Electric claw aided design tool with gear box with gradual change speed ratio
By introducing design tooling with a gearbox with a gradient ratio in the electric claw assisted design, the problems of poor design accuracy and difficult calculation in the prior art are solved, and a more efficient and accurate robot design is achieved.
Patent Information
- Application Number
- CN202421930422.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-10
- Publication Date
- 2025-03-28
- Estimated Expiration
- 2034-08-10
AI Technical Summary
The lack of devices for electric claw assisted design in the prior art leads to poor design accuracy, difficult calculations and long design cycles.
It provides an electric claw assisted design tool with a gradient gear box, including a gradient gear box, a rotary power centering clamp seat and a coupling. By measuring torque and clamping force, the parameters required for the robot design are quickly obtained.
It greatly reduces the design difficulty of the robot and shortens the design cycle. All torques and clamping forces are measured, improving the accuracy of the design.
Smart Images
Figure CN222680975U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of grabbing and clamping manipulators, and in particular relates to an electric claw auxiliary design tooling with a gradually variable speed ratio gear box. Background Art
[0002] The existing grasping and clamping robot is also called "electric claw" or "robot end effector". The grasping and clamping robot includes: a motor, a gear train and a clamping head. The clamping head includes two jaws and an opening and closing drive unit for driving the two jaws to open and close. The input power is a rotational power. Under the action of the rotational power, the two jaws are finally opened and closed. The opening and closing drive unit can be a variety of structures. For example, the opening and closing drive unit includes a gear shaft, and a rack is provided on both sides of the gear shaft. Each rack is connected to a jaw. The rotation of the gear shaft drives the racks on both sides to slide, thereby driving the two jaws to open and close. In the grasping and clamping robot, the motor rotates to drive the gear train to rotate, and the output end of the gear train serves as the input power of the opening and closing drive unit, which finally realizes the opening and closing of the jaws.
[0003] When designing a gripping and clamping robot, the actual output torque of the motor, the transmission ratio of the gear train, etc. are important parameters of the gripping and clamping robot. Conveniently and quickly obtaining these parameters can shorten the design cost and design cycle of the gripping and clamping robot.
[0004] In the prior art, there is no device specifically used for auxiliary design of electric grippers. The parameters of the electric gripper are mainly determined by theoretical calculation, specifically: the output torque provided by the motor manufacturer is used as the actual output torque of the motor. According to the clamping force required by the manipulator, the torque required to drive the manipulator is reversed by theoretical calculation, and then the output torque provided by the motor manufacturer is used as a quantitative value to reverse the speed ratio of the manipulator gear train, or the output torque of the motor is reversed using the speed ratio of the manipulator gear train as a quantitative value. Due to the existence of multiple variables, it is necessary to perform calculations repeatedly to obtain the final speed ratio and motor output torque, and then design the gear train based on the speed ratio, and select the motor model based on the motor output torque.
[0005] The shortcomings of the existing technology are that, on the one hand, since the output torque provided by the motor manufacturer may be inaccurate, using the output torque provided by the motor manufacturer as the basic design data may easily cause inaccurate design structure, and the final finished gripping and clamping manipulator may not be able to obtain the expected clamping force, and needs to be redesigned. On the other hand, in order to obtain the gear train speed ratio and the motor model required by the motor, it takes a long time to repeatedly calculate, which is difficult to calculate and requires a high level of professionalism from the designer. If the accuracy of the actual output torque of the motor is difficult to guarantee, the correctness of the output torque obtained by this method is also difficult to guarantee.
[0006] As can be seen from the above, the technical problems existing in the prior art are: lack of devices for electric claw-assisted design, and reliance on theoretical technology, resulting in poor design accuracy, great calculation difficulty and long design cycle.
[0007] Therefore, it is necessary to provide a new electric claw assisted design tooling with a gradually variable speed ratio gearbox 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 tool for electric gripper-assisted design with a gradually changing speed ratio gearbox, aiming to solve the technical problems that the prior art lacks devices for electric gripper-assisted design, and that relying on theoretical technology has poor design accuracy and great calculation difficulty.
[0010] (II) Technical solution
[0011] In order to solve the above technical problems, the utility model proposes an electric gripper assisted design tool with a gradually variable speed ratio gearbox, including a gradually variable speed ratio gearbox, the gradually variable speed ratio gearbox including: a box body, a transmission shaft and a gearbox gear, the number of the transmission shafts is n, n is a natural number greater than or equal to 2, the n transmission shafts are installed side by side on the box body in a line, and two adjacent transmission shafts are meshed in sequence through the gearbox gears; wherein, one end of the transmission shaft located at the endmost end is an input connecting section, and one end of each transmission shaft away from the input connecting section is an output connecting section, the speed ratio of the input connecting section to the output connecting section is T, the value of T includes 1 and the value of T gradually increases along the direction in which the transmission shaft is arranged; the electric gripper assisted design tool with a gradually variable speed ratio gearbox also includes a rotary power centering clamp seat arranged on one side of the gradually variable speed ratio gearbox and facing the input connecting section.
