High-sensitive-response electric clamping jaw manipulator

Abstract

The utility model discloses a high sensitive response electric clamping jaw manipulator which comprises a guide rail mounting seat, a driving gear and sliding rail units, the top of the guide rail mounting seat is provided with two grooves which are arranged in parallel and at an interval, each groove is internally and correspondingly provided with a set of sliding rail unit, each sliding rail unit comprises a sliding rail main body arranged in the corresponding groove, and the sliding rail main body is provided with a sliding rail. Two opposite side walls of the groove are respectively provided with a concave seat rolling body accommodating straight groove; the positions, right opposite to the two base rolling body containing straight grooves, of the two sides of the sliding rail body are each provided with a concave sliding rail rolling body containing straight groove, the sliding rail rolling body containing straight grooves and the base rolling body containing straight grooves jointly define a rolling body containing straight channel, and a plurality of rolling bodies are arranged in the rolling body containing straight channel. Compared with the prior art, the rolling body is arranged between the groove and the sliding rail unit, the starting torque of the sliding rail unit is extremely small, the force control precision is high, and high-sensitivity response is achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of electric clamping claws, and in particular relates to a highly sensitive response electric clamping claw manipulator. Background Art

[0002] The electric gripper robot includes two relatively set grippers, which utilize the extension and retraction of the grippers to achieve the clamping and releasing of objects, and is widely used in automated production lines of products.

[0003] In the prior art, Chinese patent CN114248289A discloses a self-service medicine dispensing clamp, including a servo motor, which is mounted on a clamp housing, and the output end of the servo motor passes through the clamp housing to connect to the clamp gear, and the bottom of the clamp housing is provided with two parallel sliding grooves, and a slider is provided inside the sliding groove, and the slider can slide along the inside of the sliding groove, and the slider is connected to a sliding claw, and the side of the sliding claw is fixedly connected with a rack, and the rack is meshed with both sides of the clamp gear. When it is necessary to clamp the medicine, the servo motor is started, and the servo motor drives the clamp gear to rotate, and the clamp gear is meshed with the rack to drive the two sliding claws to slide toward each other along the sliding groove, so that the sliding claw can clamp the medicine.

[0004] The shortcomings of the existing related technologies are that the starting torque of the structure with sliding connection between the slider and the sliding groove is large, which is not suitable for electric gripper manipulators with small clamping force. The specific reasons are as follows: the structure with sliding connection between the slider and the sliding groove has large friction between the two. Under the influence of friction, the starting torque of the gripper is large. When designing an electric gripper manipulator with small clamping force, if the starting torque is too small, the slider cannot be pushed to move due to the influence of friction; if the starting torque is large, the slider can be pushed to move, but the clamping force of the gripper is also large, which does not meet the design requirements.

[0005] Therefore, it is necessary to provide a new high-sensitivity response electric gripper manipulator to solve the above-mentioned technical problems. Summary of the invention

[0006] 1. Technical issues to be resolved

[0007] Based on this, the utility model provides a highly sensitive response electric gripper manipulator to solve the technical problem in the prior art that the structure between the slider and the sliding groove is a sliding connection and is not suitable for electric gripper manipulators with small clamping force due to the large starting torque.

[0008] (II) Technical solution

[0009] In order to solve the above technical problems, the utility model proposes a highly sensitive response electric gripper manipulator, comprising: a guide rail mounting seat, a driving gear and a slide rail unit, the top of the guide rail mounting seat is provided with a groove, the grooves are two parallel and spaced apart, each groove is correspondingly installed with a set of the slide rail unit, the slide rail unit comprises a slide rail body installed in the groove, two opposite side walls of the groove are respectively provided with a recessed seat rolling body receiving straight groove; two sides of the slide rail body are respectively provided with a recessed seat rolling body receiving straight groove at the position The guide rail rolling body accommodating straight groove, the guide rail rolling body accommodating straight groove and the seat rolling body accommodating straight groove together form a rolling body accommodating straight channel, and a plurality of rolling bodies are arranged in the rolling body accommodating straight channel; the bottom of the guide rail mounting seat is provided with a recessed gear hole, and the two sides of the gear hole are respectively connected with the two grooves; the upper part of the driving gear extends into the gear hole, and the guide rail body is provided with a rack body meshing with the driving gear, and the driving gear is meshed with the rack bodies on both sides to drive the guide rail bodies in the two grooves to move relative to or away from each other.

[0010] Preferably, a sealing plate is fixedly provided at both ends of the slide rail body, each sealing plate is provided with two rolling body turning grooves arranged at intervals, and the slide rail body also includes two intermediate rolling body channels running through it; wherein: the two ends of a rolling body accommodating straight channel and an adjacent intermediate rolling body channel in the same direction are respectively connected by a rolling body turning groove, and the rolling body accommodating straight channel, the intermediate rolling body channel and the two rolling body turning grooves together constitute a rolling body circulation closed circuit; the rolling body is located in the rolling body circulation closed circuit; each set of slide rail units includes two independent rolling body circulation closed circuits.

