A truss robotic arm gripper mechanism

Abstract

This invention provides a gantry robotic arm gripper mechanism, relating to the field of grippers. The gantry robotic arm gripper mechanism includes a servo motor and a gearbox. The servo motor is fixedly mounted on the surface of the gearbox. A drive gear is fixedly mounted on the output end of the servo motor. Primary reducers mesh on both sides of the drive gear and are fixedly connected to the gearbox. Two sets of secondary reducers are fixedly mounted inside the gearbox. A rotating shaft is driven to the output end of the gearbox, and a worm gear is fixedly connected to the bottom end of the rotating shaft. This gantry robotic arm gripper mechanism achieves reciprocating motion of the gripper by setting two sets of reducers with opposite transmission directions and changing the meshing state between the servo motor input gear and the two reducers, maintaining continuous forward rotation of the servo motor. Simultaneously, two clutches are provided. The required rotation angle of the clutch is determined based on the previous rotation record. After the clutches are aligned, rigid transmission is performed, thereby enabling precise control of the gripping action.

Description

Technical Field

[0001] This invention relates to the field of grippers, specifically a gripper mechanism for a gantry robot arm. Background Technology

[0002] The existing patent (CN113084785A) discloses a truss robot, which includes a support rod. The lower part of the support rod is fixedly connected to a lower connecting plate. A caster wheel is movably connected to the middle of the lower part of the lower connecting plate. A movable column is movably sleeved inside one side of the lower connecting plate.

[0003] This technical solution involves movably connecting a gear to the inside of one side of the crossbar, and movably connecting pulleys to the upper and lower parts of the crossbar. The upper connecting plate, under the elastic action of spring two, adjusts the distance between itself and the motor. When disassembly is needed, pushing the upper connecting plate upwards causes pulley one to deviate from the inside of the crossbar, facilitating its removal. The upper part of the support column is movably connected inside the clamping sleeve, thus limiting the position of spring two during use. This patent clarifies that the gantry robot arm gripper mechanism is mounted on a sliding guide rail, achieving gripping and placement at different positions through movement along the rail.

[0004] Existing patent (CN219685659U) describes a parallel servo electric gripper. It includes a servo motor, a moving track base, and gripper bases. One end of the servo motor is provided with a power connection wire, and the other end of the servo motor is equipped with a moving track base. Gripper bases are respectively installed on the left and right sides of the outer end of the moving track base.

[0005] This technical solution employs two sets of staggered gripper seats, with grippers mounted on these seats. The movable nature of the gripper seats ensures sufficient clearance between the grippers, increasing their gripping capacity. The power source controlling the gripper movement is a servo motor. The forward and reverse rotation of the servo motor moves the grippers closer together or further apart. Since gantry mechanical grippers are mounted on sliding guide rails and are generally used for short-distance, small-range transport, the servo motor needs to frequently switch between forward and reverse rotation. Frequent forward and reverse operations cause the motor winding temperature to rise, accelerating the aging of the insulation material and reducing the motor's insulation performance and lifespan. Furthermore, frequent switching of power polarity subjectes the motor's electrical components to constant voltage and current fluctuations, potentially leading to decreased electrical performance or even malfunctions. Especially under high load conditions, fatigue wear between gears and other moving parts is exacerbated. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a gantry robotic arm gripper mechanism, which solves the problem mentioned in the background art that frequent switching of forward and reverse rotation of gantry motors can easily damage the motor.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a gantry robotic arm gripper mechanism, comprising a servo motor and a gearbox. The servo motor is fixedly mounted on the surface of the gearbox. A drive gear is fixedly mounted on the output end of the servo motor. Primary reducers mesh on both sides of the drive gear. The primary reducers are fixedly connected to the gearbox. Two sets of secondary reducers are fixedly mounted inside the gearbox. A rotating shaft is driven to the output end of the gearbox. A worm gear is fixedly connected to the bottom end of the rotating shaft. A worm wheel meshes at the output end of the worm gear. An output gear is fixedly mounted on one end of the rotating shaft inside the gearbox. Transmission gears mesh on both sides of the output gear. The transmission gears are fixedly connected to the gearbox. The output ends of the transmission gears and secondary reducers on the same side, as well as the output ends of the primary reducers on the same side and the input ends of the secondary reducers, are driven by a clutch. The secondary reducers on both sides rotate in opposite directions. A limit frame is fixedly mounted on the output end of the gearbox. Two grippers are symmetrically slidably connected inside the limit frame. A transmission mechanism is provided inside the limit frame to drive the two grippers to move simultaneously towards each other using the worm wheel as a power source.