[0012] Preferably, the transmission ratios of the input connecting section and the n output connecting sections are distributed in a geometric progression, and the value of the first term of the geometric progression is 1, the common ratio is 2, and n=8.
[0013] Preferably, along the direction in which the transmission shafts are arranged, the eight transmission shafts are respectively: a first transmission shaft, a second transmission shaft, a third transmission shaft, a fourth transmission shaft, a fifth transmission shaft, a sixth transmission shaft, a seventh transmission shaft and an eighth transmission shaft, and the gearbox gear includes a first gear, a small modulus transmission gear set, a mixed modulus transmission gear set and an eighth gear; the small modulus transmission gear set includes a fixedly connected small modulus large gear and a small modulus pinion; the mixed modulus transmission gear set includes a fixedly connected mixed small modulus large gear and a mixed large modulus pinion; the first gear, small modulus large gear, small modulus pinion, mixed small modulus large gear, mixed large modulus pinion and the eighth gear are all cylindrical gears; the first gear is fixedly sleeved outside the first transmission shaft; the first gear is meshed with the small modulus large gear in the small modulus transmission gear set sleeved on the second transmission shaft; the second transmission shaft, the third transmission shaft, the fourth transmission shaft, the fifth transmission shaft, the sixth transmission shaft A group of the small modulus transmission gear sets are fixedly sleeved outside the shafts, and the small modulus pinion in one group of the small modulus transmission gear sets meshes with the small modulus large gear in the adjacent small modulus transmission gear set; the mixed modulus transmission gear set is fixedly sleeved outside the seventh transmission shaft, and the mixed small modulus large gear meshes with the small modulus pinion in the small modulus transmission gear set sleeved outside the sixth transmission shaft; the eighth gear is fixedly sleeved outside the eighth transmission shaft, and the mixed large modulus pinion meshes with the eighth gear; the modulus of the first gear, the small modulus large gear, the small modulus pinion and the mixed small modulus large gear are equal, and the modulus of the mixed large modulus pinion and the eighth gear are equal; the number of teeth of the first gear, the small modulus pinion and the mixed large modulus pinion is equal, the number of teeth of the small modulus large gear, the small modulus large gear with mixed teeth and the eighth gear is equal, and the number of teeth of the small modulus large gear is twice the number of teeth of the first gear.
[0014] Preferably, the output connecting section extends out of the housing, and at least one transmission plane for transmitting torque is provided on the outer side of each output connecting section, the input connecting section extends out of the housing, the rotary power centering clamp is used to clamp and fix the input motor, the input motor includes a motor output shaft facing the input connecting section, and the tooling for electric claw auxiliary design with a gradually changing speed ratio gearbox also includes a coupling connecting the input connecting section and the motor output shaft.
[0015] Preferably, the rotary power centering clamp seat includes: forward and reverse screws, a first clamping block unit and a second clamping block unit driven by the forward and reverse screws to move simultaneously relative to or away from each other, the first clamping block unit includes: a first clamping bottom block, a first clamping head and a first threaded sleeve; the first clamping head is fixed to the upper part of the first clamping bottom block by a threaded connection, the first threaded sleeve is provided with a thread inside, the first clamping bottom block is provided with a first mounting hole passing through it, one end of the first threaded sleeve extends into the first clamping bottom block, the other end of the first threaded sleeve is fixed to the side of the first clamping bottom block away from the second clamping block unit by a threaded connection, the forward and reverse screws pass through the first threaded sleeve and the two are threadedly connected; The second clamping block unit includes: a second clamping bottom block, a second clamping head and a second threaded sleeve; the second clamping head is fixed to the upper part of the second clamping bottom block through a threaded connecting piece, the second threaded sleeve is provided with a thread inside, the second clamping bottom block is provided with a second mounting hole passing through it, one end of the second threaded sleeve extends into the second clamping bottom block, and the other end of the second threaded sleeve is fixed to the side of the second clamping bottom block away from the first clamping block unit through a threaded connecting piece, the forward and reverse screws pass through the second threaded sleeve and the two are threadedly connected, a side of the first clamp close to the second clamp is provided with a recessed first V-shaped clamping groove, and a side of the second clamp close to the first clamp is provided with a recessed second V-shaped clamping groove.
[0016] Preferably, the second clamping block unit and the first clamping block unit are symmetrical structures to each other.