[0011] Preferably, two raised straight channel extension blocks are respectively provided at both ends of the slide rail body, and the intermediate rolling body channel and the seat rolling body receiving straight groove both extend to pass through the straight channel extension block; the straight channel extension block extends into the rolling body turning groove, and the groove wall of the rolling body turning groove and the outer wall of the straight channel extension block jointly form a rolling body turning channel; the two ends of the rolling body turning channel are respectively connected to the corresponding intermediate rolling body channel and the seat rolling body receiving straight groove.

[0012] Preferably, a raised sealing column is respectively provided on both sides of the sealing plate, the shape of the sealing column matches the shape of the seat rolling body accommodating straight groove, and the sealing column extends into the seat rolling body accommodating straight groove; and there is a gap between the sealing column and the groove wall of the seat rolling body accommodating straight groove.

[0013] Preferably, the sealing plate is also provided with a sealing plate pin hole and a sealing plate threaded connector mounting hole, the sealing plate pin hole is located above the middle of the two rolling body turning grooves, and the sealing plate threaded connector mounting hole is located below the middle of the two rolling body turning grooves; the corresponding positions of the slide rail body are provided with slide rail pin holes and slide rail threaded connector mounting holes; the high-sensitivity response electric gripper manipulator also includes a positioning pin and a connecting screw, and the two ends of the positioning pin are respectively extended into the sealing plate pin hole and the slide rail pin hole; the connecting screw passes through the sealing plate threaded connector mounting hole and extends into the slide rail threaded connector mounting hole to achieve the fixation of the sealing plate and the slide rail body.

[0014] Preferably, the intermediate rolling body channel and the seat rolling body receiving straight groove are arranged in parallel; the rolling body is circular, and the slide rail rolling body receiving straight groove and the seat rolling body receiving straight groove are both semicircular; the slide rail body and the rack body are split structures, and the slide rail body is provided with a recessed rack receiving groove, and the rack body is embedded in the rack receiving groove; the other side of the slide rail body is provided with a rack release process hole connected to the rack receiving groove.

[0015] Preferably, a first travel limit groove is respectively provided on both sides of the slide rail body, and the first travel limit groove is generally waist-shaped with a length of L1, and a first limit screw hole is provided at the position of the guide rail mounting seat opposite to the first travel limit groove, and a second travel limit groove is also respectively provided on both sides of the slide rail body, and the second travel limit groove is generally waist-shaped with a length of L2, and a second limit screw hole is provided at the position of the guide rail mounting seat opposite to the second travel limit groove, the first travel limit groove and the first travel limit groove are spaced apart along the extension direction of the groove, and L1>L2, and the high-sensitivity response electric gripper manipulator also includes a limit screw; the limit screw passes through the first limit screw hole and extends into the first travel limit groove, or the limit screw passes through the second limit screw hole and extends into the second travel limit groove.

[0016] Preferably, a first countersunk hole is provided on both sides of the bottom of each groove; the high-sensitivity response electric gripper manipulator also includes a casing and a motor arranged at the lower part of the guide rail mounting seat, the casing includes an electrical component accommodating chamber with an upper opening; a first screw hole is provided at a position of the casing opposite to the first countersunk hole; the outer contour of the guide rail mounting seat is a rectangular parallelepiped as a whole, and the outer contour of the casing is a rectangular parallelepiped aligned with the guide rail mounting seat up and down; the motor includes a motor body and a motor output shaft arranged on one side of the motor body, the end surface of the motor body close to the motor output shaft is provided with a motor mounting hole, the bottom of the guide rail mounting seat is provided with a recessed motor end mounting groove, the lower part of the motor body is located in the electrical component accommodating chamber, the upper part of the motor body is inserted into the motor end mounting groove, and the drive gear is installed on the motor output shaft; the bottom of each groove is also provided with at least one second countersunk hole, the second countersunk hole is connected to the motor end mounting groove, and the second countersunk hole is aligned with the motor mounting hole.

[0017] Preferably, a raised positioning column is further provided at the lower portion of the guide rail mounting seat, a recessed positioning hole is provided at a position of the housing directly opposite to the positioning column, and the positioning column extends into the positioning hole.

[0018] Preferably, the slide rail unit also includes a chuck mounting seat, and the chuck mounting seat is simultaneously covered above the two grooves; the number of the chuck mounting seats is two, wherein: one side of the lower part of one chuck mounting seat is fixedly connected to the upper part of a slide rail body, and one side of the lower part of the other chuck mounting seat is fixedly connected to the upper part of another slide rail body; the chuck mounting seat and the slide rail body connected thereto are an integral structure; the slide rail unit also includes a chuck fixed to the upper part of the chuck mounting seat.

[0019] (III) Beneficial effects

[0020] Compared with the prior art, a rolling body is provided between the groove and the slide rail unit in the utility model. The starting torque of the slide rail unit is extremely small, achieving high-sensitivity response, and no creeping phenomenon occurs. The slide rail unit moves smoothly, which can ensure precise micro-feeding, providing conditions for obtaining an electric gripper manipulator with smaller clamping force and higher force control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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.

