High-precision rotary clamping electric claw

Abstract

The utility model relates to the technical field of rotary clamping jaws, in particular to a high-precision rotary clamping electric jaw which is characterized in that a first assembling area and a second assembling area are distributed in a clamping jaw shell assembly; the clamping jaw assembly is installed on the outer portion of the opening edge of the clamping jaw shell assembly. The first driving part is used for driving the clamping jaw assembly to open and close; the second driving piece is used for driving the clamping jaw assembly to rotate; the control unit comprises a first encoder and a second encoder; the first encoder is located at the upper end of the first driving piece and is coaxial with the first driving piece. The second encoder is located at the upper end of the second driving piece and is coaxial with the second driving piece. The control unit further comprises a third encoder, and the third encoder is located at the lower end of the second driving piece and is coaxial with the first driving piece. Due to the fact that a middle connecting part exists between the rotating motor and the clamping jaw shell, the precision is not high, the third encoder is used for monitoring the rotating angle of the motor, and the transmission precision of the output shaft of the motor and the main shaft is further improved.

Description

Technical Field

[0001] The utility model relates to the technical field of rotating clamping claws, in particular to high-precision rotating clamping electric claws. Background Art

[0002] With the rapid development of the machinery industry, intelligent machinery is slowly replacing manual operations, such as rotary grippers. The rotary grippers have the advantages of fast response speed, high precision and flexible movements, and can be automatically operated through the control system; its structure consists of a mechanical gripper, a motor encoder and a controller. When working, the motor makes the mechanical gripper move accordingly through the transmission device, and the encoder will feed back the movement information to the controller for processing. The controller controls the motor to make the gripper achieve the predetermined movement process and action state.

[0003] For rotating electric grippers that need to output a certain torque, a reduction motor must be used when the structural dimensions are strictly limited. Since there is a large transmission gap between the motor and the reducer spindle, the transmission accuracy is affected. The existing technology mainly installs an encoder at the tail of the motor, which can control the precise rotation position of the motor, but cannot sense the precise position of the reducer spindle, resulting in low precision in the coordination between the spindle and the motor during the operation of the rotating gripper. Utility Model Content

[0004] The utility model aims to detect the rotation of the main shaft of the existing rotating jaws to control the precise rotation of the motor, so as to solve the technical problem that the transmission accuracy of the existing clamping mechanism and the motor is not high due to the existence of a transmission component between the two.

[0005] A high-precision rotary clamping electric claw comprises a claw housing assembly, which is a hollow housing and has an opening at the lower end thereof communicating with the outside; a first assembly area and a second assembly area are distributed inside the claw housing assembly, and the opening is located below the first assembly area; a first drive member, which is assembled in the first assembly area inside the claw housing assembly; a second drive member, which is assembled in the second assembly area inside the claw housing assembly; a claw assembly, which is connected to the first drive member and the second drive member, and the claw assembly extends from the opening to the outside of the claw housing assembly; a control unit, which is assembled inside the claw housing assembly and electrically connected to the first drive member and the second drive member; the control unit comprises a first encoder and a second encoder; the first encoder is located at the upper end of the first drive member and is coaxially arranged with the first drive member; the second encoder is located at the upper end of the second drive member (4) and is coaxially arranged with the second drive member; wherein the control unit also comprises a third encoder, which is located at the lower end of the second drive member and is coaxially arranged with the second drive member.

[0006] Furthermore, the control unit also includes a circuit board, and the first encoder and the second encoder are assembled at the lower end of the circuit board.

[0007] Furthermore, the first encoder and the second encoder are in the same plane.

[0008] Furthermore, the clamping jaw assembly includes a clamping jaw shell, inside which a left sliding area and a right sliding area are provided, the left sliding area and the right sliding area are respectively provided with a left transmission rack and a right transmission rack, and the lower ends of the left transmission rack and the right transmission rack are provided with clamping jaws located outside below and opposite to each other on the left and right sides.

[0009] Furthermore, an opening and closing transmission group is provided between the first driving member and the clamping jaw assembly.

[0010] Furthermore, the first driving member includes a clamping motor, and a first reducer is provided at the lower end of the clamping motor; the opening and closing transmission group includes an extended shaft located at the output end of the lower end of the first reducer and extending downward, the extended shaft extends into the interior of the clamping jaw housing and meshes with the left transmission rack and the right transmission rack; the left transmission gear and the right transmission gear are respectively meshed at the front and rear parts of the extended shaft.