[0017] Preferably, the rotary power centering clamp seat also includes: a sliding guide unit for limiting the rotation of the first clamp block unit and the second clamp block unit, a knob ring for driving the forward and reverse screws to rotate, and a clamp seat base for supporting the forward and reverse screws. The clamp seat base includes a clamp seat bottom plate and two clamp seat vertical plates respectively fixed at both ends of the upper part of the clamp seat bottom plate. The first clamp block unit and the second clamp block unit are located between the two clamp seat vertical plates. The forward and reverse screws pass through the two clamp seat vertical plates at the same time. A limit block is respectively provided on the outer side of the two clamp seat vertical plates for limiting the axial movement of the forward and reverse screws. The limit block is fixed to the forward and reverse screws by a pin, and the knob ring is fixed to one end of the forward and reverse screws.
[0018] Preferably, the sliding guide unit includes 2-4 guide columns arranged around the forward and reverse screws, the guide columns simultaneously pass through the first bottom clamping block and the second bottom clamping block, and the guide columns are slidingly connected to the first bottom clamping block and the second bottom clamping block respectively, and the two ends of the guide columns are respectively connected to the two clamp seat vertical plates.
[0019] Preferably, a waist-shaped mounting hole is respectively provided at the four corners of the bottom of the clamp base bottom plate.
[0020] Preferably, a concave screw head avoidance groove is provided on a side of the clamp seat upright plate away from the limiting block.
[0021] (III) Beneficial effects
[0022] Compared with the prior art, the utility model can greatly reduce the design difficulty of the manipulator and shorten the cycle. Moreover, all torques and clamping forces are measured values, which can greatly improve the accuracy of the design. 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 This is a top view of the gradual speed ratio gearbox in the present invention (without the top cover of the box).
[0026] Figure 3 This is a schematic elevational cross-sectional view of a rotary power centering clamp in the utility model.
[0027] Figure 4 For along Figure 3 Schematic cross-sectional view along line BB.
[0028] Figure 5 The use state of the utility model Figure 1 (The speed ratio is 1, measuring the actual output torque state of the input motor).
[0029] Figure 6 The use state of the utility model Figure 2 (The torque meter can be connected to the output connection section without speed ratio).
[0030] Figure 7 The use state of the utility model Figure 3 (Measure the actual gripping force of the electric claw under the conditions of a predetermined speed ratio and a predetermined input motor model).
[0031] Description of reference numerals:
[0032] 100, gradual speed ratio gearbox; 200, rotary power centering clamp; 300, input motor; 400, coupling; 500, torque meter; 600, force measuring connection sleeve; 700, pressure sensor; 800, high torque connection sleeve; 900, clamping claw; 1000, gear shaft; 1100, electric claw connector;
[0033] 1. Box body; 2. Pin; 3. Gear box gear; 4. Motor output shaft; 5. Forward and reverse screws; 6. First clamping bottom block; 7. First clamping head; 8. First threaded sleeve; 9. Second clamping bottom block; 10. Second clamping head; 11. Second threaded sleeve; 12. Knob ring; 13. Clamping seat bottom plate; 14. Clamping seat vertical plate; 15. Limiting block; 16. Guide column;
[0034] 01, first transmission shaft; 02, second transmission shaft; 03, third transmission shaft; 04, fourth transmission shaft; 05, fifth transmission shaft; 06, sixth transmission shaft; 07, seventh transmission shaft; 08, eighth transmission shaft; 001, input connection section; 002, output connection section; 003, transmission plane;
[0035] 31. First gear; 32. Small modulus transmission gear set; 33. Mixed modulus transmission gear set; 34. Eighth gear;
[0036] 321, large gear with small module; 322, small gear with small module;
[0037] 331. Mixed small modulus large gear; 332. Mixed large modulus small gear;
[0038] 61. First mounting hole;
[0039] 71. first V-shaped clip groove;
[0040] 91. Second mounting hole;
[0041] 101, second V-shaped clip groove;
[0042] 131, waist-shaped mounting hole;
[0043] 141. Screw head avoidance groove. DETAILED DESCRIPTION
[0044] 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.
[0045] The following is combined with Figure 1-7 The electric claw auxiliary design tooling with a gradually variable speed ratio gearbox of the utility model is further described.