[0022] Figure 1It is a three-dimensional schematic diagram of the overall structure of the utility model;

[0023] Figure 2 It is a main schematic diagram of the utility model;

[0024] Figure 3 For along Figure 2 Schematic diagram of the cross section of the AA line;

[0025] Figure 4 It is an exploded schematic diagram of one direction of the utility model;

[0026] Figure 5 It is an exploded schematic diagram of another direction of the utility model;

[0027] Figure 6 This is an exploded schematic diagram of the slide rail unit in the utility model;

[0028] Figure 7 This is a schematic diagram of the structure of the rolling body circulation closed circuit component in the utility model (including: guide rail mounting seat, slide rail body and sealing plate);

[0029] Figure 8 For along Figure 7 Schematic diagram of the cross section of the BB line;

[0030] Fig. 9 This is a three-dimensional schematic diagram of a guide rail mounting seat in the utility model;

[0031] Fig.10 This is a three-dimensional schematic diagram of the integrated structure of the slide rail body and the chuck mounting seat in the utility model;

[0032] Fig.11 This is a front view schematic diagram of the integrated structure of the slide rail main body and the chuck mounting seat in the utility model.

[0033] Description of reference numerals:

[0034] 100. Slide rail unit;

[0035] 01. Rolling body receiving straight channel; 02. Rolling body circulation closed circuit; 03. Rolling body turning channel;

[0036] 1. Rolling element; 2. Guide rail mounting seat; 3. Driving gear; 4. Slide rail body; 5. Rack body; 6. Closing plate; 7. Positioning pin; 8. Connecting screw; 9. Limit screw; 10. Casing; 11. Motor; 12. Chuck mounting seat; 13. Chuck;

[0037] 21. Groove; 22. Straight groove for receiving the rolling element of the seat; 23. Gear hole; 24. First limiting screw hole; 25. Second limiting screw hole; 26. First countersunk hole; 27. Motor end mounting groove; 28. Second countersunk hole; 29. ​​Positioning column;

[0038] 41. Slide rail rolling element receiving straight groove; 42. Intermediate rolling element channel; 43. Straight channel extension block; 44. Slide rail pin hole; 45. Slide rail threaded connector mounting hole; 46. Rack receiving groove; 47. Rack escape process hole; 48. First stroke limit groove; 49. Second stroke limit groove;

[0039] 61. Rolling element turning groove; 62. Sealing column; 63. Sealing plate pin hole; 64. Sealing plate threaded connector mounting hole;

[0040] 101, electrical component receiving cavity; 102, first screw hole; 103, positioning hole;

[0041] 111. Motor body; 112. Motor output shaft;

[0042] 1111. Motor mounting hole. 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 1-11 , the high-sensitive response electric gripper manipulator of the utility model is further explained.

[0045] The utility model discloses a highly sensitive response electric gripper manipulator, comprising: a guide rail mounting seat 2, a driving gear 3 and a slide rail unit 100, wherein a groove 21 is arranged on the top of the guide rail mounting seat 2, wherein the grooves 21 are two parallel and spaced apart, wherein a set of slide rail units 100 is correspondingly installed in each groove 21, wherein the slide rail unit 100 comprises a slide rail body 4 installed in the groove 21, wherein two opposite side walls of the groove 21 are respectively provided with a recessed seat rolling body receiving straight groove 22; and a recessed seat rolling body receiving straight groove 22 is respectively provided on the two sides of the slide rail body 4. The guide rail rolling body receiving straight groove 41, the guide rail rolling body receiving straight groove 41 and the seat rolling body receiving straight groove 22 together form a rolling body receiving straight channel 01, and a plurality of rolling bodies 1 are arranged in the rolling body receiving straight channel 01; a recessed gear hole 23 is provided at the bottom of the guide rail mounting seat 2, and the two sides of the gear hole 23 are respectively connected with the two grooves 21; the upper part of the driving gear 3 extends into the gear hole 23, and a rack body 5 meshing with the driving gear 3 is provided on the guide rail body 4, and the driving gear 3 meshes with the rack bodies 5 on both sides to drive the guide rail bodies 4 in the two grooves 21 to move relative to or opposite to each other.

[0046] In this embodiment, the guide rail mounting base 2 is used to provide an installation base, the groove 21 is used to accommodate the slide rail unit 100 and to guide the slide rail unit 100, the driving gear 3 is installed in the gear hole 23 from bottom to top, and meshes with the rack body 5 in the grooves 21 on both sides through the gear hole 23. When in use, the upper part of the slide rail unit 100 is connected to the chuck 13, and the lower part of the driving gear 3 is connected to the external power (such as the motor 11) and rotates under the drive of the external power, while driving the rack bodies 5 on both sides to move, changing the rotation direction of the driving gear 3, so that the two sets of slide rail units 100 can be moved relative to each other to achieve clamping of the chuck 13, or move away from each other to achieve opening of the chuck 13.

