High-integration-level small-size multi-point centering electric clamping jaw

Abstract

The utility model discloses a high-integration small-size multi-point centering electric clamping jaw which comprises a shell, the lower portion of the shell is provided with a containing inner cavity, the upper portion of the shell is provided with n horizontal sliding grooves communicated with the containing inner cavity, and each horizontal sliding groove is internally connected with an opening and closing clamping jaw in a sliding mode. The high-integration-level small-size multi-point centering electric clamping jaw further comprises a clamping jaw opening and closing driving unit arranged in the containing inner cavity, the clamping jaw opening and closing driving unit comprises a middle pushing sliding block, a lead screw body, a wheel train body and a motor, and the motor is vertically arranged on one side of the lead screw body. The wheel train body can transmit rotating power of the motor to the lead screw body and drive the middle push sliding block to ascend and descend so as to push the n opening and closing clamping jaws to stretch out and draw back along the corresponding horizontal sliding grooves synchronously. Compared with the prior art, the self-centering device has the self-centering function, the overall structural design is reasonable, and the overall appearance size can be greatly reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of electric gripper manipulators, and in particular relates to a multi-finger centrifugal electric gripper with high integration and small volume. Background Art

[0002] In the process of industrial automation, electric grippers are playing a key role. They have the advantages of fast response speed and low noise. They can be used alone or mounted on the end of a robot, and can meet the loading and unloading needs in various scenarios.

[0003] In the prior art, Chinese Patent Publication No. CN214724337U discloses a servo electric gripper suitable for handling small precision parts, including a mounting seat, a reducer housing is arranged on the right side of the mounting seat, a motor housing is arranged on the right side of the reducer housing, a connecting line is arranged on the upper side of the motor housing, an upper gripper is movably mounted on the left side of the mounting seat, a lower gripper is arranged on the lower side of the upper gripper, a micro motor is arranged on the inner side of the motor housing, a first gear is arranged on the outer side of the micro motor, a first screw is arranged on the output shaft of the micro motor, a second gear is arranged on the lower side of the first gear, and a second screw is arranged on the inner side of the second gear.

[0004] The prior art has the following two deficiencies.

[0005] (I) The structural design of the electric gripper is unreasonable, resulting in the overall length of the gripper being too long and the space in the width direction not being fully utilized. Specifically, the arrangement of the micro motor and the gear train in the electric gripper results in the overall length of the electric gripper being relatively long, while the radial dimensions of the upper and lower grippers are significantly larger than the radial dimensions of the housing (reducer housing or motor housing), and the space outside the housing is idle. The overall length of the electric gripper of this structure is relatively long, which cannot meet the application scenarios of small installation dimensions, and the overall length of the electric gripper is relatively long and does not meet the requirements of the delicate characteristics of the electric gripper, affecting the competitiveness of the product.

[0006] (ii) In the electric clamp, a gear rack is meshed, and the gear can only drive the racks on both sides to move synchronously. Each rack is connected to a clamp to form a two-jaw centering clamping structure, and it is not possible to form a multi-jaw centering clamping structure with three or more jaws.

[0007] Therefore, it is necessary to provide a new highly integrated, small-volume, multi-finger centrifugal electric gripper to solve the above technical problems. Summary of the invention

[0008] 1. Technical issues to be resolved

[0009] Based on this, the utility model provides a highly integrated, small-volume, multi-finger centring electric gripper to solve the technical problems in the prior art that the electric gripper is too long and cannot form a multi-finger centring clamping structure with three or more jaws.

[0010] (II) Technical solution

[0011] In order to solve the above technical problems, the utility model proposes a highly integrated, small-volume, multi-finger centrifugal electric gripper, comprising a shell, a receiving inner cavity is provided at the lower part of the shell, and n horizontal slide grooves are provided at the upper part of the shell, which are respectively connected to the receiving inner cavity, and the n horizontal slide grooves are arranged around the same axis; an opening and closing gripper is slidably connected in each of the horizontal slide grooves; the highly integrated, small-volume, multi-finger centrifugal electric gripper also includes a gripper opening and closing drive unit arranged in the receiving inner cavity, and the gripper opening and closing drive unit includes: a middle push slider, a screw rod body, a gear train body and a motor, and the middle push slider includes: a middle push cylinder and n located at the top of the middle push cylinder. an inclined slider; a side of each opening and closing clamping jaw close to the middle push slider is provided with an inclined guide groove matching the shape of the inclined slider, and each of the inclined guide grooves is slidably connected with an inclined slider; the middle push cylinder is threadedly connected to the screw rod body, and the two form a spiral transmission structure, the lower part of the screw rod body is connected to one side of the gear train body, and the other side of the gear train body is connected to the lower part of the motor, and the motor is vertically arranged on one side of the screw rod body; the gear train body can transmit the rotational power of the motor to the screw rod body, and drive the middle push slider to rise and fall, so as to push the n opening and closing clamping jaws to synchronously extend and retract along the corresponding horizontal slide grooves.