[0008] Preferably, the clutch includes symmetrically arranged connecting discs. The two connecting discs are respectively provided with connecting holes and inner positioning pins inserted into the connecting holes on their sides that are close to each other. One connecting disc is fixedly connected to the power transmission end, and the other connecting disc is fixedly installed with a square shaft sleeve away from the power output end. A square shaft is slidably connected inside the square shaft sleeve. The square shaft is fixedly connected to the other power transmission end. A magnetic plate is fixedly installed on the outer surface of the square shaft sleeve, and an electromagnetic sleeve is fixedly installed on the outer surface of the square shaft.

[0009] Preferably, the connecting plate has multiple connecting holes arranged in a circular array, with each connecting hole corresponding to a positioning post.

[0010] Preferably, the connecting hole is divided into inner and outer rings, and the same connecting plate and the opening of the connecting hole are also fixedly installed with positioning posts. When the connecting hole is located in the inner ring, the positioning post above the same connecting plate is located in the outer ring.

[0011] Preferably, the reduction ratio of the secondary reducer used to drive the two grippers away from each other is smaller than the reduction ratio of the secondary reducer on the other side.

[0012] Preferably, the transmission mechanism includes lead shafts symmetrically mounted on both sides of the worm gear, with the thread directions of the two lead shafts being opposite, and the jaws engaging with one of the lead shafts.

[0013] Preferably, the transmission mechanism includes a drive gear, which is fixedly mounted below the rotating shaft of the worm gear. Rack plates mesh on both sides of the drive gear, and the gripper is fixedly connected to one of the rack plates.

[0014] Preferably, the inner two sides of the limiting frame are fixedly installed with limiting guide rails, and the two sides of the gripper are provided with sliding grooves that are adapted to the limiting guide rails.

[0015] Preferably, the reduction ratio of the primary reducer is smaller than that of the secondary reducer, and both the primary and secondary reducers are immersed in the lubricating fluid of the gearbox.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The gripper mechanism of this gantry robotic arm closes the clutch on the side where the grippers are close together. The servo motor rotates, driving the drive gear to rotate. The drive gear, through a primary reducer and a secondary reducer, drives the rotating shaft to rotate. This allows the two grippers to move closer together via the transmission mechanism, and the number of rotations is recorded to grip the object. When the two grippers need to separate, the two clutches on that side are first disengaged. The servo motor then drives the primary reducer on the side where the grippers are far apart, based on the previous rotation record. The connecting plate connected to the primary reducer rotates by a specified angle, causing the connecting plates between the two plates to rotate. With the holes and positioning pins aligned, the electromagnetic sleeve is energized and presses against the magnetic plate, causing the two connecting discs to snap together. Then, based on the previous rotation record, the drive and secondary reducer are used to rotate the connecting discs by a specified angle, and the two connecting discs connect. At this point, the number of rotations of the servo motor corresponds to the distance the gripper opens, and this number of rotations is recorded. This is used as a basis for adjusting the distance between the two connecting discs when closing the gripper next time. This setup ensures that the servo motor always rotates in one direction, enabling the opening and closing of the gripper. Furthermore, by adjusting the connecting discs based on the rotation record and then adjusting the gripper, the accuracy of the servo motor drive device is guaranteed.

[0018] 2. The truss robotic arm gripper mechanism includes a clutch and symmetrically arranged connecting discs. Each connecting disc has a connecting hole and an inner positioning post inserted into the connecting hole on its side closest to each other. One connecting disc is fixedly connected to the power transmission end, while the other connecting disc, away from the power output end, is fixedly mounted with a square shaft sleeve. A square shaft is slidably connected inside the square shaft sleeve, and the square shaft is fixedly connected to the other power transmission end. A magnetic plate is fixedly mounted on the outer surface of the square shaft sleeve, and an electromagnetic sleeve is fixedly mounted on the outer surface of the square shaft. When the electromagnetic sleeve is energized, it attracts the magnetic plate, causing the square shaft and the square shaft sleeve to move closer together, thus separating the two connecting discs. When the electromagnetic sleeve is energized, it presses against the magnetic plate, allowing the two connecting discs to interlock.