[0047] Compared with the prior art, in the high-sensitive response electric gripper manipulator of the utility model, a rolling body 1 is provided between the groove 21 and the slide rail unit 100, and the starting torque of the slide rail unit 100 is extremely small, thereby achieving high-sensitive response and no creeping phenomenon. The slide rail unit 100 moves smoothly, and can ensure precise micro-feeding, thereby providing conditions for obtaining an electric gripper manipulator with smaller clamping force and higher force control accuracy.

[0048] With this structure, the high-sensitive response electric gripper manipulator of the utility model has a small starting torque. Combined with the high-energy sensor and the electrical control system of the electric gripper, the force control accuracy of the manipulator can be greatly improved, and no overshoot can be achieved even at high speeds, providing a basis for achieving high-precision clamping. By reasonably selecting the output torque of the motor 11 and the transmission ratio of the gear rack, a smaller clamping force can be obtained. Finally, the obtained electric gripper manipulator can clamp small-mass soft and easily broken items such as mosquito coil ash and cigarette ash. High-precision clamping is achieved.

[0049] According to a specific implementation of the utility model, a sealing plate 6 is fixedly provided at both ends of the slide rail body 4, each sealing plate 6 is provided with two rolling body turning grooves 61 arranged at intervals, and the slide rail body 4 also includes two intermediate rolling body channels 42 running through it; wherein: a rolling body accommodating straight channel 01 and an adjacent intermediate rolling body channel 42 are connected in the same direction by a rolling body turning groove 61 respectively, and the rolling body accommodating straight channel 01, the intermediate rolling body channel 42 and the two rolling body turning grooves 61 together constitute a rolling body circulation closed circuit 02; the rolling body 1 is located in the rolling body circulation closed circuit 02; each set of slide rail units 100 includes two independent rolling body circulation closed circuits 02.

[0050] In this embodiment, when in use, the rolling bodies 1 in the two sets of slide rail units 100 are structures that operate independently of each other, and the rolling resistance on one side will not affect the other side, further improving the sensitivity of the slide rail unit 100 to react after being subjected to force. Each set of slide rail units 100 includes two independently operated rolling body circulation closed circuits 02, and the rolling bodies 1 in each rolling body circulation closed circuit 02 only circulate in the corresponding rolling body circulation closed circuit 02, and the rolling bodies 1 in the two rolling body circulation closed circuits 02 do not affect each other. With this structure, the slide rail unit 100 has a higher sensitivity to react to force.

[0051] According to a specific implementation of the utility model, two protruding straight channel extension blocks 43 are respectively provided at both ends of the slide rail body 4, and the intermediate rolling body channel 42 and the seat rolling body receiving straight groove 22 both extend to pass through the straight channel extension block 43; the straight channel extension block 43 extends into the rolling body turning groove 61, and the groove wall of the rolling body turning groove 61 and the outer wall of the straight channel extension block 43 jointly form a rolling body turning channel 03; the two ends of the rolling body turning channel 03 are respectively connected to the corresponding intermediate rolling body channel 42 and the seat rolling body receiving straight groove 22.

[0052] In this embodiment, the protruding linear channel extension block 43 has the following multiple functions.

[0053] Function 1: Greatly reduces the difficulty of processing.

[0054] If the raised straight channel extension block 43 is not provided, the rolling element turning groove 61 needs to be processed into a hole shape of arc track, the two ends of the hole cannot be connected, and the two ends of the hole are respectively connected with the corresponding middle rolling element channel 42 and the seat rolling element receiving straight groove 22. However, forming an arc track hole in the sealing plate 6 is very difficult to process, the processing cost is high, and conventional mechanical processing methods cannot be realized.

[0055] In this embodiment, after the raised straight channel extension block 43 is provided, the rolling element turning groove 61 can be in a groove shape which is relatively easier to process. The straight channel extension block 43 extending into the rolling element turning groove 61 and the groove-shaped rolling element turning groove 61 can together form the required hole-shaped rolling element turning channel 03. Moreover, the groove-shaped straight channel extension block 43 is not difficult to form, and can be obtained by using larger pieces of material and removing materials (such as milling). Therefore, the overall processing difficulty and processing cost are reduced.

[0056] Function 2: It is convenient for assembly. After the linear channel extension block 43 is set, during assembly, the raised linear channel extension block 43 is aligned with the recessed rolling element turning groove 61 of the sealing plate 6 and inserted, so that the slide rail body 4 and the sealing plate 6 can be quickly positioned during assembly. And the assembly accuracy of the two is greatly improved, ensuring that the rolling element turning groove 61 is accurately docked with the intermediate rolling element channel 42 and the seat rolling element receiving straight groove 22 respectively.