[0046] Please focus on Figure 1-4 The utility model discloses a tool for electric claw auxiliary design with a gradually variable speed ratio gearbox, including a gradually variable speed ratio gearbox 100, the gradually variable speed ratio gearbox 100 includes: a box body 1, a transmission shaft and a gearbox gear 3, the number of the transmission shafts is n, n is a natural number greater than or equal to 2, the n transmission shafts are installed side by side on the box body 1 in a line, and the two adjacent transmission shafts are meshed in sequence through the gearbox gears 3; wherein, one end of a transmission shaft located at the endmost end is an input connecting section 001, and one end of each transmission shaft away from the input connecting section 001 is an output connecting section 002, the speed ratio of the input connecting section 001 to the output connecting section 002 is T, the value of T includes 1 and the value of T gradually increases along the direction in which the transmission shafts are arranged; the tool for electric claw auxiliary design with a gradually variable speed ratio gearbox also includes a rotary power centering clamp 200 arranged on one side of the gradually variable speed ratio gearbox 100 and facing the input connecting section 001.
[0047] In this embodiment, the input connection section 001 can be located at the leftmost or rightmost end of all transmission shafts. The direction of the transmission shaft arrangement refers to the direction in which the remaining transmission shafts are arranged in sequence based on the transmission shaft where the input connection section 001 is located.
[0048] The gradual speed ratio gearbox 100 includes an input connection section 001 connected to the rotating power (input motor 300), and also includes a plurality of output connection sections 002. The output connection section 002 can be connected to the torque meter 500 to measure the torque; the output connection section 002 can also be connected to the gear shaft 1000 in the electric claw opening and closing drive part, and a pressure sensor 700 is set between the two clamping jaws 900 of the electric claw to measure the actual clamping force of the electric claw.
[0049] In specific implementation, by reasonably designing the gear box gear 3, the T value is within the conventional range of the gripping and clamping manipulator to be designed, and the speed ratio is stepped, that is, it has a gradual speed ratio. Connecting different output connection sections 002 can form different transmission ratio gears, which is conducive to selecting the required gear train speed ratio value from the gradient range. In addition, the speed ratio also includes the case of being equal to 1.
[0050] like Figure 5, if the transmission ratio corresponding to the output connection section 002 on the first transmission shaft is 1, in order to test the actual output torque of the external motor, the shaft of the torque meter 500 is connected to the output connection section 002 through the force measuring connection sleeve 600, the main body of the torque meter is fixed, and the external motor is used as the input motor 300 and clamped and fixed on the rotary power centering clamp 200. The input motor 300 rotates, and the torque measured on the torque meter 500 is the actual output torque of the input motor 300. During design, the actual output torque is used as the basic data for the design of the manipulator, which is conducive to ensuring the accuracy of the design results.
[0051] like Figure 6 When selecting the speed ratio of the electric claw gear train and the power of the input motor 300, you can first clamp an input motor 300, and then select different output connection sections 002 to connect with the torque meter 500, so as to obtain the torque values under different transmission ratios, so as to quickly obtain the torque parameters required for the manipulator design. You can also replace different input motors 300, and repeat the above steps to obtain the actual output torque values of the input motor 300 under different powers and different transmission ratios. By comparing these torque values with the gripper drive torque required by the electric claw to be designed, you can quickly find the speed ratio and motor model (mainly referring to the power parameters) that meet the requirements, and then design the manipulator gear train based on the speed ratio. Select a suitable motor according to the actual output power of the motor.
[0052] like Figure 7 As shown, after determining the speed ratio, the gear shaft 1000 of the electric claw can be connected to the corresponding output connection section 002 through the electric claw connector 1100, the input motor 300 rotates, and the gear shaft 1000 is driven to rotate through the output connection section 002, thereby driving the two clamping jaws 900 to open and close. When the clamping jaws 900 are closed, the pressure sensor 700 can measure the actual clamping force of the electric claw connector 1100. That is, when designing, after preliminarily obtaining the model of the input motor 300 and the speed ratio of the electric claw gear train, it is beneficial for the rotary power centering clamp 200 of the utility model to clamp the input motor of the corresponding model, and simulate the corresponding speed ratio through the gradual speed ratio gear box 100, and after installing the pressure sensor 700, the actual clamping force of the electric claw under the conditions of the input motor 300 and the speed ratio can be directly measured. Before the actual product is prepared, the electric claw structure can be simulated to measure the clamping force and guide the subsequent design. The use of this structure is further conducive to improving the accuracy of the design and reducing the design cost.
[0053] The device of the utility model can convert the variable of the transmission ratio into multiple optional quantitative values, and convert the variable of the input motor 300 power into multiple optional quantitative values, which can greatly reduce the design difficulty of the manipulator and shorten the shortening cycle. Moreover, all torque values and clamping force values are measured values (non-calibrated or theoretically calculated values), which can greatly improve the accuracy of the design.
[0054] According to a specific implementation of the present invention, the transmission ratios of the input connecting section 001 and the n output connecting sections 002 are distributed in a geometric progression, and the value of the first term of the geometric progression is 1, the common ratio is 2, and n=8.