[0011] Furthermore, a rotation transmission group is provided between the second driving member and the clamping jaw assembly.

[0012] Furthermore, the second drive group includes a rotating motor, and a second reducer is provided at the lower end of the rotating motor; the rotating transmission group includes a driving gear located outside the output end of the lower end of the second reducer, the outer ring of the driving gear is meshed with a driven gear located in the first assembly area, the inner ring of the driven gear is meshed with a main shaft, and the main shaft is fixed to the clamp housing along the bottom.

[0013] Furthermore, the outer ring diameters of the driving gear and the driven gear are equal, as well as the outer ring surface tooth angles of the driving gear and the driven gear are equal.

[0014] Furthermore, it also includes a photoelectric switch arranged in the second assembly area.

[0015] The beneficial effects of the utility model are:

[0016] This technology mainly adds an encoder at the front end of the rotating drive component based on the existing two separate encoder detection. Since the original rotating drive component only has a single encoder, during the detection process, the accuracy is not high due to the existence of a middle connecting component between the rotating motor and the clamp housing. Therefore, the third encoder is used to monitor the motor rotation angle, thereby further improving the transmission accuracy of the motor output shaft and the main shaft.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The schematic diagram of the structure of the jaw housing assembly shell is shown.

[0019] Figure 2 Schematic diagram showing the internal partitions of the gripper housing assembly.

[0020] Figure 3 Schematic diagram showing the internal structure of the gripper housing assembly.

[0021] The accompanying drawings are marked as follows:

[0022] DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] See also Figures 1 to 3 The utility model comprises a clamping jaw housing component 1; the outer shape of the clamping jaw housing component 1 is set as a hollow shell and the lower end of the hollow shell is provided with an opening connected to the outside; the inside of the clamping jaw housing component 1 is provided with a first assembly area 101 and a second assembly area 102, and the opening is relatively located on the same axis as the first assembly area 101; the clamping jaw component 2 is installed at the outside of the opening of the clamping jaw housing component 1; the first driving member 3 is assembled in the first assembly area 101 inside the clamping jaw housing component 1 and is used to drive the clamping jaw component 2 to open and close; the second driving member 4 is assembled in the second assembly area 102 inside the clamping jaw housing component 1 The assembly area 102 is used to drive the jaw assembly 2 to rotate; the control unit 5, the control unit 5 is assembled inside the jaw housing assembly 1 and is electrically connected to the first drive member 3 and the second drive member 4; the control unit 5 includes a first encoder 501 and a second encoder 502; the first encoder 501 is located at the upper end of the first drive member 3 and is coaxially arranged with the first drive member 3; the second encoder 502 is located at the upper end of the second drive member 4 and is coaxially arranged with the second drive member 4; wherein, the control unit 5 also includes a third encoder 503, the third encoder 503 is located at the lower end of the second drive member 4 and is coaxially arranged with the first drive member 3.

[0025] This technical solution is an improved rotary clamping electric claw, which uses the claw housing assembly 1 as the assembly basis and realizes the driving of the electric claw by reasonably installing components inside. The realization of the electric claw driving mainly relies on the cooperation of the claw assembly 2, the first driving member 3, the second driving member 4, and the control unit 5.

[0026] First, the interior of the clamp housing 201 is hollow and has an opening at the lower end, through which the hollow interior is connected to the outside world. Secondly, the interior of the clamp housing 201 is divided into zones, which include a first assembly area 101 for assembling the first drive member 3 and a second assembly area 102 for assembling the second drive member 4. The first drive member 3 installed in the first assembly area 101 and the second drive member 4 assembled in the second assembly area 102 are on the same horizontal plane, and the central axis of the first drive member 3 installed in the first assembly area 101 coincides with the central axis of the clamp assembly 2 assembled at the opening. The first drive member 3 is used to drive the clamp assembly 2 to open and close, and the second drive member 4 is used to drive the clamp assembly 2 to rotate.