[0057] Function three: It can improve the smooth flow of rolling body 1 in rolling body circulation closed circuit 02. After setting the raised straight channel extension block 43, the intermediate rolling body channel 42 and the seat rolling body receiving straight groove 22 are extended to pass through the straight channel extension block 43, so that the terminal positions of the intermediate rolling body channel 42 and the seat rolling body receiving straight groove 22 are both inside the sealing plate 6, rather than at the two end surfaces of the slide rail body 4, further ensuring the precise docking of the rolling body turning groove 61 with the intermediate rolling body channel 42 and the seat rolling body receiving straight groove 22, respectively, which can avoid the rolling body 1 from getting stuck at the junction of the slide rail body 4 and the sealing plate 6, and ensure the smooth flow of the rolling body 1 in the rolling body circulation closed circuit 02.

[0058] According to a specific implementation of the utility model, a raised sealing column 62 is respectively provided on both sides of the sealing plate 6, the shape of the sealing column 62 matches the shape of the seat rolling body accommodating straight groove 22, and the sealing column 62 extends into the seat rolling body accommodating straight groove 22; and there is a gap between the sealing column 62 and the groove wall of the seat rolling body accommodating straight groove 22.

[0059] In this embodiment, the two ends of the roller receiving straight groove 22 are open structures. If the sealing column 62 is not provided, the two ends of the roller receiving straight channel 01 are not sealed, and foreign matter from the outside can easily enter the roller circulation closed circuit 02 from there, affecting the smoothness of the rolling of the roller 1. In addition, in order to ensure the flexible rolling of the roller 1 during use, lubricating grease is filled in the roller circulation closed circuit 02. After the sealing column 62 seals the two ends of the roller receiving straight channel 01, it can effectively prevent the lubricating grease from flowing out.

[0060] There is a gap between the sealing column 62 and the groove wall of the seat rolling element receiving straight groove 22, which can prevent the sealing column 62 from contacting the groove wall of the seat rolling element receiving straight groove 22 before the rolling element 1 and generating sliding friction, ensuring that rolling friction is always present when the slide rail unit 100 moves.

[0061] According to a specific implementation of the utility model, a sealing plate pin hole 63 and a sealing plate threaded connector mounting hole 64 are also provided on the sealing plate 6. The sealing plate pin hole 63 is located above the middle of the two rolling body turning grooves 61, and the sealing plate threaded connector mounting hole 64 is located below the middle of the two rolling body turning grooves 61; a slide rail pin hole 44 and a slide rail threaded connector mounting hole 45 are provided at the corresponding position of the slide rail body 4; the high-sensitivity response electric gripper manipulator also includes a positioning pin 7 and a connecting screw 8, and the two ends of the positioning pin 7 are respectively extended into the sealing plate pin hole 63 and the slide rail pin hole 44; the connecting screw 8 passes through the sealing plate threaded connector mounting hole 64 and extends into the slide rail threaded connector mounting hole 45, so as to fix the sealing plate 6 and the slide rail body 4.

[0062] In this embodiment, the positions of the sealing plate pin hole 63 and the sealing plate threaded connector installation hole 64 are arranged to minimize the damage to the strength of the sealing plate 6. During assembly, the rolling element 1 is first installed, and then the sealing plate 6 is connected. The positioning pin 7 is used for positioning to further ensure the connection accuracy between the sealing plate 6 and the slide rail body 4; the connecting screw 8 is used for fixing.

[0063] According to a specific implementation of the utility model, the middle rolling body channel 42 and the seat rolling body receiving straight groove 22 are arranged in parallel; the rolling body 1 is circular, and the slide rail rolling body receiving straight groove 41 and the seat rolling body receiving straight groove 22 are both semicircular.

[0064] In this embodiment, this structure is adopted to help reduce the difficulty of processing.

[0065] According to a specific implementation of the present utility model, the slide rail body 4 and the rack body 5 are split structures, the slide rail body 4 is provided with a recessed rack receiving groove 46, and the rack body 5 is embedded in the rack receiving groove 46; the other side of the slide rail body 4 is provided with a rack escapement process hole 47 connected to the rack receiving groove 46.

[0066] In this embodiment, the rack body 5 can be processed and replaced separately by adopting this structure, which greatly reduces the processing difficulty and maintenance cost. The rack body 5 can be easily pressed into the rack receiving groove 46, and it is easy to install. The rack removal process hole 47 is used to remove the rack body 5. When the rack body 5 needs to be removed, a push column is inserted into the rack removal process hole 47, and one end of the push column is against the rack body 5, and the other end of the push column is knocked. The push column acts on the back of the rack body 5, and the rack body 5 can be knocked out of the rack receiving groove 46 from the back.

[0067] According to a specific implementation of the utility model, a first stroke limit groove 48 is respectively provided on both sides of the slide rail body 4, and the first stroke limit groove 48 is a waist shape with a length of L1 as a whole. The guide rail mounting seat 2 is provided with a first limit screw hole 24 at a position opposite to the first stroke limit groove 48. A second stroke limit groove 49 is also respectively provided on both sides of the slide rail body 4, and the second stroke limit groove 49 is a waist shape with a length of L2 as a whole. The guide rail mounting seat 2 is provided with a second limit screw hole 25 at a position opposite to the second stroke limit groove 49. The first stroke limit groove 48 and the first stroke limit groove 48 are spaced apart along the extension direction of the groove 21, and L1>L2. The high-sensitivity response electric gripper manipulator also includes a limit screw 9; the limit screw 9 passes through the first limit screw hole 24 and extends into the first stroke limit groove 48, or the limit screw 9 passes through the second limit screw hole 25 and extends into the second stroke limit groove 49.