[0055] In this embodiment, the transmission ratios of the input connection section 001 and the n output connection sections 002 are all different. And the transmission ratios are arranged in geometric series. This structure can be realized by meshing a plurality of similar gear sets in sequence. The structure is simple. n=8, even if 8 transmission shafts are included, the transmission ratio is guaranteed to include 1 and include the commonly used speed ratio range (1 to 128).
[0056] According to the specific implementation of the utility model, along the direction of the transmission shaft arrangement, the eight transmission shafts are respectively: the first transmission shaft 01, the second transmission shaft 02, the third transmission shaft 03, the fourth transmission shaft 04, the fifth transmission shaft 05, the sixth transmission shaft 06, the seventh transmission shaft 07 and the eighth transmission shaft 08, the gear box gear 3 includes a first gear 31, a small modulus transmission gear set 32, a mixed modulus transmission gear set 33 and an eighth gear 34; the small modulus transmission gear set 32 includes a small modulus large gear 321 and a small modulus small gear 322 fixedly connected; the mixed modulus transmission gear set 32 includes a small modulus large gear 321 and a small modulus small gear 322 fixedly connected; The transmission gear set 33 includes a mixed small modulus large gear 331 and a mixed large modulus small gear 332 which are fixedly connected; the first gear 31, the small modulus large gear 321, the small modulus small gear 322, the mixed small modulus large gear 331, the mixed large modulus small gear 332 and the eighth gear 34 are all cylindrical gears; the first gear 31 is fixedly sleeved on the outside of the first transmission shaft 01; the first gear 31 is meshed with the small modulus large gear 321 in the small modulus transmission gear set 32 sleeved on the second transmission shaft 02; the second transmission shaft 02, the third transmission shaft 03, the fourth transmission shaft 04, the A group of small modulus transmission gear sets 32 are fixedly mounted on the outside of the shaft 04, the fifth transmission shaft 05, and the sixth transmission shaft 06, and a small modulus pinion 322 in a group of small modulus transmission gear sets 32 is meshed with a small modulus large gear 321 in an adjacent small modulus transmission gear set 32; a mixed modulus transmission gear set 33 is fixedly mounted on the outside of the seventh transmission shaft 07, and a mixed small modulus large gear 331 is meshed with a small modulus pinion 322 in the small modulus transmission gear set 32 mounted outside the sixth transmission shaft 06; an eighth gear 34 is fixedly mounted on the outside of the eighth transmission shaft 08, and a mixed small modulus large gear 331 is meshed with a small modulus pinion 322 in the small modulus transmission gear set 32 mounted outside the sixth transmission shaft 06; The large modulus pinion 332 meshes with the eighth gear 34; the modulus of the first gear 31, the small modulus large gear 321, the small modulus pinion 322 and the mixed small modulus large gear 331 are equal, and the modulus of the mixed large modulus pinion 332 and the eighth gear 34 are equal; the number of teeth of the first gear 31, the small modulus pinion 322 and the mixed large modulus pinion 332 are equal, the number of teeth of the small modulus large gear 321, the mixed small modulus large gear 331 and the eighth gear 34 are equal, and the number of teeth of the small modulus large gear 321 is twice the number of teeth of the first gear 31.
[0057] In this embodiment, the gradual speed ratio gearbox 100 and the gearbox gear 3 are further designed. The overall implementation principle and beneficial effects are: a small modulus is used under small torque, and a large modulus is used under large torque, so that the strength of the gear is ensured while the volume is minimized as much as possible, the modulus of the gears meshing with each other are equal, which can ensure smooth meshing between the gears, and multiple identical small modulus transmission gear sets 32 are used to reduce the types of components and reduce the manufacturing cost.
[0058] According to a specific implementation of the utility model, the output connecting section 002 extends out of the box body 1, and at least one transmission plane 003 for transmitting torque is provided on the outer side of each output connecting section 002, the input connecting section 001 extends out of the box body 1, the electric gripper auxiliary design tooling with a gradually changing speed ratio gearbox also includes an input motor 300, and the rotary power centering clamp 200 is used to clamp and fix the input motor 300, the input motor 300 includes a motor output shaft 4 facing the input connecting section 001, and the electric gripper auxiliary design tooling with a gradually changing speed ratio gearbox also includes a coupling 400 connecting the input connecting section 001 and the motor output shaft 4.
[0059] In this embodiment, the output connection section 002 extends out of the box body 1 for easy connection. The transmission plane 003 is provided to facilitate the cooperation with the force measuring connection sleeve 600 of the corresponding shape to realize the transmission of torque and enable quick disassembly and replacement. In specific implementation, the input motor 300 is selected according to the needs. The input motor 300 can be an externally purchased motor to be tested or an electric claw motor of a selected model. The motor output shaft 4 is directly opposite to the input connection section 001, which is conducive to the coupling 400 to connect the two.