[0027] At the same time, a control unit 5 for detecting the first drive member 3 and the second drive member 4 is arranged inside the clamp housing assembly 1. The arrangement of the control unit 5 includes a circuit board 504 arranged at the upper ends of the first drive member 3 and the second drive member 4, and a first encoder 501 is arranged between the circuit board 504 and the first drive member 3, and a second encoder 502 is arranged between the circuit board 504 and the second drive member 4. The drive of the clamping motor 301 is controlled and monitored at the upper end by the first encoder 501, and the drive of the rotating motor 401 is controlled and monitored at the upper end by the second encoder 502. At the same time, on the basis of the two encoders, a third encoder 503 is arranged at the lower end of the second drive member 4. The role of the third encoder 503 is that there are multiple transmission chains between the existing second encoder 502 and the clamp assembly 2, and the transmission gap is large. Compared with simply monitoring the clamp assembly 2 by the second encoder 502, it not only improves the rotation control accuracy of the clamp assembly 2, but also avoids the complex conversion relationship monitored by the second encoder 502. The second encoder 502 is used to simply control the rotation of the motor.

[0028] The arrangement of the clamping jaw assembly 2 includes a clamping jaw housing 201, a left sliding area and a right sliding area are arranged inside the clamping jaw housing 201, and the left sliding area and the right sliding area are respectively provided with a left transmission rack 202 and a right transmission rack 203, and the lower ends of the left transmission rack 202 and the right transmission rack 203 are both provided with clamping jaws 204 located outside and opposite to each other on the left and right sides. The opening and closing of the clamping jaw 204 is driven by the relative movement of the left transmission rack 202 and the right transmission rack 203, thereby driving the opening and closing of the clamping jaw 204 at the lower end; the rotation of the clamping jaw 204 is driven by the rotation of the overall clamping jaw housing 201 to make the clamping jaw 204 rotate synchronously.

[0029] For the assembly of the first driving member 3 and the clamping jaw assembly 2, the two are connected by an opening and closing transmission group. The lower end of the clamping motor 301 is provided with a first reducer 302; the opening and closing transmission group includes an extension shaft 303 located at the output end of the lower end of the first reducer 302 and along the lower side, the extension shaft 303 extends into the interior of the clamping jaw housing 201 and meshes with the left transmission rack 202 and the right transmission rack 203; the left transmission gear and the right transmission gear are respectively meshed at the front and rear parts of the extension shaft 303. That is, when the clamping motor 301 is driven, the extension shaft 303 is driven to rotate, and the rotation of the extension shaft 303 drives the meshed left transmission gear and the right transmission gear, so that the left transmission gear and the right transmission gear are respectively displaced in the left sliding area and the right sliding area, thereby finally driving the opening and closing of the clamping jaw 204.

[0030] For the assembly of the second driving member 4 and the clamping jaw assembly 2, the two are connected by a rotating transmission group. A second reducer 402 is provided at the lower end of the rotating motor 401; the rotating transmission group includes a driving gear 403 located outside the output end of the lower end of the second reducer 402, the outer ring of the driving gear 403 is meshed with a driven gear 404 located in the first assembly area 101, and the inner ring of the driven gear 404 is meshed with a main shaft, which is fixed to the clamping jaw housing 201 along the lower side. That is, when the rotating motor 401 is driven, the driving gear 403 at the lower end is driven to select, and the synchronous driving gear 403 drives the driven gear 404, and the driven gear 404 drives the main shaft to drive the clamping jaw housing 201 to rotate as a whole, thereby finally synchronously driving the clamping jaw 204 to rotate.

[0031] To reduce the complexity of control, in this embodiment, the outer diameters of the driving gear 403 and the driven gear 404 and the outer surface tooth angles of the driving gear 403 and the driven gear 404 are equal so that the rotation ratio can be 1:1.

[0032] Preferably, a photoelectric switch 6 is also included in the second assembly area 102. The photoelectric switch 6 is also used to detect the detection of the rotating motor 401. Under the action of the third encoder 503 and the photoelectric switch 6, the rotating clamping electric claw can greatly improve the accuracy. In this embodiment, since the reduction ratio of the driving gear 403 and the driven gear 404 is 1:1, the photoelectric switch 6 can be set on one side of the driven gear, that is, in the second assembly area 102. The photoelectric switch 6 synchronously monitors the driving gear through the driven gear, so that the space can be reasonably used. When the reduction ratio of the driving gear 403 and the driven gear 404 is not 1:1, the photoelectric switch 6 can only be set in the first assembly area 101, that is, the photoelectric switch 6 can only be set on one side of the driving gear 403.