[0012] Preferably, the input rotation speed of the gear train body is greater than the output rotation speed of the gear train body.

[0013] Preferably, the shell includes a slide frame and a gear box which are detachably connected to each other in an upper and lower manner; the slide frame is a cylindrical body as a whole, the horizontal slide is formed by a depression in the top surface of the slide frame, the bottom of the slide frame is provided with an upper receiving groove formed by a depression, the bottom of the upper receiving groove is provided with a raised middle push guide column, the middle push guide column is provided with a middle push guide hole passing therethrough, the lower part of the middle push tube is provided in the middle push guide hole and the two are slidably connected; the gear box is a cylindrical body as a whole, the top of the gear box is provided with a lower receiving groove formed by a depression, the bottom of the lower receiving groove is provided with a raised screw positioning column, the screw positioning column is provided with a screw passing therethrough Positioning hole, the bottom of the gear box is provided with a recessed gear train receiving groove, and the gear train receiving groove is respectively connected with the lower receiving groove and the screw rod positioning hole, the lower part of the middle push tube has an internal transmission thread formed therein, the upper part of the screw rod body extends into the middle push tube, and the top of the screw rod body is threadedly connected with the internal transmission thread; the lower part of the screw rod body passes through the screw rod positioning hole and the two are rotatably connected, the lower part of the motor is arranged in the lower receiving groove, the upper part of the motor is arranged in the upper receiving groove, and the gear train body is installed in the gear train receiving groove; the receiving inner cavity includes: the upper receiving groove, the lower receiving groove and the gear train receiving groove.

[0014] Preferably, the upper and lower ends of the screw rod positioning hole are provided with a recessed upper limit groove and a lower limit groove; a centering sleeve which is annular as a whole is provided in the screw rod positioning hole, the screw rod main body passes through the centering sleeve, and a protruding limit ring is provided on the outer side of the screw rod main body, and the clamping jaw opening and closing driving unit also includes an upper bearing and a lower bearing respectively arranged around the screw rod main body, and the upper bearing is installed in the upper limit groove, and the lower bearing is installed in the lower limit groove, and the upper and lower ends of the upper bearing are respectively abutted against the lower part of the limit ring and the top of the centering sleeve; the gear train main body includes a screw rod spur tooth installed at the bottom of the screw rod main body, and the upper and lower ends of the lower bearing are respectively abutted against the bottom of the centering sleeve and the upper part of the screw rod spur teeth, and the lower end surface of the screw rod main body is fixed with a limit screw for preventing the screw rod spur teeth from falling out of the screw rod main body.

[0015] Preferably, a recessed avoidance ring groove is provided in the middle of the inner wall of the centering sleeve.

[0016] Preferably, a recessed cover groove is provided at the top center position of the slide groove frame, and the cover groove is connected to the receiving inner cavity; a cover plate is fixedly installed in the cover groove, and the cover plate is a circular plate as a whole, and a limiting step is provided at the center of the bottom surface of the cover plate for limiting the position of the middle push sliding block when it is lifted, and a recessed air avoidance ring groove is provided at the outer periphery of the bottom surface of the cover plate.

[0017] Preferably, the bottom of the gear box is also provided with a recessed bottom plate receiving groove, the bottom plate receiving groove is connected to the gear train receiving groove, and the depth of the bottom plate receiving groove is smaller than the gear train receiving groove; a bottom plate body is fixedly installed in the bottom plate receiving groove, the cover plate is a circular plate as a whole and the bottom plate body completely covers the lower opening of the gear train receiving groove; the bottom of the gear box is also provided with upper and lower shell bolt connecting holes that pass through the gear box and extend into the slide groove frame, the shell body also includes upper and lower shell connecting bolts that are arranged in the upper and lower shell bolt connecting holes and are used to realize the fixed connection between the slide groove frame and the gear box; the shell body also includes a bottom plate connecting hole that passes through the bottom plate body and extends into the gear box, and the shell body also includes a bottom plate connecting bolt that is arranged in the bottom plate connecting hole and is used to realize the fixed connection between the bottom plate body and the gear box.

[0018] Preferably, the shell also includes a device connecting hole that passes through the base plate body and extends into the gear box, the part of the device connecting hole that extends into the gear box is a threaded hole, and the part of the device connecting hole that passes through the base plate body is a step hole, and the shell also includes a positioning pin sleeve, the upper part of the positioning pin sleeve extends into the step hole, and the lower part of the positioning pin sleeve extends out of the step hole.

[0019] Preferably, the outer diameter of the slide groove frame is the same as the outer diameter of the gear box, and the cover plate, the slide groove frame, the gear box, the middle push cylinder and the screw rod body share a common central axis; n horizontal slide grooves are arranged around the axis of the slide groove frame.