[0060] According to a specific embodiment of the utility model, the rotary power centering clamp seat 200 includes: a forward and reverse screw 5, a first clamping block unit and a second clamping block unit driven by the forward and reverse screw 5 to move relative to or away from each other at the same time, and the first clamping block unit includes: a first clamping bottom block 6, a first clamping head 7 and a first threaded sleeve 8; the first clamping head 7 is fixed to the upper part of the first clamping bottom block 6 by a threaded connector, the first threaded sleeve 8 is provided with a thread inside, the first clamping bottom block 6 is provided with a first mounting hole 61 passing through it, one end of the first threaded sleeve 8 extends into the first clamping bottom block 6, and the other end of the first threaded sleeve 8 is fixed to the side of the first clamping bottom block 6 away from the second clamping block unit by a threaded connector, the forward and reverse screw 5 passes through the first threaded sleeve 8 and the two are threadedly connected; The second clamping block unit includes: a second clamping bottom block 9, a second chuck 10 and a second threaded sleeve 11; the second chuck 10 is fixed to the upper part of the second clamping bottom block 9 by a threaded connection, the second threaded sleeve 11 is provided with a thread inside, the second clamping bottom block 9 is provided with a second mounting hole 91 passing through it, one end of the second threaded sleeve 11 extends into the second clamping bottom block 9, and the other end of the second threaded sleeve 11 is fixed to the side of the second clamping bottom block 9 away from the first clamping block unit by a threaded connection, the forward and reverse screws 5 pass through the second threaded sleeve 11 and the two are threadedly connected; a recessed first V-shaped clamping groove 71 is provided on the side of the first chuck 7 close to the second chuck 10, and a recessed second V-shaped clamping groove 101 is provided on the side of the second chuck 10 close to the first chuck 7.
[0061] In this embodiment, the structure of the rotary power centering clamp seat 200 is specifically designed. The first clamp block unit is a structure of a multi-component combination. The first threaded sleeve 8 and the second threaded sleeve 11 are respectively provided with threads matching the forward and reverse screws 5. The first threaded sleeve 8 and the second threaded sleeve 11 can be processed separately and disassembled and replaced separately, which is flexible and convenient to use. The first clamping bottom block 6 and the first chuck 7 are detachably connected structures, and different chucks (first chuck 7 and second chuck 10) can be adapted according to the specifications of the input motor 300, further improving the flexibility of use. The forward and reverse screws 5 rotate, driving the first clamp block unit and the second clamp block unit to open and close, so as to achieve the loosening and clamping of the input motor 300. In the specific implementation, the clamped part of the input motor 300 is cylindrical. Since the first V-shaped clamping groove 71 and the second V-shaped clamping groove 101 are provided, the centering clamping of the input motor 300 can be achieved, and the coaxiality of the input motor 300 and the input connecting section 001 can be further ensured.
[0062] According to a specific implementation of the present utility model, the second clamping block unit and the first clamping block unit are symmetrical structures.
[0063] In this embodiment, the first clamping block unit and the second clamping block unit are symmetrical structures, which is conducive to further ensuring the centering clamping accuracy. The beneficial effects of the second clamping block unit are the same as those of the first clamping block unit.
[0064] According to a specific embodiment of the utility model, the rotary power centering clamp seat 200 also includes: a sliding guide unit for limiting the rotation of the first clamp block unit and the second clamp block unit, a knob ring 12 for driving the forward and reverse screw rods 5 to rotate, and a clamp seat base for supporting the forward and reverse screw rods 5. The clamp seat base includes a clamp seat bottom plate 13 and two clamp seat vertical plates 14 respectively fixed at both ends of the upper part of the clamp seat bottom plate 13. The first clamp block unit and the second clamp block unit are located between the two clamp seat vertical plates 14. The forward and reverse screw rods 5 pass through the two clamp seat vertical plates 14 at the same time. The outer sides of the two clamp seat vertical plates 14 are respectively provided with a limit block 15 for limiting the axial movement of the forward and reverse screw rods 5. The limit block 15 is fixed to the forward and reverse screw rods 5 by a pin 2, and the knob ring 12 is fixed to one end of the forward and reverse screw rods 5.
[0065] In this embodiment, the sliding guide unit is used to provide sliding guides for the first clamping block unit and the second clamping block unit, and the limit blocks 15 at both ends of the forward and reverse screw rods 5 are used to limit the freedom of movement of the forward and reverse screw rods 5 along the axis. Under the action of the two limit blocks 15, the forward and reverse screw rods 5 cannot move along the axis, and manually rotating the rotating ring can drive the forward and reverse screw rods 5 to rotate. The knob ring 12 is located at the end of the forward and reverse screw rods 5 for easy operation.