[0068] In this embodiment, one end of the limit screw 9 is connected to the guide rail mounting seat 2, and the other end extends into the limit slot (the first stroke limit slot 48 or the second stroke limit slot 49). When the slide rail body 4 moves, the two sides of the limit slot contact the limit screw 9 to limit the moving stroke of the slide rail body 4. When the limit screw 9 passes through the first limit screw hole 24 and extends into the first stroke limit slot 48, the moving stroke value of a set of slide rail units 100 is L1 minus the outer diameter of the limit screw 9. When the limit screw 9 passes through the second limit screw hole 25 and extends into the second stroke limit slot 49, the moving stroke value of a set of slide rail units 100 is L2 minus the outer diameter of the limit screw 9.

[0069] Therefore, the highly sensitive response electric gripper manipulator of this embodiment provides two different strokes. When it is implemented, the installation position of the limit screw 9 can be changed as needed. It is flexible and convenient to use, can give customers more choices, and improve the market competitiveness of products. The drawings of the utility model show a structure in which the limit screw 9 passes through the first limit screw hole 24 and extends into the first stroke limit groove 48.

[0070] According to a specific embodiment of the utility model, a first countersunk hole 26 is provided on both sides of the bottom of each groove 21; the high-sensitivity response electric gripper manipulator also includes a housing 10 and a motor 11 arranged at the lower part of the guide rail mounting seat 2, and the housing 10 includes an electrical component accommodating cavity 101 with an upper opening; the housing 10 is provided with a first screw hole 102 at a position opposite to the first countersunk hole 26; the outer contour of the guide rail mounting seat 2 is a rectangular parallelepiped as a whole, and the outer contour of the housing 10 is a rectangular parallelepiped aligned with the guide rail mounting seat 2 from top to bottom; the motor 11 includes a motor body 111 and an electric motor 11 arranged on one side of the motor body 111. The motor output shaft 112 is provided with a motor mounting hole 1111 on the end face of the motor body 111 close to the motor output shaft 112, and a motor end mounting groove 27 is provided at the bottom of the guide rail mounting seat 2. The lower part of the motor body 111 is located in the electrical component accommodating cavity 101, and the upper part of the motor body 111 is inserted into the motor end mounting groove 27, and the driving gear 3 is installed on the motor output shaft 112; at least one second countersunk hole 28 is also provided at the bottom of each groove 21, and the second countersunk hole 28 is connected to the motor end mounting groove 27, and the second countersunk hole 28 is aligned with the motor mounting hole 1111.

[0071] More specifically, two second countersunk holes 28 are further provided at the bottom of each groove 21 , and the motor body 111 is cylindrical and includes four motor mounting holes 1111 surrounding the motor output shaft 112 .

[0072] In the present invention, the housing 10 is mainly used to accommodate electrical components, including: a motor 11, a circuit board, a lamp post, an electrical connector, etc. The guide rail mounting seat 2 needs to be detachably connected to the housing 10, and the motor 11 needs to be detachably connected to the guide rail mounting seat 2.

[0073] In this embodiment, the connection structure between the housing 10, the motor 11 and the guide rail mounting seat 2 is designed more specifically. During installation, the bolt is passed through the first countersunk hole 26 and inserted into the housing 10 to achieve a fixed connection between the guide rail mounting seat 2 and the housing 10. The bolt is passed through the second countersunk hole 28 and inserted into the motor mounting hole 1111 to achieve a fixed connection between the guide rail mounting seat 2 and the motor body 111.

[0074] It should be noted that in the prior art, in order to achieve the connection between the guide rail mounting base 2 and the housing 10, the structure adopted is: adding connecting ears for the connecting bolts to pass through the outer sides of the guide rail mounting base 2 and the housing 10, which will increase the overall lateral volume of the utility model and is not suitable for occasions where the lateral dimensions of the manipulator are required to be smaller. With the structure of the utility model, the first countersunk hole 26 for connecting the guide rail mounting base 2 and the housing 10 is arranged at the bottom of the groove 21, avoiding the structure of the lateral connecting ears, and the connecting bolts are built into the bottom of the groove 21, which will not increase the lateral dimensions of the manipulator. In addition, in the present embodiment, the second countersunk hole 28 for connecting the guide rail mounting base 2 and the motor 11 is also arranged at the bottom of the groove 21, which also avoids adding an additional structure for fixing the motor 11. It is beneficial to further improve the compactness of the structure of the utility model.

