner. When the gripping sensor 7 detects that the gripper 4 has gripped the workpiece, the electromagnetic telescopic sleeve 502 unfolds and fits tightly against the limiting ring 601, so that the pressure sensor 501 stops moving, and the magnetic head 510 retracts into the groove 508. Driven by the servo motor 1, the protrusion 8 can move relative to the pressure sensor 501 and squeeze the pressure sensor 501. When the pressure is squeezed to the specified pressure value, the servo motor 1 stops working. Since the pressure of the swinging motion is related to the distance from the swing arm to the swing center, the pressure between the two grippers 4 and the workpiece can be set by proportional calculation.

[0034] The transmission mechanism 3 drives the grippers 4 to move closer to each other by sliding. The housing 2 is provided with a limiting groove 602 that is the same as the movement trajectory of the grippers 4. The connecting rod 505 is fixedly connected to the grippers 4. With this arrangement, the grippers 4 can directly contact the pressure sensor 501.

[0035] The transmission mechanism 3 includes a worm gear 307, with lead shafts 308 fixedly mounted on both sides of the worm gear 307. The gripper 4 meshes with the outer surface of the lead shaft 308. A worm 309 is fixedly mounted on the output end of the servo motor 1. The worm 309 is connected to the worm gear 307. The pressure detection mechanism 5 is located between two limiting grooves 602. The connecting rod 505 is fixedly connected to the gripper 4. When the clamping sensor 7 detects that the gripper 4 has clamped the workpiece, the electromagnetic telescopic sleeve 502 unfolds and fits tightly against the limiting groove 602, causing the pressure sensor 501 to stop moving and the magnetic head 510 to retract into the groove 508. Driven by the servo motor 1, the protrusion 8 can move relative to the pressure sensor 501 and squeeze the pressure sensor 501. When the pressure reaches the specified pressure value, the servo motor 1 stops working. With this setting, the same pressure detection value as the pressure of the gripper 4 can be directly obtained.

[0036] A friction pad 503 is fixedly installed at the free end of the electromagnetic telescopic sleeve 502. The shape of the friction pad 503 is adapted to the limiting mechanism 6. This arrangement can increase the friction between the electromagnetic telescopic sleeve 502 and the limiting mechanism 6, thereby preventing relative displacement between the electromagnetic telescopic sleeve 502 and the limiting mechanism 6 when the electromagnetic telescopic sleeve 502 is in the extended working state.

[0037] The clamping sensor 7 is a contact sensor, such as a proximity sensor, located on the gripper 4. It detects the distance between the gripper 4 and the object. When the gripper 4 approaches the object and reaches a certain distance, the sensor emits a signal. Common proximity sensors include inductive proximity sensors and capacitive proximity sensors. Inductive proximity sensors determine distance by detecting changes in the magnetic field caused by the object, while capacitive proximity sensors determine distance by detecting changes in capacitance. When the gripper 4 contacts and clamps the object, this distance signal will change significantly, thus determining whether the gripper 4 has clamped the object.

[0038] Tactile sensors can detect information such as the contact, shape, and texture of an object. They are based on the principle of capacitance; when the gripper 4 comes into contact with an object, the capacitance changes. Alternatively, they utilize piezoelectric materials, which generate an electric charge when subjected to pressure; the contact status is determined by detecting this charge signal.

[0039] The motor status detection sensor at servo motor 1 can detect changes in the motor load when the gripper 4 closes to grasp an object. If no object is grasped, the motor load is low and the current is relatively stable; when the gripper 4 grasps an object, the motor load increases, and the motor current increases accordingly. By detecting changes in the motor current, it can be determined whether the gripper 4 has grasped an object. For example, a current sensor can be installed to monitor the motor current in real time.

[0040] Similar to motor current detection, torque describes the torsional force required to rotate the motor drive shaft. When gripper 4 clamps an object, the motor needs to output greater torque to overcome the object's resistance. By detecting changes in motor torque, it can be determined whether gripper 4 has successfully clamped the object. A torque sensor is typically used to measure the torque of the motor's output shaft.

[0041] In use, the servo motor 1 drives the transmission mechanism 3, which in turn brings the grippers 4 closer together to clamp the object. When the object is clamped, a signal is generated, causing the electromagnetic telescopic sleeve 502 to unfold. The friction pad 503 is pressed against the limiting mechanism 6, causing the pressure sensor 501 to be locked relative to the limiting mechanism 6 and prevent displacement. The electromagnetic block 509 attracts the magnetic head 510 to retract into the groove 508, allowing the connecting rod 505 to move freely relative to the limiting sleeve 504. When the servo motor 1 works again, it drives the two grippers 4 to move closer together, which presses the pressure sensor 501. When the pressure reaches the preset pressure, the servo motor 1 stops working, thus achieving the effect of adjusting the clamping force. At the same time, the pressure sensor 501 is placed inside the outer shell 2 to avoid collision during movement.