[0066] According to a specific embodiment of the utility model, the sliding guide unit includes 2-4 guide columns 16 arranged around the forward and reverse screws 5, the guide columns 16 simultaneously penetrate the first bottom clamping block 6 and the second bottom clamping block 9, and the guide columns 16 are respectively slidably connected to the first bottom clamping block 6 and the second bottom clamping block 9, and the two ends of the guide columns 16 are respectively connected to the two clamping seat vertical plates 14.
[0067] In this embodiment, a plurality of guide posts 16 are arranged around the forward and reverse screws 5, so as to form a uniform guide structure around the forward and reverse screws 5, which is beneficial to ensure the sliding accuracy of the first clamping block unit and the second clamping block unit. When in use, the clamping base plate 13 is installed on a workbench.
[0068] According to a specific implementation of the present invention, a waist-shaped mounting hole 131 is respectively provided at four corners of the bottom of the clamp base bottom plate 13 .
[0069] In this embodiment, the waist-shaped mounting hole 131 is used to adjust the mounting position to ensure that the motor output shaft 4 is installed facing the input connecting section 001 .
[0070] According to a specific implementation of the utility model, a concave screw head avoidance groove 141 is provided on one side of the clamp seat upright plate 14 away from the limiting block 15 .
[0071] In the present embodiment, since the first threaded sleeve 8 is fixed to the outer side of the first clamping bottom block 6 by screws, and the second threaded sleeve 11 is fixed to the outer side of the second clamping bottom block 9 by screws, a screw head avoidance groove 141 is provided to accommodate the screw head of the screw, thereby preventing the screw head from affecting the opening stroke of the rotary power centering clamp seat 200.
[0072] It should be noted that the present invention also includes a large torque connection sleeve 800, the structure of which is similar to that of the force measuring connection sleeve 600, except that its inner connection hole is larger and can be adapted to the output connection section 002 with the largest diameter.
[0073] 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 tool for electric claw auxiliary design with a gradually variable speed ratio gearbox, characterized in that: It comprises a gradually variable speed ratio gearbox, which comprises: a box body, a transmission shaft and a gearbox gear. The number of the transmission shafts is n, where n is a natural number greater than or equal to 2, and the n transmission shafts are installed side by side in a line on the box body, and two adjacent transmission shafts are meshed in sequence through the gearbox gears; wherein one end of the transmission shaft located at the endmost end is an input connecting section, and one end of each transmission shaft away from the input connecting section is an output connecting section, and the speed ratio between the input connecting section and the output connecting section is T, and the value of T includes 1 and the value of T gradually increases along the direction in which the transmission shafts are arranged; the tooling for electric claw auxiliary design with a gradually variable speed ratio gearbox also comprises a rotary power centering clamp seat arranged on one side of the gradually variable speed ratio gearbox and facing the input connecting section.
2. The tooling for electric claw-assisted design with a gradually variable speed ratio gearbox according to claim 1, characterized in that: The transmission ratios of the input connecting section and the n output connecting sections are distributed in a geometric progression, and the value of the first term of the geometric progression is 1, the common ratio is 2, and n=8.
3. The tooling for electric claw-assisted design with a gradually variable speed ratio gearbox according to claim 2, characterized in that: Along the direction in which the transmission shafts are arranged, the eight transmission shafts are respectively: a first transmission shaft, a second transmission shaft, a third transmission shaft, a fourth transmission shaft, a fifth transmission shaft, a sixth transmission shaft, a seventh transmission shaft and an eighth transmission shaft, and the gearbox gear includes a first gear, a small modulus transmission gear set, a mixed modulus transmission gear set and an eighth gear; the small modulus transmission gear set includes a fixedly connected small modulus large gear and a small modulus pinion; the mixed modulus transmission gear set includes a fixedly connected mixed small modulus large gear and a mixed large modulus pinion; the first gear, the small modulus large gear, the small modulus pinion, the mixed small modulus large gear, the mixed large modulus pinion and the eighth gear are all cylindrical gears; the first gear is fixedly sleeved outside the first transmission shaft; the first gear is meshed with the small modulus large gear in the small modulus transmission gear set sleeved on the second transmission shaft; the second transmission shaft, the third transmission shaft, the fourth transmission shaft, the fifth transmission shaft, the sixth transmission shaft are outside A group of the small modulus transmission gear sets are fixedly sleeved respectively, and the small modulus pinion in one group of the small modulus transmission gear sets is meshed with the small modulus large gear in the adjacent small modulus transmission gear set; the mixed modulus transmission gear set is fixedly sleeved outside the seventh transmission shaft, and the mixed small modulus large gear is meshed with the small modulus pinion in the small modulus transmission gear set sleeved outside the sixth transmission shaft, and the eighth gear is fixedly sleeved outside the eighth transmission shaft, and the mixed large modulus pinion is meshed with the eighth gear; the modulus of the first gear, the small modulus large gear, the small modulus pinion and the mixed small modulus large gear are equal, and the modulus of the mixed large modulus pinion and the eighth gear are equal; the number of teeth of the first gear, the small modulus pinion and the mixed large modulus pinion is equal, the number of teeth of the small modulus large gear, the small modulus large gear with mixed teeth and the eighth gear is equal, and the number of teeth of the small modulus large gear is twice the number of teeth of the first gear.