[0019] 3. The gantry robotic arm clamp uses a secondary reducer with a smaller reduction ratio on one side to drive the two grippers away from each other. Since the grippers do not need to squeeze the object when they move away from each other, the torque requirement is small, and the grippers can move quickly through the small reduction ratio.

[0020] 4. The truss robotic arm gripper mechanism has two rings of connecting holes, inner and outer. The same connecting plate and the opening of the connecting hole are also fixedly installed with positioning columns. When the connecting hole is in the inner ring, the positioning column above the same connecting plate is in the outer ring. The staggered connecting holes and positioning columns can make the two connecting plates firmly connected. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the gearbox connection of the present invention;

[0023] Figure 3 This is a schematic diagram of the connection disk of the present invention;

[0024] Figure 4 This is a schematic diagram of the clutch connection of the present invention;

[0025] Figure 5 This is a schematic diagram of the lead shaft connection of the present invention;

[0026] Figure 6 This is a schematic diagram of the rack and pinion plate connection of the present invention.

[0027] In the diagram: 1. Servo motor; 2. Gearbox; 3. Drive gear; 4. Secondary reducer; 5. Rotary shaft; 6. Output gear; 7. Transmission gear; 8. Clutch; 9. Limit frame; 10. Gripper; 11. Worm; 12. Worm wheel; 13. Primary reducer; 14. Slide groove; 15. Transmission mechanism; 151. Lead shaft; 152. Drive gear; 153. Rack plate; 16. Limit guide rail; 801. Connecting plate; 802. Connecting hole; 803. Positioning pin; 804. Square bushing; 805. Square shaft; 806. Magnetic plate; 807. Electromagnetic sleeve. Detailed Implementation

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] like Figure 1-6As shown, a gantry robotic arm gripper mechanism includes a servo motor 1 and a gearbox 2. The servo motor 1 is fixedly mounted on the surface of the gearbox 2. A drive gear 3 is fixedly mounted on the output end of the servo motor 1. Primary reducers 13 mesh on both sides of the drive gear 3. The primary reducers 13 are fixedly connected to the gearbox 2. Two sets of secondary reducers 4 are fixedly mounted inside the gearbox 2. In the figure, the secondary reducers 4 are covered by baffles. Both the primary reducers 13 and the secondary reducers 4 amplify torque through progressive reduction via meshing gears. A rotating shaft 5 is driven to the output end of the gearbox 2. A worm gear 11 is fixedly connected to the bottom end of the rotating shaft 5. A worm wheel 12 meshes with the output end of the worm gear 11. The worm gear 11 and worm wheel 12 drive each other and have a self-locking function. An output gear 6 is fixedly mounted on one end of the rotating shaft 5 inside the gearbox 2. The two sides of the wheel 6 are meshed with transmission gears 7, which are fixedly connected to the gearbox 2. The transmission gears 7, including the primary reducer 13 and the secondary reducer 4, are all equipped with support frames. The support frames support the central shaft and are connected to the gearbox 2. The output ends of the transmission gears 7 and the secondary reducer 4 on the same side, as well as the output end of the primary reducer 13 on the same side and the input end of the secondary reducer 4, are connected by clutches 8. Only when the two side clutches 8 on the same side are engaged at the same time can the servo motor 1 drive the gripper 10 to move. The output rotation directions of the secondary reducers 4 on both sides are opposite. The output end of the gearbox 2 is fixedly installed with a limit frame 9. Two grippers 10 are symmetrically slidably connected inside the limit frame 9. The limit frame 9 is equipped with a transmission mechanism 15 that drives the two grippers 10 to move in opposite directions at the same time using a worm gear 12 as the power source.

[0033] The clutch 8 includes symmetrically arranged connecting discs 801. Each of the two connecting discs 801 has a connecting hole 802 and an inner positioning post 803 inserted into the connecting hole 802 on one side of each other. One connecting disc 801 is fixedly connected to the power transmission end, while the other connecting disc 801 is fixedly mounted with a square shaft sleeve 804 away from the power output end. A square shaft 805 is slidably connected inside the square shaft sleeve 804, and the square shaft 805 is fixedly connected to the other power transmission end. A magnetic plate 806 is fixedly mounted on the outer surface of the square shaft sleeve 804, and an electromagnetic sleeve 807 is fixedly mounted on the outer surface of the square shaft 805. When the electromagnetic sleeve 807 is energized, it attracts the magnetic plate 806, causing the square shaft 805 and the square shaft sleeve 804 to move closer together, thus separating the two connecting discs 801. When the electromagnetic sleeve 807 is energized, it presses against the magnetic plate 806, allowing the two connecting discs 801 to interlock.