[0020] Preferably, the highly integrated, small-volume, multi-finger centrifugal electric gripper also includes a PCB board fixing part and a PCB circuit board respectively installed in the lower receiving groove; the PCB board fixing part is bent as a whole, and one end of the PCB board fixing part is fixed to the top of the gear box, and the other end of the PCB board fixing part is fixedly connected to the PCB circuit board; one side of the gear box is also provided with an electronic wire connector; one end of the electronic wire connector protrudes out of the outside of the gear box, and the other end of the electronic wire connector extends into the lower receiving groove, and the top of the PCB circuit board is provided with a motor input wire connected to the motor, and the side of the PCB circuit board facing the electronic wire connector is provided with an input wire connection port.

[0021] (III) Beneficial effects

[0022] Compared with the prior art, the highly integrated, small-volume, multi-finger centring electric clamp of the utility model can transform the vertical lifting action of a middle push slider into the lateral synchronous extension and retraction action of multiple opening and closing clamps, so that the utility model has a self-centering function and can form a multi-claw centring clamping structure. In addition, the overall structural design of the utility model is reasonable, small and compact, which can greatly reduce the overall size, meet the application scenarios of small installation size, and improve the product competitiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the utility model;

[0025] Figure 2 It is an exploded schematic diagram of one direction of the utility model;

[0026] Figure 3 It is an exploded schematic diagram of another direction of the utility model;

[0027] Figure 4 It is a top view schematic diagram of the utility model;

[0028] Figure 5 For along Figure 4 A schematic cross-sectional view of line AA in FIG.

[0029] Figure 6 This is a structural schematic diagram of the device connecting hole and the positioning pin sleeve in the utility model.

[0030] Description of reference numerals:

[0031] 1. Opening and closing jaws; 2. Middle push slider; 3. Screw rod body; 4. Gear train body; 5. Motor; 6. Slide frame; 7. Gear box; 8. Centering sleeve; 9. Upper bearing; 10. Lower bearing; 11. Limit screw; 12. Cover plate; 13. Bottom plate body; 14. Upper and lower shell connecting bolts; 15. Bottom plate connecting bolts; 16. Positioning pin sleeve; 17. PCB board fixing parts; 18. PCB circuit board; 19. Connector with electronic wire; 20. Motor input line; 21. Input line connection port; 22. Upper and lower shell bolt connection holes; 23. Bottom plate connection holes; 24. Device connection holes;

[0032] 011. Inclined guide groove;

[0033] 021, middle push tube; 022, inclined slide block;

[0034] 31. Limiting ring;

[0035] 41. Screw rod straight teeth;

[0036] 61. Horizontal slide groove; 62. Upper receiving groove; 63. Middle push guide column; 64. Cover groove;

[0037] 71. Lower receiving groove; 72. Screw rod positioning column; 73. Gear train receiving groove; 74. Bottom plate receiving groove;

[0038] 81. Avoidance ring groove;

[0039] 121. Limiting step; 122. Avoiding ring groove;

[0040] 211, internal transfer thread;

[0041] 631, middle push guide hole;

[0042] 721, screw rod positioning hole; 722, upper limit slot; 723, lower limit slot. DETAILED DESCRIPTION

[0043] In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the specific implementation of the utility model is described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the utility model. However, the utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the utility model, so the utility model is not limited by the specific implementation disclosed below.

[0044] The following is combined with Figure 1-6 The utility model is further described with respect to the high-integration, small-volume, multi-finger centrifugal electric gripper.

[0045] The utility model discloses a highly integrated small-volume multi-finger centrifugal electric clamp, comprising a shell, a receiving inner cavity is arranged at the lower part of the shell, and n horizontal slide grooves 61 are respectively connected with the receiving inner cavity at the upper part of the shell, and the n horizontal slide grooves 61 are arranged around the same axis; an opening and closing clamp 1 is slidably connected in each horizontal slide groove 61; the highly integrated small-volume multi-finger centrifugal electric clamp also includes a clamp opening and closing drive unit arranged in the receiving inner cavity, and the clamp opening and closing drive unit includes: a middle push slider 2, a screw rod body 3, a gear train body 4 and a motor 5, and the middle push slider 2 includes: a middle push cylinder 021 and n inclined sliders 022 located at the top of the middle push cylinder 021 ; Each opening and closing clamping jaw 1 is provided with an inclined guide groove 011 matching the shape of the inclined slider 022 on one side close to the middle push slider 2, and a inclined slider 022 is slidably connected in each inclined guide groove 011; the middle push cylinder 021 is threadedly connected to the screw rod body 3, and the two form a spiral transmission structure, the lower part of the screw rod body 3 is connected to one side of the gear train body 4, and the other side of the gear train body 4 is connected to the lower part of the motor 5, and the motor 5 is vertically arranged on one side of the screw rod body 3; the gear train body 4 can transmit the rotational power of the motor 5 to the screw rod body 3, and drive the middle push slider 2 to rise and fall, so as to push the n opening and closing clamping jaws 1 to synchronously extend and retract along the corresponding horizontal slide groove 61.