4. The tooling for electric claw-assisted design with a gradually variable speed ratio gearbox according to claim 3, characterized in that: The output connecting section extends out of the housing, and at least one transmission plane for transmitting torque is provided on the outer side of each output connecting section, the input connecting section extends out of the housing, the rotary power centering clamp is used to clamp and fix the input motor, the input motor includes a motor output shaft facing the input connecting section, and the tooling for electric claw auxiliary design with a gradually changing speed ratio gearbox also includes a coupling connecting the input connecting section and the motor output shaft.
5. The tooling for electric gripper-assisted design with a gradually variable speed ratio gearbox according to any one of claims 1 to 4, characterized in that: The rotary power centering clamp seat includes: forward and reverse screws, a first clamping block unit and a second clamping block unit that are driven by the forward and reverse screws to move relative to or away from each other at the same time, the first clamping block unit includes: a first clamping bottom block, a first clamping head and a first threaded sleeve; the first clamping head is fixed to the upper part of the first clamping bottom block by a threaded connection, the first threaded sleeve is provided with a thread inside, the first clamping bottom block is provided with a first mounting hole passing through it, one end of the first threaded sleeve extends into the first clamping bottom block, and the other end of the first threaded sleeve is fixed to the side of the first clamping bottom block away from the second clamping block unit by a threaded connection, the forward and reverse screws pass through the first threaded sleeve and the two are threadedly connected; the first The two clamping block units include: a second clamping bottom block, a second clamping head and a second threaded sleeve; the second clamping head is fixed to the upper part of the second clamping bottom block through a threaded connecting piece, the second threaded sleeve is provided with a thread inside, the second clamping bottom block is provided with a second mounting hole passing through it, one end of the second threaded sleeve extends into the second clamping bottom block, and the other end of the second threaded sleeve is fixed to a side of the second clamping bottom block away from the first clamping block unit through a threaded connecting piece, the forward and reverse screws pass through the second threaded sleeve and the two are threadedly connected; a concave first V-shaped clamping groove is provided on a side of the first clamp close to the second clamp, and a concave second V-shaped clamping groove is provided on a side of the second clamp close to the first clamp.
6. The tooling for electric claw-assisted design with a gradually variable speed ratio gearbox according to claim 5, characterized in that: The second clamping block unit and the first clamping block unit are symmetrical structures.
7. The tooling for electric claw-assisted design with a gradually variable speed ratio gearbox according to claim 6, characterized in that: The rotary power centering clamp seat also includes: a sliding guide unit for limiting the rotation of the first clamp block unit and the second clamp block unit, a knob ring for driving the forward and reverse screws to rotate, and a clamp seat base for supporting the forward and reverse screws. The clamp seat base includes a clamp seat bottom plate and two clamp seat vertical plates respectively fixed at both ends of the upper part of the clamp seat bottom plate. The first clamp block unit and the second clamp block unit are located between the two clamp seat vertical plates. The forward and reverse screws pass through the two clamp seat vertical plates at the same time. The outer sides of the two clamp seat vertical plates are respectively provided with a limit block for limiting the axial movement of the forward and reverse screws. The limit block is fixed to the forward and reverse screws by a pin, and the knob ring is fixed to one end of the forward and reverse screws.
8. The tooling for electric claw-assisted design with a gradually variable speed ratio gearbox according to claim 7, characterized in that: The sliding guide unit includes 2-4 guide columns arranged around the forward and reverse screws, and the guide columns penetrate the first clamping bottom block and the second clamping bottom block at the same time, and the guide columns are slidingly connected to the first clamping bottom block and the second clamping bottom block respectively, and the two ends of the guide columns are respectively connected to the two clamping seat vertical plates.
9. The tooling for electric claw-assisted design with a gradually variable speed ratio gearbox according to claim 8, characterized in that: A waist-shaped mounting hole is respectively provided at the four corners of the bottom of the clamp seat bottom plate.
10. The tooling for electric claw-assisted design with a gradually variable speed ratio gearbox according to claim 9, characterized in that: A concave screw head avoidance groove is provided on one side of the clamp seat vertical plate away from the limiting block.