[0033] The above is only a preferred embodiment of the utility model, and does not limit the utility model in any form. Although the utility model is disclosed as a preferred embodiment as above, it is not used to limit the utility model. Any technician familiar with this profession can make some changes or modifications to equivalent embodiments of equivalent changes by using the technical content disclosed above without departing from the scope of the technical solution of the utility model. However, any simple modification, equivalent change and modification made to the above embodiments according to the technology of the utility model, which does not depart from the content of the technical solution of the utility model, belongs to the scope of the technical solution of the utility model.

Claims

1. High-precision rotary clamping electric claw, characterized by: include A clamping jaw housing assembly (1), the clamping jaw housing assembly (1) is a hollow housing and has an opening at the lower end thereof that is communicated with the outside; a first assembly area (101) and a second assembly area (102) are distributed inside the clamping jaw housing assembly (1), and the opening is located below the first assembly area (101); A first driving member (3), the first driving member (3) being assembled in a first assembly area (101) inside the clamp housing assembly (1); A second driving member (4), the second driving member (4) being assembled in a second assembly area (102) inside the clamping jaw housing assembly (1); A clamping jaw assembly (2), the clamping jaw assembly (2) being connected to the first driving member (3) and the second driving member (4), and the clamping jaw assembly (2) extending from the opening to the outside of the clamping jaw housing assembly (1); A control unit (5), the control unit (5) is assembled inside the clamp housing assembly (1) and is electrically connected to the first drive member (3) and the second drive member (4); The control unit (5) comprises a first encoder (501) and a second encoder (502); the first encoder (501) is located at the upper end of the first driving member (3) and is coaxially arranged with the first driving member (3); the second encoder (502) is located at the upper end of the second driving member (4) and is coaxially arranged with the second driving member (4); The control unit (5) further comprises a third encoder (503), which is located at the lower end of the second driving member (4) and is coaxially arranged with the second driving member (4).

2. The high-precision rotary clamping electric claw according to claim 1 is characterized in that: The control unit (5) also includes a circuit board (504), and the first encoder (501) and the second encoder (502) are assembled at the lower end of the circuit board (504).

3. The high-precision rotary clamping electric claw according to claim 2 is characterized in that: The first encoder (501) and the second encoder (502) are located in the same plane.

4. The high-precision rotary clamping electric claw according to claim 1 is characterized in that: The clamping jaw assembly (2) comprises a clamping jaw housing (201), wherein a left sliding area and a right sliding area are provided inside the clamping jaw housing (201), and the left sliding area and the right sliding area are provided with a left transmission rack (202) and a right transmission rack (203) respectively, and the lower ends of the left transmission rack (202) and the right transmission rack (203) are provided with clamping jaws (204) located outside and opposite to each other on the left and right sides.

5. The high-precision rotary clamping electric claw according to claim 4 is characterized in that: An opening and closing transmission group is provided between the first driving member (3) and the clamping jaw assembly (2).

6. The high-precision rotary clamping electric claw according to claim 5 is characterized in that: The first driving member (3) comprises a clamping motor (301), and a first reducer (302) is provided at the lower end of the clamping motor (301); the opening and closing transmission group comprises an extension shaft (303) located at the output end of the lower end of the first reducer (302) and extending downward, the extension shaft (303) extending into the interior of the clamping jaw housing (201) and meshing with the left transmission rack (202) and the right transmission rack (203); the left transmission gear (202) and the right transmission gear (203) are respectively meshed at the front and rear parts of the extension shaft (303).

7. The high-precision rotary clamping electric claw according to claim 4 is characterized in that: A rotation transmission group is provided between the second driving member (4) and the clamping jaw assembly (2).

8. The high-precision rotary clamping electric claw according to claim 7 is characterized in that: The second driving group comprises a rotating motor (401), and a second reducer (402) is provided at the lower end of the rotating motor (401); the rotating transmission group comprises a driving gear (403) located outside the output end of the lower end of the second reducer (402), the outer ring of the driving gear (403) is meshed with a driven gear (404) located in the first assembly area (101), the inner ring of the driven gear (404) is meshed with a main shaft (405), and the main shaft (405) is fixed to the clamping jaw housing (201) along the lower side.

9. The high-precision rotary clamping electric claw according to claim 8, characterized in that: The outer diameters of the driving gear (403) and the driven gear (404) are equal, as are the outer surface tooth angles of the driving gear (403) and the driven gear (404).

10. The high-precision rotary clamping electric claw according to claim 9, characterized in that: Also included is a photoelectric switch (6) arranged in the second assembly area (102).

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