[0046] In this embodiment, the top of the middle push slider 2 forms a group of inclined force transmission structures with each opening and closing clamping jaw 1, which can transform the vertical lifting action of a middle push slider 2 into the horizontal synchronous extension and retraction action of multiple opening and closing clamping jaws 1, so as to realize the opening and closing of the electric clamping jaws. And by adopting this structure, by changing the number of horizontal slide grooves 61, electric claws with different numbers of clamping jaws can be formed. In specific implementation, the number n can be selected according to needs. When n=2, a two-claw synchronous centering clamping electric claw is formed. When n=3, a three-claw synchronous centering clamping electric claw is formed, and so on. That is: the use of the utility model has a self-centering function and can form a multi-claw centering clamping structure.

[0047] The gear train body 4 is formed by meshing multiple gears, and the gear train body 4 has two functions. First, the motor 5 and the screw body 3, which are arranged at intervals, can be connected through the gear train body 4 to transmit the power of the motor 5 to the screw body 3. Second, in specific implementation, the speed ratio of the gear train body 4 can be set as needed, and the speed of the motor 5 can be changed to the required speed of the screw body 3 and the required torque can be obtained.

[0048] The highly integrated, small-volume, multi-finger centrifugal electric clamp of this embodiment has a reasonable overall structural design and can greatly reduce the overall dimensions, as follows: the opening and closing clamp 1 needs to occupy a certain width space after being fully opened. If the width space is used as a reference, the overall width of the utility model is determined. In this embodiment, the motor 5 is vertically arranged side by side on one side of the screw body 3, which makes full use of the space on the side of the screw body 3, does not increase the overall width of the utility model, and greatly shortens the overall length of the utility model.

[0049] According to a specific implementation of the present utility model, the input rotation speed of the gear train body 4 is greater than the output rotation speed of the gear train body 4 .

[0050] In this embodiment, the gear train body 4 is used to reduce speed and increase torque, that is, the gear train body 4 reduces the speed of the motor 5 and transmits it to the screw body 3 to increase the rotational torque and ultimately increase the clamping force of the opening and closing jaws 1.

[0051] According to a specific embodiment of the present utility model, the shell includes a slide frame 6 and a gear box 7 that are detachably connected to each other in the upper and lower parts; the slide frame 6 is a cylindrical body as a whole, and the horizontal slide 61 is formed by a depression on the top surface of the slide frame 6, and the bottom of the slide frame 6 is provided with a recessed upper receiving groove 62, and the bottom of the upper receiving groove 62 is provided with a raised middle push guide column 63, and the middle push guide column 63 is provided with a middle push guide hole 631 passing through it, and the lower part of the middle push cylinder 021 is arranged in the middle push guide hole 631 and the two are slidably connected; the gear box 7 is a cylindrical body as a whole, and the top of the gear box 7 is provided with a recessed lower receiving groove 71, and the bottom of the lower receiving groove 71 is provided with a raised screw positioning column 72, and the screw positioning column 72 is provided with a screw positioning column 72 The screw rod positioning hole 721 thereon, the bottom of the gear box 7 is provided with a recessed gear train receiving groove 73, and the gear train receiving groove 73 is respectively connected with the lower receiving groove 71 and the screw rod positioning hole 721, the lower part of the middle push tube 021 has an internal transmission thread 211 formed therein, the upper part of the screw rod body 3 extends into the middle push tube 021, and the top of the screw rod body 3 is threadedly connected with the internal transmission thread 211; the lower part of the screw rod body 3 passes through the screw rod positioning hole 721 and the two are rotatably connected, the lower part of the motor 5 is arranged in the lower receiving groove 71, the upper part of the motor 5 is arranged in the upper receiving groove 62, and the gear train body 4 is installed in the gear train receiving groove 73; the receiving inner cavity includes: an upper receiving groove 62, a lower receiving groove 71 and a gear train receiving groove 73.

[0052] In this embodiment, the shell is a split structure, which is convenient for assembly and assembly, and the split processing can reduce the processing difficulty and processing cost. The slide frame 6 and the gear box 7 are cylindrical as a whole. When n is 3 or more, the space enclosed by the opening and closing trajectories of multiple opening and closing jaws 1 is circular. The use of this structure is conducive to making the overall structure of the utility model more compact. The screw positioning hole 721 can directly or indirectly contact the lower part of the screw body 3 to ensure that the screw body 3 rotates smoothly around its own axis. The middle push guide column 63 is used to form a middle push guide hole 631 that is slidably connected to the middle push cylinder 021 to ensure the stability and accuracy of the up and down movement trajectory of the middle push slider 2.