[0042] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0043] Furthermore, the technical solutions of the various embodiments can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0044] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A servo motor gripper with adjustable clamping force, comprising a servo motor (1) and a housing (2), characterized in that: The servo motor (1) is fixedly installed at one end of the housing (2). The housing (2) is equipped with a transmission mechanism (3) controlled by the servo motor (1). The output end of the transmission mechanism (3) is fixedly installed with a gripper (4). The transmission mechanism (3) or the gripper (4) is engaged with a pressure detection mechanism (5). The housing (2) is equipped with a limiting mechanism (6) with the same movement trajectory as the pressure detection mechanism (5). A clamping sensor (7) is provided on the side where the grippers (4) are close to each other. The pressure detection mechanism (5) includes a pressure sensor (501). An electromagnetic telescopic sleeve (502) is fixedly installed on the side of the pressure sensor (501) near the limiting mechanism (6). A limiting sleeve (504) is fixedly installed on the free end of the pressure sensor (501). A connecting rod (505) is slidably engaged inside the limiting sleeve (504). The connecting rod (505) is fixedly connected to the transmission mechanism (3) or the gripper (4). The connecting rod (505) is located on the side of the limiting sleeve (504) away from the transmission mechanism (3) or the gripper (4). A baffle (506) is fixedly installed on the side. A positioning hole (507) is opened on the surface of the connecting rod (505). A groove (508) is opened on the inner wall of the limiting sleeve (504). An electromagnetic block (509) is fixedly installed inside the groove (508). A magnetic head (510) is slidably connected inside the groove (508). The electromagnetic block (509) and the magnetic head (510) are fixedly connected by a return spring (511). One end of the magnetic head (510) located outside the groove (508) is fixedly snapped into the inside of the positioning hole (507).

2. The servo motor gripper with adjustable clamping force according to claim 1, characterized in that: The transmission mechanism (3) drives the grippers (4) to approach each other by swinging. The transmission mechanism (3) is provided with a protrusion (8). The outer shell (2) is provided with a concentric limiting ring (601) with the same movement trajectory as the protrusion (8). The pressure detection mechanism (5) is located between the two limiting rings (601). The connecting rod (505) is fixedly connected to the protrusion (8).

3. The servo motor gripper with adjustable clamping force according to claim 2, characterized in that: The transmission mechanism (3) includes a drive gear (301) and a half gear (302) that mesh with each other. The drive gear (301) and the half gear (302) are rotatably connected to the outer shell (2). An extension plate (303) is fixedly installed on the outer side of the drive gear (301) and the half gear (302). A gripper (4) is hinged to the top of the extension plate (303). The gripper (4) is hinged to the outer shell (2) through a connecting rod (304). A drive gear (305) is fixedly installed at the output end of the servo motor (1). The drive gear (305) meshes with the drive gear (301). A protrusion (8) is installed above the extension plate (303). A connecting rod (505) is fixedly connected to the protrusion (8).

4. The servo motor gripper with adjustable clamping force according to claim 1, characterized in that: The transmission mechanism (3) drives the grippers (4) to move closer to each other by sliding. The outer shell (2) is provided with a limiting groove (602) that is the same as the movement trajectory of the grippers (4). The connecting rod (505) is fixedly connected to the grippers (4).

5. A servo motor gripper with adjustable clamping force according to claim 4, characterized in that: The transmission mechanism (3) includes a worm gear (307), with a lead shaft (308) fixedly installed on both sides of the worm gear (307). The gripper (4) meshes with the outer surface of the lead shaft (308). A worm (309) is fixedly installed at the output end of the servo motor (1). The worm (309) is connected to the worm gear (307) in a transmission connection. The pressure detection mechanism (5) is located between two limit grooves (602). The connecting rod (505) is fixedly connected to the gripper (4).

6. A servo motor gripper with adjustable clamping force according to claim 3 or 5, characterized in that: The free end of the electromagnetic telescopic sleeve (502) is fixedly equipped with a friction pad (503), and the shape of the friction pad (503) is adapted to the limiting mechanism (6).

7. A servo motor gripper with adjustable clamping force according to claim 3 or 5, characterized in that: The clamping sensor (7) is a contact sensor located at the gripper (4) or a motor status detection sensor located at the servo motor.

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