[0075] Therefore, with the structure of this embodiment, the widest dimension is determined by the opening and closing stroke of the two slide rail units 100, and the width is the necessary width to ensure the design stroke. The overall width of the manipulator will not be increased due to the connection of the components. The utility model has the advantages of compact structure and small size.

[0076] According to a specific embodiment of the utility model, a raised positioning column 29 is further provided at the lower portion of the guide rail mounting seat 2 , and a recessed positioning hole 103 is provided at a position of the housing 10 directly opposite to the positioning column 29 , and the positioning column 29 extends into the positioning hole 103 .

[0077] In this embodiment, the positioning column 29 and the guide rail mounting seat 2 are an integrated structure. With this structure, it is avoided to open a positioning pin shaft hole on the guide rail mounting seat 2 and set a separate positioning pin shaft structure, so there is no need to provide sufficient space for arranging the positioning pin shaft hole, which can further reduce the volume of the guide rail mounting seat 2.

[0078] According to a specific embodiment of the utility model, the slide rail unit 100 also includes a chuck mounting seat 12, which is simultaneously covered on top of the two grooves 21; there are two chuck mounting seats 12, wherein: one side of the lower portion of one chuck mounting seat 12 is fixedly connected to the upper portion of one slide rail body 4, and one side of the lower portion of the other chuck mounting seat 12 is fixedly connected to the upper portion of the other slide rail body 4; the chuck mounting seat 12 and the slide rail body 4 connected thereto are an integral structure; the slide rail unit 100 also includes a chuck 13 fixed to the upper portion of the chuck mounting seat 12.

[0079] In this embodiment, the chuck mounting seat 12 is used to mount the chuck 13, and is used to carry the chuck 13 and move along the groove 21 with the slide rail body 4. In specific implementation, chucks of different specifications and sizes can be installed as needed. The chuck mounting seat 12 is simultaneously covered on the two grooves 21, which can ensure that the two chucks 13 installed on the two chuck mounting seats 12 are arranged opposite to each other and can cooperate to clamp objects when close. Since the power for the movement of the chuck mounting seat 12 is located at the slide rail body 4 on the bottom side, the chuck mounting seat 12 and the slide rail body 4 in each set of slide rail units 100 are designed as an integrated structure, which is conducive to improving the overall stability of the slide rail unit 100 and improving the force effect.

[0080] It should be noted that the "highly sensitive response" in the present invention means that, compared with a structure in which there is sliding friction between the slide rail unit and the groove and the corresponding friction force is relatively large, a rolling body is provided between the slide rail unit and the groove adopted in the present invention and the corresponding friction force is relatively small. In this structure, the slide rail unit can be moved by a relatively small force, that is, the slide rail unit has a high reaction sensitivity after being subjected to a force, thereby achieving a highly sensitive response.

[0081] The "highly sensitive response electric gripper manipulator" of the utility model can also be called "small starting torque electric gripper manipulator", where the "small" in "small starting torque" is relative to the electric gripper with basically the same specifications as the utility model, whose slide rail unit and groove have sliding friction and a large starting torque. The specific values ​​of the starting torque of electric grippers of different specifications and sizes are different.

[0082] 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 sensitive response electric gripper manipulator, characterized in that: include: The top of the guide rail mounting seat is provided with a groove, and the grooves are two parallel and spaced apart, and each of the grooves has a corresponding set of the guide rail units installed in it. The guide rail unit comprises a guide rail main body installed in the groove, and two opposite side walls of the groove are respectively provided with a recessed seat rolling body accommodating straight groove; two sides of the guide rail main body are respectively provided with a recessed guide rail rolling body accommodating straight groove at positions opposite to the two seat rolling body accommodating straight grooves, and the guide rail rolling body accommodating straight groove and the seat rolling body accommodating straight groove jointly form a rolling body accommodating straight channel, and a plurality of rolling bodies are arranged in the rolling body accommodating straight channel; a recessed gear hole is provided at the bottom of the guide rail mounting seat, and the two sides of the gear hole are respectively connected with the two grooves; the upper part of the driving gear extends into the gear hole, and the guide rail main body is provided with a rack main body meshed with the driving gear, and the driving gear meshes with the rack main bodies on both sides to drive the guide rail main bodies in the two grooves to move relative to or away from each other.

2. The highly sensitive response electric gripper manipulator according to claim 1, characterized in that: A sealing plate is fixedly provided at both ends of the slide rail body, each of which is provided with two rolling body turning grooves arranged at intervals, and the slide rail body also includes two intermediate rolling body channels running through it; wherein: the two ends of a rolling body accommodating straight channel and an adjacent intermediate rolling body channel in the same direction are connected by a rolling body turning groove respectively, and the rolling body accommodating straight channel, the intermediate rolling body channel and the two rolling body turning grooves together constitute a rolling body circulation closed circuit; the rolling body is located in the rolling body circulation closed circuit; each set of slide rail units includes two independent rolling body circulation closed circuits.