[0053] Since the motor 5 is arranged vertically, the length of the motor 5 is relatively long, and the upper and lower parts of the motor 5 are respectively arranged in the slide frame 6 and the gear box 7. The slide frame 6 and the gear box 7 jointly accommodate the motor 5 to ensure that the motor 5 is completely accommodated in the shell.

[0054] In this embodiment, corresponding receiving grooves are respectively arranged in the housing of the split structure according to the shape of each functional component, such as: the gear train body 4 is arranged in the corresponding gear train receiving groove 73, the lower part of the motor 5 is arranged in the lower receiving groove 71, the upper and lower parts of the motor 5 are arranged in the upper receiving groove 62 and the lower receiving groove 71 respectively, the lower part of the middle push cylinder 021 is arranged in the middle push guide hole 631, and the lower part of the screw body 3 passes through the screw positioning hole 721. Different from the structure in which all functional components are arranged in the same large installation cavity, this structure can directly form a guide and limit structure in the slide frame 6 and the gear box 7, which is conducive to reducing the number of components and facilitating the stable installation of each functional component.

[0055] According to the specific implementation mode of the present utility model, the upper and lower ends of the screw rod positioning hole 721 are provided with a recessed upper limit groove 722 and a lower limit groove 723; a centering sleeve 8 which is annular as a whole is provided in the screw rod positioning hole 721, the screw rod main body 3 passes through the centering sleeve 8, and a protruding limit ring 31 is provided on the outer side of the screw rod main body 3, and the clamping jaw opening and closing drive unit also includes an upper bearing 9 and a lower bearing 10 which are respectively arranged around the screw rod main body 3, and the upper bearing 9 is installed in the upper limit groove 722, and the lower bearing 10 is installed in the lower limit groove 723, and the upper and lower ends of the upper bearing 9 are respectively abutted against the lower part of the limit ring 31 and the top of the centering sleeve 8; the gear train main body 4 includes a screw rod spur tooth 41 installed at the bottom of the screw rod main body 3, and the upper and lower ends of the lower bearing 10 are respectively abutted against the bottom of the centering sleeve 8 and the upper part of the screw rod spur tooth 41, and the lower end surface of the screw rod main body 3 is fixed with a limit screw 11 for preventing the screw rod spur tooth 41 from slipping out of the screw rod main body 3 downward.

[0056] In this embodiment, in addition to forming a screw positioning hole 721 for installing the centering sleeve 8, the screw positioning column 72 is also used to form a bearing receiving structure and an axial limiting structure for the screw body 3. Specifically, the centering sleeve 8 is installed in the screw positioning hole 721, and the screw body 3 is coaxial with the centering sleeve 8. The centering sleeve 8 is used to center the screw body 3 to ensure the position accuracy of the screw body 3. The upper limit groove 722, the lower limit groove 723, the limit ring 31, the upper bearing 9, the lower bearing 10, the limit screw 11 and the screw spur teeth 41 cooperate to limit the freedom of the screw body 3 to move along its axis, ensure that the screw body 3 only has the freedom to rotate along its axis, and ensure precise transmission. More specifically, the upper bearing 9 and the lower bearing 10 are both thrust ball bearings. When the screw body 3 rotates, the centering sleeve 8 is fixed, and part of the thrust ball bearing structure rotates with the screw body 3, while part of the structure is fixed.

[0057] According to a specific implementation of the utility model, a recessed avoidance annular groove 81 is provided in the middle of the inner wall of the centering sleeve 8 .

[0058] In this embodiment, on the one hand, the avoidance ring groove 81 is arranged in the middle part, which can ensure that the upper and lower parts of the centering sleeve 8 are effectively in contact with the outer wall of the screw body 3; on the other hand, the arrangement of the avoidance ring groove 81 can reduce the contact area between the centering sleeve 8 and the screw body 3; the combination of the above two aspects is conducive to further improving the centering accuracy of the centering sleeve 8.

[0059] According to a specific implementation of the utility model, a recessed cover groove 64 is provided at the top center position of the slide groove frame 6, and the cover groove 64 is connected to the receiving inner cavity; a cover plate 12 is fixedly installed in the cover groove 64, and the cover plate 12 is a circular plate as a whole. A limiting step 121 is provided at the center of the bottom surface of the cover plate 12 for limiting the position of the middle push slider 2 when it is lifted, and a recessed air avoidance ring groove 122 is provided at the outer periphery of the bottom surface of the cover plate 12.