[0034] The connecting plate 801 has multiple connecting holes 802, which are arranged in a circular array. Each connecting hole 802 corresponds to a positioning post 803. This arrangement reduces the number of rotations required for the servo motor 1 to adjust the connecting plate 801.

[0035] The connecting hole 802 is divided into inner and outer rings. The same connecting plate 801 and the opening of the connecting hole 802 are also fixedly installed with the positioning post 803. When the connecting hole 802 is located in the inner ring, the positioning post 803 above the same connecting plate 801 is located in the outer ring. The staggered connecting holes 802 and positioning posts 803 can make the two connecting plates 801 firmly connected.

[0036] The reduction ratio of the secondary reducer 4 used to drive the two grippers 10 away from each other is smaller than that of the secondary reducer 4 on the other side. Since the grippers 10 do not need to squeeze the items when the two grippers 10 are away from each other, the torque requirement is small, and the rapid movement of the grippers 10 can be achieved quickly through the small reduction ratio.

[0037] The transmission mechanism 15 includes lead shafts 151 symmetrically mounted on both sides of the worm gear 12. The threads of the two lead shafts 151 are opposite. The jaws 10 mesh with one of the lead shafts 151. With this arrangement, the rotation of the lead shafts 151 can drive the two jaws 10 to move. This technical solution has high transmission accuracy.

[0038] The transmission mechanism 15 includes a drive gear 152, which is fixedly mounted below the rotating shaft 5 of the worm gear 12. The drive gear 152 has rack plates 153 meshing on both sides. The gripper 10 is fixedly connected to one of the rack plates 153. When the drive gear 152 rotates, the rack plates 153 on both sides move in opposite directions, thereby enabling the gripper 10 to move towards each other. The transmission between the drive gear 152 and the rack plate 153 has the advantage of smooth transmission.

[0039] Limiting guide rails 16 are fixedly installed on both sides of the inner side of the limiting frame 9. Slide grooves 14 adapted to the limiting guide rails 16 are opened on both sides of the gripper 10. This setting can limit the gripper 10, so that the gripper 10 can only perform reciprocating motion.

[0040] The reduction ratio of the primary reducer 13 is smaller than that of the secondary reducer 4. The primary reducer 13 is set to perform primary reduction, so that the servo motor 1 can accurately adjust the position of the connecting plate 801. The secondary reducer 4 has a high reduction ratio to amplify the torque. At the same time, the clutch 8 disengages the primary reducer 13 and the transmission gear 7, which can prevent the non-working reducer from being driven to perform work. Both the primary reducer 13 and the secondary reducer 4 are immersed in the lubricating fluid of the gearbox 2. The lubricating fluid can reduce the wear of the gear set and also provide heat dissipation.

[0041] In use, when the clutch 8 on the side where the driving jaws 10 are close together is closed, the servo motor 1 rotates, driving the drive gear 3 to rotate. The drive gear 3, through the primary reducer 13 and the secondary reducer 4, drives the rotating shaft 5 to rotate. Thus, the transmission mechanism 15 drives the two jaws 10 to move closer together, and records the number of rotations to grip the object. When the two jaws 10 need to separate, the two clutches 8 on that side are first disengaged. The servo motor 1 then drives the primary reducer 13 on the side where the driving jaws 10 are far apart to rotate, based on the previous rotation record. The connecting plate 801 connected to the primary reducer 13 rotates by a specified angle, causing the connecting holes 802 and positioning pins 8 in the two connecting plates 801 to rotate. 03 Alignment: The electromagnetic sleeve 807 is energized and presses the magnetic plate 806, causing the two connecting discs 801 to snap together. At this time, the connecting discs 801 are connected to the secondary reducer 4 and rotated to a specified angle based on the previous rotation record. The number of rotations of the servo motor 1 at this time is the distance the gripper 10 opens, and the number of rotations is recorded. This is used as a basis for adjusting the two connecting discs 801 when closing the gripper 10 next time. At the same time, this setting can ensure that the servo motor 1 always rotates in one direction, which can realize the opening and closing of the gripper 10. By adjusting the connecting discs 801 through rotation record and then adjusting the gripper 10, the working accuracy of the servo motor 1 drive device can be guaranteed.