3. The highly sensitive electric gripper manipulator according to claim 2, characterized in that: Two protruding linear channel extension blocks are respectively provided at both ends of the slide rail body, and the intermediate rolling body channel and the seat rolling body accommodating straight groove both extend to penetrate the linear channel extension blocks; the linear channel extension blocks extend into the rolling body turning groove, and the groove wall of the rolling body turning groove and the outer wall of the linear channel extension block jointly form a rolling body turning channel; The two ends of the rolling body turning channel are respectively communicated with the corresponding middle rolling body channel and the seat rolling body accommodating straight groove.

4. The highly sensitive response electric gripper manipulator according to claim 3, characterized in that: A raised sealing column is respectively provided on both sides of the sealing plate, the shape of the sealing column matches the shape of the seat rolling body accommodating straight groove, and the sealing column extends into the seat rolling body accommodating straight groove; and there is a gap between the sealing column and the groove wall of the seat rolling body accommodating straight groove.

5. The highly sensitive response electric gripper manipulator according to claim 4, characterized in that: The sealing plate is also provided with a sealing plate pin hole and a sealing plate threaded connector mounting hole, the sealing plate pin hole is located above the middle of the two rolling body turning grooves, and the sealing plate threaded connector mounting hole is located below the middle of the two rolling body turning grooves; the corresponding positions of the slide rail body are provided with slide rail pin holes and slide rail threaded connector mounting holes; the high-sensitivity response electric gripper manipulator also includes a positioning pin and a connecting screw, and the two ends of the positioning pin are respectively extended into the sealing plate pin hole and the slide rail pin hole; the connecting screw passes through the sealing plate threaded connector mounting hole and extends into the slide rail threaded connector mounting hole to fix the sealing plate and the slide rail body.

6. The highly sensitive response electric gripper manipulator according to claim 5, characterized in that: The intermediate rolling body channel and the seat rolling body receiving straight groove are arranged in parallel; the rolling body is circular, and the slide rail rolling body receiving straight groove and the seat rolling body receiving straight groove are both semicircular; the slide rail body and the rack body are split structures, and the slide rail body is provided with a recessed rack receiving groove, and the rack body is embedded in the rack receiving groove; the other side of the slide rail body is provided with a rack release process hole connected to the rack receiving groove.

7. The highly sensitive response electric gripper manipulator according to claim 6, characterized in that: A first travel limit groove is respectively provided on both sides of the slide rail body, and the first travel limit groove is in the shape of a waist with a length of L1 as a whole. A first limit screw hole is provided at the position of the guide rail mounting seat opposite to the first travel limit groove. A second travel limit groove is also respectively provided on both sides of the slide rail body, and the second travel limit groove is in the shape of a waist with a length of L2 as a whole. A second limit screw hole is provided at the position of the guide rail mounting seat opposite to the second travel limit groove. The first travel limit groove and the first travel limit groove are spaced apart along the extension direction of the groove, and L1>L2. The high-sensitivity response electric gripper manipulator also includes a limit screw; the limit screw passes through the first limit screw hole and extends into the first travel limit groove, or the limit screw passes through the second limit screw hole and extends into the second travel limit groove.

8. The highly sensitive response electric gripper manipulator according to claim 7, characterized in that: A first countersunk hole is provided on both sides of the bottom of each groove; the highly sensitive response electric gripper manipulator also includes a casing and a motor arranged at the lower part of the guide rail mounting seat, the casing includes an electrical component accommodating chamber with an upper opening; a first screw hole is provided at a position of the casing opposite to the first countersunk hole; the outer contour of the guide rail mounting seat is a rectangular parallelepiped as a whole, and the outer contour of the casing is a rectangular parallelepiped aligned with the guide rail mounting seat from top to bottom; the motor includes a motor body and a motor output shaft arranged on one side of the motor body, the end surface of the motor body close to the motor output shaft is provided with a motor mounting hole, the bottom of the guide rail mounting seat is provided with a recessed motor end mounting groove, the lower part of the motor body is located in the electrical component accommodating chamber, the upper part of the motor body is inserted into the motor end mounting groove, and the drive gear is installed on the motor output shaft; at least one second countersunk hole is also provided at the bottom of each groove, the second countersunk hole is connected to the motor end mounting groove, and the second countersunk hole is aligned with the motor mounting hole.

9. The highly sensitive response electric gripper manipulator according to claim 8, characterized in that: A raised positioning column is also provided at the lower part of the guide rail mounting seat, and a recessed positioning hole is provided at a position of the housing directly opposite to the positioning column, and the positioning column extends into the positioning hole.

10. The highly sensitive response electric gripper manipulator according to claim 9, characterized in that: The slide rail unit also includes a chuck mounting seat, which is simultaneously covered on the top of the two grooves; there are two chuck mounting seats, wherein: one side of the lower part of one chuck mounting seat is fixedly connected to the upper part of a slide rail body, and one side of the lower part of the other chuck mounting seat is fixedly connected to the upper part of another slide rail body; the chuck mounting seat and the slide rail body connected thereto are an integral structure; the slide rail unit also includes a chuck fixed to the upper part of the chuck mounting seat.

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