[0060] In this embodiment, the cover plate 12 has multiple functions. First, the cover plate 12 covers the top of the receiving cavity, which can reduce the entry of external foreign matter into the receiving cavity and improve the protection level of the utility model. Secondly, the bottom center convex surface of the cover plate 12 is used to provide mechanical limit for the rise of the middle push slider 2, further improving the action reliability of the utility model. The air avoidance ring groove 122 is an avoidance structure to prevent the cover plate 12 from interfering with the opening and closing clamping claw 1.

[0061] According to a specific implementation of the present utility model, the bottom of the gear box 7 is also provided with a recessed bottom plate receiving groove 74, the bottom plate receiving groove 74 is connected to the gear train receiving groove 73, and the depth of the bottom plate receiving groove 74 is less than the gear train receiving groove 73; a bottom plate body 13 is fixedly installed in the bottom plate receiving groove 74, the bottom plate body 13 is a circular plate as a whole and the bottom plate body 13 completely covers the lower opening of the gear train receiving groove 73; the bottom of the gear box 7 is also provided with an upper and lower shell bolt connecting hole 22 that passes through the gear box 7 and extends into the slide frame 6, the shell also includes an upper and lower shell connecting bolt 14 that is arranged in the upper and lower shell bolt connecting hole 22 and is used to realize the fixed connection between the slide frame 6 and the gear box 7; the shell also includes a bottom plate connecting hole 23 that passes through the bottom plate body 13 and extends into the gear box 7, and the shell also includes a bottom plate connecting bolt 15 that is arranged in the bottom plate connecting hole 23 and is used to realize the fixed connection between the bottom plate body 13 and the gear box 7.

[0062] In this embodiment, the bottom plate body 13 is completely accommodated in the bottom plate receiving groove 74, and the bottom plate body 13 covers the lower opening of the gear train receiving groove 73, which can prevent external dust from entering the gear train receiving groove 73, and is conducive to further improving the protection level of the utility model.

[0063] In this embodiment, the upper and lower shell bolt connection holes 22 are arranged along the axial direction of the shell, and the upper and lower shell connection bolts 14 are used to connect them detachably. With this structure, the connection structure between the slide frame 6 and the gear box 7 is centrally arranged in the cylindrical shell, and the solid part forming connection structure between the slide frame 6 and the gear box 7 is fully utilized. There is no need to add additional protruding connection ear plates, which further reduces the overall volume of the utility model. Similar principles, the structure of the bottom plate connecting hole 23 and the bottom plate connecting bolt 15 arranged along the axial direction of the shell to realize the detachable connection between the bottom plate body 13 and the gear box 7 can also reduce the overall volume of the utility model.

[0064] According to a specific embodiment of the present utility model, the shell also includes a device connection hole 24 that passes through the base plate body 13 and extends into the gear box 7. The portion of the device connection hole 24 that extends into the gear box 7 is a threaded hole. The portion of the device connection hole 24 that passes through the base plate body 13 is a stepped hole. The shell also includes a positioning pin sleeve 16. The upper portion of the positioning pin sleeve 16 extends into the stepped hole, and the lower portion of the positioning pin sleeve 16 extends out of the stepped hole.

[0065] When the highly integrated, small-volume, multi-finger centrifugal electric gripper of the utility model is in use, there is a scenario in which the bottom of the utility model needs to be connected to the customer's manipulator connecting plate (not shown). Since the base plate body 13 in this embodiment is relatively thin, directly connecting the base plate body 13 to the manipulator connecting plate cannot ensure a stable connection. After adopting the structure of this embodiment, the threaded connector can be passed through the base plate body 13 and extended into the gear box 7, and the solid part of the thicker gear box 7 is threadedly connected to the threaded connector to ensure sufficient threaded connection length, so that the utility model is firmly fixed on the manipulator connecting plate as a whole. Specifically: when connecting, a connecting light hole can be set on the customer's manipulator connecting plate, and the protruding part of the positioning pin sleeve 16 is aligned with the connecting light hole and inserted, and then a long bolt is used to pass through the connecting light hole, the positioning pin sleeve 16, and the step hole in sequence, and then extend into the gear box 7 and threadedly connected with the gear box 7.

[0066] According to a specific implementation of the utility model, the outer diameter of the slide groove frame 6 is the same as the outer diameter of the gear box 7, and the cover plate 12, the slide groove frame 6, the gear box 7, the middle push cylinder 021 and the screw rod body 3 share a common central axis; n horizontal slide grooves 61 are arranged around the axis of the slide groove frame 6.

[0067] In this embodiment, the use of this structure can improve the overall symmetry of the utility model, which is conducive to further reducing the volume. The outer diameter of the slide frame 6 is the same as the outer diameter of the gear box 7, ensuring that the upper and lower diameters of the shell are the same, further improving the compactness of the utility model.