[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] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A gantry robotic arm gripper mechanism, comprising a servo motor (1) and a gearbox (2), characterized in that: The servo motor (1) is fixedly mounted on the surface of the gearbox (2). The output end of the servo motor (1) is fixedly mounted with a drive gear (3). The two sides of the drive gear (3) are meshed with a primary reducer (13). The primary reducer (13) is fixedly connected to the gearbox (2). The inside of the gearbox (2) is fixedly mounted with two sets of secondary reducers (4). The output end of the gearbox (2) is driven by a rotating shaft (5). The bottom end of the rotating shaft (5) is fixedly connected with a worm (11). The output end of the worm (11) is meshed with a worm wheel (12). The end of the rotating shaft (5) located inside the gearbox (2) is fixedly mounted with an output gear (6). The two sides of the output gear (6) are meshed with transmission gears (7). The transmission gears (7) are fixedly connected to the gearbox (2). The output ends of the transmission gears (7) and the secondary reducers (4) on the same side, as well as the output end of the primary reducer (13) on the same side and the input end of the secondary reducer (4), are driven by a clutch (8). The output rotation directions of the secondary reducers (4) on both sides are opposite. The output end of the gearbox (2) is fixedly installed with a limit frame (9). The limit frame (9) has two symmetrically slidingly connected grippers (10). The limit frame (9) is equipped with a transmission mechanism (15) that drives the two grippers (10) to move in opposite directions simultaneously using a worm gear (12) as the power source.

2. The gantry robot gripper mechanism according to claim 1, characterized in that: The clutch (8) includes symmetrically arranged connecting discs (801). The two connecting discs (801) are respectively provided with connecting holes (802) and inner positioning pins (803) inserted into the connecting holes (802) on the side close to each other. One connecting disc (801) is fixedly connected to the power transmission end. The other connecting disc (801) is fixedly installed with a square shaft sleeve (804) away from the power output end. A square shaft (805) is slidably connected inside the square shaft sleeve (804). The square shaft (805) is fixedly connected to the other power transmission end. A magnetic plate (806) is fixedly installed on the outer surface of the square shaft sleeve (804). An electromagnetic sleeve (807) is fixedly installed on the outer surface of the square shaft (805).

3. The gantry robot gripper mechanism according to claim 2, characterized in that: The connecting plate (801) has multiple connecting holes (802) arranged in a circular array, with each connecting hole (802) corresponding to a positioning post (803).

4. A gantry robot gripper mechanism according to claim 2 or 3, characterized in that: The connecting hole (802) is divided into inner and outer rings. The same connecting plate (801) and the opening of the connecting hole (802) are also fixedly installed with positioning posts (803). When the connecting hole (802) is located in the inner ring, the positioning post (803) above the same connecting plate (801) is located in the outer ring.

5. The gantry robot gripper mechanism according to claim 4, characterized in that: The reduction ratio of the secondary reducer (4) used to drive the two grippers (10) away from each other is smaller than the reduction ratio of the secondary reducer (4) on the other side.

6. A gantry robot gripper mechanism according to claim 1 or 5, characterized in that: The transmission mechanism (15) includes lead shafts (151) symmetrically mounted on both sides of the worm gear (12), with the thread directions of the two lead shafts (151) being opposite, and the jaws (10) meshing with one of the lead shafts (151).

7. A gantry robot gripper mechanism according to claim 1 or 5, characterized in that: The transmission mechanism (15) includes a drive gear (152), which is fixedly installed below the rotating shaft (5) of the worm gear (12). The drive gear (152) is meshed with rack plates (153) on both sides, and the gripper (10) is fixedly connected to one of the rack plates (153).

8. The gantry robot gripper mechanism according to claim 6, characterized in that: The limiting frame (9) has a limiting guide rail (16) fixedly installed on both sides inside, and the gripper (10) has a sliding groove (14) on both sides that matches the limiting guide rail (16).

9. A gantry robot gripper mechanism according to claim 8, characterized in that: The reduction ratio of the primary reducer (13) is less than that of the secondary reducer (4), and both the primary reducer (13) and the secondary reducer (4) are immersed in the lubricating fluid of the gearbox (2).

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