[0068] According to the specific implementation mode of the utility model, the highly integrated, small-volume, multi-finger centrifugal electric gripper also includes a PCB board fixing member 17 and a PCB circuit board 18 respectively installed in the lower receiving groove 71; the PCB board fixing member 17 is bent as a whole, and one end of the PCB board fixing member 17 is fixed to the top of the gear box 7, and the other end of the PCB board fixing member 17 is fixedly connected to the PCB circuit board 18; one side of the gear box 7 is also provided with an electronic wire connector 19; one end of the electronic wire connector 19 protrudes out of the outside of the gear box 7, and the other end of the electronic wire connector 19 extends into the lower receiving groove 71, and the top of the PCB circuit board 18 is provided with a motor input wire 20 connected to the motor 5, and the side of the PCB circuit board 18 is opposite to the end of the electronic wire connector 19. An input wire connection port 21 is provided.

[0069] In this embodiment, electrical connection and control components are integrated in the free space of the lower receiving groove 71, which is convenient for connecting to an external power source and realizing intelligent control of the action parameters of the opening and closing clamping jaws 1 (such as clamping time, start and stop positions, etc.).

[0070] It should be noted that the drawings in the specification of the present utility model all take n=3 as an example, that is, the structure shown in the drawings is a highly integrated and small-volume three-finger centring electric gripper. According to usage requirements, n can be set to 2 or 4 or 5 or other numbers to form a centring electric gripper with other numbers of jaws.

[0071] From the above, it can be seen that in addition to the advantage of multi-claw self-centering, the utility model also has the advantages of: except for the electronic wire connector 19, other components are concentrated in a cylindrical shell, and the opening and closing range of the opening and closing jaws 1 is also within the range contained in the shell, so that the utility model also has the advantages of high integration and small overall volume, can meet the application scenarios of small installation size, is small and compact, and improves product competitiveness.

[0072] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements, or it can be a "transmission connection", that is, a power connection through various appropriate methods such as belt drive, gear drive or sprocket drive. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

Claims

1. A highly integrated, small-volume, multi-finger centrifugal electric gripper, characterized in that: The invention comprises a shell, wherein the lower part of the shell is provided with a receiving inner cavity, and the upper part of the shell is provided with n horizontal slide grooves respectively connected with the receiving inner cavity, and the n horizontal slide grooves are arranged around the same axis; an opening and closing clamping claw is slidably connected in each of the horizontal slide grooves; the highly integrated small-volume multi-finger centrifugal electric clamping claw also includes a clamping claw opening and closing drive unit arranged in the receiving inner cavity, and the clamping claw opening and closing drive unit includes: a middle push slider, a screw rod body, a gear train body and a motor; the middle push slider includes: a middle push cylinder and n inclined slide blocks located at the top of the middle push cylinder; each opening and closing clamping claw is close to the middle push cylinder. One side of the slider is provided with an inclined guide groove matching the shape of the inclined slider, and one of the inclined sliders is slidably connected in each of the inclined guide grooves; the middle push cylinder is threadedly connected to the screw rod body, and the two form a spiral transmission structure, the lower part of the screw rod body is connected to one side of the gear train body, and the other side of the gear train body is connected to the lower part of the motor, and the motor is vertically arranged on one side of the screw rod body; the gear train body can transmit the rotational power of the motor to the screw rod body, and drive the middle push slider to rise and fall, so as to push the n opening and closing jaws to extend and retract synchronously along the corresponding horizontal slide grooves.

2. The highly integrated, small-volume, multi-finger centrifugal electric gripper according to claim 1 is characterized in that: The input rotation speed of the gear train body is greater than the output rotation speed of the gear train body.

3. The highly integrated, small-volume, multi-finger centrifugal electric gripper according to claim 1 or 2, characterized in that: The shell includes a slide frame and a gear box that are detachably connected to each other in the upper and lower parts; the slide frame is a cylindrical body as a whole, and the horizontal slide is formed by a depression in the top surface of the slide frame, and the bottom of the slide frame is provided with an upper receiving groove formed by a depression, and the bottom of the upper receiving groove is provided with a raised middle push guide column, and the middle push guide column is provided with a middle push guide hole passing therethrough, and the lower part of the middle push tube is provided in the middle push guide hole and the two are slidably connected; the gear box is a cylindrical body as a whole, and the top of the gear box is provided with a lower receiving groove formed by a depression, and the bottom of the lower receiving groove is provided with a raised screw positioning column, and the screw positioning column is provided with a screw positioning column passing therethrough The bottom of the gear box is provided with a recessed gear train receiving groove, and the gear train receiving groove is respectively connected with the lower receiving groove and the screw rod positioning hole, the lower part of the middle push tube has an internal transmission thread formed therein, the upper part of the screw rod main body extends into the middle push tube, and the top of the screw rod main body is threadedly connected with the internal transmission thread; the lower part of the screw rod main body passes through the screw rod positioning hole and the two are rotatably connected, the lower part of the motor is arranged in the lower receiving groove, the upper part of the motor is arranged in the upper receiving groove, and the gear train main body is installed in the gear train receiving groove; the receiving inner cavity includes: the upper receiving groove, the lower receiving groove and the gear train receiving groove.

4. The highly integrated, small-volume, multi-finger centrifugal electric gripper according to claim 3 is characterized in that: The upper and lower ends of the screw rod positioning hole are provided with a recessed upper limit groove and a lower limit groove; a centering sleeve which is annular as a whole is provided in the screw rod positioning hole, the screw rod main body passes through the centering sleeve, and a protruding limit ring is provided on the outer side of the screw rod main body, and the clamping jaw opening and closing driving unit also includes an upper bearing and a lower bearing respectively arranged around the screw rod main body, and the upper bearing is installed in the upper limit groove, and the lower bearing is installed in the lower limit groove, and the upper and lower ends of the upper bearing are respectively abutted against the lower part of the limit ring and the top of the centering sleeve; the gear train main body includes a screw rod spur tooth installed at the bottom of the screw rod main body, and the upper and lower ends of the lower bearing are respectively abutted against the bottom of the centering sleeve and the upper part of the screw rod spur tooth, and the lower end surface of the screw rod main body is fixed with a limit screw for preventing the screw rod spur tooth from falling out of the screw rod main body downward.

5. The highly integrated, small-volume, multi-finger centrifugal electric gripper according to claim 4 is characterized in that: A concave avoidance ring groove is provided in the middle of the inner wall of the centering sleeve.

6. The highly integrated, small-volume, multi-finger centrifugal electric gripper according to claim 5 is characterized in that: A recessed cover groove is provided at the top center position of the slide groove frame, and the cover groove is connected to the receiving inner cavity; a cover plate is fixedly installed in the cover groove, and the cover plate is a circular plate as a whole. A limiting step is provided at the center of the bottom surface of the cover plate for limiting the position of the middle push sliding block when it is lifted, and a recessed air avoidance ring groove is provided at the outer periphery of the bottom surface of the cover plate.

7. The highly integrated, small-volume, multi-finger centrifugal electric gripper according to claim 6 is characterized in that: The bottom of the gear box is also provided with a recessed bottom plate receiving groove, the bottom plate receiving groove is connected with the gear train receiving groove, and the depth of the bottom plate receiving groove is smaller than the gear train receiving groove; a bottom plate body is fixedly installed in the bottom plate receiving groove, the cover plate is a circular plate as a whole and the bottom plate body completely covers the lower opening of the gear train receiving groove; the bottom of the gear box is also provided with upper and lower shell bolt connecting holes that pass through the gear box and extend into the slide groove frame, the shell body also includes upper and lower shell connecting bolts that are arranged in the upper and lower shell bolt connecting holes and are used to realize the fixed connection between the slide groove frame and the gear box; the shell body also includes a bottom plate connecting hole that passes through the bottom plate body and extends into the gear box, and the shell body also includes a bottom plate connecting bolt that is arranged in the bottom plate connecting hole and is used to realize the fixed connection between the bottom plate body and the gear box.

8. The highly integrated, small-volume, multi-finger centrifugal electric gripper according to claim 7 is characterized in that: The shell also includes a device connecting hole that passes through the base plate body and extends into the gear box, the portion of the device connecting hole that extends into the gear box is a threaded hole, and the portion of the device connecting hole that passes through the base plate body is a stepped hole. The shell also includes a positioning pin sleeve, the upper portion of the positioning pin sleeve extends into the stepped hole, and the lower portion of the positioning pin sleeve extends out of the stepped hole.

9. The highly integrated, small-volume, multi-finger centrifugal electric gripper according to claim 8, characterized in that: The outer diameter of the slide groove frame is the same as the outer diameter of the gear box, and the cover plate, the slide groove frame, the gear box, the middle push tube and the screw rod body share a central axis; n horizontal slide grooves are arranged around the axis of the slide groove frame.

10. The highly integrated, small-volume, multi-finger centrifugal electric gripper according to claim 9, characterized in that: The highly integrated, small-volume, multi-finger centrifugal electric gripper also includes a PCB board fixing part and a PCB circuit board respectively installed in the lower receiving groove; the PCB board fixing part is bent as a whole, and one end of the PCB board fixing part is fixed to the top of the gear box, and the other end of the PCB board fixing part is fixedly connected to the PCB circuit board; a connector with an electronic wire is also provided on one side of the gear box; one end of the connector with an electronic wire protrudes out of the outside of the gear box, and the other end of the connector with an electronic wire extends into the lower receiving groove, a motor input wire connected to the motor is provided on the top of the PCB circuit board, and an input wire connection port is provided on the side of the PCB circuit board facing the end of the connector with an electronic wire.

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